CN112847398A - Method for automatically protecting walking aid safety abnormity - Google Patents

Method for automatically protecting walking aid safety abnormity Download PDF

Info

Publication number
CN112847398A
CN112847398A CN202110024646.3A CN202110024646A CN112847398A CN 112847398 A CN112847398 A CN 112847398A CN 202110024646 A CN202110024646 A CN 202110024646A CN 112847398 A CN112847398 A CN 112847398A
Authority
CN
China
Prior art keywords
robot
walking
user
axis
force
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN202110024646.3A
Other languages
Chinese (zh)
Inventor
朱赤
钟宁
邓岳
陈建辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing University of Technology
Original Assignee
Beijing University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing University of Technology filed Critical Beijing University of Technology
Priority to CN202110024646.3A priority Critical patent/CN112847398A/en
Publication of CN112847398A publication Critical patent/CN112847398A/en
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a method for automatically protecting safety abnormity of a walking aid, which is characterized in that a driving device of a walking aid robot is arranged, and the robot moves under the driving of a motor; the handle part at the rear end of the walking-aid robot is provided with a six-axis force sensor, the six-axis force sensor detects the forces Fx, Fy and Mz and the moments Mx, My and Mz in the three directions of x, y and z in a three-dimensional space coordinate system, and the movement purpose of a user is identified according to the forces Fx, Fy and Mz; gait sensors are arranged on the hip, the knee and the ankle of a user on two sides, and the gait data of the angle and the angular speed of each degree of freedom are collected in real time; the user pushes the handle part of the walking-aid robot to realize walking movement; if the user falls down or other abnormal conditions, the driving link of the walking-aid robot automatically starts an emergency protection mechanism to brake and stop the robot. According to the invention, a safety protection strategy is adopted aiming at abnormal conditions such as falling down of a user, the safety abnormal behavior of the user is sensed, and a driving device automatically adopts a brake to implement protection measures on the user aiming at the safety abnormal conditions.

Description

Method for automatically protecting walking aid safety abnormity
Technical Field
The invention relates to a technology for automatically taking protective measures aiming at walking aid safety abnormity, and belongs to the field of robot technology application.
Background
With the rapid development of automatic control technology and advanced manufacturing industry, robot technology is more and more widely applied to the aspects of social life. The intelligent walking-assisting robot is one of service robots, and aims to assist the old to accurately complete a rehabilitation training plan by means of science and technology, provide intelligent walking-assisting service for more old people and assist the old with lower limb obstacle to realize daily assisted walking.
The safety of the travel is very important for the elderly with weakened muscle strength of the limbs, hemiplegia and limb dysfunction. When the old person uses the walking-aid robot, if the old person encounters unexpected conditions such as falling, the walking-aid robot can sense the unexpected conditions in time, and automatically takes emergency measures such as braking, so that the dangerous condition of the old person is further reduced. The safety of the existing walking-aid robot needs to be improved.
Disclosure of Invention
The invention provides a method for triggering a walking-aid robot protection mechanism based on data of a six-axis force sensor and a gait sensor, so that automatic braking is realized, and the system safety is improved.
A method for automatically protecting the safety abnormity of walking aid comprises the following steps,
s1, a walking aid robot driving device is arranged, and the robot moves under the drive of a motor;
s2 a handle part at the rear end of the walking-aid robot is provided with a six-axis force sensor, the six-axis force sensor detects the forces Fx, Fy and Mz and the moments Mx, My and Mz in the three directions of x, y and z in a three-dimensional space coordinate system, and the movement purpose of a user is identified according to the forces Fx, Fy and Mz and the moments Mx, My and Mz;
s3 the user installs gait sensors on the hip, knee and ankle of two sides to collect the angle and angular speed gait data of each degree of freedom in real time;
s4, the user pushes the handle part of the walking-aid robot to realize walking movement;
s5, if the user falls down or the like, the driving link of the walking-aid robot automatically starts an emergency protection mechanism to brake and stop the robot.
Further, the driving force of the walking robot comes from the motor during the pushing of the walking robot by the user. The six-axis force sensor is arranged on the handle part of the walking-aid robot, and helps the robot to identify the movement purpose of a user when the user pushes the robot. The control scheme is based on a force admittance control method. In the control scheme, a six-axis force sensor is adopted to detect the size and the direction of the manpower of the walking aid robot. The six-axis force sensor can detect forces Fx, Fy and Mz in three directions of x, y and z in any three-dimensional coordinate system in space and detect moments Mx, My and Mz in the three directions of x, y and z. The user is behind the handle of the walking-aid robot, and the body is parallel to the y-axis. When a person pushes the walking robot, the person applies force along the x-axis direction; the direction of the applied force is along the y-axis when moving laterally.
Furthermore, since the exercise state of the user during walking is forward or turning, the six-axis force sensors are influenced by the x and y-direction forces Fx and Fy and the z-direction torque Mz, and only the analog quantities output by the three interfaces are processed in the control program. And filtering noise interference by using a filter function, and determining the x and y directions of the robot and the turning direction target speed according to the magnitudes of the three quantities of Fx, Fy and Mz through a mechanical admittance equation. Then the target speed of each driving wheel is calculated through the inverse kinematics of the walking aid robot, and the speed of each wheel is controlled, so that the movement speed and direction of the walking aid robot are controlled according to the force applied by a user, and the aim of assisting the walking aid of the user is fulfilled.
Furthermore, when a user pushes the walking-aid robot to walk, the hips, knees and ankles on two sides are all provided with gait sensors. By means of pattern recognition and signal processing technology, digital signals of angles and angular velocities of the hip, knee and ankle are acquired, and real-time gait information of the user, such as step length, step frequency, vertical/horizontal displacement, balance degree and the like, is formed through processing.
Further, on one hand, according to the force in the advancing direction (x axis) and the left-right direction (y axis) detected by the force sensor and the magnitude of the moment in the vertical direction (z axis), if the detected value is suddenly changed, and if the suddenly changed value exceeds a preset threshold value, the behavior of the user is considered to be abnormal; and on the other hand, the walking safety condition of the user is evaluated based on the data acquired and transmitted by the gait sensor in real time. By comprehensively analyzing the joint state of the multivariable, if the preset abnormal mode is met, the user is judged to slip or fall, the drive link starts an emergency protection mechanism, and the robot is braked and stopped.
Compared with the prior art, the driving device adopts a safety protection strategy aiming at the abnormal conditions of falling down and the like of the user, and the driving device automatically adopts a brake to implement protection measures on the user aiming at the abnormal conditions of safety by sensing the abnormal behaviors of the user.
Drawings
FIG. 1 is a schematic force and torque diagram of a six-axis force sensor
FIG. 2 user emergency protection mechanism
Detailed Description
The present invention can be applied to a walking assist robot driving apparatus, but is not limited thereto.
In the process of pushing the walking robot by a user, the driving force of the robot is mainly from the motor. The six-axis force sensor is arranged on the handle part of the robot, and helps the robot to identify the movement purpose of a user when the user pushes the robot. The control scheme is based on a force admittance control method. In the control scheme, the six-axis force sensor can be used for detecting the force magnitude and the direction of the pushing robot. The six-axis force sensor can detect forces Fx, Fy and Mz in three directions of x, y and z in any three-dimensional coordinate system in space and detect moments Mx, My and Mz in the three directions of x, y and z. As shown in fig. 1. The user is behind the robot handle, with the body parallel to the y-axis. When the robot is pushed by a person, the person applies force along the x-axis direction; the direction of the applied force is along the y-axis when moving laterally.
Since the main motion states of the user during walking are forward and turning, the six-axis force sensor is influenced by the forces Fx and Fy in the x and y directions and the torque Mz in the z direction, and only the analog quantities output by the three interfaces are processed in the control program. And filtering noise interference by using a filter function, and determining the x and y directions of the robot and the turning direction target speed according to the magnitudes of the three quantities of Fx, Fy and Mz through a mechanical admittance equation. Then, the target speed of each driving wheel is calculated through the inverse kinematics of the robot, and then the speed of each wheel is controlled, so that the movement speed and direction of the robot are controlled according to the force applied by a user, and the aim of assisting the user in walking is fulfilled.
When a user pushes the walking-aid robot to walk, the hips, knees and ankles on two sides are all provided with gait sensors. By means of pattern recognition and signal processing technology, digital signals of angles and angular velocities of the hip, knee and ankle are acquired, and real-time gait information of the user, such as step length, step frequency, vertical/horizontal displacement, balance degree and the like, is formed through processing.
On one hand, according to the force in the advancing direction (x axis) and the left-right direction (y axis) detected by the force sensor and the magnitude of the moment in the vertical direction (z axis), if the detected value is suddenly changed, and if the suddenly changed value exceeds a preset threshold value, the behavior of the user is considered to be abnormal; and on the other hand, the walking safety condition of the user is evaluated based on the data acquired and transmitted by the gait sensor in real time. By comprehensively analyzing the joint state of the multivariable, if the preset abnormal mode is met, the user is judged to slip or fall, the drive link starts an emergency protection mechanism, and the robot is braked and stopped.
The use steps are as follows:
s1, a walking aid robot driving device is arranged, and the robot moves under the drive of a motor;
s2 a handle part at the rear end of the walking-aid robot is provided with a six-axis force sensor, the six-axis force sensor detects the forces Fx, Fy and Mz and the moments Mx, My and Mz in the three directions of x, y and z in a three-dimensional space coordinate system, and the movement purpose of a user is identified according to the forces Fx, Fy and Mz and the moments Mx, My and Mz;
s3 the user installs gait sensors on the hip, knee and ankle of two sides to collect gait data of angle and angular speed of each degree of freedom in real time;
s4, the user pushes the handle part of the walking-aid robot to realize walking movement;
s5, if the user falls down or the like, the driving link of the walking-aid robot automatically starts an emergency protection mechanism to brake and stop the robot.

Claims (5)

1.一种对助行安全异常自动采取保护方法，其特征在于：该方法包括如下步骤，1. a protection method is automatically taken to the abnormal safety of walking aids, it is characterized in that: the method comprises the steps, S1安置助行机器人驱动装置，机器人的移动通过电机驱动；S1 houses the walking robot driving device, and the movement of the robot is driven by the motor; S2助行机器人后端的把手部分安装有六轴力传感器，六轴力传感器检测三维空间坐标系中x,y,z三个方向的力Fx,Fy,Mz，及力矩Mx,My,Mz，据此识别使用者运动目的；A six-axis force sensor is installed on the handle part of the rear end of the S2 walking robot. The six-axis force sensor detects the forces Fx, Fy, Mz and the moments Mx, My, and Mz in the three directions of x, y, and z in the three-dimensional space coordinate system. This identifies the purpose of the user's movement; S3使用者在两侧髋、膝、踝均安装了步态传感器，实时采集各自由度的角度、角速度步态数据；S3 users are equipped with gait sensors on both hips, knees and ankles to collect real-time angle and angular velocity gait data of each degree of freedom; S4使用者推动助行机器人的把手部分，实现行走运动；S4 user pushes the handle part of the walking robot to realize walking movement; S5如遇使用者摔倒等异常情况，助行机器人的驱动环节自动启动紧急保护机制，对机器人进行刹车停止。If the S5 encounters an abnormal situation such as a user's fall, the driving link of the walking robot automatically activates the emergency protection mechanism to brake the robot to stop. 2.根据权利要求1所述的一种对助行安全异常自动采取保护方法，其特征在于：在使用者推助行机器人的过程中，助行机器人的驱动力来自电机；助行机器人的把手部分安装的六轴力传感器，在使用者推机器人时，六轴力传感器帮助机器人识别使用者的运动目的；控制方案基于力导纳控制方法；控制方案中，采用六轴力传感器检测推助行机器人力的大小和方向；六轴力传感器能检测空间任意三维坐标系中x,y,z三个方向的力Fx,Fy,Mz，及检测x,y,z三个方向的力矩Mx,My,Mz；使用者在助行机器人把手后面，身体与y轴平行；人推助行机器人时，人沿x轴方向施加力；横向移动时，施加力的方向是沿y轴。2. A kind of automatic protection method for walking assistance safety abnormality according to claim 1, characterized in that: in the process of the user pushing the walking assistance robot, the driving force of the walking assistance robot comes from the motor; the handle of the walking assistance robot comes from the motor; The partially installed six-axis force sensor helps the robot to identify the user's movement purpose when the user pushes the robot; the control scheme is based on the force admittance control method; in the control scheme, the six-axis force sensor is used to detect the push-assist The magnitude and direction of the robot force; the six-axis force sensor can detect the forces Fx, Fy, Mz in the three directions of x, y, and z in any three-dimensional coordinate system in space, and detect the moments Mx, My in the three directions of x, y, and z. , Mz; the user is behind the handle of the walking robot, and the body is parallel to the y-axis; when a person pushes the walking robot, the person applies a force along the x-axis; when moving laterally, the force is applied along the y-axis. 3.根据权利要求1所述的一种对助行安全异常自动采取保护方法，其特征在于：由于使用者步行中的运动状态是前进、转弯，故对六轴力传感器的影响是x,y方向的力Fx、Fy和z方向的扭矩Mz，控制程序中只处理这三个接口输出的模拟量；使用滤波函数滤除噪音干扰，根据Fx、Fy、Mz这三个量的大小，通过机械导纳方程，确定机器人的x，y方向和转弯的方向目标速度；然后通过助行机器人的逆运动学，计算每个驱动轮的目标速度，再控制每个轮子的速度，从而达到根据使用者所施加的力的大小和方向，来控制助行机器人的运动速度和方向，实现对使用者助行助力的目的。3. a kind of automatic protection method for walking assistance safety abnormality according to claim 1, it is characterized in that: because the motion state in the user's walking is forward, turning, so the influence on the six-axis force sensor is x, y Force Fx, Fy and torque Mz in the z direction, only the analog output from these three interfaces is processed in the control program; the filter function is used to filter out the noise interference, according to the size of the three quantities Fx, Fy, Mz, through the mechanical Admittance equation, determine the target speed of the robot's x, y direction and turning direction; then through the inverse kinematics of the walking robot, calculate the target speed of each driving wheel, and then control the speed of each wheel, so as to achieve according to the user The magnitude and direction of the applied force are used to control the movement speed and direction of the walking robot, so as to achieve the purpose of assisting the user in walking. 4.根据权利要求1所述的一种对助行安全异常自动采取保护方法，其特征在于：使用者在推动助行机器人行走时，两侧髋、膝、踝均安装步态传感器；利用模式识别和信号处理技术，采集髋、膝、踝各自由度的角度、角速度的数字信号，经处理形成使用者的步长、步频、垂直/水平位移、平衡度实时步态信息。4. A kind of automatic protection method for walking assistance safety abnormality according to claim 1, characterized in that: when the user pushes the walking assistance robot to walk, gait sensors are installed on both hips, knees and ankles; Recognition and signal processing technology collects digital signals of the angles and angular velocity of each degree of freedom of the hip, knee and ankle, and processes them to form real-time gait information of the user's stride length, stride frequency, vertical/horizontal displacement, and balance. 5.根据权利要求1所述的一种对助行安全异常自动采取保护方法，其特征在于：根据力传感器检测前进方向x轴和左右方向y轴的力以及垂直z轴方向力矩的大小，经过微分处理，如发现检测值突变，其突变值如超过预置的阈值，则视为使用者的行为异常；基于步态传感器实时采集传输的数据，评估使用者的行走安全状况；通过综合分析多变量的联合状态，如满足预先设定的异常模式，则判断为使用者滑倒或摔倒，驱动环节启动紧急保护机制，对机器人进行刹车停止。5. A kind of automatic protection method for walking assistance safety abnormality according to claim 1, characterized in that: according to the force sensor to detect the force of the forward direction x-axis and the left-right direction y-axis and the magnitude of the moment in the vertical z-axis direction, after Differential processing, if a sudden change of detection value is found, if the sudden change value exceeds the preset threshold, it is regarded as abnormal behavior of the user; based on the real-time data collected and transmitted by the gait sensor, the user's walking safety status is evaluated; If the combined state of the variables satisfies the preset abnormal mode, it is judged that the user slips or falls, and the drive link activates the emergency protection mechanism to brake the robot to stop.
CN202110024646.3A 2021-01-08 2021-01-08 Method for automatically protecting walking aid safety abnormity Withdrawn CN112847398A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110024646.3A CN112847398A (en) 2021-01-08 2021-01-08 Method for automatically protecting walking aid safety abnormity

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110024646.3A CN112847398A (en) 2021-01-08 2021-01-08 Method for automatically protecting walking aid safety abnormity

Publications (1)

Publication Number Publication Date
CN112847398A true CN112847398A (en) 2021-05-28

Family

ID=76005592

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110024646.3A Withdrawn CN112847398A (en) 2021-01-08 2021-01-08 Method for automatically protecting walking aid safety abnormity

Country Status (1)

Country Link
CN (1) CN112847398A (en)

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009072839A (en) * 2007-09-19 2009-04-09 Yaskawa Electric Corp Biped robot control device and gait control method
CN101803988A (en) * 2010-04-14 2010-08-18 华中科技大学 Multifunctional intelligent rehabilitation robot for assisting stand and walk
CN102551994A (en) * 2011-12-20 2012-07-11 华中科技大学 Recovery walking aiding robot
CN103040586A (en) * 2012-12-20 2013-04-17 上海大学 External skeleton robot for exercising lower limbs and exercise control method thereof
CN106730638A (en) * 2016-12-21 2017-05-31 华中科技大学 The control method of the drive lacking healing robot based on reciprocal force identification motion intention
CN107693314A (en) * 2017-08-02 2018-02-16 华中科技大学 A kind of cane formula, which is independently fallen, protects recovery walking aiding robot
CN108415250A (en) * 2018-02-09 2018-08-17 西安交通大学 A kind of man-machine coordination control system and its control method for preventing the elderly from falling down
CN109079763A (en) * 2018-10-29 2018-12-25 河北工业大学 The wearable flexible assistant to walking robot control system of one kind and control method
CN109568089A (en) * 2019-01-24 2019-04-05 中国科学技术大学 A kind of trailing type lower limb recovery robot by training paces system
CN111611887A (en) * 2020-05-08 2020-09-01 武汉工程大学 A method and system for estimating user intent in human-machine hybrid coordinated motion
CN111967366A (en) * 2020-08-12 2020-11-20 华中科技大学鄂州工业技术研究院 Method for evaluating rehabilitation condition of leg patient and walking-aid robot

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009072839A (en) * 2007-09-19 2009-04-09 Yaskawa Electric Corp Biped robot control device and gait control method
CN101803988A (en) * 2010-04-14 2010-08-18 华中科技大学 Multifunctional intelligent rehabilitation robot for assisting stand and walk
CN102551994A (en) * 2011-12-20 2012-07-11 华中科技大学 Recovery walking aiding robot
CN103040586A (en) * 2012-12-20 2013-04-17 上海大学 External skeleton robot for exercising lower limbs and exercise control method thereof
CN106730638A (en) * 2016-12-21 2017-05-31 华中科技大学 The control method of the drive lacking healing robot based on reciprocal force identification motion intention
CN107693314A (en) * 2017-08-02 2018-02-16 华中科技大学 A kind of cane formula, which is independently fallen, protects recovery walking aiding robot
CN108415250A (en) * 2018-02-09 2018-08-17 西安交通大学 A kind of man-machine coordination control system and its control method for preventing the elderly from falling down
CN109079763A (en) * 2018-10-29 2018-12-25 河北工业大学 The wearable flexible assistant to walking robot control system of one kind and control method
CN109568089A (en) * 2019-01-24 2019-04-05 中国科学技术大学 A kind of trailing type lower limb recovery robot by training paces system
CN111611887A (en) * 2020-05-08 2020-09-01 武汉工程大学 A method and system for estimating user intent in human-machine hybrid coordinated motion
CN111967366A (en) * 2020-08-12 2020-11-20 华中科技大学鄂州工业技术研究院 Method for evaluating rehabilitation condition of leg patient and walking-aid robot

Similar Documents

Publication Publication Date Title
Trkov et al. Inertial sensor-based slip detection in human walking
Gao et al. IMU-based locomotion mode identification for transtibial prostheses, orthoses, and exoskeletons
Kiguchi et al. An exoskeletal robot for human elbow motion support-sensor fusion, adaptation, and control
Zhou et al. Kinematics-based control of an inflatable soft wearable robot for assisting the shoulder of industrial workers
CN107943021B (en) Self-adaptive stair ascending and descending control system and method
CN113043248B (en) Transportation and assembly whole-body exoskeleton system based on multi-source sensor and control method
Kyeong et al. Surface electromyography characteristics for motion intention recognition and implementation issues in lower-limb exoskeletons
CN106726340A (en) A kind of human body lower limbs recovery exercising robot of intelligent and safe protection
Chen et al. A robotic bipedal model for human walking with slips
CN102837752A (en) Six-foot obstacle crossing robot with limb self-cutting function and control system thereof
Hayashi et al. A lower-limb power-assist robot with perception-assist
Gong et al. BPNN-based real-time recognition of locomotion modes for an active pelvis orthosis with different assistive strategies
Ji et al. Design and control of an omni-directional robotic walker based on human–machine interaction
US12127841B2 (en) Upper limb multi-joint impedance measurement method and apparatus using the same
CN109199800B (en) Rehabilitation robot and tumble detection and protection method thereof
Long et al. Physical human-robot interaction estimation based control scheme for a hydraulically actuated exoskeleton designed for power amplification
CN112847398A (en) Method for automatically protecting walking aid safety abnormity
Lee et al. Estimation of walking behavior using accelerometers in gait rehabilitation
Khan et al. Pathological gait abnormality detection and segmentation by processing the hip joints motion data to support mobile gait rehabilitation
JP4130739B2 (en) Method for estimating floor reaction force of bipedal moving objects
Bae et al. Real-time estimation of lower extremity joint torques in normal gait
Kiguchi et al. Accident prediction based on motion data for perception-assist with a power-assist robot
Xu et al. Multi-sensor based human motion intention recognition algorithm for walking-aid robot
CN116265200B (en) A control method for automatic gait adjustment in the event of a stumbling exoskeleton
Bae et al. Design Of A Control System For A Lower-Limb Exoskeleton Rehabilitation Robot With Gait Phase Detection Algorithm Using Inertial Sensor

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WW01 Invention patent application withdrawn after publication

Application publication date: 20210528

WW01 Invention patent application withdrawn after publication