CN204525489U - Domestic robot - Google Patents
Domestic robot Download PDFInfo
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- CN204525489U CN204525489U CN201520164324.9U CN201520164324U CN204525489U CN 204525489 U CN204525489 U CN 204525489U CN 201520164324 U CN201520164324 U CN 201520164324U CN 204525489 U CN204525489 U CN 204525489U
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Abstract
The utility model discloses a kind of domestic robot, comprising: housing; Be arranged at least one ultrasonic sensor on housing, ultrasonic sensor for detecting the object in the domestic robot direction of motion, and obtains the distance between domestic robot and object; And controller, controller is connected with ultrasonic sensor, and controller controls domestic robot according to distance.The domestic robot of the utility model embodiment, can improve obstacle efficiency, reduces collision, protection furniture, more intelligent.
Description
Technical field
The utility model relates to technical field of electric appliances, particularly relates to a kind of domestic robot.
Background technology
Along with the development of intelligent robot technology, increasing intelligent robot enters into subscriber household, greatly improves comfortableness and the convenience of people's life.Wherein, intellective dust collector is the one of intelligent robot in family, and user is when selecting and buy intellective dust collector, focus on intelligent product, as fruit product can meet the intelligent demand of user as much as possible, more consumer can be striven for, for enterprise creates profit.
At present, home intelligent robot generally adopts the sensors such as IR (Infrared Radiation, infrared) to detect barrier.But adopt the sensors such as IR to detect barrier, when intelligent robot runs into obstacle, sensor is comparatively large on the impact of color, and blind area is many, and cause collision frequency a lot, barrier efficiency comparison is low, also needs to increase collision bar structure and protect.In addition, even if user have purchased intelligent robot, when setting the furniture, also need consideration can or can not by problems such as intelligent robot collisions, very inconvenient.
Utility model content
The utility model is intended to the technical problem solved at least to a certain extent in correlation technique.
For this reason, the purpose of this utility model is to propose a kind of domestic robot, and this domestic robot can improve obstacle efficiency, reduces collision, protection furniture, more intelligent.
For achieving the above object, the utility model proposes a kind of domestic robot, this domestic robot comprises housing; Be arranged at least one ultrasonic sensor on described housing, described ultrasonic sensor for detecting the object in the domestic robot direction of motion, and obtains the distance between described domestic robot and described object; And controller, described controller is connected with described ultrasonic sensor, and described controller controls described domestic robot according to described distance.
According to domestic robot of the present utility model; the object on domestic robot traffic direction is detected by ultrasonic sensor; and the distance obtained between domestic robot and object; and then controller controls domestic robot according to both distances; obstacle efficiency can be improved; reduce collision, protection furniture, more intelligent.
Further, above-mentioned domestic robot also comprises: driving mechanism, and described driving mechanism drives described domestic robot; Steering mechanism, described steering mechanism controls the direction of motion of described domestic robot, and wherein, described controller controls described steering mechanism and driving mechanism according to described distance.
Wherein, described ultrasonic sensor can be multiple, comprise the main ultrasonic sensor being positioned at described domestic robot front and the secondary ultrasonic sensor being positioned at described domestic robot side and/or the back side, the object that described controller detects according to described main ultrasonic sensor and secondary ultrasonic sensor and the distance between described domestic robot and described object generate the independent navigation route of described domestic robot, and control described domestic robot according to described independent navigation route.
By multiple ultrasonic sensor inspected object, can avoid detecting blind spot.
Further, described ultrasonic sensor comprises: the first ultrasonic receiver, and described first ultrasonic receiver is positioned at the front of described domestic robot; First ultrasonic transmitter and the second ultrasonic transmitter, described first ultrasonic transmitter and described second ultrasonic transmitter lay respectively at the both sides of described first ultrasonic receiver, and described first ultrasonic transmitter and described second ultrasonic transmitter and described first ultrasonic receiver are the first angle; Second ultrasonic receiver and the 3rd ultrasonic receiver, described second ultrasonic receiver and described 3rd ultrasonic receiver lay respectively at outside described first ultrasonic transmitter and the second ultrasonic transmitter, and described second ultrasonic receiver and described first ultrasonic transmitter are the second angle, described 3rd ultrasonic receiver and described second ultrasonic transmitter are described second angle.
Wherein, described first angle can equal described second angle.
In addition, above-mentioned domestic robot also comprises the protective cover be arranged on outside described ultrasonic sensor.
Can be protected ultrasonic sensor by protective cover.
Wherein, the domestic robot of the utility model embodiment can be robot cleaner, air purifier robot, security and anti-theft robot or family's auxiliary robot.
Accompanying drawing explanation
Fig. 1 is the block diagram of the domestic robot according to an embodiment of the present utility model;
Fig. 2 is the block diagram of the domestic robot according to another embodiment of the present utility model;
Fig. 3 be the ultrasonic sensor of domestic robot according to a specific embodiment of the present utility model schematic diagram is set;
(1) in Fig. 4 to (4) are the schematic diagrames of the application example of domestic robot according to other specific embodiments of the present utility model;
Fig. 5 is the flow chart of the control method of domestic robot according to an embodiment of the present utility model;
Fig. 6 is the flow chart of the control method of domestic robot according to another embodiment of the present utility model;
Fig. 7 is the flow chart of the control method of domestic robot according to another embodiment of the present utility model.
Reference numeral:
Domestic robot 100, housing 10, ultrasonic sensor 20 and controller 30, driving mechanism 40 and steering mechanism 50, first ultrasonic receiver 201, first ultrasonic transmitter 202, second ultrasonic transmitter 203, second ultrasonic receiver 204 and the 3rd ultrasonic receiver 205.
Detailed description of the invention
Be described below in detail embodiment of the present utility model, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the utility model, and can not be interpreted as restriction of the present utility model.
First the domestic robot of the utility model embodiment is described.Fig. 1 is the block diagram of the domestic robot according to an embodiment of the present utility model.
As shown in Figure 1, the domestic robot 100 of the utility model embodiment comprises housing 10, ultrasonic sensor 20 and controller 30.
Wherein, ultrasonic sensor 20 is at least one, and ultrasonic sensor 20 is arranged on housing 10, for detecting the object in domestic robot 100 direction of motion, namely hinders the object such as furniture that domestic robot 100 moves.Particularly, ultrasonic sensor 20 can send ultrasonic signal, if there is object in domestic robot 100 traffic direction, then can receive the ultrasonic signal of reflections off objects, and then according to the distance between the ultrasonic signal acquisition domestic robot 100 of the reflections off objects received and object, such as, can obtain the distance of distance according to the time difference and hyperacoustic speed that transmit and receive ultrasonic signal.
Wherein, controller 30 is connected with at least one ultrasonic sensor 20, and controller can control domestic robot 100 according to the distance between domestic robot 100 and object.Particularly, such as ultrasonic sensor 20 judges there is barrier according to the ultrasonic signal of the reflections off objects received, and controller 30 judges the close together between domestic robot 100 and barrier, such as be greater than predeterminable range, then disturbance in judgement thing hinders the operation of domestic robot 100, if control domestic robot 100 to continue to press existing route operation, bump against with object, then controller 30 controls domestic robot 100 and runs to avoid bumping against to not having the direction of barrier.
Further, as shown in Figure 2, be the block diagram of the domestic robot according to another embodiment of the present utility model.Above-mentioned domestic robot 100 also comprises driving mechanism 40 and steering mechanism 50.Driving mechanism 40 runs for driving domestic robot 100, and steering mechanism is for controlling the traffic direction of domestic robot 100.Controller 30 controls steering mechanism 50 and driving mechanism 40 according to the distance between domestic robot 100 and object.Such as, controller 30 judges that the distance between domestic robot 100 and barrier is greater than predeterminable range, then control steering mechanism 50 adjust the traffic direction of domestic robot 100 with avoiding obstacles direction, and control driving mechanism 40 drive domestic robot 100 to do not hinder object direction run with collision free.
In order to avoid check frequency, in an embodiment of the present utility model, ultrasonic sensor can be multiple, comprise the main ultrasonic sensor being positioned at domestic robot 100 front and the secondary ultrasonic sensor being positioned at domestic robot 100 side and/or the back side, the object that controller 30 can detect according to main ultrasonic sensor and secondary ultrasonic sensor and the distance between domestic robot and object generate the independent navigation route of domestic robot, and control domestic robot according to independent navigation route.The object that such as controller 30 detects according to main ultrasonic sensor and time ultrasonic sensor, judge that domestic robot 100 and the distance of the object in front are less than the distance with the object of the back side and side, and domestic robot 100 is less than the distance with the object on right side with the distance of the object in left side, domestic robot 100 is less than the distance with the object at the back side with the distance of the object on right side, then controller 30 controls domestic robot 100 and rearwardly retreats.And then the object to detect according to main ultrasonic sensor and secondary ultrasonic sensor in real time according to aforementioned manner and the distance between domestic robot and object generate independent navigation circuit, and control domestic robot 100 and run with independent navigation circuit.
Further, as shown in Figure 3, ultrasonic sensor 20 can comprise the first ultrasonic receiver 201, first ultrasonic transmitter 202, second ultrasonic transmitter 203, second ultrasonic receiver 204 and the 3rd ultrasonic receiver 205.Wherein, the first ultrasonic receiver 201 is positioned at the front of domestic robot 100; First ultrasonic transmitter 202 and the second ultrasonic transmitter 203 lay respectively at the both sides of the first ultrasonic receiver 201, and the first ultrasonic transmitter 202 and the second ultrasonic transmitter 203 and the first ultrasonic receiver 201 are in the first included angle A 1; Second ultrasonic receiver 204 and the 3rd ultrasonic receiver 205 lay respectively at outside the first ultrasonic transmitter 202 and the second ultrasonic transmitter 203, and the second ultrasonic receiver 204 and the first ultrasonic transmitter 202 are the second included angle A 2 in the second included angle A the 2, three ultrasonic receiver 205 and the second ultrasonic transmitter 203.Wherein, the first included angle A 1 can equal the second included angle A 2.
Ultrasonic sensor 20 can realize the detection of the object of different directions with the setting of suitable angle by two transmitters and three receivers.The position of the strong and weak judgment object of the ultrasonic signal that such as can receive according to three receivers and distance, and then controller 30 runs according to the position control domestic robot 100 of object.The ultrasonic signal such as received at the 3rd ultrasonic receiver 205 is greater than the ultrasonic signal that the second ultrasonic receiver 204 receives, and be greater than the ultrasonic signal of the first ultrasonic receiver 201 reception, when the ultrasonic signal that simultaneously three receivers receive all is greater than default ultrasonic signal, then controller 30 judgment object is in the 3rd ultrasonic receiver 205 direction, then controller 30 controls domestic robot 100 and avoids object direction.
In addition, in order to protect ultrasonic sensor 20 not to be damaged, above-mentioned domestic robot 100 can also comprise protective cover 60.Protective cover 60 is arranged on outside ultrasonic sensor 20 to protect ultrasonic sensor 20.
Generally speaking, timely domestic robot 100 can intelligent mobile, keep away and unavoidably meet barrier, but the domestic robot 100 of the utility model embodiment can when running into barrier, barrier detected, and control the operation of domestic robot 100 avoiding obstacles.The domestic robot 100 of the utility model embodiment can be such as robot cleaner (as Suo Shi Fig. 4 (1)), air purifier robot (as Suo Shi Fig. 4 (2)), security and anti-theft robot (as Suo Shi Fig. 4 (3)) or family's auxiliary robot (as Suo Shi Fig. 4 (4)).
In sum; according to the domestic robot of the utility model embodiment; the object on domestic robot traffic direction is detected by ultrasonic sensor; and the distance obtained between domestic robot and object; and then controller controls domestic robot according to both distances, obstacle efficiency can be improved, reduce collision; protection furniture, more intelligent.In addition, by multiple ultrasonic sensor inspected object, can avoid detecting blind spot, can supersonic detector be protected by protective cover.
The control method proposing a kind of domestic robot according to another aspect embodiment of the present utility model is described with reference to the accompanying drawings.Wherein, domestic robot comprises at least one ultrasonic sensor.Fig. 5 is the flow chart of the control method of domestic robot according to an embodiment of the present utility model.
As shown in Figure 5, the control method of the domestic robot of the utility model embodiment comprises the following steps:
S1, detects the object in the domestic robot direction of motion by least one ultrasonic sensor, and obtains the distance between domestic robot and object.
Particularly, ultrasonic sensor can send ultrasonic signal, if there is object in domestic robot traffic direction, then can receive the ultrasonic signal of reflections off objects, and then according to the distance between the ultrasonic signal acquisition domestic robot of the reflections off objects received and object, such as, can obtain the distance of distance according to the time difference and hyperacoustic speed that transmit and receive ultrasonic signal.
S2, controls described domestic robot according to described distance.
Particularly, such as ultrasonic sensor judges there is barrier according to the ultrasonic signal of the reflections off objects received, if the close together between domestic robot and barrier, such as be greater than predeterminable range, then disturbance in judgement thing hinders the operation of domestic robot, if control domestic robot to continue to press existing route operation, bump against with object, then control domestic robot and run to avoid bumping against to there is no the direction of barrier.
Further, in an embodiment of the present utility model, domestic robot also comprises driving mechanism and steering mechanism, as shown in Figure 6, above-mentionedly to control domestic robot according to distance, specifically comprises:
S21, controls to steering mechanism the traffic direction adjusting domestic robot according to the distance between domestic robot and object.
Such as, when the distance between domestic robot and barrier is greater than predeterminable range, then control the traffic direction of steering mechanism's adjustment domestic robot with avoiding obstacles direction, and the step S22 that keeps straight on.
S22, controls driving mechanism and runs to drive on described domestic robot described traffic direction after the adjustment.
Namely controlling driving mechanism drives domestic robot to run to not hindering the direction of object with collision free.
In addition, in order to avoid check frequency, in an embodiment of the present utility model, ultrasonic sensor can be multiple, comprise the main ultrasonic sensor being positioned at domestic robot front and the secondary ultrasonic sensor being positioned at domestic robot side and/or the back side, as shown in Figure 7, above-mentionedly according to distance, domestic robot to be controlled, specifically comprises:
S211, the object detected according to main ultrasonic sensor and secondary ultrasonic sensor and the distance between domestic robot and object generate the independent navigation route of domestic robot.
Such as, according to the object that main ultrasonic sensor and time ultrasonic sensor detect, judge that the distance of the object in domestic robot and front is less than the distance with the object of the back side and side, and the distance of the object in domestic robot and left side is less than the distance with the object on right side, the distance of the object on domestic robot and right side is less than the distance with the object at the back side, then control domestic robot and rearwardly retreat.And then the object to detect according to main ultrasonic sensor and secondary ultrasonic sensor in real time according to aforementioned manner and the distance between domestic robot and object generate independent navigation circuit, and perform step S221.
S221, controls domestic robot according to independent navigation route.
The control method of the domestic robot of the utility model embodiment can be found out, can barrier be detected when domestic robot runs into barrier, and control the operation of domestic robot avoiding obstacles.
According to the control method of the domestic robot of the utility model embodiment; the object on domestic robot traffic direction is detected by ultrasonic sensor; and the distance obtained between domestic robot and object; and then according to both distances, domestic robot is controlled; obstacle efficiency can be improved; reduce collision, protection furniture, more intelligent.In addition, by multiple ultrasonic sensor inspected object, can avoid detecting blind spot.
In description of the present utility model, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axis ", " radial direction ", orientation or the position relationship of the instruction such as " circumference " are based on orientation shown in the drawings or position relationship, only the utility model and simplified characterization for convenience of description, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as restriction of the present utility model.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise at least one this feature.In description of the present utility model, the implication of " multiple " is at least two, such as two, three etc., unless otherwise expressly limited specifically.
In the utility model, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements, unless otherwise clear and definite restriction.For the ordinary skill in the art, the concrete meaning of above-mentioned term in the utility model can be understood as the case may be.
In the utility model, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " can be fisrt feature immediately below second feature or tiltedly below, or only represent that fisrt feature level height is less than second feature.
In the description of this description, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present utility model or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in one or more embodiment in office or example in an appropriate manner.In addition, when not conflicting, the feature of the different embodiment described in this description or example and different embodiment or example can carry out combining and combining by those skilled in the art.
Although illustrate and described embodiment of the present utility model above, be understandable that, above-described embodiment is exemplary, can not be interpreted as restriction of the present utility model, those of ordinary skill in the art can change above-described embodiment, revises, replace and modification in scope of the present utility model.
Claims (7)
1. a domestic robot, is characterized in that, comprising:
Housing;
Be arranged at least one ultrasonic sensor on described housing, described ultrasonic sensor for detecting the object in the domestic robot direction of motion, and obtains the distance between described domestic robot and described object; And
Controller, described controller is connected with described ultrasonic sensor, and described controller controls described domestic robot according to described distance.
2. domestic robot as claimed in claim 1, is characterized in that, also comprise:
Driving mechanism, described driving mechanism drives described domestic robot;
Steering mechanism, described steering mechanism controls the direction of motion of described domestic robot, and wherein, described controller controls described steering mechanism and driving mechanism according to described distance.
3. domestic robot as claimed in claim 1, it is characterized in that, described ultrasonic sensor is multiple, comprise the main ultrasonic sensor being positioned at described domestic robot front and the secondary ultrasonic sensor being positioned at described domestic robot side and/or the back side, the object that described controller detects according to described main ultrasonic sensor and secondary ultrasonic sensor and the distance between described domestic robot and described object generate the independent navigation route of described domestic robot, and control described domestic robot according to described independent navigation route.
4. domestic robot as claimed in claim 1, it is characterized in that, described domestic robot is robot cleaner, air purifier robot, security and anti-theft robot or family's auxiliary robot.
5. domestic robot as claimed in claim 1, is characterized in that, also comprise:
Be arranged on the protective cover outside described ultrasonic sensor.
6. domestic robot as claimed in claim 1, it is characterized in that, described ultrasonic sensor comprises:
First ultrasonic receiver, described first ultrasonic receiver is positioned at the front of described domestic robot;
First ultrasonic transmitter and the second ultrasonic transmitter, described first ultrasonic transmitter and described second ultrasonic transmitter lay respectively at the both sides of described first ultrasonic receiver, and described first ultrasonic transmitter and described second ultrasonic transmitter and described first ultrasonic receiver are the first angle;
Second ultrasonic receiver and the 3rd ultrasonic receiver, described second ultrasonic receiver and described 3rd ultrasonic receiver lay respectively at outside described first ultrasonic transmitter and the second ultrasonic transmitter, and described second ultrasonic receiver and described first ultrasonic transmitter are the second angle, described 3rd ultrasonic receiver and described second ultrasonic transmitter are described second angle.
7. domestic robot as claimed in claim 6, it is characterized in that, described first angle equals described second angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520164324.9U CN204525489U (en) | 2014-12-12 | 2015-03-23 | Domestic robot |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420784732X | 2014-12-12 | ||
| CN201420784732 | 2014-12-12 | ||
| CN201520164324.9U CN204525489U (en) | 2014-12-12 | 2015-03-23 | Domestic robot |
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| Publication Number | Publication Date |
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| CN204525489U true CN204525489U (en) | 2015-08-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520164324.9U Expired - Fee Related CN204525489U (en) | 2014-12-12 | 2015-03-23 | Domestic robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105739499A (en) * | 2016-03-17 | 2016-07-06 | 江苏物联网研究发展中心 | Multipath infrared and ultrasonic sensor distribution structure of autonomous mobile robot obstacle avoidance system |
| CN106142093A (en) * | 2014-12-12 | 2016-11-23 | 江苏美的清洁电器股份有限公司 | Domestic robot and control method thereof |
| CN107932503A (en) * | 2017-11-09 | 2018-04-20 | 苏州铭冠软件科技有限公司 | A kind of man-machine coordination operating system |
| WO2022041275A1 (en) * | 2020-08-31 | 2022-03-03 | 苏州铭冠软件科技有限公司 | Man-machine collaborative operation system |
-
2015
- 2015-03-23 CN CN201520164324.9U patent/CN204525489U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142093A (en) * | 2014-12-12 | 2016-11-23 | 江苏美的清洁电器股份有限公司 | Domestic robot and control method thereof |
| CN106142093B (en) * | 2014-12-12 | 2019-03-12 | 江苏美的清洁电器股份有限公司 | Domestic robot and its control method |
| CN105739499A (en) * | 2016-03-17 | 2016-07-06 | 江苏物联网研究发展中心 | Multipath infrared and ultrasonic sensor distribution structure of autonomous mobile robot obstacle avoidance system |
| CN107932503A (en) * | 2017-11-09 | 2018-04-20 | 苏州铭冠软件科技有限公司 | A kind of man-machine coordination operating system |
| WO2022041275A1 (en) * | 2020-08-31 | 2022-03-03 | 苏州铭冠软件科技有限公司 | Man-machine collaborative operation system |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: No. 39 Cao Hu road Xiangcheng Economic Development Zone in Suzhou City, Jiangsu province 215100 Patentee after: JIANGSU MIDEA CLEANING ELECTRICAL APPLIANCE CO., LTD. Address before: River Road, Suzhou City, Jiangsu Province, Li Xiangcheng District No. 999 215131 Patentee before: Jiangsu Midea Chunhua Electric Appliance Co., Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150805 Termination date: 20210323 |
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| CF01 | Termination of patent right due to non-payment of annual fee |