CN104571111B - Method for testing outdoor environment sensing capability of mobile robot - Google Patents
Method for testing outdoor environment sensing capability of mobile robot Download PDFInfo
- Publication number
- CN104571111B CN104571111B CN201510012175.9A CN201510012175A CN104571111B CN 104571111 B CN104571111 B CN 104571111B CN 201510012175 A CN201510012175 A CN 201510012175A CN 104571111 B CN104571111 B CN 104571111B
- Authority
- CN
- China
- Prior art keywords
- tested
- perception
- robot
- scene
- road
- 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.)
- Active
Links
Landscapes
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a method for testing the outdoor environment sensing capability of a mobile robot. The method involves an evaluation index system, a scene setting method, capacity testing steps and a result assessment table. According to sensing capacity testing of the mobile robot, the evaluation index system and an assessment method are designed, four key indexes, such as a target position, target speed, an environmental map and consumed time, sensed by the robot serve as evaluation criterions, three typical outdoor scene modes and corresponding testing steps are designed, and therefore quantitative evaluation of the outdoor environment sensing capability of the mobile robot is obtained under different scenes and different conditions.
Description
Technical field
The present invention relates to mobile robot Intellisense capability comparison field is and in particular to a kind of mobile robot is to outdoor
The method of testing of environment sensing ability.
Background technology
Mobile robot is in natural calamity and nuclear leakage rescue, polar region and Extraterrestrial adventure, military surveillance and operation, industry system
Make with material flows automation, civilian vehicle is intelligent, the aspect such as help the disabled of helping the elderly has broad application prospects, can replace the mankind from
Various dangerous, the heavy, scissors and paste of thing.Before perception mobile robot understands surrounding environment, execution task
Put forward condition, be the premise realizing intelligent decision.Chinese scholars have carried out substantial amounts of grinding in terms of mobile robot perception
Study carefully, developed various theoretical methods and technology, but the quality how evaluating various methods and techniques is one does not have
The problem solving.Therefore mobile robot perception test system is an up the Key Experiment equipment of robot autonomous ability.
The test system that patent of the present invention proposes by the research for mobile robot perception provide the experiment quantifying and
Test condition, the raising to the mobile robot capacity of will promoting China plays an important role.
Content of the invention
It is an object of the invention to：A kind of mobile robot outdoor environment perception method of testing is provided, can be to shifting
Mobile robot perception in outdoor environment is effectively tested and is evaluated.
The technical solution used in the present invention is：A kind of mobile robot outdoor environment perception method of testing, this test
Method and step is as follows：
Step one, 4 class key indexs of test evaluation index system：
1. the position of static object of tested mobile robot perception and deviation；
2. the position of moving target of tested mobile robot perception and rate curve；
3. tested mobile robot builds the coverage rate of environmental map and matching degree；
4. tested mobile robot completes the time-consuming of each task above-mentioned；
By 4 class key indexs of test evaluation index system, obtain tested robot perception static object thing far and near away from
From ability, the ability of spatial discrimination, to external world disturbing factor change resistivity, perception dynamic object thing speed become
Change, the ability of movement locus change, the perception coverage rate of environmental map and the ability of matching degree, and corresponding time cost；
Step 2, scene setting method are made up of following 3 kinds of typical scenes：
1st, towards the perception test scene of distant object thing；
2nd, the perception test scene of object-oriented motion mode；
3rd, towards the perception test scene of map structuring ability.
Further, the concrete setting under each scene in step 2, testing procedure are described below respectively：
1st, towards distant object thing perception test scene
Scene setting purpose：The size of fixed object, position is constant, weighs tested robot perception in outdoor scene
The ability of outdoor scene distant object thing；
Scene setting method：This test is carried out in outdoor, and the relatively small number of road of one section of vehicle of selection is as measurement ring
Border, object will with surrounding environment have significantly can discrimination, using red cylinder with base, cylinder bore is
20cm, high 1.5m about, measure tested robot and the distance between object true value using laser range finder；
Testing procedure：
(1) object is put centre position in the road；
(2) tested mobile robot is placed on yellow line and away from object 50m, as original position；
(3) start distant object thing is weighed, test simultaneously recording test time, meanwhile utilize laser ranging
The actual range of tested robot and object tested by instrument, saves as apart from true value；
(4) after detection terminates, tested mobile robot moves to next specified location, repeat step (3), carries out
Test, until tested robot finishes in the detection of all of specified location；
(5) repeat above step 3 times, record test result, fill in assessment form；
2nd, the perception test scene of object-oriented motion mode
Scene setting purpose：By the use of unmanned vehicle as target car, the position of tested robot immobilizes, and changes the fortune of target car
Dynamic speed, weighs the ability of the moving target thing of tested robot perception outdoor scene；
Scene setting method：In the less road of outdoor one section of vehicle of selection, tested robot is placed in the middle of road,
Done in front of it using target car accelerate, deceleration irregular speed travel weigh tested robot perception outdoor sport object speed
Ability；
Testing procedure：
(1) tested robot is put into specified location；
(2) motion target cart rests in the dead ahead of tested robot；
(3) after ready, motion target cart does irregular speed motion, utilizes the High Accuracy Inertial of target car itself to survey simultaneously
Speed system record is from the speed in the moment instantly as true value；
(4) tested robot starts to perceive the motion target cart speed of service, and keeps a record；
(5) repeat above-mentioned experiment 3 times, draw rate curve, and contrasted with true value target vehicle speed curve；
3rd, towards the perception test scene of map structuring ability
Scene setting purpose：Select one section of road, in local selection a few place position of keeping to the side of road as mark point, utilize
GPS system measures its coordinate value as true value, and puts cone cylinder as object of observation it is allowed to tested machine at here mark point
Device people is freely-movable in the road, provides the map of this section of road and puts GPS point coordinate at cone cylinder position, and when recording
Between, the ability of map is built for testing tested robot；
Scene setting method：In selected road, select several near the position of road edge as mark point, profit
Measured the gps coordinate of this several mark point and record as true value in the navigation positioning system of Centimeter Level with accuracy,
On mark point at these, put the detection that cone cylinder of the same size is used for characteristic point as object；
Testing procedure：
(1) tested robot is placed in the beginning of road；
(2) allow tested robot freely to walk at the beginning of road to end, and record the perception used time；
(3), after perception test terminates, tested robot provides the global map of this section of road and is placed with the position of object
Put gps coordinate a little；
(4) repeat the above steps 3 times, record test result, fill in assessment form.
Present invention advantage compared with prior art is：
(1), test condition selects flexibly：The platform built is again it is considered that tested robot is during actual job
May faced by weather changeable, environment is complicated, situations such as, closer to actual conditions.
(2), testing scheme of the present invention covers multiple test scenes and testing scheme, has accomplished the wide spy of covering scope
Point.Testing scheme has been accomplished to consider the perception of tested robot from multiple chi width spaces, makes every effort to accomplish the scene designing more
The perception of tested robot can really be reflected comprehensively.
Brief description
Fig. 1 is the perception test scene towards distant object thing.
Fig. 2 is the perception test scene of object-oriented motion mode.
Fig. 3 is the perception test scene towards map structuring ability.
Specific embodiment
Below in conjunction with the accompanying drawings technical scheme is described in detail：
A kind of mobile robot outdoor environment perception method of testing of the present invention, it is characterized in that this method of testing by
Assessment indicator system, scene setting method, aptitude tests step and four parts of outcome evaluation form form.
Assessment indicator system is made up of following 4 class key indexs：
1. the position of static object of tested mobile robot perception and deviation.
2. the position of moving target of tested mobile robot perception and rate curve.
3. tested mobile robot builds the coverage rate of environmental map and matching degree.
4. tested mobile robot completes the time-consuming of each task above-mentioned.
Above test index system, covers the ability of tested robot perception static object thing far and near distance, space is divided
The ability distinguished, the resistivity of disturbing factor change to external world, the velocity variations of perception dynamic object thing, movement locus change
Ability, the perception coverage rate of environmental map and the ability of matching degree, and corresponding time cost.
Scene setting method is made up of following 3 kinds of typical scenes：
1st, towards the perception test scene of distant object thing
2nd, the perception test scene of object-oriented motion mode
3rd, towards the perception test scene of map structuring ability
Concrete setting under each scene, testing procedure and assessment form are described below respectively：
(1) towards distant object thing perception test scene (accompanying drawing 1)
Scene setting purpose：The size of fixed object, position is constant.Tested robot perception is weighed in outdoor scene
The ability of outdoor scene distant object thing.
Scene setting method：This test is carried out in outdoor, and the relatively small number of road of one section of vehicle of selection is as measurement ring
Border, object will with surrounding environment have significantly can discrimination, using the red cylinder with base, (cylinder bore is
20cm, high 1.5m about), measure tested robot and the distance between object true value using laser range finder.
Testing procedure：
(1) object is put centre position (at yellow line) in the road；
(2) tested mobile robot is placed on yellow line and from object 50m (also can more distant positions) place, as rising
Beginning position；
(3) start distant object thing is weighed, test simultaneously recording test time.Meanwhile utilize laser ranging
The actual range of tested robot and object tested by instrument, saves as apart from true value；
(4) after detection terminates, tested mobile robot moves to next specified location, repeats (3) step, carries out
Test, until tested robot finishes in the detection of all of specified location；
(5) repeat above step 3 times, record test result, fill in assessment form.
Assessment form is as follows：
Table 1 is towards the perception test capability evaluation table of distant object thing
(2) the perception test scene of object-oriented motion mode
Scene setting purpose：By the use of unmanned vehicle as target car, the position of tested robot immobilizes, and changes the fortune of target car
Dynamic speed, weighs the ability of the moving target thing of tested robot perception outdoor scene.
Scene setting method：In the less road of outdoor one section of vehicle of selection, tested robot is placed in the middle of road,
Done in front of it using target car and the irregular speed such as accelerate, slow down travel measurement tested robot perception outdoor sport object speed
The ability of degree.
Testing procedure：
(1) tested robot is put into specified location；
(2) motion target cart rests in the dead ahead of tested robot；
(3) after ready, motion target cart does irregular speed motion, utilizes the High Accuracy Inertial of target car itself to survey simultaneously
Speed system record is from the speed in the moment instantly as true value；
(4) tested robot starts to perceive the motion target cart speed of service, and keeps a record；
(5) repeat above-mentioned experiment 3 times, draw rate curve, and contrasted with true value target vehicle speed curve.
(3) towards the perception test scene of map structuring ability
Scene setting purpose：Select one section of road, in local selection a few place position of keeping to the side of road as mark point, utilize
GPS system measures its coordinate value as true value, and puts cone cylinder as object of observation at here mark point.Allow tested machine
Device people is freely-movable in the road, provides the map of this section of road and puts GPS point coordinate at cone cylinder position, and when recording
Between.Build the ability of map for testing tested robot.
Scene setting method：In selected road, select several near the position of road edge as mark point, profit
Measured the gps coordinate of this several mark point and record as true value in the navigation positioning system of Centimeter Level with accuracy.
On mark point at these, put the detection that cone cylinder of the same size is used for characteristic point as object.
Testing procedure：
(1) tested robot is placed in the beginning of road；
(2) allow tested robot freely to walk at the beginning of road to end, and record the perception used time；
(3), after perception test terminates, tested robot provides the global map of this section of road and is placed with the position of object
Put gps coordinate a little；
(4) repeat the above steps 3 times, record test result, fill in assessment form.
Assessment form is as follows：
Table 2 is the coverage rate assessment record form of outdoor map
Table 3 is the matching degree assessment record form of outdoor map
Table 4 is that outdoor map detection is time-consuming
| Initial time | The termination time | Detection time |
Specific embodiment is：
Outdoor scene is carried out on one section of road, and this rto request vehicle flowrate should lack as far as possible, and can
There is the traveling for target car for the sufficiently long straight way, be additionally present of bend for the structure of topographic map.
With an automatic driving vehicle for tested mobile robot, this automatic driving car is perceptually all with vision and radar
The means in collarette border.Arrangement test scene carries out perception test：
1st, towards the perception test of distant object thing
In the Road Site selecting, determine the interval of each measurement position point using cone cylinder, unmanned vehicle is from starting position
Place is tested, and tests out the actual distance from object for the sensor position as true by the use of laser range finder during test
Value record.After having tested current location point, move at the location point of next cone cylinder representative, repeat the above steps carry out testing simultaneously
Record test result.
2nd, the perception test of object-oriented motion mode
On the road straight way selecting, tested robot is placed in the middle position of road.Target car row in front of it
Sail, simultaneously by the use of target car itself High Accuracy Inertial velocity-measuring system record from the moment instantly speed as true value.Tested
Robot is recorded by the movement velocity of sensor senses target car and by speed and time in fixed position simultaneously.
3rd, towards the perception test scrnario testing of map structuring ability
On the outdoor road selecting, put at the position of the precise marking point being determined by navigation positioning system in advance
Cone cylinder is as characteristic point and object.Unmanned vehicle starts perception test from road original position and adjoint timing starts, unmanned
Car travels to road end position perception to be terminated and terminates with timing.After perception terminates, provide overall topographic map and mark
Remember the gps coordinate pointed out.
Non-elaborated part of the present invention belongs to the known technology of those skilled in the art.
Claims (1)
1. a kind of mobile robot outdoor environment perception method of testing it is characterised in that：This method of testing step is as follows：
Step one, 4 class key indexs of test evaluation index system：
1. the position of static object of tested mobile robot perception and deviation；
2. the position of moving target of tested mobile robot perception and rate curve；
3. tested mobile robot builds the coverage rate of environmental map and matching degree；
4. tested mobile robot completes the time-consuming of each task above-mentioned；
By 4 class key indexs of test evaluation index system, obtain tested robot perception static object thing far and near distance
Ability, the ability of spatial discrimination, the resistivity of disturbing factor change to external world, the velocity variations of perception dynamic object thing, fortune
The ability of dynamic trail change, the perception coverage rate of environmental map and the ability of matching degree, and corresponding time cost；
Step 2, scene setting method are made up of following 3 kinds of typical scenes：
1st, towards the perception test scene of distant object thing；
2nd, the perception test scene of object-oriented motion mode；
3rd, towards the perception test scene of map structuring ability；
Concrete setting under each scene in step 2, testing procedure are described below respectively：
1st, towards distant object thing perception test scene
Scene setting purpose：The size of fixed object, position is constant, weighs tested robot perception outdoor in outdoor scene
The ability of scene distant object thing；
Scene setting method：This test is carried out in outdoor, and the relatively small number of road of one section of vehicle of selection is as measuring environment, mesh
Mark thing will with surrounding environment have significantly can discrimination, using red cylinder with base, cylinder bore is 20cm, height
1.5m about, measure tested robot and the distance between object true value using laser range finder；
Testing procedure：
(1) object is put centre position in the road；
(2) tested mobile robot is placed on yellow line and away from object 50m, as original position；
(3) start distant object thing is weighed, test simultaneously recording test time, meanwhile utilize laser range finder to survey
Try the actual range of tested robot and object, save as apart from true value；
(4) after detection terminates, tested mobile robot moves to next specified location, repeat step (3), is surveyed
Examination, until tested robot finishes in the detection of all of specified location；
(5) repeat above step 3 times, record test result, fill in assessment form；
2nd, the perception test scene of object-oriented motion mode
Scene setting purpose：By the use of unmanned vehicle as target car, the position of tested robot immobilizes, and changes the motion speed of target car
Degree, weighs the ability of the moving target thing of tested robot perception outdoor scene；
Scene setting method：In the less road of outdoor one section of vehicle of selection, tested robot is placed in the middle of road, utilizes
Target car do in front of it accelerate, deceleration irregular speed travel weigh tested robot perception outdoor sport object speed energy
Power；
Testing procedure：
(1) tested robot is put into specified location；
(2) motion target cart rests in the dead ahead of tested robot；
(3), after ready, motion target cart does irregular speed motion, and tested the speed using the target car High Accuracy Inertial of itself is simultaneously
System record is from the speed in the moment instantly as true value；
(4) tested robot starts to perceive the motion target cart speed of service, and keeps a record；
(5) repeat above-mentioned experiment 3 times, draw rate curve, and contrasted with true value target vehicle speed curve；
3rd, towards the perception test scene of map structuring ability
Scene setting purpose：Select one section of road, in local selection a few place position of keeping to the side of road as mark point, using GPS
Systematic survey goes out its coordinate value as true value, and puts cone cylinder as object of observation it is allowed to tested machine at here mark point
People is freely-movable in the road, provides the map of this section of road and puts GPS point coordinate at cone cylinder position, and when recording
Between, the ability of map is built for testing tested robot；
Scene setting method：In selected road, select several near the position of road edge as mark point, using essence
Exactness is measured the gps coordinate of this several mark point and is recorded as true value in the navigation positioning system of Centimeter Level, at this
On a little places mark point, put the detection that cone cylinder of the same size is used for characteristic point as object；
Testing procedure：
(1) tested robot is placed in the beginning of road；
(2) allow tested robot freely to walk at the beginning of road to end, and record the perception used time；
(3), after perception test terminates, tested robot provides the global map of this section of road and is placed with the location point of object
Gps coordinate；
(4) repeat the above steps 3 times, record test result, fill in assessment form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510012175.9A CN104571111B (en) | 2015-01-09 | 2015-01-09 | Method for testing outdoor environment sensing capability of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510012175.9A CN104571111B (en) | 2015-01-09 | 2015-01-09 | Method for testing outdoor environment sensing capability of mobile robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104571111A CN104571111A (en) | 2015-04-29 |
| CN104571111B true CN104571111B (en) | 2017-02-22 |
Family
ID=53087436
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510012175.9A Active CN104571111B (en) | 2015-01-09 | 2015-01-09 | Method for testing outdoor environment sensing capability of mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104571111B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106323335B (en) * | 2015-07-02 | 2023-05-02 | 中国科学院沈阳自动化研究所 | Reconfigurable indoor mobile robot navigation performance evaluation instrument and evaluation method thereof |
| CN105911986A (en) * | 2016-04-25 | 2016-08-31 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle perception test system and test method |
| CN110954922B (en) * | 2018-09-27 | 2021-08-24 | 千寻位置网络有限公司 | Method and device for automatically identifying scene of GNSS dynamic drive test |
| CN109738198B (en) * | 2018-12-14 | 2024-06-11 | 北京百度网讯科技有限公司 | Method, device, equipment and storage medium for detecting vehicle environment awareness |
| CN109492951A (en) * | 2018-12-27 | 2019-03-19 | 广州供电局有限公司 | Creation method, device and the computer equipment of robot maturity assessment model |
| CN110390810B (en) * | 2019-07-25 | 2020-11-17 | 中国科学院合肥物质科学研究院 | Remote controller of high-mobility ground unmanned platform and remote control method thereof |
| GB2598142A (en) * | 2020-08-20 | 2022-02-23 | Aptiv Tech Ltd | Testing method for vehicle-mounted sensors, testing system, observation vehicle and test vehicle |
| CN112330122A (en) * | 2020-10-28 | 2021-02-05 | 中国计量大学 | Floor sweeping robot intelligent degree quantitative evaluation method and system |
| CN112887172B (en) * | 2021-02-19 | 2023-03-24 | 北京百度网讯科技有限公司 | Vehicle perception system test method, device, equipment and storage medium |
| CN113419233A (en) * | 2021-06-18 | 2021-09-21 | 阿波罗智能技术(北京)有限公司 | Method, device and equipment for testing perception effect |
| CN113674451B (en) * | 2021-10-19 | 2022-01-04 | 北京智能车联产业创新中心有限公司 | Method and device for testing perception delay performance of automatic driving vehicle |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004047130A1 (en) * | 2004-09-27 | 2006-04-13 | Daimlerchrysler Ag | Environment and surroundings modeling for autonomous mobile systems including industrial robots involves computer classifying objects and surrounding spaces in accordance with given criteria |
| CN103707298A (en) * | 2013-12-06 | 2014-04-09 | 中国民航大学 | Evaluation method of continuum robot spatial path tracking effect |
-
2015
- 2015-01-09 CN CN201510012175.9A patent/CN104571111B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004047130A1 (en) * | 2004-09-27 | 2006-04-13 | Daimlerchrysler Ag | Environment and surroundings modeling for autonomous mobile systems including industrial robots involves computer classifying objects and surrounding spaces in accordance with given criteria |
| CN103707298A (en) * | 2013-12-06 | 2014-04-09 | 中国民航大学 | Evaluation method of continuum robot spatial path tracking effect |
Non-Patent Citations (3)
| Title |
|---|
| "Map Quality Assessment";Asim Imdad Wagan 等;《PerMIS’08》;20080821;第1页左栏-第4页右栏 * |
| "基于轨迹分析的自主导航性能评估方法";王勇鑫 等;《计算机工程》;20110331;第37卷(第6期);全文 * |
| "自主移动机器人导航与定位性能测试设备研究";周维 等;《高技术通讯》;20140731;第24卷(第7期);第752页左栏-第757页左栏 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104571111A (en) | 2015-04-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104571111B (en) | Method for testing outdoor environment sensing capability of mobile robot | |
| CN108733053A (en) | A kind of Intelligent road detection method based on robot | |
| CN105203551A (en) | Car-mounted laser radar tunnel detection system, autonomous positioning method based on tunnel detection system and tunnel hazard detection method | |
| CN207649604U (en) | A kind of intelligent landform survey system based on unmanned plane | |
| CN102749071A (en) | Method for monitoring soil erosion based on unmanned aerial vehicle aerial photography | |
| CN206772257U (en) | A kind of bridge section model system based on High Performance Unmanned Aerial Vehicle | |
| CN105676870A (en) | Photo control point information collecting method and system based on unmanned plane | |
| CN106017342A (en) | Three-dimensional-live-action-model-based automatic detection and system for building changing | |
| CN110207681A (en) | Land subsidence monitoring method based on unmanned plane | |
| JP6465421B1 (en) | Structural deformation detector | |
| CN107709926A (en) | The mobile ground mapping of automation | |
| CN106970613A (en) | Method and apparatus for running vehicle that at least one portion is automated or supermatic | |
| CN113804154A (en) | Road surface subsidence detection method and device based on satellite and unmanned aerial vehicle remote sensing | |
| CN106777893A (en) | A kind of method for recognizing city space multi-pollutant source using removable contamination detector | |
| CN103983978B (en) | A kind of airport wheelmark method of testing | |
| CN105571636A (en) | Target positioning method and measuring equipment | |
| CN105607100B (en) | A kind of polar glacier movement automation monitoring system and monitoring method | |
| CN112033389A (en) | Deformation settlement monitoring method under gully terrain condition | |
| Jiang et al. | Bridge coating inspection based on two-stage automatic method and collision-tolerant unmanned aerial system | |
| CN110836661A (en) | Sky pit parameter measuring method | |
| CN105652303A (en) | Rapid contact-free positioning method for mountainous area field sampling based on mobile electronic equipment such as Pad | |
| CN107340529A (en) | A kind of spaceborne frequency measurement localization method, device and system | |
| Pytka et al. | IMUMETER-AI-Based Sensor for Airplane Motion Measurements | |
| CN106323335B (en) | Reconfigurable indoor mobile robot navigation performance evaluation instrument and evaluation method thereof | |
| CN204718615U (en) | A kind of restructural indoor mobile robot navigation performance assessment instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230412 Address after: 230088 China (Anhui) Free Trade Pilot Zone, Hefei City, Anhui Province 3201, Building A1, Phase I, Zhong'an Chuanggu Science Park, No. 900, Wangjiang West Road, High-tech Zone, Hefei City Patentee after: Anhui Zhongke Xingchi Automatic Driving Technology Co.,Ltd. Address before: 230031 No. 350 Lake Road, Hefei, Anhui, Shushan Patentee before: HEFEI INSTITUTES OF PHYSICAL SCIENCE, CHINESE ACADEMY OF SCIENCES |
|
| TR01 | Transfer of patent right |