CN109733221A - A kind of reception device and processing method adjusting AGV wireless charging - Google Patents
A kind of reception device and processing method adjusting AGV wireless charging Download PDFInfo
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- CN109733221A CN109733221A CN201910161864.4A CN201910161864A CN109733221A CN 109733221 A CN109733221 A CN 109733221A CN 201910161864 A CN201910161864 A CN 201910161864A CN 109733221 A CN109733221 A CN 109733221A
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- 238000001514 detection method Methods 0.000 claims abstract description 90
- 230000008878 coupling Effects 0.000 claims abstract description 16
- 238000010168 coupling process Methods 0.000 claims abstract description 16
- 238000005859 coupling reaction Methods 0.000 claims abstract description 16
- 238000004804 winding Methods 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 13
- 239000003990 capacitor Substances 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
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- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
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- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000015572 biosynthetic process Effects 0.000 description 1
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Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention belongs to wireless charging technical fields, and in particular to a kind of reception device and processing method for adjusting AGV wireless charging.The reception device includes main coil, and it is located at the leftward position detection coil and right positions detection coil of main coil two sides, main coil, leftward position detection coil, right positions detection coil pass through litz wire coiling and are formed, the litz wire fineness degree for wherein forming main coil is greater than the litz wire fineness degree for forming leftward position detection coil, right positions detection coil, and magnetic core is also covered on main coil.The relative position between the receiving end AGV and the shoe of transmitting terminal is adjusted, AGV charging is realized in control AGV or so offset.During the charging of AGV mobile wireless, it ensure that the degree of coupling of receiving coil and transmitting coil, reduce system cost, improve the wireless charging efficiency of AGV.
Description
Technical field
The invention belongs to wireless charging technical fields, and in particular to it is a kind of adjust AGV wireless charging reception device and place
Reason method.
Background technique
AGV is magnetically or optically to wait homing devices equipped with electricity, can travel along defined guide path, have safety
The transport vehicle of protection and various transfer functions.Its traveling road and behavior can be generally controlled by computer, or utilize electromagnetism
Track sets up its travelling route, and electromagnetic path sticks on floor, and automatic guided vehicle then follows news brought by electromagnetic path
Breath is moved and is acted.
At present in the wireless charging system for providing electric energy for AGV, transmitting coil is mainly the laying side of buried long strip type
Formula.In practical charging process, the receiving coil of AGV it is opposite with transmitting coil more just, the degree of coupling is better, and system effectiveness is got over
It is high.In order to improve system to the charge efficiency of AGV, what is generally taken is with the mode of fixed guide rail or additional laser navigation etc.
Mode, but shift in traveling charging process for AGV trolley, reduce the coupling between transmitting coil and receiving coil
It is right, then influence the efficiency of charging.
Summary of the invention
For the problems of the prior art, the present invention provide it is a kind of adjust AGV wireless charging reception device and processing side
Method, during the charging of AGV mobile wireless, by adjusting the degree of coupling of receiving coil and transmitting coil, reduce system at
This, improves the wireless charging efficiency of AGV.
To achieve the above object, the present invention is achieved by the following technical solutions:
The present invention provides a kind of reception device for adjusting AGV wireless charging, is characterized in that
The reception device includes main coil, and is located at the leftward position detection coil and right positions of main coil two sides
Detection coil, main coil, leftward position detection coil, right positions detection coil pass through litz wire coiling and are formed, wherein shape
It is greater than at the litz wire fineness degree of main coil and forms leftward position detection coil, the litz wire thickness of right positions detection coil
Degree, is also covered with magnetic core on main coil.
Further, the main coil has load by adjusting network connection.
Further, the leftward position detection coil, right positions detection coil pass through each self-rectifying of capacitance connection
The input terminal of circuit, leftward position detection coil, the output end connection of each self-rectifying circuit of right positions detection coil are respective
Detect potential circuit.
Further, the reception device of the AGV is located above the shoe of transmitting terminal, and shoe is with strip guide rail
Mode is laid with.
The present invention provides a kind of processing method for adjusting AGV wireless charging, is characterized in that
Main coil, leftward position detection coil, right positions detection coil are arranged to the reception device inside of AGV, wherein main line
Circle, leftward position detection coil, right positions detection coil pass through litz wire winding method and form respective coiling area, will
The reception device of AGV is placed on above the shoe of transmitting terminal, by adjusting the phase between AGV reception device and shoe
To position, the mobile realization AGV charging of AGV or so offset is controlled.
Further, the shoe be strip guide rail mode be laid with transmitting coil, reception device with main coil,
Leftward position detection coil, right positions detection coil position be located above transmitting coil, pass through shoe and receive line
The mutual inductance M of generation is coupled between circle to adjust position of the receiving coil above shoe.
Further, the winding method be to be formed main coil litz wire fineness degree be greater than form leftward position detection line
The litz wire of circle, right positions detection coil.
Further, the input voltage of transmitting terminal is U, and the inductance of transmitting coil is L, leftward position detection coil and the right side
The equal series capacitance of side position detection coil compensates after passing through rectification, then leftward position detection coil, right positions detection line
Circle is connected in series to the capacitor the voltage after compensation rectifies, i.e. the ratio of π MU and 2L √ 2.
Further, after the voltage obtained after the coupling of acquisition leftward position detection coil is coupled with right positions detection coil
The obtained voltage difference between voltage judged using the difference and threshold value of voltage difference,
When difference is lower than threshold value, then the shoe face of the power pick-up winding and transmitting terminal of the current receiving end AGV；
When difference is higher than threshold value, and after the coupling of right positions detection coil obtained voltage is higher, then the current receiving end AGV
There is left avertence in the shoe of power pick-up winding and transmitting terminal, and control AGV trolley is turned right offset；
When difference is higher than threshold value, and after the coupling of leftward position detection coil obtained voltage is higher, then the current receiving end AGV
There is right avertence in the shoe of power pick-up winding and transmitting terminal, and control AGV trolley is turned left side offset.
Compared with prior art, the present invention it has the beneficial effect that
In the mobile wireless charging process of AGV, the receiving end of AGV is taken into special winding method and connects corresponding
The relative position of AGV and shoe is adjusted using algorithm, ensure that between receiving coil and transmitting coil for distribution network
The degree of coupling reduces system cost, to improve the wireless charging efficiency of AGV.Simultaneously because the shielding of left and right sides coil
Effect, reduces influence of the magnetic field to environment.
Detailed description of the invention
Fig. 1 is the receiving coil schematic diagram of internal structure of AGV；
Fig. 2 a is the corresponding matching network structural schematic diagram of the main coil of receiving coil；
Fig. 2 b is the corresponding matching network structural schematic diagram of the leftward position detection coil of receiving coil；
Fig. 2 c is the corresponding matching network structural schematic diagram of the right positions detection coil of receiving coil；
Fig. 3 a is receiving coil and shoe relative position schematic diagram 1；
Fig. 3 b is receiving coil and shoe relative position schematic diagram 2；
Fig. 3 c is receiving coil and shoe relative position schematic diagram 3.
Description of symbols: 1, main coil, 2, leftward position detection coil, 3, right positions detection coil, 4, shoe.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
One step it is described in detail.
Embodiment 1
In the mobile wireless charging process of AGV, it is arranged in what the strip guide rail that the transmitting coil of transmitting terminal is generally taken was laid with
Mode, refers to the paving mode using shoe in this application, and a part as reception device, the reception of AGV
End is then located at the top of shoe.
The reception end memory of AGV is having receiving coil, and receiving coil mainly consists of three parts: main coil, left lateral position
Set detection coil, right positions detection coil.Main line is located at for leftward position detection coil, right positions detection coil
The two sides of circle, and main coil is realized by power pick-up winding.
The special winding method claimed for the application is specifically, the litz wire fineness degree of coiling formation main coil is big
The litz wire fineness degree of leftward position detection coil, right positions detection coil is formed in coiling, the litz wire of main coil is thicker,
For carrying out power transmission signal, the position detection coil of left and right sides is relatively thin, be as detection signal come using.
Power pick-up winding as main coil is provided with corresponding matching network, and corresponding matching network is connection
The adjustment network of main coil, and the output end for adjusting network connects with load, is covered with magnetic core above main coil coiling area.
Leftward position detection coil is also connected with corresponding matching network, and covers above the litz wire in coiling area without magnetic core
The litz wire top of lid, the corresponding matching network of same right positions detection coil connection, coiling area does not have magnetic core
Covering；Leftward position detection coil is identical with the matching network connection type of right positions detection coil, is to pass through series electrical
Rectification circuit, the output end connecting detection potential circuit of rectification circuit are connected after appearance.According to Fig. 1, receiving coil is divided into three areas
Domain, main coil are power receiving coil, and top needs to cover magnetic sheet to reinforce the degree of coupling；Leftward position detection coil and right side
Position detection coil, top can reduce car body weight and power consumption without covering magnetic sheet.
The Distribution of Magnetic Field approaches uniformity that strip guide rail transmitting coil generates, corresponding of left-right position detection coil
The voltage that distribution network generates is approximately equal.Since, there are factors such as material discretenesses, the application is according to a left side in actual production process
The voltage difference that right position detection coil respectively couples generation is compared with preset threshold value, then according to threshold decision
Whether AGV receiving coil is aligned with transmitting terminal, and then ensure that the charge efficiency of system.
In Fig. 2 a to Fig. 2 c, main coil cooperates different adjustment Web vector graphics according to the difference of load.Leftward position inspection
Test coil and the necessary series capacitance C of right positions detection coil are gone here and there between inductance and rectification circuit by rectification post-compensation
Join capacitor C, and the output termination detection potential circuit of rectification circuit.
Assuming that the input voltage of transmitting equipment is U, the sensibility reciprocal of shoe is L, between shoe and receiving coil
Mutual inductance is M.It can be concluded that the voltage that receiving coil is connected in series to the capacitor after compensation rectification is.It can be found that normal
In the case where operation, the voltage is only related to M, that is, the relative position between shoe and receiving coil is related, this
The voltage that leftward position detection coil couples is denoted as the left side U by place, and the voltage that right positions detection coil couples is denoted as U
It is right.
In the case that the receiving end of AGV trolley is aligned with shoe, the position detection coil positioned at main coil two sides is produced
Raw voltage value be it is identical, due to production technology error, in the present invention fix tentatively 0.1V be main coil be aligned with shoe
Voltage difference threshold value when position.In Fig. 3 a to Fig. 3 c, the voltage U left and right side position that leftward position detection coil couples is examined
The voltage difference between the right side voltage U that test coil couples is lower than threshold value, then transmitting coil face receiving coil, is not necessarily to adjustment
AGV trolley.
When receiving coil right avertence, i.e., in the case where the right direction offset of the midline position direction guiding rail of main coil, such as Fig. 3 b,
Voltage difference between the voltage that the voltage that leftward position detection coil couples is coupled with right positions detection coil is high
In threshold value, and the voltage of leftward position detection coil coupling is higher, just needs to control AGV trolley at this time and turns left side offset.
When receiving coil left avertence, i.e., in the case where the left direction offset of the midline position direction guiding rail of main coil, such as Fig. 3 c,
Voltage difference between the voltage that the voltage that leftward position detection coil couples is coupled with right positions detection coil is high
In threshold value, and the voltage of right positions detection coil coupling is higher, needs to control AGV trolley at this time and turns right offset.
By to opposite between main coil and shoe of the judgement to adjust AGV trolley between voltage difference and threshold value
Position ensure that the degree of coupling of receiving coil transmitting coil, reduce system cost, to improve the wireless charging effect of AGV
Rate.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment includes
One independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should incite somebody to action
As a whole, the technical solutions in the various embodiments may also be suitably combined for specification, and forming those skilled in the art can
With the other embodiments of understanding.
Claims (9)
1. a kind of reception device for adjusting AGV wireless charging, it is characterised in that:
The reception device includes main coil, and is located at the leftward position detection coil and right positions of main coil two sides
Detection coil, main coil, leftward position detection coil, right positions detection coil pass through litz wire coiling and are formed, wherein shape
It is greater than at the litz wire fineness degree of main coil and forms leftward position detection coil, the litz wire thickness of right positions detection coil
Degree, is also covered with magnetic core on main coil.
2. a kind of reception device for adjusting AGV wireless charging as described in claim 1, it is characterised in that:
The main coil has load by adjusting network connection.
3. a kind of reception device for adjusting AGV wireless charging as claimed in claim 2, it is characterised in that:
The leftward position detection coil, right positions detection coil pass through the input terminal of each self-rectifying circuit of capacitance connection,
The respective detection potential circuit of output end connection of leftward position detection coil, each self-rectifying circuit of right positions detection coil.
4. a kind of reception device for adjusting AGV wireless charging as claimed in claim 3, it is characterised in that:
The reception device of the AGV is located above the shoe of transmitting terminal, and shoe is with the laying of strip guide rail mode.
5. a kind of processing method for adjusting AGV wireless charging, it is characterised in that:
Main coil, leftward position detection coil, right positions detection coil are arranged to the reception device inside of AGV, wherein main line
Circle, leftward position detection coil, right positions detection coil pass through litz wire winding method and form respective coiling area, will
The reception device of AGV is placed on above the shoe of transmitting terminal, by adjusting the phase between AGV reception device and shoe
To position, the mobile realization AGV charging of AGV or so offset is controlled.
6. a kind of processing method for adjusting AGV wireless charging as claimed in claim 5, it is characterised in that:
The shoe is the transmitting coil that strip guide rail mode is laid with, and reception device is detected with main coil, leftward position
Coil, right positions detection coil position be located above transmitting coil, by coupling production between shoe and receiving coil
Raw mutual inductance M adjusts position of the receiving coil above shoe.
7. a kind of processing method for adjusting AGV wireless charging as claimed in claim 6, it is characterised in that:
The winding method be to be formed main coil litz wire fineness degree be greater than formed leftward position detection coil, right positions inspection
The litz wire of test coil.
8. a kind of processing method for adjusting AGV wireless charging as claimed in claim 7, it is characterised in that:
The input voltage of transmitting terminal is U, and the inductance of transmitting coil is L, leftward position detection coil and right positions detection line
Equal series capacitance is enclosed by compensating after rectification, then leftward position detection coil, right positions detection coil are connected in series to the capacitor
Compensating the voltage after rectifying is。
9. a kind of processing method for adjusting AGV wireless charging as claimed in claim 8, it is characterised in that:
Obtain the voltage that is obtained after obtained voltage after the coupling of leftward position detection coil is coupled with right positions detection coil it
Between voltage difference, judged using the difference and threshold value of voltage difference；
When difference is lower than threshold value, then the shoe face of the power pick-up winding and transmitting terminal of the current receiving end AGV；
When difference is higher than threshold value, and after the coupling of right positions detection coil obtained voltage is higher, then the current receiving end AGV
There is left avertence in the shoe of power pick-up winding and transmitting terminal, and control AGV trolley is turned right offset；
When difference is higher than threshold value, and after the coupling of leftward position detection coil obtained voltage is higher, then the current receiving end AGV
There is right avertence in the shoe of power pick-up winding and transmitting terminal, and control AGV trolley is turned left side offset.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910161864.4A CN109733221A (en) | 2019-03-04 | 2019-03-04 | A kind of reception device and processing method adjusting AGV wireless charging |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910161864.4A CN109733221A (en) | 2019-03-04 | 2019-03-04 | A kind of reception device and processing method adjusting AGV wireless charging |
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| CN201910161864.4A Pending CN109733221A (en) | 2019-03-04 | 2019-03-04 | A kind of reception device and processing method adjusting AGV wireless charging |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110095049A (en) * | 2019-06-13 | 2019-08-06 | 美芯晟科技（北京）有限公司 | Charging contraposition detection circuit, electronic equipment and charging alignment detecting method |
| CN110370958A (en) * | 2019-08-23 | 2019-10-25 | 天津工业大学 | A kind of positioning auxiliary detection system of wireless charging |
| CN112350459A (en) * | 2020-12-03 | 2021-02-09 | 国网江苏省电力有限公司 | Anti-offset guide rail type dynamic wireless charging system and position correction method thereof |
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| CN104505893A (en) * | 2014-12-30 | 2015-04-08 | 湖北汽车工业学院 | Wireless charging unit of AGV (automated guided vehicle) |
| CN108683224A (en) * | 2018-05-22 | 2018-10-19 | 佛山科学技术学院 | A kind of wireless charging control method and system based on AGV intelligent carriages |
| US20180304755A1 (en) * | 2017-04-19 | 2018-10-25 | Qualcomm Incorporated | Vehicle-Side Beacon Mode for Wireless Electric Vehicle Charging |
| CN108725239A (en) * | 2018-05-03 | 2018-11-02 | 中国第汽车股份有限公司 | A kind of alignment device and its method for electric vehicle wireless charging |
| CN209852096U (en) * | 2019-03-04 | 2019-12-27 | 深圳赫兹创新技术有限公司 | Adjusting AGV wireless charging receiving device |
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2019
- 2019-03-04 CN CN201910161864.4A patent/CN109733221A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104505893A (en) * | 2014-12-30 | 2015-04-08 | 湖北汽车工业学院 | Wireless charging unit of AGV (automated guided vehicle) |
| US20180304755A1 (en) * | 2017-04-19 | 2018-10-25 | Qualcomm Incorporated | Vehicle-Side Beacon Mode for Wireless Electric Vehicle Charging |
| CN108725239A (en) * | 2018-05-03 | 2018-11-02 | 中国第汽车股份有限公司 | A kind of alignment device and its method for electric vehicle wireless charging |
| CN108683224A (en) * | 2018-05-22 | 2018-10-19 | 佛山科学技术学院 | A kind of wireless charging control method and system based on AGV intelligent carriages |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110095049A (en) * | 2019-06-13 | 2019-08-06 | 美芯晟科技（北京）有限公司 | Charging contraposition detection circuit, electronic equipment and charging alignment detecting method |
| CN110370958A (en) * | 2019-08-23 | 2019-10-25 | 天津工业大学 | A kind of positioning auxiliary detection system of wireless charging |
| CN112350459A (en) * | 2020-12-03 | 2021-02-09 | 国网江苏省电力有限公司 | Anti-offset guide rail type dynamic wireless charging system and position correction method thereof |
| CN112350459B (en) * | 2020-12-03 | 2022-08-02 | 国网江苏省电力有限公司 | Anti-offset guide rail type dynamic wireless charging system and position correction method thereof |
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Effective date of registration: 20191121 Address after: No. 015, Nanxin 7th Road, Gaoxin District, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Hertz Innovation Technology Co.,Ltd. Address before: 266000 Fusion Road 687, Guzhenkou Military-Civil Integration Innovation Demonstration Zone, Huangdao District, Qingdao City, Shandong Province Applicant before: HAINENG HEZI (QINGDAO) TECHNOLOGY Co.,Ltd. |
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Application publication date: 20190510 |
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