CN110054044A - AGV floor truck takes the interconnection system and method for elevator automatically - Google Patents
AGV floor truck takes the interconnection system and method for elevator automatically Download PDFInfo
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- CN110054044A CN110054044A CN201910378928.6A CN201910378928A CN110054044A CN 110054044 A CN110054044 A CN 110054044A CN 201910378928 A CN201910378928 A CN 201910378928A CN 110054044 A CN110054044 A CN 110054044A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 34
- 238000001514 detection method Methods 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
Abstract
The present invention discloses the interconnection system that a kind of AGV floor truck takes elevator automatically, including elevator control system and AGV control system, elevator control system includes electric life controller and AGV communications relay module, is connected between AGV communications relay module and electric life controller by the first protocol interface；AGV control system includes AGV control host, the network switch, several first wireless routers, the second wireless router and AGV signal adapter, is connected between AGV signal adapter and AGV communications relay module by second protocol interface；The AGV request signal that the AGV floor truck of corresponding floor issues is sent to AGV by the network switch and controls the control signal and elevator answer signal that host and reception AGV control host are issued by the network switch by the first wireless router, and AGV controls host and AGV signal adapter and passes through the network switch and the foundation communication connection of the second wireless router.In addition, invention additionally discloses a kind of methods that AGV floor truck takes elevator automatically.
Description
Technical field
The present invention relates to the interconnection systems that elevator technology field more particularly to a kind of AGV floor truck take elevator automatically
And method.
Background technique
It is more and more with the propulsion of national top layer strategic " intelligence manufacture 2025 " and the strategy of Germany's " industry 4.0 "
Manufacturing enterprise, modern resources-flow enterprises all doing intelligent, information-based upgrading, strive realizing elevator and AGV floor truck into
Row interconnects, and is farthest serviced for the factory of modernization, warehouse etc..But current interacted system with AGV
When floor truck is interconnected, complicated patching operations are usually carried out, and interacted system is easy to be kidnapped in turn, from
And influence the reliability of interacted system.
Therefore, it is necessary to interconnection system and method that a kind of AGV floor truck takes elevator automatically are provided, it is above-mentioned to solve
The deficiencies in the prior art.
Summary of the invention
The purpose of the present invention is to provide the interconnection system that a kind of AGV floor truck takes elevator automatically, it can be improved and be
The reliability of system.
The method for taking elevator automatically another object of the present invention is to mention AGV floor truck, can be improved system can
By property.
To achieve the goals above, the present invention provides the interconnection system that a kind of AGV floor truck takes elevator automatically, packets
Including elevator control system and AGV control system, the elevator control system includes electric life controller and AGV communications relay module,
It is connected between the AGV communications relay module and the electric life controller by the first protocol interface；The AGV control system packet
AGV control host, the network switch, several first wireless routers, the second wireless router and AGV signal adapter are included,
It is connected between the AGV signal adapter and the AGV communications relay module by second protocol interface；Several first nothings
Line router is respectively used to send out the AGV request signal that the AGV floor truck for corresponding to floor issues by the network switch
Send to the AGV control host and receive control signal that AGV control host is issued by the network switch with
Elevator answer signal passes through the network switch and the second nothing between the AGV control host and the AGV signal adapter
Line router establishes communication connection and is sent to the electric life controller with the AGV request signal that will be received and receives the electricity
The elevator answer signal that terraced controller issues.
Preferably, the second protocol interface includes parallel input interface and parallel output interface, the parallel input is connect
Mouthful several input points be respectively used to input the corresponding AGV request signal of corresponding floor, the parallel output interface it is several defeated
Point is respectively used to output for the corresponding elevator answer signal of corresponding floor out.
Preferably, the AGV communications relay module further includes primary processor, several input isolators, several outputs isolation
Device, several input indicators and several output indicators, several input isolators are correspondingly connected in the parallel input
Between several input points and the primary processor of interface, several output isolators are correspondingly connected with to be connect in the parallel output
Between several output points and the primary processor of mouth, several input indicators are correspondingly connected in the parallel input interface
Several input points and several input isolators between, several output indicators are correspondingly connected in the primary processor
Between several output isolators.
Preferably, first protocol interface is serial line interface.
Preferably, the AGV request signal includes that request carriage is run to the first outgoing call signal of place floor, request electricity
Ladder keeps the opening signal of door opening state, request carriage to run to the pass exhaled signal in destination and elevator is requested to be closed the door
Gate signal；The elevator answer signal includes that carriage reaches the arrival after corresponding to floor and open the door signal or the elevator in place
Answer signal includes that carriage reaches the carriage arriving signal of corresponding floor and the signal in place that opens the door.
Preferably, the AGV request signal further includes the whether normal second outgoing call signal of request detection elevator and asks
It asks and obtains the third outgoing call signal that elevator is in idle condition；The elevator answer signal, which further includes that elevator is normal or abnormal, answers
Answer signal and elevator be in idle condition under answer signal.
Preferably, the AGV control system further includes several AGV floor trucks of built-in with wireless module, several AGV
Floor truck, which sets up separately in different floors and respectively with the corresponding first wireless router wireless communication, to be connected.
In order to achieve the above-mentioned another object, multiplied automatically the present invention provides a kind of using AGV floor truck as described above
The method that the AGV floor truck of the interconnection system of elevator takes elevator automatically is sat, is included the following steps:
(1) the AGV floor truck issues request carriage and runs to the first outgoing call signal of floor where it；
(2) when the electric life controller receives the first outgoing call signal, control carriage is run to the AGV floor truck
Place floor simultaneously controls door-opened elevator in carriage operation afterwards in place；
(3) in door-opened elevator in place after, the electric life controller issues first and opens the door signal in place；
(4) it opens the door in place after signal in receiving described first, the AGV floor truck issues request elevator and keeps enabling shape
First opening signal of state；
(5) electric life controller is maintained at door opening state according to first opening signal control elevator received；
(6) cargo outside elevator is carried in carriage by the AGV floor truck；
(7) after the completion of cargo is handled upside down, the AGV floor truck issues request carriage and runs to exhaling in destination
Signal；
(8) electric life controller according to receive it is described in exhale signal control carriage run to destination and in carriage
Operation controls door-opened elevator afterwards in place；
(9) in door-opened elevator in place after, the electric life controller issues second and opens the door signal in place；
(10) it opens the door in place after signal in receiving described second, the AGV floor truck issues request elevator and keeps opening the door
Second opening signal of state；
(11) electric life controller is maintained at door opening state according to second opening signal control elevator received；
(12) cargo in carriage is carried to outside carriage and is driven out to carriage by the AGV floor truck；
(13) the AGV floor truck issues the door signal that request elevator is closed the door；
(14) electric life controller is closed the door according to the door signal control elevator received.
Preferably, before step (1) further include: whether the AGV floor truck issues request detection elevator normal
Second outgoing call signal；The electric life controller sends the normal answer signal of elevator to the AGV floor truck.
Preferably, before step (1) further include: the AGV floor truck issues request elevator and is in idle shape
The third outgoing call signal of state；The answer signal that the electric life controller is sent under elevator is in idle condition is carried to the AGV
Trolley.
Compared with prior art, the present invention by AGV communications relay module realize AGV control system and electric life controller it
Between communication, the AGV control host of AGV control system, the network switch, several first wireless routers and second are without route
Local communication network is formed by device, wherein the first wireless router is for passing through the AGV request signal that AGV floor truck issues
The network switch be sent to AGV control host and receive control signal that AGV control host is issued by the network switch and
Elevator answer signal, AGV are controlled and are established between host and AGV signal adapter by the network switch and the second wireless router
Communication connection is sent to electric life controller and is received the elevator that electric life controller issues and answered with the AGV request signal that will be received
Answer signal；So that the patching operations of interconnection system of the invention without complexity, and since AGV communication relay mould can be passed through
The customized communication protocol between electric life controller and AGV signal adapter of block, has been effectively ensured the reliability of interconnection system.
Moreover, the method that AGV floor truck of the invention takes elevator automatically can effectively ensure that AGV floor truck takes elevator automatically
Reliability.
Detailed description of the invention
Fig. 1 is the schematic block diagram for the interconnection system that AGV of embodiment of the present invention floor truck takes elevator automatically.
Fig. 2 is the schematic block diagram of AGV communications relay module of the embodiment of the present invention.
Fig. 3 is the flow chart for the method that AGV of embodiment of the present invention floor truck takes elevator automatically.
Specific embodiment
For the content, construction feature, the objects and the effects that the present invention will be described in detail, below in conjunction with embodiment and match
Attached drawing is closed to be explained in detail.
Referring to Fig. 1, the present invention provides the interconnection system that a kind of AGV floor truck takes elevator automatically, including elevator
Control system and AGV control system, elevator control system include electric life controller 1 and AGV communications relay module 2, in AGV communication
After between module 2 and electric life controller 1 pass through the first protocol interface I1 connection；AGV control system includes AGV control host 3, net
Network interchanger 4, several first wireless routers 5, the second wireless router 6 and AGV signal adapter 7, AGV signal adapter
Pass through second protocol interface I2 connection between 7 and AGV communications relay module 2；Several first wireless routers 5 are respectively used to will be right
The AGV request signal for answering the AGV floor truck 10 of floor to issue is sent to AGV control host 3 by the network switch 4 and connects
It receives AGV control host 3 and passes through control signal and elevator answer signal that the network switch 4 issues, AGV controls host 3 and AGV believes
Communication connection is established requesting the AGV received by the network switch 4 and the second wireless router 6 between number converter 7
Signal is sent to electric life controller 1 and receives the elevator answer signal that electric life controller 1 issues.Specifically, several first
Wireless router 5 is separately mounted to each layer elevator doorway nearby preferably to receive corresponding signal.
The present invention realizes the communication between AGV control system and electric life controller 1, AGV by AGV communications relay module 2
AGV control host 3, the network switch 4, several first wireless routers 5 and the formation of the second wireless router 6 of control system
Local communication network, wherein the first wireless router 5 is used to the AGV request signal that AGV floor truck 10 issues passing through network
Interchanger 4 be sent to AGV control host 3 and receive control signal that AGV control host 3 is issued by the network switch 4 and
Elevator answer signal, AGV, which is controlled, passes through the network switch 4 and the second wireless router 6 between host 3 and AGV signal adapter 7
Communication connection is established to be sent to electric life controller 1 with the AGV request signal that will be received and receive what electric life controller 1 issued
Elevator answer signal；So that the patching operations of interconnection system of the invention without complexity, and due to that can be communicated by AGV
The customized communication protocol between electric life controller 1 and AGV signal adapter 7 of trunk module 2, has been effectively ensured interconnection system
Reliability.
Referring to Fig. 2, in some embodiments, second protocol interface I2 includes that parallel input interface and parallel output connect
Mouthful, several input point X1-X20 of parallel input interface are respectively used to input the corresponding AGV request signal of corresponding floor, parallel defeated
Several output point Y1-Y10 of outgoing interface are respectively used to output for the corresponding elevator answer signal of corresponding floor；It is set by this
Meter only will affect the input of the corresponding AGV request signal of corresponding floor, when special needle when a certain input point Xn breaks down
When breaking down to the output point Yn of the corresponding elevator answer signal of a certain floor, corresponding elevator answer signal also only will affect
Output, to be conducive to the global reliability of system.Specifically, AGV request signal includes that request carriage is run to place building
Several first outgoing call signals, the request elevator of floor keep an opening signal of door opening state, request carriage to run to target building
Several interior door signals exhaled signal and elevator is requested to be closed the door of layer, if above-mentioned several signals and parallel input interface
Dry input point X1-X20 is corresponded；Elevator answer signal includes a pair of with several output point Y1-Y10 mono- of parallel output interface
The carriage answered reaches several arrival after corresponding floor and open the door signal or elevator answer signal in place include and parallel output
The one-to-one carriage of several output point Y1-Y10 of interface reaches several carriage arriving signals of corresponding floor and one is opened
Door signal in place.
Referring to Fig. 2, in some embodiments, AGV communications relay module 2 further include primary processor 21, several inputs every
From device D1-D20, several output isolator K1-K10, several input indicator D21-D40 and several output indicator D41-
D60, several input isolator D1-D20 are correspondingly connected with several input point X1-X20 and primary processor 21 in parallel input interface
Between, several output isolator K1-K10 are correspondingly connected with several output point Y1-Y10 and primary processor 21 in parallel output interface
Between, several input indicator D21-D40 are correspondingly connected with several input point X1-X20 and several inputs in parallel input interface
Between isolator D1-D20, several output indicator D41-D60 are correspondingly connected in primary processor 21 and several output isolator K1-
Between K10；By above-mentioned design, sound assurance system global reliability.As preferred embodiment, input isolator
D1-D20 is isolation optocoupler, and output isolator K1-K10 is disconnecting relay.Specifically, AGV communications relay module 2 further includes using
In the power module 22 powered to its each component units.
Referring to Fig. 2, in some embodiments, the first protocol interface I1 is serial line interface, in order to electric life controller 1
Connection；But not limited to this.Specifically, the first protocol interface I1 can be CAN interface I11, primary processor 21 and CAN interface
CAN chip 26 is connected between I11；First protocol interface I1 is also possible to RS485 interface I12, and primary processor 21 and RS485 connects
RS485 chip 27 is connected between mouth I12；First protocol interface I1 can also include CAN interface I11 and RS485 interface simultaneously
I12 is used with according to circumstances selectivity.
In some embodiments, AGV request signal includes that request carriage runs to the first outgoing call signal of place floor, asks
Ask elevator that the opening signal of door opening state, request carriage is kept to run to exhaling in destination signal and request elevator to close the door
Door signal；Elevator answer signal includes that carriage reaches the arrival after corresponding floor and opens the door that signal or elevator are answered in place
Answering signal includes that carriage reaches the carriage arriving signal of corresponding floor and the signal in place that opens the door.
In some embodiments, AGV request signal further include the whether normal second outgoing call signal of request detection elevator with
And the third outgoing call signal that request elevator is in idle condition；Elevator answer signal, which further includes that elevator is normal or abnormal, answers
Answer signal and elevator be in idle condition under answer signal.Specifically, parallel input interface includes dedicated for input
The input point of second outgoing call signal and third outgoing call signal, parallel output interface include dedicated for exporting corresponding answer signal
Output point.
In some embodiments, AGV communications relay module 2 and electric life controller 1 are set to elevator control cabinet jointly and (scheme not
Show), AGV signal adapter 7 is mounted in the elevator(lift) machine room where elevator control cabinet and (may be mounted on elevator control cabinet), from
And be conducive to the rational deployment and wiring of system.
In some embodiments, AGV signal adapter 7 is wireless or cable is connected to the second wireless router 6.
In some embodiments, AGV control system further includes several AGV floor trucks 10 of built-in with wireless module, several
AGV floor truck 10, which sets up separately in different floors and wirelessly communicates respectively with corresponding first wireless router 5, to be connected.
Incorporated by reference to Fig. 3, the mutual of elevator is taken automatically using AGV floor truck as described above the invention also discloses a kind of
The method that the AGV floor truck of system takes elevator automatically is linked, is included the following steps:
S1, AGV floor truck 10 issues request carriage and runs to the first outgoing call signal of floor where it；
When S2, electric life controller 1 receive the first outgoing call signal, control carriage is run to 10 place floor of AGV floor truck
And door-opened elevator is controlled afterwards in place in carriage operation；
S3, in door-opened elevator in place after, electric life controller 1 issues first and opens the door signal in place；
S4, in receiving the first enabling in place after signal, AGV floor truck 10 issues that request elevator keeps door opening state
One opening signal；
S5, electric life controller 1 are maintained at door opening state according to the first opening signal control elevator received；
Cargo outside elevator is carried in carriage by S6, AGV floor truck 10；
S7, after the completion of cargo is handled upside down, AGV floor truck 10 issues request carriage and runs to exhaling letter in destination
Number；
S8, electric life controller 1 are according to exhaling signal control carriage to run to destination and run in carriage in receiving
Door-opened elevator is controlled behind position；
S9, in door-opened elevator in place after, electric life controller 1 issues second and opens the door signal in place；
S10, in receiving the second enabling in place after signal, AGV floor truck 10 issues request elevator and keeps door opening state
Second opening signal；
S11, electric life controller 1 are maintained at door opening state according to the second opening signal control elevator received；
Cargo in carriage is carried to outside carriage and is driven out to carriage by S12, AGV floor truck 10；
S13, AGV floor truck 10 issues the door signal that request elevator is closed the door；
S14, electric life controller 1 are closed the door according to the door signal control elevator received.
The method for taking elevator automatically by above-mentioned AGV floor truck has been effectively ensured AGV floor truck and has taken electricity automatically
The reliability of ladder.
In some embodiments, equipped with fixed outgoing call point, AGV floor truck 10 is moved to fixed outgoing call point Shi Caifa
Request carriage is run to the first outgoing call signal of floor where it out；To the global reliability of effective lifting system.
In some embodiments, before step (1) further include: whether AGV floor truck 10 issues request detection elevator
Normal second outgoing call signal；Electric life controller 1 sends the normal answer signal of elevator to AGV floor truck 10.
In some embodiments, before step (1) further include: AGV floor truck 10 issues request elevator and is in
The third outgoing call signal of idle state；It is small to AGV carrying that electric life controller 1 sends the answer signal under elevator is in idle condition
Vehicle 10.
The above disclosure is only a preferred embodiment of the invention, cannot limit the right of the present invention with this certainly
Range, therefore according to equivalent variations made by scope of the present invention patent, it is still within the scope of the present invention.
Claims (10)
1. the interconnection system that a kind of AGV floor truck takes elevator automatically characterized by comprising
Elevator control system, the elevator control system include electric life controller and AGV communications relay module, the AGV communication
It is connected between trunk module and the electric life controller by the first protocol interface；And
AGV control system, the AGV control system include AGV control host, the network switch, several first wireless routers,
Second wireless router and AGV signal adapter lead between the AGV signal adapter and the AGV communications relay module
Cross the connection of second protocol interface；
Several first wireless routers are respectively used to lead to the AGV request signal that the AGV floor truck for corresponding to floor issues
It crosses the network switch and is sent to the AGV control host and receives the AGV control host and pass through the network exchange
The control signal and elevator answer signal that machine issues, by described between the AGV control host and the AGV signal adapter
The network switch and the second wireless router establish communication connection and are sent to the elevator control with the AGV request signal that will be received
Device processed and the elevator answer signal for receiving the electric life controller sending.
2. the interconnection system that AGV floor truck as described in claim 1 takes elevator automatically, which is characterized in that described second
Protocol interface includes parallel input interface and parallel output interface, and several input points of the parallel input interface are respectively used to defeated
Enter the corresponding AGV request signal of corresponding floor, several output points of the parallel output interface are respectively used to output for correspondence
The corresponding elevator answer signal of floor.
3. the interconnection system that AGV floor truck as claimed in claim 2 takes elevator automatically, which is characterized in that the AGV is logical
Letter trunk module further includes primary processor, several input isolators, several output isolators, several input indicators and several
Output indicator, several input isolators are correspondingly connected with several input points and the main place in the parallel input interface
It manages between device, several output isolators are correspondingly connected with several output points and the main process task in the parallel output interface
Between device, several input indicators are correspondingly connected with several input points and several inputs in the parallel input interface
Between isolator, several output indicators are correspondingly connected between the primary processor and several output isolators.
4. the interconnection system that AGV floor truck as described in claim 1 takes elevator automatically, which is characterized in that described first
Protocol interface is serial line interface.
5. the interconnection system that AGV floor truck as described in claim 1 takes elevator automatically, which is characterized in that the AGV is asked
Seeking signal includes that carriage is requested to run to the first outgoing call signal of place floor, request elevator the enabling letter for keeping door opening state
Number, request carriage runs to the door signal exhaled signal in destination and elevator is requested to be closed the door；The elevator response letter
It number include that carriage reaches the arrival after corresponding floor and open the door signal or the elevator answer signal in place include that carriage reaches
The carriage arriving signal of corresponding floor and the signal in place that opens the door.
6. the interconnection system that AGV floor truck as claimed in claim 5 takes elevator automatically, which is characterized in that the AGV is asked
Seeking signal further includes that the whether normal second outgoing call signal of request detection elevator and request elevator are in idle condition
Third outgoing call signal；The elevator answer signal further includes that the normal or abnormal answer signal of elevator and elevator are in idle shape
Answer signal under state.
7. the interconnection system that AGV floor truck as described in claim 1 takes elevator automatically, which is characterized in that the AGV control
System processed further includes several AGV floor trucks of built-in with wireless module, several AGV floor trucks set up separately different floors simultaneously
It is connected respectively with the corresponding first wireless router wireless communication.
8. a kind of AGV floor truck for the interconnection system for taking elevator automatically using AGV floor truck as described in claim 1
The automatic method for taking elevator, which comprises the steps of:
(1) the AGV floor truck issues request carriage and runs to the first outgoing call signal of floor where it；
(2) when the electric life controller receives the first outgoing call signal, control carriage is run to where the AGV floor truck
Floor simultaneously controls door-opened elevator in carriage operation afterwards in place；
(3) in door-opened elevator in place after, the electric life controller issues first and opens the door signal in place；
(4) it opens the door in place after signal in receiving described first, the AGV floor truck issues request elevator and keeps door opening state
First opening signal；
(5) electric life controller is maintained at door opening state according to first opening signal control elevator received；
(6) cargo outside elevator is carried in carriage by the AGV floor truck；
(7) after the completion of cargo is handled upside down, the AGV floor truck issues request carriage and runs to exhaling letter in destination
Number；
(8) electric life controller according to receive it is described in exhale signal control carriage run to destination and in carriage run
Control door-opened elevator afterwards in place；
(9) in door-opened elevator in place after, the electric life controller issues second and opens the door signal in place；
(10) it opens the door in place after signal in receiving described second, the AGV floor truck issues request elevator and keeps door opening state
The second opening signal；
(11) electric life controller is maintained at door opening state according to second opening signal control elevator received；
(12) cargo in carriage is carried to outside carriage and is driven out to carriage by the AGV floor truck；
(13) the AGV floor truck issues the door signal that request elevator is closed the door；
(14) electric life controller is closed the door according to the door signal control elevator received.
9. the method that AGV floor truck as claimed in claim 8 takes elevator automatically, which is characterized in that before step (1)
Further include:
The AGV floor truck issues the whether normal second outgoing call signal of request detection elevator；
The electric life controller sends the normal answer signal of elevator to the AGV floor truck.
10. the method that AGV floor truck as claimed in claim 8 takes elevator automatically, which is characterized in that step (1) it
Before further include:
The AGV floor truck issues the third outgoing call signal that request elevator is in idle condition；
The electric life controller sends the answer signal under elevator is in idle condition to the AGV floor truck.
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| CN201910378928.6A CN110054044A (en) | 2019-05-07 | 2019-05-07 | AGV floor truck takes the interconnection system and method for elevator automatically |
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| CN111039105A (en) * | 2019-12-17 | 2020-04-21 | 锐捷网络股份有限公司 | Method, device and system for controlling AGV to take elevator and storage medium |
| CN111392524A (en) * | 2020-04-01 | 2020-07-10 | 广东嘉腾机器人自动化有限公司 | Method for realizing cross-floor movement by communication and butt joint of AGV and elevator |
| CN112441482A (en) * | 2019-08-30 | 2021-03-05 | 南通深南电路有限公司 | Control method, system and device for automatically guiding transport vehicle to use elevator |
| CN113086782A (en) * | 2021-03-30 | 2021-07-09 | 生益电子股份有限公司 | Method, system and device for sharing elevator by people and AGV |
| CN114153205A (en) * | 2021-11-22 | 2022-03-08 | 广东利元亨智能装备股份有限公司 | Elevator boarding control method and operation control device of AGV car |
| CN114895633A (en) * | 2022-04-12 | 2022-08-12 | 常州百利锂电智慧工厂有限公司 | Lithium battery material conveying system and conveying control method |
| CN116582830A (en) * | 2023-04-23 | 2023-08-11 | 江苏鲲飞通讯科技有限公司 | Indoor distribution system for wireless signal coverage |
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