CN1141676C - Prewarning system and method for prevening rear and collision on expressway - Google Patents
Prewarning system and method for prevening rear and collision on expressway Download PDFInfo
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- CN1141676C CN1141676C CNB021130035A CN02113003A CN1141676C CN 1141676 C CN1141676 C CN 1141676C CN B021130035 A CNB021130035 A CN B021130035A CN 02113003 A CN02113003 A CN 02113003A CN 1141676 C CN1141676 C CN 1141676C
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Abstract
The present invention discloses a prewarning system and a prewarning method for preventing vehicle overtaking collision on expressways. The system comprises a central processing unit (CPU) and detection lines (DL), wherein each detection line is composed of a microwave detector, a road terminal and a warn indicator light, and the DLs are arranged on the inner sides of expressway whole range bidirectional traffic lanes, and are connected with the CPU through data transmission lines; each DL is respectively connected with the front detection line and the rear detection line, and the road terminal of the DL is respectively connected with the microwave detector and the warn indicator light. The prewarning method comprises the procedures that the microwave detectors sense passed vehicles, and the road terminals process signals received by the microwave detectors and information sent by the DLs and send traffic signals. The present invention has the advantages that the complete significance of expressway driving safety monitoring is realized, the problem of expressway vehicle overtaking collision is solved, and the running efficiency of roads is improved.
Description
One, technical field
The invention belongs to the express way driving safety supervisory system.Particularly cause under the situation of poor visibility, can effectively prevent the shunt into one another generation of great serious accident of many cars in abominable meteorology such as thick fog, heavy rain, can be to the traffic safety effective monitoring of the omnidistance rolling stock of highway.
Two, background technology
Now, often, how to prevent that this type of accident from common concern taking place to have caused relevant for the shunt into one another report of the great pernicious traffic events of a class of many cars of highway both at home and abroad.For this reason, highway has all been installed supervisory system usually, but the car accident that knocks into the back still happens occasionally, and is higher in inclement weather incidences such as dense fogs especially, countries in the world solution all not yet in effect.Express way driving safety monitoring problem was also proposed many schemes, be broadly divided into three classes: the one, vehicular range finding collision avoidance system, utilize distance-measuring equipments such as radar, distance between measurement and the front truck, in case when too closely having the danger of collision, send alarm signal or take other corresponding measure to the driver; The 2nd, select the several fragment position, watch-dogs such as velocity radar, video camera are installed above road, or are buried underground inductive coil, and the field data that obtains is transmitted highway command centre on the road surface, monitor road surface wagon flow situation in real time; The 3rd, the prediction bad weather condition is in time taked the prompting of information billboard and other corresponding administration of highways measure, until blocked road.More than three kinds of modes, particularly back two classes often adopt simultaneously, are the major technique means that current express way driving safety management is adopted.Administration of highways is that road safety ensures irreplaceable important step, supports but need good technical, and existing technological means and method all are not enough to good guarantee is provided, and fail to constitute complete monitoring system.Mainly there is following defective:
1. it is unrealistic to require to install on all vehicles collision avoidance system, and cost is too big, does not meet national conditions.Even the part vehicle has been installed this class device, prevented to bump against with front truck, also unavoidable back car bumps against with it;
2. the common price of radar equipment is higher, and the transmission of wideband video signal and Display Processing Technology be relative complex also, therefore, for the above longer road of tens of kilometers, only in a small amount of important highway section watch-dog is installed usually, is difficult to accomplish road monitoring completely;
3. video camera one class watch-dog can only monitor and can not control pavement state, and is difficult to predict or the generation of early warning driving accident;
4. can not follow the tracks of rolling stock, can not grasp bus stream situation and traffic safety situation completely, emergency condition take place be difficult to timely disposal;
5. when influencing the emergency condition of traffic safety, appearance can not in time send alarm signal to the driver;
6. the prediction meteorology is difficult to take precautions against this local meteorology of haze, and blocked road will cause damage to each side.
Three, summary of the invention
1, goal of the invention: the objective of the invention is to utilize some advanced and mature correlation techniques such as microwave sounding technology, the information processing technology, information display technology, data transmission technology, microprocessor technology, software engineering, propose a kind of early warning system and method for early warning thereof that prevents that highway from knocking into the back and colliding.This system is with lower expense, solve the various defectives of existing express way driving safety monitoring technique, the knock into the back generation of car accident of prevention highway, particularly avoid a chain of collision problem under bad weather condition, and can monitor in real time all vehicle driving situations of all fronts road, improve the highway driving safe class, reduce highway, improve unimpeded rate because of the abominable meteorological number of times that seals.
2, technical scheme: the said early warning system that prevents that highway from knocking into the back and colliding of the present invention is characterized in that this system comprises central processing unit CP and the detection line DL that is made up of microwave detector, road terminal and alarm indicator; Described central processing unit is responsible for receiving, handle, showing the information of detection line transmission, vehicle and the position of definite vehicle on the track that microwave detector energy real-time perception is passed through, the road terminal can in time be handled the signal of microwave detector, and alarm indicator is in order to indicate different warning content; Detection line DL is installed in the inboard of express highway all-way two-way lane equally spacedly and is connected with central processing unit CP by data transmission link L1, each detection line is connected with each two detection line before and after it respectively, and the road terminal among the detection line DL is connected with alarm indicator with microwave detector respectively.
The described early warning system that prevents that highway from knocking into the back and colliding, it is characterized in that the road terminal among the described detection line DL comprises I/O circuit, shaping amplification circuit, serial line interface, single-chip microcomputer, extended storage and lighting control circuit, single-chip microcomputer is connected with shaping amplification circuit, microwave detector, lighting control circuit, serial line interface respectively by the I/O circuit, shaping amplification circuit is connected with adjacent detection line, and serial line interface is connected with central processing unit CP.
The said method for early warning that prevents that highway from knocking into the back and colliding of the present invention is characterized in that this method for early warning is:
(1) it is inboard and be connected with central processing unit by data transmission link to interconnect the equidistant express highway all-way two-way lane that is installed in of the detection line of forming by microwave detector, road terminal and alarm indicator, and the commander that central processing unit is installed in highway command centre or corresponding administration of highways mechanism controls in the machine room;
(2) the microwave detector real-time perception is determined the position of vehicle on the track, and is sent the road terminal processes with perceptual signal by the vehicle of this detection line;
(3) information that transmits of road terminal signal that microwave detector is accepted and two in the place ahead, the detection line in rear is handled, form one and comprise detection line numbering, car number, send the coherent detection line to apart from the information code character of, the instant speed of a motor vehicle and the normal speed of a motor vehicle by time, roadside, send central processing unit simultaneously;
(4) the road terminal is determined in two detection lines in the place ahead according to the information code character of current detection line, two detection lines in the place ahead and the detection line in rear and the driving situation in each track in the detection line in rear, and sends traffic signals by lighting control circuit control alarm indicator;
(5) central processing unit compiles, handles the information that all detection lines of all fronts send, and shows the real time position and the traffic safety situation of all vehicles completely.
The described method for early warning that prevents that highway from knocking into the back and colliding, it is photochromic or glittering luminous to it is characterized in that alarm indicator can select control to send red, yellow, green difference, indicate different warning content, and show for the alarm of fast and runway respectively with two pilot lamp.
The described method for early warning that prevents that highway from knocking into the back and colliding is characterized in that alarm indicator divides unimpeded caution, early warning caution and alarm caution.
The described method for early warning that prevents that highway from knocking into the back and colliding is characterized in that hypervelocity, does special alarm caution with stopping at a slow speed.
In order to prevent in the same way to bump against before and after the driving vehicle, the one, whether spaces of vehicles is near risk distance before and after detecting in real time; The 2nd, in case this sign occurs, in time send effective early warning signal to the driver, make the driver have time enough to handle, deceleration is walked or drive slowly or is dodged; The 3rd, to driving over the speed limit or crossing calling a halt property of the vehicle alarm prompt that jogging is sailed, to command centre's report, take corresponding administration of highways measure to call a halt simultaneously.The present invention will solve the perception of all vehicle present positions of road completely, distributed treatment and transmission to perception information, obtain the real time position and the travel speed of all vehicles of road completely thus, information such as distance each other, when after the car speed of a motor vehicle surpass front truck, and the distance between the forward and backward car near or send early warning and emergency alert signals when reaching dangerous spacing, and make administrative authority such as command centre grasp the situation of road driving completely comprehensively.
The present invention proposes prevents that the highway collision method for early warning that knocks into the back from mainly using the basic elements of character such as microwave detector, road terminal, alarm indicator, central processing unit, data transmission link and supply line, and can with relevant unit interfaces such as car plate recognizer, road display screen.
Microwave detector is used for the vehicle that perception is passed through, and can determine the position (promptly leave the distance of road surface inboard safety barrier, be called for short " roadside distance ") of vehicle on the track.In fact microwave detector quite is a miniradar, because the investigative range little (unidirectional road fabric width degree＜12 meters) that requires, precision is low (distinguishes fast, runway, stopway, permissible error about 10%), do not need the direction finding servo tracking, therefore can use simple method, very low one-tenth was realized originally.
The road terminal is to be the information processing and the data transfer component of core with the microprocessor, realization is to the signal Processing of microwave detector, and the relevant information computing of sending of forward and backward road terminal and coding transmission handle, and control is simultaneously sent corresponding alarm signal with the alarm indicator that this terminal is joined.
The alarm indicator utilization is the city traffic signal lamp (the face battle array is littler) of luminophor by LED semiconductor luminotron matrix, and it is photochromic or glittering luminous to select control to send red, yellow, green difference, in order to indicate different warning content.Each light fixture has two pilot lamp, and difference display digit " 1 " and " 2 " is corresponding to the alarm demonstration of fast and runway.
Central processing unit adopts high-performance computer and graphics workstation, receive, handle the driving data message of all vehicles completely, show the dynamic traffic state in road completely with figure and form, alarm shows fault vehicle, hypervelocity and slow moving vehicle information, thereby make the freeway management personnel can accurately grasp the real time position of all vehicles of road completely, and the full detail of all fronts road traffic safety situation.And can join with command centre's large screen display, also may command road display screen shows relevant information.
In control express highway all-way two-way lane inboard, 100 meters at interval, equidistant installation microwave detector, road terminal and alarm indicator, these three parts interconnect, and form a detection line jointly.The commander that central processing unit is installed in highway command centre or corresponding administration of highways mechanism controls machine room.The Alternating Current Power Supply of detection line can insert nearby from high road service area and highway gateway.Because it is lower to form each component costs of detection line, therefore road, high density are provided with detection line completely, thereby realize the travel conditions with higher accuracy monitoring rolling stock.The vehicle of this detection line is passed through in the microwave detector perception, and send the road terminal processes with perceptual signal, is at first calculated the roadside distance of this car by the road terminal.It is to enter road one by one that gross vehicle is arranged in the place, expressway access, when the 1st detection line perceived vehicle when passing through, this car is numbered, and add that instant temporal information and roadside are apart from information, form 1 information code character, send the coherent detection line to, send central processing unit simultaneously.If in the road porch car plate recognizer is installed, can be realized in central processing unit that then car number is related with the licence plate of this car.Next detection line receives this information, waits for that vehicle arrives, and same perception obtains the time of arrival and the roadside distance of vehicle, can calculate the travel speed of this car thus.In fact all car speeds all may change at any time, and the average velocity of calculating on 100 meters distances has roughly reflected the instantaneous velocity of vehicle, so through 3 detection lines, just can obtain this car cruising speed.Velocity information is also added the information code character, and it is as follows to form complete information code character form thus:
| The detection line numbering | Car number | Pass through the time | The roadside distance | The instant speed of a motor vehicle | The normal speed of a motor vehicle |
Why will transmit the normal speed of a motor vehicle, be in order to distinguish license number when overtaking other vehicles, to obtain hypervelocity or slow moving vehicle information simultaneously.Locate each gateway completely at road, detect vehicle and whether export, the inlet vehicle is numbered processing equally.
All vehicles are when each bar detection line, and each detection line all recomputates according to the information code character of last the detection line that is received with by the time of this detection line, and the data updated information code character of packing into is sent.This information code character is received by the front and back detection line of central processing unit and this detection line simultaneously, and for example the information code character sent of i detection line is received by i-2, i-1, i+1 detection line simultaneously.Information of vehicles to adjacent detection line obtains carries out distributed relevant treatment, just can obtain the relative position of vehicle before and after this detection line, judges that each other distance is whether approaching or reaches dangerous spacing.Be the information code character that each detection line receives two in the place ahead and the detection line in rear, be used for respectively determining in 200 meters, 100 meters in the place ahead whether each track is current vehicle, when the rear detection line has vehicle to pass through, judges whether dangerous.Whether if two following distances are between 100-300 rice, back vehicle speed is big more a lot of than front truck, be regardless of in same track, all indicates dangerously, and control alarm indicator sodium yellow is glittering, and car is sent out early warning signal backward; When two following distances on same track less than 100 meters, back vehicle speed is bigger when a lot of than front truck, it is glittering then to control red light, sends emergency alert signals.The notion of Here it is dangerous spacing.Each detection line is checked all car speeds, and when exceeding the speed limit or travelling at a slow speed, the quick glittering caution of amber light when on the track parking being arranged, shifts to an earlier date 300 meters Warning for vehicle rearwards.When the collision omen is arranged, send early warning signal in advance, remind the driver to take precautions against in advance.Central processing unit receives handles the information code character that all detection lines of all fronts send, and can accurately grasp the real time position of all vehicles of road completely, and the full detail of all fronts road traffic safety situation, thereby can in time take the necessary road administration precautionary measures.
3, beneficial effect: the invention has the beneficial effects as follows based on existing advanced and sophisticated technology, with lower acceptable expense, need not to use mobile unit, to combine the detection of all traveling state of vehicle of all fronts road and early warning the driver, the driver is prepared in advance, handle a situation with ease, form good driving psychology, realized the express way driving safety monitoring of complete meaning, solve the highway still the do not have effective ways so far collision problem that knocks into the back, improve the operational efficiency of highway.Its concrete effect is:
1. 100 meters detection line is set in two-way interval completely at highway, measure position, the speed of all driving vehicles, differentiate dangerous spacing, divided lane is in that to travel vehicle front 0-100 rice unimpeded apart from sending with the stop-light form that meets driver habit, early warning or alarm signal:
When (1) not having vehicle when the place ahead in 300 meters, green light is bright, points out relieved driving.No matter what meteorology, as long as can see the alarm indicator of detection line, just can safe driving;
(2) when in the 100-300 rice of the place ahead vehicle being arranged, do not distinguish the track: if afterwards vehicle speed is apparently higher than front truck, the glittering early warning of amber light, the prompting driver notes; If two vehicle speeds are close, or the back car is slower, and green light is bright, can relievedly drive a vehicle;
(3) when in the 0-100 rice of the place ahead vehicle being arranged, distinguish the track: if with vehicle speed behind the track apparently higher than front truck, red lamp flass alarm, the dangerous spacing of prompting driver, emergency treatment; Otherwise promptly close or back car is slower with track two vehicle speeds, and perhaps two cars are in different tracks, and amber light is glittering, and prompting takes in a reef;
When (4) on the stopway car being arranged when the place ahead in 300 meters, amber light is glittering, and the prompting driver notes;
When (5) on the runway parking being arranged when the place ahead in 300 meters, red light is glittering fast, in advance to the driving vehicle early warning, thus a chain of down collision of prevention bad weather condition;
(6) hypervelocity is reached driving vehicle at a slow speed, the quick glittering caution of amber light.
2. the driving data message of all vehicles is completely gathered, handled to central processing unit in real time, show the dynamic traffic state in road completely with figure and form, alarm shows fault vehicle, hypervelocity and slow moving vehicle information, thereby make the freeway management personnel can accurately grasp the real time position of all vehicles of road completely, and the full detail of all fronts road traffic safety situation.In case the accident sign is arranged, can in time take effective administration of highways measure.
3. employing advanced and sophisticated technology, expense is few.Through the measuring and calculating, implementation cost of the present invention account for the highway construction total expenses 5/1000ths in, have good feasibility and remarkable economical social benefit.
Four, description of drawings
Fig. 1 is the said early warning system of a present invention overall layout chart.
Fig. 2 is the said detection line block diagram of the present invention.
Five, embodiment
With the layout of the highway section devices illustrated on one-way traffic road surface and annexation each other.CP central processing unit among the figure, the DL detection line, the L1 data transmission link, L2 supply line, arrow is a direction of traffic.All detection lines link to each other with central processing unit by data transmission link.The Alternating Current Power Supply of detection line can insert nearby from high road service area and highway gateway.With i-2, i-1, i, i+1, i+2 detection line DLi-2, DLi-1, DLi, DLi+1, DLi+2 are position and the interconnected relationship that illustration shows each detection line.
The annexation of three parts of block representation detection line and the element of road terminal.The core single-chip microcomputer of road terminal is connected with outside by I/O (I/O) circuit.At to adjacent detection line and central processing unit apart from difference, adopt different data transmission circuits.
With the example that is operating as of DLi, whole detection and early warning, alarm procedure are described below:
1. when the n car passes through DLi-1, will send the information code character of this car through the corresponding data coding that calculates.This information code character is waited for the arrival of vehicle after being received by DLi.Obviously, before DLi detected the n car, this car one was positioned on 100 meters highway sections between the DLi-DLi-1.
2. receive the n car by after the information code character of DLi-1 as DLi, (for example 10 seconds) have detected vehicle and have passed through at predicted time or in the stipulated time, and the then same data that make new advances of calculating are formed the information code character and sent, and illustrate that the n car has passed through DLi.This information code character is by central processing unit and DLi-2, and DLi-1 and DLi+1 receive.DLi+1 carries out above same operation after receiving the n car information code character of DLi;
If 3. send the information code character that the n car passes through at DLi, and receive the n car by after the information code character of DLi+2, receive the information code character that a back car (being the n+1 car) that DLi-1 sends passes through, can determine that at this moment forward and backward following distance is more than 300 meters, DL1 control green light is bright, and the indication driver can safe driving;
If 4. send the information code character that the n car passes through at DLi, and after receiving the n car information code character of DLi+1, before receiving the information code character of DLi+2, receive the back information code character of passing through that DLi-1 sends, can determine that front truck is between DLi+1-DLi+2, back car is between DLi-1-DLi, at this moment following distance is between 100-300 rice before and after, DL1 does not differentiate the roadside distance and only differentiates the speed of a motor vehicle: if the back vehicle speed is apparently higher than front truck, DL1 control amber light is glittering, car sends dangerous spacing early warning backward, and the indication driver drives with caution; Otherwise if two vehicle speeds are close or the back car is slower, DLi control green light is bright, but safe driving;
If 5. after DLi sends the information code character that the n car passes through, before receiving the information code character of DLi+1, receive the back information code character of passing through that DLi-1 sends again, can determine that front truck is between DLi-DLi+1, back parking stall is on the highway section between the DLi-1-DLi, at this moment following distance is between 0-200 rice before and after, the road terminal is differentiated the roadside distance and the speed of a motor vehicle of two cars: if two cars are in same track, and back vehicle speed is apparently higher than front truck, then DLi control red lamp flass sends dangerous spacing alarm signal; If two cars are in different tracks, amber light is glittering, and there is car in prompting the place ahead, drives with caution; If back vehicle speed is low than front truck, green light is bright, but safe driving;
If 6. DLi receives the n car by after the information code character of DLi-1, not detected vehicle as yet passes through, receive the information code character of a car (being the n+1 car) behind the DLi-1 again, can determine at this moment before and after car all on the highway section between the DLi-1-DLi, spacing is between 0-100 rice.The road terminal is handled with 5. work is same;
If after 7. receiving the information code character of DLi-1, at predicted time or in the stipulated time (for example 10 seconds), DLi has not detected vehicle to be passed through, perhaps having detected vehicle long-time (for example 10 seconds) rests on the detection line, reflect that this car may break down, can determine the fault vehicle location on 100 meters highway sections between the DLi-1-DLi, and can judge which track car is parked in.DLi sends vehicle trouble information code character, and soon the instant speed of a motor vehicle puts 0 in the information code character, and this code character is received processing by central processing unit and DLi-2, DLi-1.If this car rests on the stopway, it is glittering that three detection lines are all controlled the alarm indicator amber light, and the indication driver drives with caution; If this car rests on runway or the fast, it is glittering fast that three detection lines are all controlled the alarm indicator red light, and critical alarm driver front has car to stop in advance.Stop situation if the many cars in road surface at this moment occur, the alarm signal of then stopping can be propagated automatically backward;
If 8. DLi receives the n car by after the information code character of DLi-1, judge this car hypervelocity or travel at a slow speed that control alarm indicator amber light is glittering fast, sends the hypervelocity alarm signal;
9. central processing unit receives the information code character of all detection lines transmissions completely, show the dynamic traffic state in road completely with figure and form after treatment, alarm shows fault vehicle, hypervelocity and slow moving vehicle information, thereby make the freeway management personnel can accurately grasp the real time position of all vehicles of road completely, and the full detail of all fronts road traffic safety situation.
Claims (6)
1, a kind of early warning system that prevents that highway from knocking into the back and colliding is characterized in that this system comprises central processing unit (CP) and the detection line of being made up of microwave detector, road terminal and alarm indicator (DL); Described central processing unit is responsible for receiving, handle, showing the information of detection line transmission, vehicle and the position of definite vehicle on the track that microwave detector energy real-time perception is passed through, the road terminal can in time be handled the signal of microwave detector, and alarm indicator is in order to indicate different warning content; Detection line (DL) is installed in the inboard of express highway all-way two-way lane equally spacedly and is connected with central processing unit (CP) by data transmission link L1, each detection line is connected with detection line before and after it respectively, and the road terminal in the detection line (DL) is connected with alarm indicator with microwave detector respectively.
2, the early warning system that prevents that highway from knocking into the back and colliding according to claim 1, it is characterized in that the road terminal in the described detection line (DL) comprises I/O circuit, shaping amplification circuit, serial line interface, single-chip microcomputer, extended storage and lighting control circuit, single-chip microcomputer is connected with shaping amplification circuit, microwave detector, lighting control circuit, serial line interface respectively by the I/O circuit, shaping amplification circuit is connected with adjacent detection line, and serial line interface is connected with central processing unit (CP).
3, a kind of method for early warning that prevents that highway from knocking into the back and colliding is characterized in that this method for early warning is:
(1) it is inboard and be connected with central processing unit by data transmission link to interconnect the equidistant express highway all-way two-way lane that is installed in of the detection line of forming by microwave detector, road terminal and alarm indicator, and the commander that central processing unit is installed in highway command centre or corresponding administration of highways mechanism controls in the machine room;
(2) the microwave detector real-time perception is determined the position of vehicle on the track, and is sent the road terminal processes with perceptual signal by the vehicle of this detection line;
(3) information that transmits of road terminal signal that microwave detector is accepted and two in the place ahead, the detection line in rear is handled, form one and comprise detection line numbering, car number, send the coherent detection line to apart from the information code character of, the instant speed of a motor vehicle and the normal speed of a motor vehicle by time, roadside, send central processing unit simultaneously;
(4) the road terminal determine in two detection lines in the place ahead according to the information code character of current detection line, two detection lines in the place ahead and the detection line in rear and detection line in the driving situation in each track, and send traffic signals by lighting control circuit control alarm indicator;
(5) central processing unit compiles, handles the information that all detection lines of all fronts send, and shows the real time position and the traffic safety situation of all vehicles completely.
4, the method for early warning that prevents that highway from knocking into the back and colliding according to claim 3, it is photochromic or glittering luminous to it is characterized in that alarm indicator can select control to send red, yellow, green difference, indicate different warning content, and show for the alarm of fast and runway respectively with two pilot lamp.
5, the method for early warning that prevents that highway from knocking into the back and colliding according to claim 3 is characterized in that alarm indicator divides unimpeded caution, early warning caution and alarm caution.
6, the method for early warning that prevents that highway from knocking into the back and colliding according to claim 3 is characterized in that hypervelocity, does special alarm caution with stopping at a slow speed.
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| CNB021130035A CN1141676C (en) | 2002-05-14 | 2002-05-14 | Prewarning system and method for prevening rear and collision on expressway |
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| CNB021130035A CN1141676C (en) | 2002-05-14 | 2002-05-14 | Prewarning system and method for prevening rear and collision on expressway |
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| CN1141676C true CN1141676C (en) | 2004-03-10 |
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2002
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| CN1381817A (en) | 2002-11-27 |
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Owner name: NANJING XISANAI ELECTRONICS SYSTEM ENGINEERING CO Free format text: FORMER OWNER: LIU SHUYANG; DU ZHAOJUN; LIU SONG Effective date: 20051216 |
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Effective date of registration: 20051216 Address after: 210007, Jiangsu, Nanjing province No. 77 clover Avenue, Zijin office building 12 Patentee after: NANJING C3I ELECTRONIC SYSTEM ENGINEERING INC. Address before: 57, No. 1, 210007 East Street, alfalfa garden, Jiangsu, Nanjing 203 Co-patentee before: Du Zhaojun Patentee before: Liu Shuyang Co-patentee before: Liu Song |
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