CN205661640U - Portable hand of underwater robot behaviour box - Google Patents
Portable hand of underwater robot behaviour box Download PDFInfo
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- CN205661640U CN205661640U CN201620556070.XU CN201620556070U CN205661640U CN 205661640 U CN205661640 U CN 205661640U CN 201620556070 U CN201620556070 U CN 201620556070U CN 205661640 U CN205661640 U CN 205661640U
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Abstract
The utility model discloses a portable hand of underwater robot behaviour box is in the same place through threaded connection between this portable hand of underwater robot behaviour box's control box surface board and the box body, triaxial excercises vertical pole, unipolar slip control rod, DWIN touch screen, quadded cable connect and insert through mounting screw on control panel, system master control circuit installs in the DWIN touch screen back, working status indicator, button control switch are through self thread tightening positive and negative at control panel. The utility model discloses a damascene structure, control unit is integrated on control panel, control panel adopts and collects working interface, operation platform and oval camber handle in the design of an organic whole, simple structure, modern design, operation are simple and easy, hand behaviour box through with the water surface control unit connection, realized that the operator only needs to carry out real -time steering control, operational environment control unit 0 with regard to realizing to ROV under water through controlling this hand behaviour box at the surface of water.
Description
Technical field
This utility model patent relates to a kind of portable handheld box of underwater robot, is directed primarily to for hydroelectric power plant under water
Hydraulic structure carries out the special portable handheld box of measuring robots and control method, belongs to Hydraulic and Hydro-Power Engineering technical field.
Background technology
At present, China has reservoir dam and big-and-middle-sized hydroelectric power plant about more than 20000 seat, controlling flood, irrigate, generate electricity, peak regulation
Etc. aspect play huge effect.The safe condition of dam is not only relevant with hydroelectric power plant self economic interests, simultaneously with country
Closely related with people's property or even social stability.But, the big portion of detection to the submerged structures such as dam or structural member at present
Dividing and also rest on the artificial underwater camera stage, the personal safety of underwater performance personnel is also existed great by such operating type
Potential safety hazard, especially for building or the detection of structural member, task difficulty and security risk in hydroelectric power plant's dam body pipeline
Higher.
In recent years, there is cable underwater robot ROV (Remote Operated Vehicle) because of its good economy performance, make under water
The advantages such as industry motility height, good environmental adaptability, working performance height, depth of implements, are developed rapidly.Along with there being cable under water
The rapid raising of the day by day abundant and reliability of robot ROV function, ROV (Remote Operated Vehicle) is increasingly
How to be widely used in fields such as Underwater Engineering, fishing, seabed investigation, marine resources development, become underwater worker
The instrument that journey field is important.Handheld box is the controller of hand control ROV operation, and the quality of its control performance is the most just
Determine the transaction capabilities of underwater robot.Underwater robot is connected with water surface control unit by umbilical cables, it is thus achieved that kinetic force
Source, the activity duration do not limited by the energy, can carry more instrument and equipment, data transmission and exchange convenient and swift, operator
By controlling box, ROV under water is carried out real-time manipulation control, work circumstances safe at the water surface, so make much complicated water
Lower shop problem becomes simple.
Summary of the invention
This utility model for present in above-mentioned background technology due at present to the submerged structures such as dam or structural member
Detection major part also rest on the artificial underwater camera stage, cause such operating type to underwater performance personnel the person peace
Entirely there is great potential safety hazard, especially for building or the detection of structural member, operation in hydroelectric power plant's dam body pipeline
Difficulty and many shortcomings and deficiencies of the more high existence of security risk, improved this and innovated, it is provided that one can be real
The existing activity duration is not limited by the energy, can carry more instrument and equipment and data transmission and exchange convenient and swift, operation
Person only need to can be achieved with ROV under water carries out real-time manipulation control by controlling box at the water surface, it is achieved working environment is safer
The more reliable portable handheld box of a kind of underwater robot.
For realizing above-mentioned goal of the invention, this utility model realizes by adopting the following technical scheme that: a kind of
The portable handheld box of underwater robot, including control panel (1), box body (2), three-axis moving stick (3), single shaft slip stick
(4), DWIN touch screen (5), quad patch plug (6), system master circuit (7), working station indicator (8), button control
System switch (9) and cable, control to be together by a threaded connection between box panel (1) and box body (2)；Three-axis moving stick
(3), single shaft slip stick (4), DWIN touch screen (5), quad patch plug (6) are arranged on control panel by screw
(1) on；System master circuit (7) is installed on DWIN touch screen (5) back side；Working station indicator (8), button control switch
(9) by self being threadedly secured in the positive and negative of control panel (1).
As the improvement that this utility model is above-mentioned, it is provided with hollow long circular arc type at the edge, the left and right sides of control panel (1)
Portable handle (10), Portable handle (10) is for the moving and carrying of operating case；Described three-axis moving stick (3)
Number is two, and two three-axis moving sticks (3) are distributed in the inferior horn both sides, left and right of control panel (1), two three-axis movings
The outside of stick (3) is " ear-lobe type " hollow circular arc type design, as manoeuvring platform during operation.
As the further improvement that this utility model is above-mentioned, the number of described single shaft slip stick (4) is two, two
Single shaft slip stick (4) the one horizontal one perpendicular right side being arranged on control panel (1) respectively, arranges in inverted T shape；Described DWIN touch-control
Screen (5) is arranged on the middle part of control panel (1).
As the further improvement that this utility model is above-mentioned, described working station indicator (8) is by power supply indicator
(81), propeller display lamp (82), depthkeeping display lamp (83), fixed high display lamp (84) and orientation display lamp (85) composition, wherein,
Power supply indicator (81), propeller display lamp (82), depthkeeping display lamp (83), fixed high display lamp (84) and orientation display lamp (85)
Left side longitudinal direction along control panel (1) is the most sequentially isodistantly spaced distribution.
As the further improvement that this utility model is above-mentioned, described button control switch (9) be by sense-finding switch (91),
Fixed height switch (92), depthkeeping switch (93), propeller switch (94) and on and off switch (95) are constituted, and wherein, button controls switch
(9) it is by sense-finding switch (91), fixed height switch (92), depthkeeping switch (93), propeller switch (94) and on and off switch (95) edge
The lower section horizontal direction of control panel (1) is the most sequentially isodistantly spaced distribution.
As above-mentioned the improving the most further of this utility model, the overall structure of this handheld box is set to control panel
(1) combining with box body (2), and entirety is excessive in the way of circular arc, wherein, control panel (1) uses collection working interface, operation flat
Platform and long circular arc type handle (10) are in the design of one.
Operation principle is: the portable handheld box of a kind of underwater robot of this utility model complete reality underwater performance time,
Only need to first this handheld box be connected with water surface control unit, then operator just can be at the water surface by controlling in this handheld box
Arrange function accordingly just can be able to realize there being cable underwater robot ROV to carry out real-time manipulation control；Make under water completing
After industry, close the said equipment and functional module, finally turn off the power switch, extract ROV water surface cable, pack up control box.
This utility model compared with prior art produced by provide the benefit that: the one designed by this utility model patent
The portable handheld box of underwater robot, is set by analysis of system performance, the design of control circuit system, control box body and panel construction
Meter, meets handheld box functional requirement during ROV motor control well, it is achieved that ROV carries out long-range 4 passage fortune
Move the functions such as control, detection, sensing equipment on-off control and the selection of ROV mode of operation, the switching of ROV lift-launch；This practicality
The actual demand considered in utilization of Novel integrated also carries out customizing functions design to it, has fully demonstrated hydroelectric power plant's water
Specificity, customization and novelty in lower measuring robots job task demand under water.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings detailed description of the invention of the present utility model is further described in detail, wherein:
Fig. 1 is overall structure schematic diagram of the present utility model；
Fig. 2 is front view of the present utility model；
Fig. 3 is top view of the present utility model；
Fig. 4 is electrical schematic diagram of the present utility model；
Wherein, indicating: 1 control panel, 2 box bodys, 3 three-axis moving sticks in figure, 4 single shafts slide and handle
Bar, 5 5.7 cun of DWIN touch screens, 6 quad patch plugs, 7 system master circuit, 8 working station indicators, 9
Button controls to switch, 10 Portable handles, A quad joint, B ROV water surface control cable, C C8051 single-chip microcomputer,
D RS232 control circuit, E single shaft slide bar Acquisition Circuit, F DWIN touching display screen, G single shaft slides and handles
Bar, H three-axis moving stick, I button controls to switch, J LED operation display lamp, K relay indicating light control circuit,
L toggle switch status monitoring circuit, M three-axis moving stick Acquisition Circuit, N power circuit, O RS485 controls electricity
Road；
81 power supply indicators, 82 propeller display lamps, 83 depthkeeping display lamps, 84 fixed high display lamps, 85 is fixed
To display lamp；
91 sense-finding switches, 92 fixed height switches, 93 depthkeeping switches, 94 propeller switches, 95 on and off switch.
Detailed description of the invention
Below in conjunction with the accompanying drawings and the technical solution of the utility model is further described in detail by embodiment.
As depicted in figs. 1 and 2, a kind of portable handheld box of underwater robot, including control panel 1, box body 2, three-axis moving
Stick 3, single shaft slip stick 4, DWIN touch screen 5, quad patch plug 6, system master circuit 7, duty refer to
Show that lamp 8, button control switch 9 and cable, control to be together by a threaded connection between box panel 1 and box body 2；Three-axis moving
Stick 3, single shaft slip stick 4, DWIN touch screen 5, quad patch plug 6 are arranged on control panel 1 by screw；
System master circuit 7 is installed on cun DWIN touch screen 5 back side；Working station indicator 8, button control switch 9 by self spiral shell
Stricture of vagina is fixed on the positive and negative of control panel 1.Therefore, use such design simple in construction, easy for installation, operate simply,
Aesthetic in appearance.
As shown in Figure 4, system master circuit 7 include C8051 single-chip microcomputer C, power circuit N, RS485 control circuit O,
RS232 control circuit D, relay indicating light control circuit K, toggle switch status monitoring circuit L, three-axis moving stick gather electricity
Road M, single shaft slide bar Acquisition Circuit E.
Master control system use CYGNALC8051 single-chip microcomputer as monitoring button control switch, gather stick analogue signal,
Control working station indicator, DWIN touch screen GUI interaction design and the main control chip of data communication interface RS485/RS22；
Two three-axis moving sticks 3 are used to complete front/rear, shifted left/right, left-hand/right-hand, floating/dive four-way
The input of control instruction；
Use two single shaft slip sticks 4 for realizing ROV fine setting fortune in a front/back, on two passages of shifted left/right
Dynamic control；
Use DWIN touch screen 5 to complete the extension of specific control function, can design arbitrarily according to the needs that reality controls
GUI interaction control interface, can also enable an operator to more at the real-time kinestate of liquid crystal screen display ROV simultaneously
Conveniently handling control the most accordingly, this DWIN touch screen 5 uses 5.7 cun；
Use working station indicator 8, the most particularly use power supply indicator 81, propeller display lamp 82, depthkeeping to refer to
Show motor control pattern and state that lamp 83, fixed high display lamp 84 and orientation display lamp 85 show current ROV；
Use button to control switch 9, the most particularly use sense-finding switch 91, fixed height switch 92, depthkeeping switch 93, advance
Device switch 94 and on and off switch 95 realize power supply and angle of rake on-off control and depthkeeping, fixed high, three kinds of control models of orientation
Selection；
In this utility model, three-axis moving stick 3 be used for front/rear, shifted left/right, left-hand/right-hand, floating/
The input of the control instruction of dive four-way；Single shaft slip stick 4 be used for realizing ROV in a front/back, shifted left/right two leads to
Fine setting motor control on road；
DWIN touch screen 5 has been used for controlling the extension of function, appoints for realizing to design according to the needs that reality controls
The GUI interaction control interface of meaning；
Working station indicator 8 is for showing motor control pattern and the state of current ROV；Button controls switch 9 and is used for
Realize power supply and angle of rake on-off control and depthkeeping, fixed high, the selection of oriented control pattern.
By quad and patch plug and the water surface between portable handheld box and ROV water surface control unit in this utility model
Control unit is connected, and uses the RS485 interface of asynchronous duplex and underwater robot to carry out data exchange, and handheld box is to underwater
People sends control instruction, receives the current kinestate of ROV under water simultaneously；Handheld box controls cable acquirement by the ROV water surface simultaneously
24V working power, completes voltage conversion in system power supply circuit, provides 5V, single shaft to slide for display lamp on handheld box panel
Stick provides 2.4V, three-axis moving stick to provide 5V, data acquisition board to provide 3.3V and DWIN touch screen to provide 24V to supply
Electricity, therefore, interface is simple, easy to connect.
After a kind of underwater robot portable handheld box installation of above-mentioned design structure, can hold with both hands and be positioned at control
Handheld box is carried, is moved by the circular arc type handle of the panel left and right sides.In actual operation process, as shown in Figure 4, should
Handheld box is connected the manual control realized underwater performance ROV with water surface control unit, and operating procedure concrete during operation is as follows:
Step (1): as in figure 2 it is shown, handheld box be positioned on work operations platform, is adjusted to close by Portable handle 10
Suitable operating position and angle, be then connected the quad plug of four core waters surface control cables with the handheld box back side, handheld box
Obtain 24V working power by water surface cable and complete to communicate with the RS485 of ROV water surface control unit；
Step (2): open the power control switch 95 in the control panel lower left corner, controls box and enters Working mould after switching on power
Formula, the input service Power convert of 24V is 24V, 5V, 3.3V, 2.4V five tunnel working power by power circuit N.24V power supply is
The working power of DWIN touch screen, 5V is the working power of three-axis moving stick, and 3.3V is respectively button and controls switch, LED
Relay indicating light, the power supply of system master chip, 2.4V is the input voltage of single shaft slip stick.Now, handheld box
Each functional module is in running order, and DWIN touching display screen F lights, and entered function selects gui interface, power indication LED
Lighting, system, control circuit enters and controls circulation；
Step (3): control interface by the GUI of DWIN touching display screen F and ROV under water and each detection/sensing equipment are entered
The configuration of row specific function, such as the switch of the equipment such as optical fibre gyro, image/detection/guiding sonar, Underwater Camera, illuminating lamp
Control, and the regulation of the function such as lighting brightness, propeller control power.
The flow process that is embodied as of above-mentioned steps (3) is: the C8051 single-chip microcomputer C interface by RS232 control circuit D
The touch command of DWIN touching display screen F, then resolves and generates the interface transmission by RS485 control circuit O of the ROV control instruction
To ROV water surface control unit, thus carry out the control of corresponding function；
Step (4): after completing the said equipment functional configuration, opens propeller on and off switch, and now propeller work refers to
Showing that lamp is lighted, ROV enters mode of operation under water；
The flow process that is embodied as of above-mentioned steps (4) is: C8051 single-chip microcomputer C detects the toggle switch shape that propeller is corresponding
State observation circuit L port level changes, and then controls the port level of relay indicating light control circuit K, lights corresponding LED instruction
Lamp；
Step (5): ROV under water is carried out motor control by three-axis moving stick, right-hand man holds left and right two respectively
Individual stick, wrist is placed on panel " ear-lobe " type operating platform；
The right stick: around push-and-pull stick can realize respectively ROV in a front/back, on shifted left/right direction
Motor control, left rotation and right rotation stick knob can realize the motor control of ROV left-hand/right-hand；
Left side stick: front and back push-and-pull stick can realize the motor control of ROV floating/dive, reserved two standby logical
Road, the convenient extension carrying out function according to actual needs.
Above-mentioned steps (5) is embodied as flow process: C8051 single-chip microcomputer C passes through three-axis moving stick Acquisition Circuit M to behaviour
The analogue signal of vertical pole output is AD converted, and the voltage signal obtained is generated ROV motion control instruction, passes through RS485
Control instruction is sent to ROV water surface control unit by control circuit O, it is achieved corresponding motor control；
Step (6): ROV under water carried out the micro-of front/rear, shifted left/right two passage by two single shaft slip sticks
Adjust motor control, promote the motor control that ROV is front and back finely tuned by the slip stick vertically placed, promote the slip kept flat
Action bars carries out shifted left/right fine setting motor control, concrete operating process and the enforcement described in above-mentioned steps (5) to ROV
Mode is similar to, and the most no longer repeats；
Step (7): under water during operation, can carry out depthkeeping, fixed high, the selection of three control models of orientation,
Concrete implementing procedure is similar with the implementing procedure in step (2).Additionally, ROV inevitably there will be bursty state, this reality
The emergency action measures such as the control of de-cable, fiber cut, junction box's release are devised by DWIN touch screen in novel, concrete
Implementing procedure is similar with the embodiment of GUI touch-control in step (3), the most no longer repeats；
Step (8): complete underwater performance, closes the said equipment and functional module, finally turns off the power switch, extract
ROV water surface cable, packs up manipulation box.
This utility model patent portable handheld box of one underwater robot, by accompanying drawing and combine the above embodiments have
Body illustrates design and implementing procedure, show that this utility model patent has the following advantages that in concrete implementation process
And beneficial effect:
1, this utility model design of system control uses the design of touch screen and hardware switch, it is possible to achieve abundant,
The GUI of hommization controls INTERFACE DESIGN and the control functional realiey of any demand, and whole functional realiey process uses parameter driven
Mode, logic is simple, it is achieved convenient, and expanding of system function is good；
2, this utility model handheld box structure uses control panel and the knockdown design of box body, overall with circular arc
Mode is excessive, Control panel design collection working interface, operating platform, and handle is in one, the letter of such design structure
Single, easy for installation, operate simple, aesthetic in appearance；
3, this utility model systemic-function has considered the actual demand in engineering application and has carried out customizing functions design,
Fully demonstrate specificity, customization and the novelty in hydroelectric power plant's underwater detecting robot job task demand under water；
4, this utility model uses the control INTERFACE DESIGN that touch screen is extended, and is controlled by system master circuit RS232
Circuit processed and DWIN touch screen realize GUI abundant, hommization and control INTERFACE DESIGN and the control functional realiey of any demand, whole
Individual functional realiey process uses the mode of parameter driven, and GUI man-machine interaction is resolved into control and configures by the page, showing of control
Show directly by parameter driven, control logic simple, it is achieved be convenient.
Claims (6)
1. the portable handheld box of underwater robot, it is characterised in that: portable handheld box include control panel (1), box body (2),
Three-axis moving stick (3), single shaft slip stick (4), DWIN touch screen (5), quad patch plug (6), system master
Circuit (7), working station indicator (8), button control switch (9) and cable, control between box panel (1) and box body (2)
Link together by screw thread or by draw-in groove；Three-axis moving stick (3), single shaft slip stick (4), DWIN touch screen
(5), quad patch plug (6) is arranged on control panel (1) by screw；System master circuit (7) is installed on DWIN and touches
Control screen (5) back side；Working station indicator (8), button control switch (9) by self being threadedly secured in control panel (1)
Positive and negative.
A kind of portable handheld box of underwater robot the most according to claim 1, it is characterised in that: at described control panel
(1) edge, the left and right sides is provided with the Portable handle (10) of hollow long circular arc type, and Portable handle (10) is for operating case
Move and carry；The quantity of described three-axis moving stick (3) is two, and two three-axis moving sticks (3) are distributed in control
The inferior horn both sides, left and right of panel (1), the outside of two three-axis moving sticks (3) is the open circles camber design of " ear-lobe type ",
As manoeuvring platform during operation.
A kind of portable handheld box of underwater robot the most according to claim 1, it is characterised in that: described single shaft slides and handles
The number of bar (4) is two, two single shaft slip stick (4) one horizontal one perpendicular right sides being arranged on control panel (1) respectively, in
Inverted T shape is arranged；Described DWIN touch screen (5) is arranged on the middle part of control panel (1).
A kind of portable handheld box of underwater robot the most according to claim 1, it is characterised in that: described duty indicates
Lamp (8) is by power supply indicator (81), propeller display lamp (82), depthkeeping display lamp (83), fixed high display lamp (84) and orientation
Display lamp (85) is constituted, wherein, and power supply indicator (81), propeller display lamp (82), depthkeeping display lamp (83), fixed high display lamp
And orientation display lamp (85) is the most sequentially isodistantly spaced distribution along the left side longitudinal direction of control panel (1) (84).
A kind of portable handheld box of underwater robot the most according to claim 1, it is characterised in that: described button controls switch
(9) it is by sense-finding switch (91), fixed height switch (92), depthkeeping switch (93), propeller switch (94) and on and off switch (95) structure
Becoming, wherein, it is by sense-finding switch (91), fixed height switch (92), depthkeeping switch (93), propeller switch that button controls switch (9)
And on and off switch (95) is the most sequentially isodistantly spaced distribution along the lower section horizontal direction of control panel (1) (94).
A kind of portable handheld box of underwater robot the most according to claim 1, it is characterised in that: the overall knot of this handheld box
Structure is set to control panel (1) and combines with box body (2), and entirety is excessive in the way of circular arc, and wherein, control panel (1) uses
Integrate working interface, operating platform and the design of long circular arc type handle (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620556070.XU CN205661640U (en) | 2016-06-08 | 2016-06-08 | Portable hand of underwater robot behaviour box |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620556070.XU CN205661640U (en) | 2016-06-08 | 2016-06-08 | Portable hand of underwater robot behaviour box |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205661640U true CN205661640U (en) | 2016-10-26 |
Family
ID=57156951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620556070.XU Active CN205661640U (en) | 2016-06-08 | 2016-06-08 | Portable hand of underwater robot behaviour box |
Country Status (1)
| Country | Link |
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| CN (1) | CN205661640U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378976A (en) * | 2017-07-21 | 2017-11-24 | 诺伯特智能装备（山东）有限公司 | A kind of opened industrial robot control system |
| CN108037763A (en) * | 2017-12-15 | 2018-05-15 | 中国南方电网有限责任公司调峰调频发电公司 | Underwater robot control device |
-
2016
- 2016-06-08 CN CN201620556070.XU patent/CN205661640U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378976A (en) * | 2017-07-21 | 2017-11-24 | 诺伯特智能装备（山东）有限公司 | A kind of opened industrial robot control system |
| CN108037763A (en) * | 2017-12-15 | 2018-05-15 | 中国南方电网有限责任公司调峰调频发电公司 | Underwater robot control device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191028 Address after: Room 208, No. 100, Dongxing Road, Donghuan street, Panyu District, Guangzhou, Guangdong 511494 Co-patentee after: CHINA SHIPBUILDING INDUSTRY CORPORATION, 750 TEST SITE Patentee after: Guangzhou peak frequency modulation technology development Co.,Ltd. Address before: 510635 Guangdong energy storage building, No. 32, Longkou East Road, Guangzhou City, Guangdong Province Co-patentee before: NO.750 TEST FIELD, CHINA SHIPBUILDING INDUSTRY Corp. Patentee before: China Southern Power Grid Tiaofeng Frequency Modulation Power Generation Company |
|
| TR01 | Transfer of patent right | ||
| CU01 | Correction of utility model |
Correction item: Patentee|Address|Patentee Correct: Guangzhou peak frequency modulation technology development Co.,Ltd.|Room 208, No. 100, Dongxing Road, Donghuan street, Panyu District, Guangzhou, Guangdong 511494|China Shipbuilding Heavy Industry Group Company 750 Test Site False: Guangzhou peak frequency modulation technology development Co.,Ltd.|Room 208, No. 100, Dongxing Road, Donghuan street, Panyu District, Guangzhou, Guangdong 511494|750 TEST SITE, CHINA SHIPBUILDING INDUSTRY CORPORATION Number: 46-02 Volume: 35 |
|
| CU01 | Correction of utility model | ||
| CP03 | Change of name, title or address |
Address after: 510000 room 208, 100 Dongxing Road, Donghuan street, Panyu District, Guangzhou City, Guangdong Province Patentee after: China Southern power grid peak shaving and frequency modulation (Guangdong) energy storage technology Co.,Ltd. Patentee after: China Shipbuilding Group Co.,Ltd. No 750 Testing Ground Address before: Room 208, No. 100, Dongxing Road, Donghuan Street, Panyu District, Guangzhou, Guangdong 511494 Patentee before: Guangzhou peak frequency modulation technology development Co.,Ltd. Patentee before: NO.750 PROVING GROUND, CHINA SHIPBUILDING INDUSTRY Corp. |
|
| CP03 | Change of name, title or address |