CN206411263U - A kind of pulse laser receiving circuit based on TOF principle laser radars - Google Patents
A kind of pulse laser receiving circuit based on TOF principle laser radars Download PDFInfo
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- CN206411263U CN206411263U CN201621251181.6U CN201621251181U CN206411263U CN 206411263 U CN206411263 U CN 206411263U CN 201621251181 U CN201621251181 U CN 201621251181U CN 206411263 U CN206411263 U CN 206411263U
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Abstract
The utility model discloses a kind of pulse laser receiving circuit based on TOF principle laser radars, including photoelectric conversion module, mutual impedance amplifying circuit and clamp circuit；The input of photoelectric conversion module is used to receive laser pulse signal, and the input of mutual impedance amplifying circuit is connected to the output end of photoelectric conversion module, and the input of clamp circuit is connected to the output end of photoelectric conversion module；Laser pulse signal is converted to current pulse signal by photoelectric conversion module, and current pulse signal is converted to voltage signal by mutual impedance amplifying circuit；Clamp circuit is shunted or clamper to the photoelectric current of mutual impedance input amplifier.The utility model is by increasing clamp circuit so that mutual impedance amplifying circuit output voltage signal pulsewidth is in the case of input signal is relatively strong, with input signal enhancing, dullness broadens, and maintain a smaller range, voltage amplifier circuit uses differential signal output type, improves antijamming capability of the signal in transmitting procedure.
Description
Technical field
The utility model belongs to laser radar technique field, and pulse time-of-flight (TOF) is based on more particularly, to one kind
The pulse laser receiving circuit of measuring principle laser radar.
Background technology
In laser radar, especially in multi-line laser radar, the big dynamic of laser pick-off circuit input signal how is tackled
How state scope, improve the precision of single-point single measurement, how to tackle what single pulse Laser emission was returned through different reflectings surface
Multiecho signal, and how to reduce the size of circuit board for receiving, mitigate weight, in order to optical register and structure installation.
Different from laser range finder, for laser radar, in particular for automatic driving, robot localization and guiding
Deng the laser radar in field, it needs the external environment tackled complicated and quick and various, the echo laser signal dynamic received
Scope is very wide by (1:1000, even more greatly), to one-shot measurement can only be carried out in the cycle of measurement point one in single orientation, and require single
Secondary measurement accuracy will height；And for single pulse Laser emission, may be by multiple anti-during laser pulse delivery
Penetrate the reflection in face and multiecho signal occur in receiving terminal, it is expected that reception system can distinguish multiecho signal as far as possible,
To obtain more rich extraterrestrial target information.This require the bandwidth of receiving circuit it is sufficiently wide (>100MHz), noise is enough
It is low, and under the conditions of Larger Dynamic scope input signal, can still ensure single measurement precision, differentiate multiple echo-signals.Separately
Outside, in multi-line laser radar, due to needing to install equal multipair pulse laser emission pipe in extremely compact space structure
With radiating circuit, and equal multipair pulse laser reception pipe and receiving circuit, flexible, light adjustment hair is needed in installation process
The relative position penetrated between pipe, reception pipe and optical component and fixation, this structural behaviour to transmitting and receiving circuit are carried
Particular/special requirement is gone out, it is expected that the size of pcb board, weight can be reduced and improve the performances such as stable antidetonation.
Reception processing to pulsed laser signal, it will usually by three steps.First, electrooptical device such as light is passed through
Electric multiplier tube, photodiode etc., current pulse signal is converted to by laser pulse signal；Then, electricity is amplified by mutual impedance
Current pulse signal is converted into voltage pulse signal by road；Finally, it is further to voltage pulse signal using voltage amplifier circuit
Enhanced processing, and output interface type conversion etc..Generally, according to this three process steps, according to application demand from each
The corresponding suitable application-specific integrated circuit of individual process step builds circuit using discrete component, is conventional way in laser ranging.
For the laser radar based on pulse TOF principles, by the external environment condition that it is faced is complicated and changeable, it is received
Laser echo signal dynamic range it is very big by (1：1000 or bigger), system has higher want to single-point single range accuracy and error
(its spot measurement error needs to reach ± 5cm, even more small) is asked, and single pulse Laser emission is returned through different reflectings surface
Multiecho signal can reach higher resolution ratio.And can pass through in the laser range finder equally based on TOF principles
Repeatedly measure and averaged is to improve spot measurement precision, and returned for single pulse Laser emission through different reflectings surface
Multiecho signal do not require that its receiving circuit is for the input signal of Larger Dynamic scope, especially larger input signal
The problems such as output signal saturation caused by amplitude is with broadening is less demanding or does not require.Swashed in reply based on TOF principles
The problem of big input signal dynamic range, multiecho processing and high single-point single measurement required precision that optical radar is faced
On, prior art is Shortcomings.In addition, in multi-line laser radar, because structure space is limited compact, and requiring multichannel
Transmit/receive module circuit and optical system precisely coordinate simultaneously, it is desirable to circuit design to consider PCB sizes, weight, into
Sheet and institute's emc issue that may be present etc. between installation, and circuit.
Utility model content
For the defect of prior art, the purpose of this utility model is to provide a kind of based on TOF principle laser radars
Pulse laser receiving circuit, it is intended to which solution can not tackle larger input signal dynamic range in the prior art, so as to influence list
The technical problem of the processing of point range accuracy and many echo-signals.
The utility model provides a kind of pulse laser receiving circuit based on TOF principle laser radars, including：Photoelectricity turns
Change the mold block, mutual impedance amplifying circuit and clamp circuit；The input of photoelectric conversion module is used to receive laser pulse signal, described
The input of mutual impedance amplifying circuit is connected to the output end of the photoelectric conversion module, the input connection of the clamp circuit
To the output end of the photoelectric conversion module；The laser pulse signal is converted to current impulse letter by the photoelectric conversion module
Number, current pulse signal is converted to voltage signal by the mutual impedance amplifying circuit；The clamp circuit is put to the mutual impedance
The photoelectric current of big circuit input end is shunted or clamper so that the output voltage signal pulsewidth of the mutual impedance amplifying circuit
In the case of input signal is relatively strong, with input signal enhancing, dullness broadens, and maintains less than or equal within 100 nanoseconds.
It is further preferred that pulse laser receiving circuit also includes：It is connected to the output end of the mutual impedance amplifying circuit
Voltage amplifier circuit, voltage signal is amplified, the voltage amplifier circuit be difference output.
It is further preferred that pulse laser receiving circuit also includes：It is connected to the output end of the voltage amplifier circuit
Buffer circuit.
It is further preferred that pulse laser receiving circuit also includes：It is connected to the output end of the voltage amplifier circuit
Differential amplifier circuit.
It is further preferred that photoelectric conversion module includes：Resistance R1, electric capacity C1 and electrooptical device, the one of resistance R1
End connection power supply HVCC, the resistance R1 other end is grounded by electric capacity C1, and one end of electrooptical device is connected to resistance R1's
The other end, the other end of electrooptical device as photoelectric conversion module output end.
Specifically, can be that the negative electrode of electrooptical device is connected to the other end of the resistance R1, electrooptical device
Anode as the photoelectric conversion module output end.Can also be that the anode of electrooptical device is connected with resistance R1,
The negative electrode of electrooptical device as photoelectric conversion module output end.
It is further preferred that electrooptical device can be photomultiplier or photodiode.
It is further preferred that clamp circuit includes：Diode D2 and resistance R2, diode D2 anode is used as clamp circuit
Input be connected to the output end of photoelectric conversion module, diode D2 negative electrode is grounded by resistance R2.
It is further preferred that mutual impedance amplifying circuit includes：Amplifier A1 and resistance R3, amplifier A1 input conduct
The input of mutual impedance amplifying circuit, amplifier A1 output end is used as the output end of mutual impedance amplifying circuit, resistance R3 connections
Between amplifier A1 output end and input.
It is further preferred that mutual impedance amplifying circuit and the voltage amplifier circuit are bare chip, and pass through binding and PCB
Corresponding gold-plated copper foil pad realizes electrical connection on plate.
In the utility model, in order to reduce laser echo pulse as far as possible to the time interval between signal, improve many
Echo-signal resolution ratio, is amplified by increasing clamp circuit to the stronger photoelectric current changed compared with light laser echo-signal in mutual impedance
Circuit input end takes shunting or clamper measure, it is ensured that mutual impedance amplifying circuit output voltage signal pulsewidth is in one smaller
Scope.Meanwhile, voltage amplifier circuit uses differential signal output type, improves anti-interference energy of the signal in transmitting procedure
Power.In addition, mutual impedance amplifying circuit and voltage amplifier circuit can use naked core sheet form, and by binding with it is right on pcb board
The gold-plated copper foil pad answered realizes electrical connection, and reliability is ensure that by dispensing, has reached reduction PCB sizes and reduction weight
Purpose.
Brief description of the drawings
Fig. 1 is the theory diagram for the pulse laser receiving circuit based on TOF principle laser radars that the utility model is provided；
Fig. 2 is the circuit diagram for the pulse laser receiving circuit based on TOF principle laser radars that the utility model is provided.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only to explain
The utility model, is not used to limit the utility model.
Fig. 1 shows the principle for the pulse laser receiving circuit based on TOF principle laser radars that the utility model is provided
Block diagram, for convenience of description, illustrate only the part related to the utility model, details are as follows：
The pulse laser receiving circuit based on TOF principle laser radars that the utility model is provided includes：Opto-electronic conversion mould
Block 1, clamp circuit 2 and mutual impedance amplifying circuit 3；The input of photoelectric conversion module 1 is used to receive laser pulse signal, mutual resistance
The input of anti-amplifying circuit 3 is connected to the output end of photoelectric conversion module 1, and the input of clamp circuit 2 is connected to photoelectricity and turned
The output end of block 1 is changed the mold, photoelectric conversion module 1 is used to the laser pulse signal received being converted to current pulse signal, clamped
Position circuit 2 is used to tackle the big dynamic range of output signal；Mutual impedance amplifying circuit 3 is used to current pulse signal being converted to electricity
Press signal.
In the utility model, pulse laser receiving circuit also includes：It is connected to the output of the mutual impedance amplifying circuit
The voltage amplifier circuit 4 at end, for being amplified to the voltage signal that mutual impedance amplifying circuit 3 is exported.
As one embodiment of the present utility model, in face of Detection of Weak Signals, it is necessary to which multilevel voltage amplifying circuit is carried out
Cascaded amplification, is exported with obtaining the enough voltage signals of amplitude；And under certain operating conditions, using the mutual impedance of higher gain
Amplifying circuit, high peak power pulse laser, it is ensured that mutual impedance amplifying circuit amplitude output signal, which is met, to be required.
In the utility model, pulse laser receiving circuit also includes：Be connected to voltage amplifier circuit 4 output end it is slow
Circuit 5 is rushed, differential signal driving force is improved.
Fig. 2 shows the specific of the pulse laser receiving circuit based on TOF principle laser radars that the utility model is provided
Circuit, for convenience of description, illustrate only the part related to the utility model.
In the utility model, photoelectric conversion module 1 includes resistance R1, electric capacity C1 and electrooptical device, resistance R1's
One end connects power supply HVCC, and the resistance R1 other end is grounded by electric capacity C1, and the negative electrode of electrooptical device is connected to resistance R1
The other end, the anode of electrooptical device as photoelectric conversion module 1 output end.
In the utility model, electrooptical device can be photomultiplier, photodiode etc., photodiode point
For PIN and APD types.To size requirement more strict occasion (such as in multi-line laser radar), for distance ranging farther out,
It is preferential to select APD type photodiodes, for nearer distance, PIN type photodiodes can be selected, according to actual conditions
Depending on.Photodiode typically operates in PN junction reverse-biased, therefore a bias voltage need to be provided for it, and its internal photoelectric current is by the moon
Pole flows to anode；Bias voltage relative to reference planes polarity can be positive or negative polarity, then the anode of photodiode or
Negative electrode is connected with mutual impedance input amplifier, and corresponding photoelectric current flow direction is to flow into or out mutual impedance amplifying circuit.
Photodiode can also take high resistant and difference or single ended mode to be connected with mutual impedance amplifying circuit AC or DC.
In the utility model, in order to reduce laser echo pulse as far as possible to the time interval between signal, improve many
Echo-signal resolution ratio compared with the stronger photoelectric current that light laser echo-signal is changed in mutual impedance input amplifier, it is necessary to adopting
Shunting or clamper measure are taken, to ensure that mutual impedance amplifying circuit output voltage signal pulsewidth is in a smaller range.
In the utility model, clamp circuit 2 includes：Diode D2 and resistance R2, diode D2 anode is used as clamper
The input of circuit 2 is connected to the output end of photoelectric conversion module 1, and diode D2 negative electrode is grounded by resistance R2.
In the utility model, mutual impedance amplifying circuit 3 includes：Amplifier A1 and resistance R3, amplifier A1 input
As the input of mutual impedance amplifying circuit 3, amplifier A1 output end is used as the output end of mutual impedance amplifying circuit 3, resistance
R3 is connected between amplifier A1 output end and input.
In order to which the pulse laser based on TOF principle laser radars that further description the utility model is provided receives electricity
Road, in conjunction with accompanying drawing, details are as follows：The laser pulse signal received is transformed into current pulse signal through photodiode to be carried out
Output；Current pulse signal is converted to voltage pulse signal by mutual impedance amplifying circuit, and through rearmounted voltage amplifier circuit pair
This voltage pulse signal makees further enhanced processing.
In the utility model, the output signal of mutual impedance amplifying circuit 3 can be single-ended or differential output signal, and voltage is put
Big circuit input or output equally can be single-ended or differential output signal.Voltage amplifier circuit can use the shape of multi-stage cascade
Formula, by reducing every grade of gain to increase every grade of bandwidth, so as to ensure to improve integrated circuit while integrated circuit bandwidth
Voltage gain.According to practical application request, such as structure space is compact limited, mutual impedance amplifying circuit 3 and voltage amplifier circuit 4
(Circuit A in figure) can use naked core sheet form, be realized electrically by binding gold-plated copper foil pad corresponding with pcb board
Connection, and by dispensing to ensure reliability, reduction PCB sizes are reached with this, the purposes such as weight are reduced；Circuit after binding is defeated
Going out differential signal can also further be amplified and buffered.
In the utility model, for input for Larger Dynamic scope reception signal for, receiving circuit maximum gain with
Required maximum distance and minimum reflectivity is require to be designed, because under the conditions of this, and the signal received is requires model
Enclose interior minimum value；Required maximum gain can be put by the selection of photodiode, trans-impedance gain and rearmounted voltage
Big circuit gain sets to reach.And when it is higher magnitude to receive signal, circuit easily reaches saturation state, leads
Roomy amplitude broadening of feeling the pulse is write, so that the resolution to multiecho signal causes very big difficulty, or even can not be differentiated；And
Influence can be produced on single measurement precision.For this reason, it may be desirable to carry out current limliting (shunting) or pincers to mutual impedance amplifying circuit input signal
Position protection, with holding circuit output pulse signal width be in it is required within the scope of (such as<=20ns)；Corresponding current limliting
(shunting) or clamper measure can be realized using high speed diode, resistance or transistor etc..
In the utility model, the photoelectricity signal pulse stream exported by electrooptical device is generally first converted to voltage pulse
Signal, is then further handled.Mutual impedance amplifying circuit is the most frequently used electricity for filling photo-signal and being changed to voltage signal
Road form, has the advantages that wide bandwidth, high input impedance, low input current noise.Mutual impedance amplifying circuit can use integrated
Circuit form, or built using discrete component；The mutual impedance amplifying circuit of integrated circuit form can be put using high-speed computation
Big device, or special transimpedance amplifier is directly used, such as it is used for the transimpedance amplifier of optic communication.Common special mutual impedance
Amplifier, its input linear dynamic range would generally be very narrow, and in laser radar application field, mutual impedance amplifying circuit is received
Photoelectric current dynamic range may be very big, reach 1:1000, it is even more greatly, larger in the shorter or target reflectivity of distance
In the case of, stronger laser echo signal may be such that mutual impedance amplifying circuit exports saturation, and output voltage pulse signal is wide
Spend significantly broadening.
The voltage pulse signal exported by mutual impedance amplifying circuit can further amplify through behind grade voltage amplification circuit.It is right
The requirement of the behind grade voltage amplification circuit is wide bandwidth, switching rate be high and overload recovery time is short etc., to ensure pulse signal
The especially signal leading edge distortion factor is as small as possible, it is ensured that the precision of moment discriminating and ranging.Behind grade voltage amplification circuit output letter
Number differential signal output type is used, improve antijamming capability of the signal in transmitting procedure.
Above mutual impedance amplifying circuit and behind grade voltage amplification circuit can pass through chip on board in the form of bare chip
(COB) process Installation is on pcb board.Signal performance can be improved by optimizing partial circuit layout, because COB techniques reduce envelope
The most parasitic parameter of dress and PCB trace.The differential voltage signal exported by behind grade voltage amplification circuit through differential amplification/
Transmitted after buffer circuit to rear end progress signal sampling or carry out other processing.
As it will be easily appreciated by one skilled in the art that the foregoing is only preferred embodiment of the present utility model, not
To limit the utility model, all any modifications made within spirit of the present utility model and principle, equivalent substitution and change
Enter, should be included within protection domain of the present utility model.
Claims (10)
1. a kind of pulse laser receiving circuit based on TOF principle laser radars, it is characterised in that including：Photoelectric conversion module
(1), mutual impedance amplifying circuit (3) and clamp circuit (2)；
The input of the photoelectric conversion module (1) is used to receive laser pulse signal, the mutual impedance amplifying circuit (3) it is defeated
Enter the output end that end is connected to the photoelectric conversion module (1), the input of the clamp circuit (2) is connected to the photoelectricity and turned
Change the mold the output end of block (1)；
The laser pulse signal is converted to current pulse signal, the mutual impedance amplification electricity by the photoelectric conversion module (1)
Current pulse signal is converted to voltage signal by road (3)；The clamp circuit (2) inputs to the mutual impedance amplifying circuit (3)
The photoelectric current at end is shunted or clamper so that the output voltage signal pulsewidth of the mutual impedance amplifying circuit (3) is in input
In the case of signal is relatively strong, with input signal enhancing, dullness broadens, and maintains within 100 nanoseconds.
2. pulse laser receiving circuit as claimed in claim 1, it is characterised in that the pulse laser receiving circuit is also wrapped
Include：The voltage amplifier circuit (4) of the output end of the mutual impedance amplifying circuit is connected to, the voltage signal is amplified,
The voltage amplifier circuit (4) is single-ended or difference output.
3. pulse laser receiving circuit as claimed in claim 2, it is characterised in that the pulse laser receiving circuit is also wrapped
Include：It is connected to the buffer circuit (5) of the output end of the voltage amplifier circuit (4).
4. pulse laser receiving circuit as claimed in claim 2, it is characterised in that the pulse laser receiving circuit is also wrapped
Include：It is connected to the output end of the voltage amplifier circuit (4) and is output as the amplifying circuit of differential signal type.
5. the pulse laser receiving circuit as described in claim any one of 1-4, it is characterised in that the photoelectric conversion module
(1) include：Resistance R1, electric capacity C1 and electrooptical device；One end connection power supply of the resistance R1, the resistance R1's is another
End is by electric capacity C1 ground connection, and one end of the electrooptical device is connected to the other end of the resistance R1, the photoelectricity
The other end of switching device as the photoelectric conversion module (1) output end.
6. pulse laser receiving circuit as claimed in claim 5, it is characterised in that the electrooptical device is photomultiplier transit
Pipe or photodiode.
7. the pulse laser receiving circuit as described in claim any one of 1-4, it is characterised in that clamp circuit (2) bag
Include：Diode D2 and resistance R2；The anode of the diode D2 as clamp circuit (2) input, the diode D2's
Negative electrode is grounded by resistance R2.
8. pulse laser receiving circuit as claimed in claim 7, it is characterised in that the diode D2 can be by transistor generation
Replace.
9. the pulse laser receiving circuit as described in claim any one of 1-4, it is characterised in that the mutual impedance amplifying circuit
(3) include：Amplifier A1 and resistance R3；The input of the amplifier A1 is used as the input of mutual impedance amplifying circuit (3), institute
Amplifier A1 output end is stated as the output end of mutual impedance amplifying circuit (3), the resistance R3 is connected to the defeated of amplifier A1
Go out between end and input.
10. the pulse laser receiving circuit as described in claim any one of 2-4, it is characterised in that the mutual impedance amplification electricity
Road (3) and the voltage amplifier circuit (4) are bare chip, and are realized by binding gold-plated copper foil pad corresponding with pcb board
Electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621251181.6U CN206411263U (en) | 2016-11-14 | 2016-11-14 | A kind of pulse laser receiving circuit based on TOF principle laser radars |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621251181.6U CN206411263U (en) | 2016-11-14 | 2016-11-14 | A kind of pulse laser receiving circuit based on TOF principle laser radars |
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| Publication Number | Publication Date |
|---|---|
| CN206411263U true CN206411263U (en) | 2017-08-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621251181.6U Active CN206411263U (en) | 2016-11-14 | 2016-11-14 | A kind of pulse laser receiving circuit based on TOF principle laser radars |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109889188A (en) * | 2019-04-17 | 2019-06-14 | 广州恒众车联网智能电子技术有限公司 | Triangle wave generation device and system |
| CN110376568A (en) * | 2019-08-13 | 2019-10-25 | 北京雷瑟瑞达科技有限公司 | A kind of receiving unit and system for laser radar |
| WO2020061970A1 (en) * | 2018-09-27 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Ranging device and mobile platform |
| CN113489548A (en) * | 2021-07-06 | 2021-10-08 | 深圳市镭神智能系统有限公司 | Signal processing circuit, light receiving module and laser radar |
| CN114341667A (en) * | 2020-07-10 | 2022-04-12 | 深圳市速腾聚创科技有限公司 | Laser receiving circuit and laser radar |
| CN115280519A (en) * | 2020-03-24 | 2022-11-01 | 索尼半导体解决方案公司 | Optical receiver and distance measuring device |
| CN115877395A (en) * | 2023-02-01 | 2023-03-31 | 深圳煜炜光学科技有限公司 | Laser radar and ranging method thereof |
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2016
- 2016-11-14 CN CN201621251181.6U patent/CN206411263U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020061970A1 (en) * | 2018-09-27 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Ranging device and mobile platform |
| CN109889188A (en) * | 2019-04-17 | 2019-06-14 | 广州恒众车联网智能电子技术有限公司 | Triangle wave generation device and system |
| CN109889188B (en) * | 2019-04-17 | 2024-05-24 | 广州市恒众车联网科技股份有限公司 | Triangular wave generating device and system |
| CN110376568A (en) * | 2019-08-13 | 2019-10-25 | 北京雷瑟瑞达科技有限公司 | A kind of receiving unit and system for laser radar |
| CN115280519A (en) * | 2020-03-24 | 2022-11-01 | 索尼半导体解决方案公司 | Optical receiver and distance measuring device |
| CN114341667A (en) * | 2020-07-10 | 2022-04-12 | 深圳市速腾聚创科技有限公司 | Laser receiving circuit and laser radar |
| CN114341667B (en) * | 2020-07-10 | 2023-08-04 | 深圳市速腾聚创科技有限公司 | Laser receiving circuit and laser radar |
| CN113489548A (en) * | 2021-07-06 | 2021-10-08 | 深圳市镭神智能系统有限公司 | Signal processing circuit, light receiving module and laser radar |
| CN115877395A (en) * | 2023-02-01 | 2023-03-31 | 深圳煜炜光学科技有限公司 | Laser radar and ranging method thereof |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180821 Address after: 314100 Jiaxing 3 Jiashan Road, Jiashan Province, 1 Street 3 Road, No. Patentee after: Zhejiang Lei Shen Intelligent System Co.,Ltd. Address before: 518105 A 801, 9 Furong Road, Baoan District Songgang street, Shenzhen, Guangdong. Patentee before: LEISHEN INTELLIGENT SYSTEM Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230629 Address after: 221,200 Workshop S05, East of Anlan Avenue and North of Lingong Avenue, Xuzhou Airport Economic Development Zone, Suining County, Xuzhou City, Jiangsu Province Patentee after: Jiangsu Lashen Laser Intelligent System Co.,Ltd. Address before: 314100 Jiaxing 3 Jiashan Road, Jiashan Province, 1 Street 3 Road, No. Patentee before: Zhejiang Lei Shen Intelligent System Co.,Ltd. |
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| TR01 | Transfer of patent right |