CN206627631U - Laser triangulation module and laser triangulation device - Google Patents
Laser triangulation module and laser triangulation device Download PDFInfo
- Publication number
- CN206627631U CN206627631U CN201720143438.4U CN201720143438U CN206627631U CN 206627631 U CN206627631 U CN 206627631U CN 201720143438 U CN201720143438 U CN 201720143438U CN 206627631 U CN206627631 U CN 206627631U
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- laser triangulation
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 23
- 239000000463 material Substances 0.000 claims description 10
- 229920003023 plastic Polymers 0.000 claims description 6
- 239000004033 plastic Substances 0.000 claims description 6
- 238000002834 transmittance Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 abstract description 16
- 239000004065 semiconductor Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
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- Measurement Of Optical Distance (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model discloses a kind of laser triangulation module and laser triangulation device.Laser triangulation module includes laser emitting module, laser pick-off module and anti-diffusing reflection component.Laser emitting module is formed with laser exit.Laser pick-off module is formed with laser entrance.Anti- diffusing reflection component includes being set in the first conduit of the laser exit and is set in the second conduit of the laser entrance.In the laser triangulation module of the utility model embodiment, the first conduit and the second conduit of anti-diffusing reflection component greatly reduce the influence to diffuse to laser pick-off module of external light source, improve the measurement accuracy and measurement distance of laser triangulation module.
Description
Technical field
It the utility model is related to sensor, more particularly to a kind of laser triangulation module and laser triangulation device.
Background technology
In correlation technique, laser triangulation module includes laser emitting module and laser pick-off module.Laser emission mould
Block is set close to laser pick-off module, and the laser that laser emitting module is launched is after the reflection of ranging subject matter by laser pick-off module
Receive and handle, obtain the range information of ranging subject matter.However, when laser triangulation module works, laser pick-off module
Easily influenceed by being diffused caused by external light source, cause accuracy of detection to reduce.
Utility model content
The utility model embodiment provides a kind of laser triangulation module, including：
Laser emitting module, formed with laser exit；
Laser pick-off module, formed with laser entrance；With
Anti- diffusing reflection component, including be set in the first conduit of the laser exit and be set in the of the laser entrance
Two conduits.
In the laser triangulation module of the utility model embodiment, the first conduit of anti-diffusing reflection component and second is led
Pipe greatly reduces the influence to be diffused caused by external light source to laser pick-off module, improves laser triangulation module
Measurement accuracy and measurement distance.
In some embodiments, the laser emitting module is used for the laser that launch wavelength is 650nm or 780nm.
In some embodiments, the laser emitting module includes the mounting flange of tubulose first, the laser exit shape
The end face of first mounting flange described in Cheng Yu, first sheathed catheter is on first mounting flange；
The laser pick-off module includes the mounting flange of tubulose second, and it is convex that the laser entrance is formed at second installation
The end face of edge, second sheathed catheter is on second mounting flange.
In some embodiments, first conduit and/or second conduit are in straight tube-like or Taper Pipe shape.
In some embodiments, first conduit and second conduit are made of plastic material.
In some embodiments, the light transmittance of first conduit and second conduit is less than 5%.
A kind of laser triangulation device of the utility model embodiment, including：
Pedestal；
Laser triangulation module described in above-mentioned any one embodiment, the laser triangulation module are arranged on institute
State on pedestal；With
It is arranged on the pedestal and covers the top cover of the laser triangulation module.
In the laser triangulation device of the utility model embodiment, the first conduit of anti-diffusing reflection component and second is led
Pipe greatly reduces the influence to be diffused caused by external light source to laser pick-off module, improves laser triangulation device
Measurement accuracy and measurement distance.
In some embodiments, the anti-diffusing reflection component includes connecting first conduit and second conduit
Connector, the connector is formed with through hole, and the pedestal is formed with screw corresponding with the through hole, the anti-diffusing reflection group
Part is screwed into the screw and is fixed on the pedestal after passing through the through hole by fastener.
In some embodiments, first conduit and second conduit are away from the laser triangulation module
One end engages with the inner surface of the top cover, and the top cover is formed with connected respectively with first conduit, the second conduit
One through hole and the second through hole.
In some embodiments, the laser triangulation device includes：
Chassis, the pedestal are rotatably arranged on the chassis；With
It is arranged on the chassis and is used for the driving structure for driving the pedestal to rotate.
The additional aspect and advantage of the utility model embodiment will be set forth in part in the description, partly will be under
Become obvious in the description in face, or recognized by practice of the present utility model.
Brief description of the drawings
In description of the of the present utility model above-mentioned and/or additional aspect and advantage from combination accompanying drawings below to embodiment
It will be apparent and be readily appreciated that, wherein：
Fig. 1 is the structural representation of the laser triangulation device of the utility model embodiment.
Fig. 2 is another structural representation of the laser triangulation device of the utility model embodiment.
Fig. 3 is the another structural representation of the laser triangulation device of the utility model embodiment.
Main element symbol description：
Laser triangulation module 100；
Laser emitting module 10, laser exit 12, the first mounting flange 14；
Laser pick-off module 20, laser entrance 22, the second mounting flange 24；
Anti- diffusing reflection component 30, the first conduit 32, the second conduit 34, connector 36, through hole 362；
Laser triangulation device 1000, pedestal 1002, fastener 10022, top cover 1004, first through hole 10042, second
Through hole 10044, chassis 1006, driving structure 1008, heat emission hole 1001.
Embodiment
Embodiment of the present utility model is described below in detail, the example of the embodiment is shown in the drawings, wherein
Same or similar label represents same or similar element or the element with same or like function from beginning to end.Lead to below
It is exemplary to cross the embodiment being described with reference to the drawings, and is only used for explaining the utility model, and it is not intended that to this practicality
New limitation.
In description of the present utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer ",
The orientation or position relationship of the instructions such as " clockwise ", " counterclockwise " be based on orientation shown in the drawings or position relationship, be only for
Be easy to describe the utility model and simplify to describe, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " first ",
" second " is only used for describing purpose, and it is not intended that indicating or implying relative importance or imply the technology indicated by indicating
The quantity of feature.Thus, " first " is defined, the feature of " second " can be expressed or implicitly include one or more
The feature.In description of the present utility model, " multiple " are meant that two or more, unless otherwise clearly specific
Limit.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；It can be mechanical connection or electrical connection or can mutually communicate；Can be joined directly together, can also be in
Between medium be indirectly connected, can be connection or the interaction relationship of two elements of two element internals.For this area
For those of ordinary skill, concrete meaning of the above-mentioned term in the utility model can be understood as the case may be.
In description of the present utility model, unless otherwise clearly defined and limited, fisrt feature second feature it
" on " or it " under " can directly be contacted including the first and second features, it is not directly to connect that can also include the first and second features
Touch but pass through the other characterisation contact between them.Moreover, fisrt feature second feature " on ", " top " and " on
Face " includes fisrt feature directly over second feature and oblique upper, or to be merely representative of fisrt feature level height special higher than second
Sign.Fisrt feature second feature " under ", " lower section " and " below " include fisrt feature immediately below second feature and tiltedly under
Side, or be merely representative of fisrt feature level height and be less than second feature.
Following disclosure provides many different embodiments or example is used for realizing different structure of the present utility model.
In order to simplify disclosure of the present utility model, hereinafter the part and setting of specific examples are described.Certainly, they are only
Example, and purpose does not lie in limitation the utility model.In addition, the utility model can in different examples repeat reference numerals
And/or reference letter, this repetition are for purposes of simplicity and clarity, itself not indicate discussed various embodiments
And/or the relation between setting.In addition, various specific techniques and the example of material that the utility model provides, but this
Field those of ordinary skill can be appreciated that the application of other techniques and/or the use of other materials.
Fig. 1-Fig. 3, a kind of laser triangulation module 100 that the utility model embodiment provides are referred to, including is swashed
Light emission module 10, laser pick-off module 20 and anti-diffusing reflection component 30.Laser emitting module 10 is formed with laser exit 12.Swash
Optical Receivers 20 is formed with laser entrance 22.Anti- diffusing reflection component 30 includes being set in the He of the first conduit 32 of laser exit 12
It is set in the second conduit 34 of laser entrance 22.
In the laser triangulation module 100 of the utility model embodiment, the first conduit 32 of anti-diffusing reflection component 30
The influence to be diffused caused by external light source to laser pick-off module 20 is greatly reduced with the second conduit 34, improves laser
The measurement accuracy and measurement distance of range of triangle module 100.
Specifically, the operation principle of laser triangulation module 100 is as follows：Laser emitting module 10 is sent out to ranging subject matter
Laser is penetrated, laser pick-off module 20 receives the laser from the reflection of ranging subject matter.Laser pick-off module 20 is electrically connected with image
Sensor (not shown).Imaging sensor obtains the range information of ranging subject matter according to principle of triangulation by processing.
In this way, the range information degree of accuracy obtained by range of triangle algorithm is higher.
Further, linear charge coupling sensor (linear CCD sensor) may be selected in imaging sensor.
It is linear CCD sensor small volume, in light weight, it is easy to be arranged on laser triangulation module 100.Linear CCD passes
Sensor also has the low performance of small power consumption, operating voltage, extends the working time of laser triangulation module 100.Meanwhile line
The high sensitivity of property ccd sensor, noise is low, can effectively improve the operating accuracy of laser triangulation module 100.
In some embodiments, laser emitting module 10 is used for the laser that launch wavelength is 650nm or 780nm.
The laser divergence of 650nm and 780nm wavelength is low, and collimation is good, can greatly reduce external interference to laser path
Influence.Meanwhile the laser of 650nm and 780nm wavelength is easily achieved, the energy needed for laser ranging can be reduced, is further prolonged
The working time of long laser triangulation module 100.
Specifically, laser emitting module 10 includes semiconductor laser.
Semiconductor laser wavelength scope is wide, and the laser of multi-wavelength can be achieved, and is applicable more scenes.And semiconductor laser
Device making is simple, cost is low, is easy to largely produce, can effectively reduce the production cost of laser triangulation module 100.Meanwhile
It is semiconductor laser small volume, in light weight, it is easily positioned on laser triangulation module 100, mitigates laser triangulation mould
The weight of the volume of group 100.
In some embodiments, laser emitting module 10 includes the first mounting flange of tubulose 14, and laser exit 12 is formed
In the end face of the first mounting flange 14, the first conduit 32 is sheathed on the first mounting flange 14；
Laser pick-off module 20 includes the second mounting flange of tubulose 24, and laser entrance 22 is formed at the second mounting flange 24
End face, the second conduit 34 are sheathed on the second mounting flange 24.
Diffused in this way, the first conduit 32 can greatly reduce caused by external light source, the second conduit 34 can greatly reduce
Interference light beam enters laser pick-off module 20, and both combine so that the measurement accuracy of laser triangulation module 100 carries significantly
Rise.
Specifically, the first conduit 32 can be installed to by way of engaging on the first mounting flange 14, and the second conduit 34 can
It is installed to by way of engaging on the second mounting flange 24.
In this way, the first conduit 32 and the second conduit 34 are easily installed and dismantled.
Certainly, the first conduit 32 and the second conduit 34 are not limited to the mounting means in above-mentioned embodiment.First conduit 32
It can be also threadedly coupled with the first mounting flange 14, the second conduit 34 can be also threadedly coupled with the second mounting flange 24.
In this way, stable connection between the first conduit 32 and the first mounting flange 14, the first conduit 32 will not be because of laser three
The generation slight impact of angle ranging module 100, which is either fallen, just to come off or deforms from the first mounting flange 14, influences laser hair
Module 10 is penetrated to work.Stable connection between second conduit 34 and the second mounting flange 24, the second conduit 34 will not be because of laser three
The generation slight impact of angle ranging module 100, which is either fallen, just to come off or deforms from the second mounting flange 24, influences laser and connects
Module 20 is received to work.
In some embodiments, the first conduit 32 and/or the second conduit 34 are in straight tube-like or Taper Pipe shape.
In this way, the first conduit 32 and the second conduit 34 do not interfere with the transmission path of laser.
Certainly, the shape of the first conduit 32 and the second conduit 34 is not limited to above-mentioned embodiment discussion, and can basis
The structure of laser triangulation module 100 is adjusted, to avoid influenceing transmitting and the RX path of laser.
In some embodiments, the first conduit 32 and the second conduit 34 are made of plastic material.
In this way, the first conduit 32 and the mass of the second conduit 34 are smaller, it is set in the first mounting flange 14 and the second installation is convex
Because quality is excessive the first mounting flange 14 and the second mounting flange 24 will not be made to occur bending and deformation when on edge 24, influence laser
Transmitting and entrance.Meanwhile plastics cost is relatively low, processing is simple, easily fabricated, can reduce laser triangulation module 100
Processing cost.
Further, the material of the first conduit 32 and the second conduit 34 is not limited to plastics, and can be surveyed according to laser triangulation
Use environment away from module 100 selects different materials, such as selection stainless steel material to manufacture the first conduit 32 and the second conduit
34, to reach etch-proof purpose, extend the service life of laser triangulation module 100.
In some embodiments, the light transmittance of the first conduit 32 and the second conduit 34 is less than 5%.
In this way, anti-diffusing reflection component 30 can effectively reduce influence of the interference light beam to laser pick-off module 20, laser is improved
The measurement accuracy and measurement distance of range of triangle module 100.
Further, the first conduit 32 and the blacking of the second conduit 34 can be reduced the first conduit 32 and the second conduit 34
Light transmittance, strengthen the anti-diffusing reflection effect of the first conduit 32 and the second conduit 34.
A kind of laser triangulation device 1000 of the utility model embodiment, including：
Pedestal 1002；
The laser triangulation module 100 of above-mentioned any one embodiment, laser triangulation module 100 are arranged on base
On seat 1002；With
It is arranged on pedestal 1002 and covers the top cover 1004 of laser triangulation module 100.
In the laser triangulation device 1000 of the utility model embodiment, the first conduit of anti-diffusing reflection component 30
32 and second conduit 34 greatly reduce the influence to be diffused caused by external light source to laser pick-off module 20, improve sharp
The measurement accuracy and measurement distance of light range of triangle device 1000.
Specifically, pedestal 1002 is typically adopted made of plastic.
In this way, the overall weight of laser triangulation device 1000 can be reduced, rotate laser triangulation device 1000
Rapider, measurement efficiency is higher.Meanwhile it can also reduce the cost of laser triangulation device 1000.
Top cover 1004 is used to protect laser triangulation module 100, prevents dust or other impurities from being surveyed into laser triangulation
Away from module 100, the measurement accuracy of laser triangulation module 100 is influenceed.
Further, heat emission hole 1001 is offered on top cover 1004, is easy to laser triangulation module 100 to radiate.
In some embodiments, anti-diffusing reflection component 30 includes the connection of the first conduit 32 of connection and the second conduit 34
Part 36, connector 36 formed with through hole 362, pedestal 1002 formed with 362 corresponding screw of through hole, anti-diffusing reflection component 30
It is screwed into screw after passing through through hole 362 by fastener 10022 and is fixed on pedestal 1002.
First conduit 32 is sheathed on the first mounting flange 14, and the second conduit 34 is sheathed on the second mounting flange 24, even
The connector 36 for connecing the first conduit 32 and the second conduit 34 is fixed on pedestal 1002 by fastener 10022, in this way, enhancing
Anti- diffusing reflection component 30 is arranged on the stability on laser triangulation device 1000, ensure that anti-diffusing reflection component 30 will not
Transmitting and the RX path of laser are interfered with, and is not easy to come off from laser triangulation module 100.
In some embodiments, the first conduit 32 and second one end of conduit 34 away from laser triangulation module 100
Engaged with the inner surface of top cover 1004, top cover 1004 is logical formed with first connected respectively with the first conduit 32, the second conduit 34
The through hole 10044 of hole 10042 and second.
In this way, laser is after laser emitting module 10 is sent, through the first conduit 32, from the directive ranging of first through hole 10042
Subject matter, enter laser pick-off module 20 from the second conduit 34 through the second through hole 10044 from the laser of ranging subject matter reflection,
Greatly reduce.Influence of the interference light beam to laser pick-off module 20 is effectively prevent in other words, improves laser triangulation dress
Put 1000 measurement accuracy.
Further, the first conduit 32 and the second conduit 34 may be configured as scalable shape.
In this way, after installation top cover 1004, the first conduit 32 and the second conduit 34 are extending to first through hole 10042 and second
In through hole 10044, the influence for disturbing light beam to laser pick-off module 20 is further prevented.
In some embodiments, laser triangulation device 1000 includes：
Chassis 1006, pedestal 1002 are rotatably arranged on chassis 1006；With
It is arranged on chassis 1006 and is used for the driving structure 1008 for driving pedestal 1002 to rotate.
In this way, driving structure 1008 can drive pedestal 1002 to rotate, and then it is more flexible to drive laser ranging module to carry out
Ground measures.
Specifically, driving structure 1008 may include Driven by Coaxial and belt driving.
Driven by Coaxial is compact-sized, can save the space for taking laser triangulation device 1000, reduces laser triangulation and surveys
Volume away from device 1000, mitigate the weight of laser triangulation device 1000.Belt driving structure is simple, is easily installed and tears open
Unload, facilitate maintenance and maintenance of the user to laser triangulation device 1000.
In the description of this specification, reference term " embodiment ", " some embodiments ", " schematically implementation
The description of mode ", " example ", " specific example " or " some examples " etc. means to combine embodiment or example describe it is specific
Feature, structure, material or feature are contained at least one embodiment or example of the present utility model.In this specification
In, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.Moreover, the specific spy of description
Sign, structure, material or feature can combine in an appropriate manner in any one or more embodiments or example.
While there has been shown and described that embodiment of the present utility model, one of ordinary skill in the art can manage
Solution：A variety of to the progress of these embodiments can change in the case where not departing from principle and objective of the present utility model, change,
Replace and modification, the scope of the utility model are limited by claim and its equivalent.
Claims (10)
- A kind of 1. laser triangulation module, it is characterised in that including：Laser emitting module, formed with laser exit；Laser pick-off module, formed with laser entrance；WithAnti- diffusing reflection component, including be set in the first conduit of the laser exit and be set in the second of the laser entrance and lead Pipe.
- 2. laser triangulation module as claimed in claim 1, it is characterised in that the laser emitting module is used for transmitted wave A length of 650nm or 780nm laser.
- 3. laser triangulation module as claimed in claim 1, it is characterised in that the laser emitting module includes tubulose the One mounting flange, the laser exit are formed at the end face of first mounting flange, and first sheathed catheter is located at described the On one mounting flange；The laser pick-off module includes the mounting flange of tubulose second, and the laser entrance is formed at second mounting flange End face, second sheathed catheter is on second mounting flange.
- 4. laser triangulation module as claimed in claim 1, it is characterised in that first conduit and/or described second Conduit is in straight tube-like or Taper Pipe shape.
- 5. laser triangulation module as claimed in claim 1, it is characterised in that first conduit and second conduit It is made of plastic material.
- 6. laser triangulation module as claimed in claim 1, it is characterised in that first conduit and second conduit Light transmittance be less than 5%.
- A kind of 7. laser triangulation device, it is characterised in that including：Pedestal；Laser triangulation module as claimed in any one of claims 1 to 6, the laser triangulation module are arranged on institute State on pedestal；WithIt is arranged on the pedestal and covers the top cover of the laser triangulation module.
- 8. laser triangulation device as claimed in claim 7, it is characterised in that the anti-diffusing reflection component includes connection institute State the connector of the first conduit and second conduit, the connector formed with through hole, the pedestal formed with it is described logical Screw corresponding to hole, the anti-diffusing reflection component are screwed into the screw and are fixed on the base after passing through the through hole by fastener On seat.
- 9. laser triangulation device as claimed in claim 7, it is characterised in that first conduit and second conduit Engaged away from one end of the laser triangulation module with the inner surface of the top cover, the top cover formed with respectively with it is described First conduit, the first through hole and the second through hole of the connection of the second conduit.
- 10. laser triangulation device as claimed in claim 7, it is characterised in that the laser triangulation device includes：Chassis, the pedestal are rotatably arranged on the chassis；WithIt is arranged on the chassis and is used for the driving structure for driving the pedestal to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720143438.4U CN206627631U (en) | 2017-02-16 | 2017-02-16 | Laser triangulation module and laser triangulation device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720143438.4U CN206627631U (en) | 2017-02-16 | 2017-02-16 | Laser triangulation module and laser triangulation device |
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| Publication Number | Publication Date |
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| CN206627631U true CN206627631U (en) | 2017-11-10 |
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| CN201720143438.4U Ceased CN206627631U (en) | 2017-02-16 | 2017-02-16 | Laser triangulation module and laser triangulation device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110346809A (en) * | 2018-04-01 | 2019-10-18 | 深圳慎始科技有限公司 | One kind building figure and navigator fix range unit |
-
2017
- 2017-02-16 CN CN201720143438.4U patent/CN206627631U/en not_active Ceased
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110346809A (en) * | 2018-04-01 | 2019-10-18 | 深圳慎始科技有限公司 | One kind building figure and navigator fix range unit |
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| TR01 | Transfer of patent right |
Effective date of registration: 20171208 Address after: 518055 Guangdong city of Shenzhen province Nanshan District Taoyuan Street Xueyuan Road No. 1001 Nanshan Chi Park B1 building 16 floor Patentee after: SHENZHEN LD ROBOT Co.,Ltd. Address before: Nanshan District Xueyuan Road in Shenzhen city of Guangdong province 518055 No. 1001 Nanshan Chi Park B1 building 18 floor Patentee before: INMOTION TECHNOLOGIES Co.,Ltd. |
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| CP03 | Change of name, title or address |
Address after: 518000 room 1601, building 2, Vanke Cloud City phase 6, Tongfa South Road, Xili community, Xili street, Nanshan District, Shenzhen City, Guangdong Province (16th floor, block a, building 6, Shenzhen International Innovation Valley) Patentee after: Shenzhen Ledong robot Co.,Ltd. Address before: 518055, 16, B1 building, Nanshan Zhiyuan 1001, Taoyuan Road, Nanshan District, Shenzhen, Guangdong. Patentee before: SHENZHEN LD ROBOT Co.,Ltd. |
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Decision date of declaring invalidation: 20230825 Decision number of declaring invalidation: 563455 Granted publication date: 20171110 |