CN207580071U - Human-computer interaction body-sensing vehicle - Google Patents
Human-computer interaction body-sensing vehicle Download PDFInfo
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- CN207580071U CN207580071U CN201720959615.6U CN201720959615U CN207580071U CN 207580071 U CN207580071 U CN 207580071U CN 201720959615 U CN201720959615 U CN 201720959615U CN 207580071 U CN207580071 U CN 207580071U
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- 230000003993 interaction Effects 0.000 title claims abstract description 29
- 239000011888 foil Substances 0.000 claims description 13
- 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 7
- 230000006698 induction Effects 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241001544487 Macromiidae Species 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The utility model provides a kind of human-computer interaction body-sensing vehicle, two wheels including car body and on car body, wheel can rotate in radial directions around car body, the driving device of driving vehicle wheel rotation and the control device of control driving device driving wheel are equipped in car body, turning-bar and attitude information for sensing turning-bar and the posture sensing device being connect with control device are further provided on car body, the attitude information for the turning-bar that control device is arrived according to posture sensing device senses, the velocity of rotation band motor vehicles bodies of the driving force control wheel of driving device output is controlled to turn to.Posture sensing device of the human-computer interaction body-sensing vehicle of the utility model by setting turning-bar on the car body and for sensing the attitude information of turning-bar, the attitude information for the turning-bar that control device is sensed according to posture sensing device come control driving device driving wheel band motor vehicles bodies turn to, it is simple in structure, it is easy to operate and safe.
Description
Technical field
The utility model is related to a kind of body-sensing vehicle technical fields, and in particular to a kind of human-computer interaction body-sensing vehicle.
Background technology
Body-sensing vehicle, thinking vehicle, operation principles are mainly built upon one kind and are referred to as in the basic principle of " dynamic stability ",
Using the gyroscope and acceleration transducer of vehicle body, to detect the variation of vehicle body attitude, and utilize servo-control system, essence
True ground control device is adjusted correspondingly, to keep the balance of system.
Existing body-sensing vehicle has been generally divided into turning-bar and without this two class of turning-bar, wherein the body-sensing vehicle with turning-bar,
Advance, retrogressing and the steering of car body carry out concrete operations control by turning-bar, this kind of electrodynamic balance vehicle with turning-bar
It is complicated, for example, a kind of Double-wheel self-balancing cruiser with keel framework disclosed in Chinese patent CN203127051U, packet
Include keel framework, wheel hub motor, flange wheel turns to main shaft, turns to turning-bar, battery case, control box, upper shell and lower outer
Shell, the keel framework are made of main joist, rear branch skeleton and preceding branch skeleton, and preceding branch skeleton and rear branch skeleton are symmetrically fixed on master
The front-back of keel, the left and right face of main joist are arranged with motor installing hole, and wheel hub motor is mounted in the motor installing hole, method
Blue wheel connect fixation with wheel hub motor, and steering mounting hole is equipped with before main joist, turns to main shaft and is mounted on the steering system
It unites on mounting hole, turns to turning-bar and connect with turning to spindle mounted, battery case and control box correspond to steering main shaft and be mounted on main dragon
Behind bone, upper shell is detachably connected with forward and backward branch skeleton, and lower casing is detachably connected with upper shell.Obviously, in above-mentioned patent
Turning-bar needs the course changing control to vehicle by the realization such as steering shaft, complicated.
And without the body-sensing vehicle of turning-bar, advancing, retreating is controlled by the inclination of entire car body, is turned to then by using
Person is ridden on foot platform, and carries out control realization by relative rotation angle difference between two foot platforms, such body
The playability for feeling vehicle is strong, but balance difference security performance is low.
Utility model content
A kind of human-computer interaction body-sensing vehicle that the utility model proposes to overcome the prior art.
To achieve these goals, the utility model provides a kind of human-computer interaction body-sensing vehicle, including car body and set on institute
Two wheels on car body are stated, the wheel can rotate in radial directions around the car body, and driving institute is equipped in the car body
It states the driving device of vehicle wheel rotation and control driving device drives the control device of the wheel, further set on the car body
There are turning-bar and attitude information for sensing the turning-bar and the posture sensing device being connect with the control device, institute
The attitude information of turning-bar that control device is arrived according to the posture sensing device senses is stated, controls the driving device output
The velocity of rotation band motor vehicles bodies of driving force control wheel turn to.
Further, the front and rear end of the car body corresponds to the direction of advance and direction of retreat towards the car body, institute
Posture sensing device is stated for acquiring the attitude information that turning-bar deflects to the left and the attitude information deflected to the right, the control dress
The attitude information deflected to the left according to the collected turning-bar of posture sensing device is put, is controlled described in the driving device driving
Wheel drives the car body to turn to the left；The control device is according to the deflection to the right of the collected turning-bar of posture sensing device
Attitude information, the driving device is controlled to drive the wheel that the car body is driven to turn to the right.
Further, the posture sensing device is pressure sensor, the turning-bar and the posture sensing device set
It connects, the posture sensing device goes out the attitude information of the turning-bar by induction pressure information induction.
Further, one of left and right sides of the posture sensing device is equipped with foil gauge, and the turning-bar deflects to the left
The foil gauge is driven to be bent to the left with bending to the right with deflection to the right.
Further, the posture sensing device includes the pedestal mounted on the car body top, is arranged on the pedestal
Top surface on mounting blocks and the socket block that is arranged on the top surface of the mounting blocks, the socket block and the steering rod set
It connects, the foil gauge is attached on the mounting blocks.
Further, the turning-bar is sleeved on the socket block, is formed and limited between the mounting blocks and the socket block
Make the limited step that the turning-bar moves down.
Further, the mounting blocks are equipped with the straight slot through the mounting blocks front end face and rear end face.
Further, the turning-bar includes connecting rod and the handle being connect with the connecting rod.
Further, the turning-bar is operated for hand, and the connecting rod is connect with the middle part of the handle, the handle
Length direction extension is vertical with the direction of advance of the car body.
Further, the turning-bar is operated for foot, and one end of the handle is connect with the connecting rod, the handle
The other end is towards the direction of retreat of the car body.
Due to the utilization of above-mentioned technical proposal, the utility model has advantages below：
Appearance of the human-computer interaction body-sensing vehicle of the utility model by setting turning-bar on the car body and for sensing turning-bar
The posture sensing device of state information, the attitude information for the turning-bar that control device is sensed according to posture sensing device drive to control
Dynamic device driving wheel band motor vehicles bodies turn to, simple in structure, easy to operate and safe.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the human-computer interaction body-sensing vehicle of the utility model first embodiment.
Fig. 2 is the exploded view of Fig. 1.
Fig. 3 is the dimensional structure diagram of the human-computer interaction body-sensing vehicle of the utility model second embodiment.
Fig. 4 is Fig. 3 exploded views.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention is further described in detail.It should be appreciated that specific embodiment described herein is only explaining this
Utility model is not used to limit the utility model.
Please refer to Fig.1-2, a kind of human-computer interaction body-sensing vehicle that the utility model first embodiment provides, including car body 1 and
Two wheels 2 on car body 1, wheel 2 can rotate in radial directions around car body 1.2 turns of wheel of driving is equipped in car body 1
Dynamic driving device (not shown) and the control device (not shown) of control driving device driving wheel 2.Car body 1 is enterprising
One step is equipped with turning-bar 3 and attitude information for sensing turning-bar 3 and the posture sensing device 4 connect with control device, controls
The attitude information of turning-bar 3 that device processed is sensed according to posture sensing device 4, the driving force control of control driving device output
The velocity of rotation band motor vehicles bodies 1 of wheel 2 turn to.That is, the human-computer interaction body-sensing vehicle of the utility model can pass through control
The posture of turning-bar 3 controls the car body 1 to turn to.It should be noted that the steering of car body 1 refers to that driving device exports two not
With driving force to wheel 2, the rotating speed for making two wheels 2 is different, so as to turn when car body 1 being made to turn to or retreat when advancing
To.
In the present embodiment, the front end for defining car body 1 is the direction of advance towards car body 1, and the rear end of car body 1 is towards vehicle
The direction of retreat of body 1, installation site of two wheels 2 on car body 1 are the left and right sides of car body 1.Posture sensing device 4 is used
In the attitude information that acquisition turning-bar 3 deflects to the left and the attitude information deflected to the right, control device is according to posture sensing device 4
The attitude information deflected to the left of collected turning-bar 3, control driving device driving wheel 2 turn to the left with motor vehicles bodies 1；Control
Device processed is according to the attitude information deflected to the right of 4 collected turning-bar 3 of posture sensing device, control driving device driving vehicle
2 band motor vehicles bodies 1 of wheel turn to the right.It should be noted that the deflection to the left of turning-bar 3 with to the right deflection refer to turning-bar 3 to
Left bending is with bending to the right, and posture sensing device 4 acquires the attitude information deflected to the left of turning-bar 3 and the posture deflected to the right is believed
Breath, what is actually acquired is to collect the miniature deformation information that turning-bar 3 bends and bends to the right to the left.
Specifically, (car body 1 moves the output for referring to that driving device driving the output phase is same during car body 1 moves
To two wheels 2 so that there is wheel 2 identical rotating speed to advance or retreat with car body), when user needs to turn to,
3 relative initial position of turning-bar can be swung by operating turning-bar 3, posture sensing device 4 can collect steering
The attitude information of 3 relative initial position of bar, specially when user needs to deflect to the left, user is by operating turning-bar 3
It swings to the left, at this point, the attitude information of 4 collected turning-bar 3 of posture sensing device is the letter deflected to the left of turning-bar 3
Breath, the information that the turning-bar 3 that control device is sensed according to posture sensing device 4 deflects to the left, control driving device driving two
A wheel 2 generates speed discrepancy, and the rotating speed of the wheel 2 positioned at left side, this sample car are specially more than positioned at the rotating speed of the wheel on right side 2
Wheel 2 turns to the left so that car body 1 turns to the left, correspondingly, realize principle that car body 1 turns to the right and control car body 1 to
The principle of left steering is similar, the difference is that only, need to operate turning-bar 3 makes turning-bar 3 swing to the right, control device control
Driving device drives two wheels 2 to generate speed discrepancy, and the rotating speed of the wheel 2 positioned at left side is more than the wheel 2 positioned at right side
Rotating speed.
In the present embodiment, posture sensing device 4 is pressure sensor, and turning-bar 3 is socketed with posture sensing device 4, appearance
State sensing device 4 goes out the attitude information of turning-bar 3 by induction pressure information induction.Specifically, turning-bar 3 deflects drive to the left
Posture sensing device 4 deflects to the left, since posture sensing device 4 is pressure sensor, the foil gauge 403 on pressure sensor
(as described below) can be bent to the left, and foil gauge 403 is bent to the pressure induced to the left and is denoted as normal pressure, foil gauge 403 to
The right pressure induced that bends is negative pressure, and pressure sensor senses normal pressure at this time, and such control device can be according to pressure
The positive pressure force information that force snesor senses judges that turning-bar 3 deflects to the left, and control device accordingly controls driving device to drive
Wheel 2 is turned left with motor vehicles bodies 1, realizes that 1 right-handed principle of car body is identical with controlling the principle that car body 1 is turned left, herein not
It repeats again.Deflect for the ease of precise acquisition turning-bar 3 and still deflect to the right to the left, the left and right sides of posture sensing device 4 it
One posts foil gauge 403.
The foregoing is merely a kind of control programs for car body being controlled to turn to according to the attitude information of turning-bar, and specific reality can
Control program is set according to practical situations, it is numerous to list herein.
In the present embodiment, posture sensing device 4 includes being mounted on the pedestal 401 at 1 top of car body, is arranged on pedestal 401
Top surface on mounting blocks 402 and the socket block 404 that is arranged on the top surface of mounting blocks 402, socket block 404 and turning-bar 3
Socket, foil gauge 403 are attached on mounting blocks 402 and positioned at the left side of mounting blocks 402.Posture sensing device 4 is using the above structure
Conveniently mounting blocks 402 can be driven to deflect by turning-bar 3 foil gauge 403 to be driven to bend.
In the present embodiment, turning-bar 3 is sleeved on socket block 404, is formed and limited between mounting blocks 402 and socket block 404
The limited step 405 that turning-bar 3 moves down.In order to prevent turning-bar 3 with socket block 404 be detached from, turning-bar 3 with socket block 404 it
Between pass through the fixing pieces such as screw lock.In other embodiments, socket block 404 is hollow, and socket block 404 is sleeved on turning-bar 3, in order to
Turning-bar 3 is prevented to be detached from socket block 404, is locked between turning-bar 3 and socket block 404 again by fixing pieces such as screws.
Mounting blocks 402 are equipped with the straight slot 406 of the front end face and rear end face through mounting blocks 402, such mounting blocks 402
Part is hollow, mounting blocks 402 is driven to bend, and then facilitate 403 deformation of foil gauge in order to install turning-bar 3.
In the present embodiment, turning-bar 3 includes connecting rod 301 and the handle 302 being connect with connecting rod 301, connecting rod 301
It is connect with the middle part of handle 302, the length direction extension of connecting rod 301 is vertical with the direction of advance of car body 1, to facilitate manual behaviour
Make.The connecting rod 301 of turning-bar 3 is socketed with socket block 404 and is locked by fixing pieces such as screws.
(not shown) in other embodiments, for example, angular transducer of posture sensing device 4, the connection of turning-bar 3
Bar 301 is directly installed on the top of car body 1, and angular transducer is located in connecting rod 301 and is fixed on the inner wall of connecting rod 301
On, angular transducer by sense connecting rod 301 with respect to connecting rod 301 the angle change of 1 installation site of car body induce turn
To the attitude information of bar 3.For example, when turning-bar 3 is swung to the left, the deflection angle angle value that angular transducer senses is denoted as positive angle
Degree, when turning-bar 3 is swung to the right, the deflection angle angle value that angular transducer senses is denoted as negative angle, when turning-bar 3 is to left swing
Dynamic, angular transducer senses positive angle angle value, and control device accordingly controls driving device driving wheel 2 to turn left with motor vehicles bodies 1,
Realize that 1 right-handed principle of car body is identical with controlling the principle that car body 1 is turned left, details are not described herein.
In the present embodiment, turning-bar 3 set car body 1 front end medium position and with 1 vertical connection of car body, in order to grasp
Make.Car body 1 also in the both sides of turning-bar 3, with facilitating trampled by setting foot pedal apparatus 5.
It should be noted that the turning-bar 3 and posture sensing device 4 in the utility model human-computer interaction body-sensing vehicle are only used for
Car body 1 is controlled to turn on the move, the movement of car body 1 also needs to contact other sensing devices controls.
Specifically, human-computer interaction body-sensing vehicle further comprises position sensing device (not shown), to sense 1 phase of car body
To the inclination information of wheel 2.So set, when user stands in car body 1, band motor vehicles bodies 1 are understood when user turns forward
Entirety after the position sensing device senses the information that car body 1 turns forward, sends out the letter that car body 1 turns forward toward leaning forward
Number to control device, the control device control driving device makes wheel 2 have identical rotating speed and then car body 1 is driven to transport forward
It is dynamic so that it is whole that there is sweptback power, play the role of balance.In addition, the angle of inclination that position sensor senses is got over
Greatly, driving force is bigger.Specifically, position sensing device includes gyroscope, acceleration transducer and/or photoelectric sensor.It needs
Illustrate, when user tilts backwards, car body 1 moves backward, and principle is identical with the above-mentioned principle to travel forward, herein no longer
It repeats.
Fig. 3 and Fig. 4 are please referred to, Fig. 3 and Fig. 4 is that the three-dimensional of the human-computer interaction body-sensing vehicle of the utility model second embodiment is tied
Structure schematic diagram and exploded view, the structure and the utility model first of the human-computer interaction body-sensing vehicle of the utility model second embodiment are real
Human-computer interaction body-sensing bassinet structure and the operation principle for applying example are identical essentially identical, the difference is that only that turning-bar 3 is different, should
The length of turning-bar 3 being shorter in length than in first embodiment of 3 length of turning-bar of embodiment, the turning-bar in second embodiment
One end of 3 handle 302 is connect with connecting rod 301, and the direction of retreat of the other end towards the car body 1 of handle 302 extends, with convenient
Car body 1 is controlled to turn to by foot.
The utility model further relates to a kind of forward method of human-computer interaction body-sensing vehicle, includes the following steps：
The attitude information of turning-bar 3 is acquired, the posture of turning-bar 3 is acquired especially by posture sensing device 4.
Judge the attitude information of collected turning-bar 3, being connect especially by posture sensing device 4 with control device will adopt
The attitude information of turning-bar 3 collected is sent to control device, and the acquisition of posture sensing device 4 is pressure sensor, is passed through
The attitude information that pressure obtains turning-bar 3 is acquired, specifically, posture sensing device, which collects normal pressure, represents turning-bar 3 to the left
Deflection, posture sensing device 4 collect negative pressure and represent that turning-bar 3 deflects to the right, and control device judges that posture sensing device 4 is adopted
The pressure collected is normal pressure or negative pressure.
When the attitude information of turning-bar 3 deflects to the left for turning-bar 3, control wheel 2 turns to the left with motor vehicles bodies 1, has
When member control apparatus judges that posture sensing device 4 judges pressure information for normal pressure, control driving device output is different
Driving force makes two wheels 2 generate speed difference to two wheels 2, and the rotating speed of left side wheel 2 is less than turning for right side wheels 2
Speed is turned to the left with band motor vehicles bodies 1.
When the attitude information of turning-bar deflects to the right for turning-bar, control wheel band motor vehicles bodies are turned right to body control
When device judges that posture sensing device 4 judges pressure information for negative pressure, control driving device exports different driving forces
Two wheels 2 is made to generate speed difference, and the rotating speed of left side wheel 2 is more than the rotating speed of right side wheels 2 to two wheels 2, with band
Motor vehicles bodies 1 turn to the right.
The human-computer interaction body-sensing vehicle of the utility model on car body 1 by setting turning-bar 3 and for sensing turning-bar 3
The posture sensing device 4 of attitude information, control device according to the attitude information of turning-bar 3 that posture sensing device 4 senses come
Control driving device driving wheel 2 is turned to motor vehicles bodies 1, simple in structure, easy to operate and safe.
Although the utility model is disclosed above by preferred embodiment, the utility model is not limited to, it is any
This known those skilled in the art, without departing from the spirit and scope of the utility model, can make some changes and embellishment, therefore this practicality
Novel protection domain is when subject to claims range claimed.
Claims (10)
1. a kind of human-computer interaction body-sensing vehicle, two wheels (2) including car body (1) and on the car body (1), the wheel
(2) it can be rotated in radial directions around the car body (1), the driving for driving wheel (2) rotation is equipped in the car body (1)
Device and control driving device drive the control device of the wheel (2), which is characterized in that on the car body (1) further
Attitude information equipped with turning-bar (3) and for sensing the turning-bar (3) and the posture sensing being connect with the control device
Device (4), the attitude information of turning-bar (3) that the control device is sensed according to the posture sensing device (4) control institute
The velocity of rotation band motor vehicles bodies (1) for stating the driving force control wheel (2) of driving device output turn to.
2. human-computer interaction body-sensing vehicle according to claim 1, it is characterised in that：The front and rear end pair of the car body (1)
Should towards the direction of advance and direction of retreat of the car body (1), the posture sensing device (4) for acquire turning-bar (3) to
The attitude information and the attitude information deflected to the right, the control device that left avertence turns are collected according to posture sensing device (4)
The attitude information deflected to the left of turning-bar (3) controls the driving device that the wheel (2) is driven to drive the car body (1)
It turns to the left；The control device is believed according to the posture deflected to the right of posture sensing device (4) collected turning-bar (3)
Breath controls the driving device to drive the wheel (2) that the car body (1) is driven to turn to the right.
3. human-computer interaction body-sensing vehicle according to claim 2, it is characterised in that：The posture sensing device (4) is pressure
Sensor, the turning-bar (3) are socketed with the posture sensing device (4), and the posture sensing device (4) passes through induction pressure
Information induction goes out the attitude information of the turning-bar (3).
4. human-computer interaction body-sensing vehicle according to claim 3, it is characterised in that：The left and right of the posture sensing device (4)
One of both sides are equipped with foil gauge (403), the turning-bar (3) deflect to the left with the deflection drive foil gauge (403) to the right to
Left bending is with bending to the right.
5. human-computer interaction body-sensing vehicle according to claim 4, it is characterised in that：The posture sensing device (4) includes peace
It pedestal (401) at the top of the car body (1), the mounting blocks (402) being arranged on the top surface of the pedestal (401) and sets
The socket block (404) on the top surface of the mounting blocks (402) is put, the socket block (404) is socketed with the turning-bar (3),
The foil gauge (403) is attached on the mounting blocks (402).
6. human-computer interaction body-sensing vehicle according to claim 5, it is characterised in that：The turning-bar (3) is sleeved on the socket
On block (404), formed between the mounting blocks (402) and the socket block (404) and limit the limiting that the turning-bar (3) moves down
Step (405).
7. human-computer interaction body-sensing vehicle according to claim 5, it is characterised in that：The mounting blocks (402), which are equipped with, runs through
The straight slot (406) of mounting blocks (402) front end face and rear end face.
8. the human-computer interaction body-sensing vehicle according to claim 1-7 any one, it is characterised in that：Turning-bar (3) packet
Include connecting rod (301) and the handle (302) being connect with the connecting rod (301).
9. human-computer interaction body-sensing vehicle according to claim 8, it is characterised in that：The turning-bar (3) operates for hand, described
Connecting rod (301) is connect with the middle part of the handle (302), length direction extension and the car body (1) of the handle (302)
Direction of advance it is vertical.
10. human-computer interaction body-sensing vehicle according to claim 8, it is characterised in that：The turning-bar (3) operates for foot, institute
The one end for stating handle (302) is connect with the connecting rod (301), and the other end of the handle (302) is towards the car body (1)
Direction of retreat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720959615.6U CN207580071U (en) | 2017-08-02 | 2017-08-02 | Human-computer interaction body-sensing vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720959615.6U CN207580071U (en) | 2017-08-02 | 2017-08-02 | Human-computer interaction body-sensing vehicle |
Publications (1)
| Publication Number | Publication Date |
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| CN207580071U true CN207580071U (en) | 2018-07-06 |
Family
ID=62717725
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| CN201720959615.6U Active CN207580071U (en) | 2017-08-02 | 2017-08-02 | Human-computer interaction body-sensing vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383696A (en) * | 2017-08-02 | 2019-02-26 | 杭州骑客智能科技有限公司 | Human-computer interaction body-sensing vehicle and its forward method |
| CN113771996A (en) * | 2021-09-07 | 2021-12-10 | 深圳市动平衡科技有限公司 | Vehicle body |
| CN115123434A (en) * | 2022-07-22 | 2022-09-30 | 聂爱琴 | Balance car steering mechanism and balance car |
-
2017
- 2017-08-02 CN CN201720959615.6U patent/CN207580071U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383696A (en) * | 2017-08-02 | 2019-02-26 | 杭州骑客智能科技有限公司 | Human-computer interaction body-sensing vehicle and its forward method |
| CN113771996A (en) * | 2021-09-07 | 2021-12-10 | 深圳市动平衡科技有限公司 | Vehicle body |
| CN115123434A (en) * | 2022-07-22 | 2022-09-30 | 聂爱琴 | Balance car steering mechanism and balance car |
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Effective date of registration: 20240816 Address after: 321000 west side of 3 / F, 1 plant, No. 468, Xinji Road, qiubin street, Wucheng District, Jinhua City, Zhejiang Province (self declaration) Patentee after: Zhejiang Qike Robot Technology Co.,Ltd. Country or region after: China Address before: Building 9, qixianqiao village, Liangzhu street, Yuhang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU CHIC INTELLIGENT TECHNOLOGY Co.,Ltd. Country or region before: China |