CN208334653U - A kind of scanning laser sensor and unmanned floor truck - Google Patents
A kind of scanning laser sensor and unmanned floor truck Download PDFInfo
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- CN208334653U CN208334653U CN201821091464.8U CN201821091464U CN208334653U CN 208334653 U CN208334653 U CN 208334653U CN 201821091464 U CN201821091464 U CN 201821091464U CN 208334653 U CN208334653 U CN 208334653U
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Abstract
The utility model discloses a kind of scanning laser sensor and unmanned floor truck, it is related to unmanned carrying technical field.The scanning laser sensor includes shell, laser body, rotary reflection mechanism, stationary mirror, laser pick-off mechanism and processor.Laser body, rotary reflection mechanism, stationary mirror, laser pick-off mechanism and processor are mounted in shell, laser body and rotary reflection are inter-agency every setting, rotary reflection mechanism and stationary mirror interval are arranged, and stationary mirror and laser pick-off mechanism interval are arranged.Compared with prior art, scanning laser sensor provided by the utility model is due to using the stationary mirror being installed in shell and the processor connecting respectively with laser body and laser pick-off mechanism, so can be measured in real time to error, to realize the compensation correction to measurement distance, improve measurement accuracy, measurement effect is good, practical.
Description
Technical field
Technical field is carried the utility model relates to unmanned, in particular to a kind of scanning laser sensor and nothing
People's floor truck.
Background technique
With the arriving of intelligence manufacture, the intellectualization of factories has become irreversible development trend, any automation control dress
It sets and system all be unable to do without sensor, supermatic factory, unit or system are all the venue of sensor, and
The various kinds of sensors of equipment becomes " eyes " and " feeler " of the equipment.Apply the scanning laser sensor in AGV avoidance
It is exactly one of them important sensor.Scanning laser sensor is run according to flight time (TOF) measuring principle.In pole
Under high synchronised clock, laser is emitted with uniform time interval, can be reflected when laser beam encounters object, scanning sensing
After device receives the light beam of reflection, the distance from laser sensor to object is calculated by transmitting and received time difference.
In the range measurement of existing scanning laser sensor, if there is interference in environment, as the serious electromagnetism of surrounding is dry
It disturbs, the peripheral environments factor such as the range of temperature of environment is excessive, and humidity amplitude of variation is excessive is possible to swash to what is measured
Optical scanning sensor causes measured deviation, and sensor itself can not determine the actual range (open loop) of measured point in real time, not do
Any deviation compensation.And measurement error may accumulate.
In view of this, design and manufacture a kind of scanning laser sensor for capableing of real-time measurement error and it is unmanned carry it is small
Vehicle is especially particularly important in the industrial production.
Utility model content
The purpose of this utility model is to provide a kind of scanning laser sensors, and structure is simple, can be in real time to error
It measures, to realize the compensation correction to measurement distance, improves measurement accuracy, measurement effect is good, practical.
The another object of the utility model is to provide a kind of unmanned floor truck, and structure is simple, can be in real time to accidentally
Difference measures, to realize the compensation correction to measurement distance, improves measurement accuracy, measurement effect is good, practical, user
Experience sense is good.
The utility model is that it is realized by adopting the following technical scheme.
A kind of scanning laser sensor, including shell, laser body, rotary reflection mechanism, stationary mirror, laser
Receiving mechanism and processor, laser body, rotary reflection mechanism, stationary mirror, laser pick-off mechanism and processor are equal
It is installed in shell, laser body and rotary reflection are inter-agency every setting, rotary reflection mechanism and stationary mirror interval
Setting, stationary mirror and laser pick-off mechanism interval are arranged, and what rotary reflection mechanism can issue laser body swashs
Light is reflected into stationary mirror, then is reflected into laser pick-off mechanism from stationary mirror, and shell is provided with opening, rotary reflection machine
The laser that laser body issues can also be reflected into the external world by opening by structure, processor respectively with laser body and
The connection of laser pick-off mechanism, processor is poor from the received real time is issued to for measuring laser, and by preset time difference with
Real time difference is compared to obtain error rate value.
Further, laser body includes laser emitter and collimation lens, between laser emitter and collimation lens
Every setting, laser emitter is set to the center of collimation lens, and rotary reflection mechanism is set to collimation lens far from laser
One end of transmitter.
Further, collimation lens is relatively set with the first cambered surface and the second cambered surface, and the first cambered surface is close to laser emitter
Setting, the radian of the radian of the first cambered surface less than the second cambered surface.
Further, rotary reflection mechanism includes driving motor and rotating mirror, and driving motor is fixedly installed in shell
It is interior, and connect with rotating mirror, rotating mirror and collimation lens are arranged in the first angle.
Further, collimation lens and rotating mirror interval are arranged, and collimation lens is set to the center of rotating mirror
Position.
Further, collimation lens is horizontally disposed, and the degree of the first angle is 45 degree.
Further, shell is provided with opening, and the laser that laser body issues can also be led in rotary reflection mechanism
It crosses opening and is reflected into the external world, to measure the distance between external object and scanning laser sensor.
Further, the position of stationary mirror and the position of opening are corresponding, and stationary mirror is horizontal by second
Angle setting.
Further, laser pick-off mechanism includes receiving lens and receiving module, and receiving lens are set with receiving module interval
It sets, receiving lens are sheathed on outside laser body, and the laser of stationary mirror reflection can be refracted to by receiving lens to be connect
Module is received, receiving module is connect with processor.
A kind of unmanned floor truck, including trolley body and scanning laser sensor, scanning laser sensor include shell,
Laser body, rotary reflection mechanism, stationary mirror, laser pick-off mechanism and processor, laser body, rotation are anti-
It penetrates mechanism, stationary mirror, laser pick-off mechanism and processor to be mounted in shell, shell is installed in trolley body, is swashed
Light-transmitting means and rotary reflection are inter-agency every setting, rotary reflection mechanism and the setting of stationary mirror interval, stationary mirror
It is arranged with laser pick-off mechanism interval, the laser reflection that rotary reflection mechanism can issue laser body to fixation reflex
Mirror, then it is reflected into laser pick-off mechanism from stationary mirror, shell is provided with opening, and rotary reflection mechanism can also send out laser
The laser for penetrating mechanism sending is reflected into the external world by opening, and processor connects with laser body and laser pick-off mechanism respectively
It connects, processor is poor from the received real time is issued to for measuring laser, and preset time difference and real time difference are carried out
Comparison obtains error rate value.
Scanning laser sensor provided by the utility model and unmanned floor truck have the advantages that
Scanning laser sensor provided by the utility model, what rotary reflection mechanism can issue laser body swashs
Light is reflected into stationary mirror, then is reflected into laser pick-off mechanism from stationary mirror, and shell is provided with opening, rotary reflection machine
The laser that laser body issues can also be reflected into the external world by opening by structure, processor respectively with laser body and
The connection of laser pick-off mechanism, processor is poor from the received real time is issued to for measuring laser, and by preset time difference with
Real time difference is compared to obtain error rate value.Compared with prior art, laser scanning sensing provided by the utility model
Device is due to using the stationary mirror being installed in shell and connecting respectively with laser body and laser pick-off mechanism
Processor to realize the compensation correction to measurement distance, improve measurement essence so can measure in real time to error
Degree, measurement effect is good, practical.
Unmanned floor truck provided by the utility model, including scanning laser sensor, structure is simple, can be right in real time
Error measures, to realize the compensation correction to measurement distance, improves measurement accuracy, and measurement effect is good, practical, uses
Family experience sense is good.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the structural schematic diagram of unmanned floor truck provided by the embodiment of the utility model；
Fig. 2 is structural representation when scanning laser sensor provided by the embodiment of the utility model measures real time difference
Figure；
Fig. 3 be scanning laser sensor provided by the embodiment of the utility model measure external object apart from when structural representation
Figure；
Fig. 4 is the structural schematic diagram of laser body in scanning laser sensor provided by the embodiment of the utility model.
Icon: the unmanned floor truck of 10-；100- scanning laser sensor；110- shell；111- opening；120- laser hair
Penetrate mechanism；121- laser emitter；122- collimation lens；The first cambered surface of 123-；The second cambered surface of 124-；130- rotary reflection machine
Structure；131- driving motor；132- rotating mirror；140- stationary mirror；150- laser pick-off mechanism；151- receiving lens；
152- receiving module；160- processor；200- trolley body.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Usually here in attached drawing description and
The component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.
Therefore, requirement is not intended to limit to the detailed description of the embodiments of the present invention provided in the accompanying drawings below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the range of the utility model protection.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term "inner", "outside", "upper", "lower", "horizontal" etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings or when utility model product uses is used
The orientation or positional relationship often put, is merely for convenience of describing the present invention and simplifying the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of utility model.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and should not be understood as indicating
Or imply relative importance.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set
Set ", " connected ", " installation ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection,
Or it is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediary can also be passed through
It is indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, it can be managed with concrete condition
Solve the concrete meaning of above-mentioned term in the present invention.
With reference to the accompanying drawing, it elaborates to some embodiments of the utility model.In the absence of conflict, under
The feature in embodiment stated can be combined with each other.
Embodiment
Fig. 1 is please referred to, the utility model embodiment provides a kind of unmanned floor truck 10, for realizing unmanned transport.
Its structure is simple, can measure in real time to error, to realize the compensation correction to measurement distance, improves measurement essence
Degree, measurement effect is good, and practical, user experience is good.The unmanned floor truck 10 includes trolley body 200 and laser scanning
Sensor 100.Scanning laser sensor 100 is installed in trolley body 200, and scanning laser sensor 100 is removed applied to nobody
Transport trolley 10 barrier avoiding function on, scanning laser sensor 100 be able to detect between foreign body and trolley body 200 away from
From.After scanning laser sensor 100 senses the region of object invasion setting, 100 output signal of scanning laser sensor
It informs trolley body 200, trolley body 200 is made to make movement in time to prevent upcoming dangerous situation.
Incorporated by reference to referring to Fig. 2 and Fig. 3 (in figure arrow direction be laser the direction of the launch), scanning laser sensor 100
Including shell 110, laser body 120, rotary reflection mechanism 130, stationary mirror 140, laser pick-off mechanism 150 and place
Manage device 160.Laser body 120, rotary reflection mechanism 130, stationary mirror 140, laser pick-off mechanism 150 and processor
160 are mounted in shell 110, and shell 110 is installed in trolley body 200, in order to determining for scanning laser sensor 100
Position.Laser body 120 and the interval of rotary reflection mechanism 130 are arranged, between rotary reflection mechanism 130 and stationary mirror 140
Every setting, stationary mirror 140 and the interval of laser pick-off mechanism 150 are arranged.Rotary reflection mechanism 130 can be by laser transmitter
The laser reflection that structure 120 issues is reflected into laser pick-off mechanism 150 to stationary mirror 140, then from stationary mirror 140.Place
Reason device 160 is connect with laser body 120 and laser pick-off mechanism 150 respectively, and processor 160 is for measuring laser from sending
It is poor to the received real time, and preset time difference is compared to obtain error rate value with real time difference.
It should be noted that in theory, since the laser that laser body 120 issues passes through stationary mirror 140
The path length for being reflected into laser pick-off mechanism 150 is constant, thus the time that laser passes through this paths be also it is certain, i.e.,
It is poor for preset time.However in a practical situation, external environment can have an impact the operation of laser, and laser is caused to pass through this
Need not be equal to that preset time is poor the time in path, the time that laser passes through this paths in a practical situation is actual conditions
Difference.When external environment does not have an impact Laser emission, laser is constant by time of this paths, preset time difference with
Real time difference is identical, and error rate value is 1；When external environment has an impact Laser emission, laser passes through this paths
Time generate variation, preset time difference and real time difference are different, and error rate value can be more than or less than 1, to error ratio
The size of example value is not especially limited.
It is worth noting that, shell 110 is provided with opening 111, rotary reflection mechanism 130 can also be by laser body
120 laser issued 111 are reflected into the external world by opening, with measure between external object and scanning laser sensor 100 away from
From obtaining measurement distance, compensate correction to the measurement distance using error rate value, obtain actual range.
Specifically, the position of stationary mirror 140 is corresponding with the position of opening 111, stationary mirror 140 and horizontal plane
It is arranged in the second angle, to reflect the laser light in laser pick-off mechanism 150.In the present embodiment, the degree of the second angle is 66
Degree, it is not limited to this, is not especially limited the degree of the second angle.The mistake that rotary reflection mechanism 130 turns around in rotation
Cheng Zhong, the laser reflected can either be radiated at measurement error ratio value on stationary mirror 140, and can pass through opening
111 are radiated on external object to measure the distance between external object and scanning laser sensor 100, to realize in real time accidentally
Difference measurements and correction.
Laser body 120 includes laser emitter 121 and collimation lens 122.Laser emitter 121 and collimation lens
122 interval settings, laser emitter 121 are set to the center of collimation lens 122, and rotary reflection mechanism 130 is set to standard
The straight one end of lens 122 far from laser emitter 121, the laser that laser emitter 121 issues are emitted to by collimation lens 122
In rotary reflection mechanism 130.In the present embodiment, laser emitter 121 is point light source, and the laser that laser emitter 121 issues is
Spread laser, laser pass through collimation lens 122, and become parallel laser under the refraction action of collimation lens 122, then to rotation
Reflecting mechanism 130 projects.
Rotary reflection mechanism 130 includes driving motor 131 and rotating mirror 132.Driving motor 131 is fixedly installed in outer
It in shell 110, and is connect with rotating mirror 132, to drive rotating mirror 132 to rotate.Rotating mirror 132 and collimation
Lens 122 are arranged in the first angle, and the laser irradiation across collimation lens 122 is on rotating mirror 132, and in rotary reflection
To being reflected into stationary mirror 140 or the external world under the action of mirror 132.
It should be noted that collimation lens 122 and the interval of rotating mirror 132 are arranged, collimation lens 122 is set to rotation
The center of reflecting mirror 132.In the present embodiment, collimation lens 122 is horizontally disposed, and the degree of the first angle is 45 degree, laser
Transmitter 121 issues laser after passing through collimation lens 122 straight up, and horizontal under the reflex of rotating mirror 132
It is reflected outward.
Laser pick-off mechanism 150 includes receiving lens 151 and receiving module 152.Receiving lens 151 and receiving module 152
Interval setting, receiving lens 151 are sheathed on outside laser body 120, and the laser that stationary mirror 140 reflects can be by connecing
It receives lens 151 and is refracted to receiving module 152, receiving module 152 is connect with processor 160.Processor 160 is in laser emitter
Start timing when 121 sending laser, receiving module 152 can issue high level signal, place after receiving laser to processor 160
Reason device 160 stops timing after receiving high level signal to get poor to the real time.
Referring to figure 4. (in figure arrow direction be laser the direction of the launch), it is notable that 122 phase of collimation lens
To being provided with the first cambered surface 123 and the second cambered surface 124.First cambered surface 123 is arranged close to laser emitter 121, the second cambered surface 124
It is arranged close to rotary reflection mechanism 130, the laser that laser emitter 121 issues sequentially passes through the first cambered surface 123 and the second cambered surface
124, then inject in rotary reflection mechanism 130.The radian of first cambered surface 123 makes diffusion less than the radian of the second cambered surface 124
Laser can reflect the laser for becoming parallel.
When in use, laser emitter 121 issues laser to scanning laser sensor 100, and driving motor 131 drives rotation
Turn reflecting mirror 132 to rotate.During one circle of rotation of rotating mirror 132, laser passes through stationary mirror 140 first
It is reflected into laser pick-off mechanism 150, show that the real time is poor, and then calculates the error rate value under the influence of prevailing circumstances, with
Laser passes through opening 111 and is reflected into the external world afterwards, then is reflected back rotating mirror 132 from external object, then be reflected back laser pick-off
Mechanism 150 obtains the time of laser operational process, can obtain external object using the speed that the time and laser are run and swash
The distance between optical scanning sensor 100, finally by the distance multiplied by error rate value to get after compensation correction out it is practical away from
From realization accurately measures.
Scanning laser sensor 100 provided by the embodiment of the utility model, rotary reflection mechanism 130 can be by Laser emissions
The laser reflection that mechanism 120 issues is reflected into laser pick-off mechanism 150 to stationary mirror 140, then from stationary mirror 140,
Shell 110 is provided with opening 111, and the laser that laser body 120 issues can also be passed through opening by rotary reflection mechanism 130
111 are reflected into the external world, and processor 160 is connect with laser body 120 and laser pick-off mechanism 150 respectively, and processor 160 is used
It is poor from the received real time is issued in metering laser, and preset time difference is compared to obtain error with real time difference
Ratio value.Compared with prior art, scanning laser sensor 100 provided by the utility model is installed on shell due to using
Stationary mirror 140 in 110 and the processor being connect respectively with laser body 120 and laser pick-off mechanism 150
160, so can be measured in real time to error, to realize the compensation correction to measurement distance, measurement accuracy is improved, is surveyed
Dose-effect fruit is good, practical, so that unmanned floor truck 10 is safe and practical, user experience is good.
The above is only the preferred embodiments of the utility model, are not intended to limit the utility model, for this field
Technical staff for, various modifications and changes may be made to the present invention.Within the spirit and principle of the utility model,
Any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of scanning laser sensor, which is characterized in that including shell, laser body, rotary reflection mechanism, fix instead
Penetrate mirror, laser pick-off mechanism and processor, the laser body, the rotary reflection mechanism, the stationary mirror, institute
It states laser pick-off mechanism and the processor is mounted in the shell, the laser body and the rotary reflection machine
The setting of structure interval, the rotary reflection mechanism and the stationary mirror interval are arranged, the stationary mirror and the laser
The setting of receiving mechanism interval, the laser reflection that the rotary reflection mechanism can issue the laser body is to described solid
Determine reflecting mirror, then be reflected into the laser pick-off mechanism from the stationary mirror, the processor is sent out with the laser respectively
Mechanism to be penetrated to connect with the laser pick-off mechanism, the processor is poor from the received real time is issued to for measuring laser,
And preset time difference is compared to obtain error rate value with the real time difference.
2. scanning laser sensor according to claim 1, which is characterized in that the laser body includes laser hair
Emitter and collimation lens, the laser emitter and the collimation lens interval are arranged, and the laser emitter is set to described
The center of collimation lens, the rotary reflection mechanism are set to one of the collimation lens far from the laser emitter
End.
3. scanning laser sensor according to claim 2, which is characterized in that the collimation lens is relatively set with first
Cambered surface and the second cambered surface, first cambered surface are arranged close to the laser emitter, and the radian of first cambered surface is less than described
The radian of second cambered surface.
4. scanning laser sensor according to claim 2, which is characterized in that the rotary reflection mechanism includes driving electricity
Machine and rotating mirror, the driving motor are fixedly installed in the shell, and are connect with the rotating mirror, the rotation
Turn reflecting mirror and the collimation lens to be arranged in the first angle.
5. scanning laser sensor according to claim 4, which is characterized in that the collimation lens and the rotary reflection
The setting of mirror interval, the collimation lens are set to the center of the rotating mirror.
6. scanning laser sensor according to claim 4, which is characterized in that the collimation lens is horizontally disposed, described
The degree of first angle is 45 degree.
7. scanning laser sensor according to claim 1, which is characterized in that the shell is provided with opening, the rotation
The external world can also be reflected by the opening for the laser that the laser body issues by turning reflecting mechanism, to measure the external world
The distance between object and the scanning laser sensor.
8. scanning laser sensor according to claim 7, which is characterized in that the position of the stationary mirror with it is described
The position of opening is corresponding, and the stationary mirror is arranged horizontal by the second angle.
9. scanning laser sensor according to claim 1, which is characterized in that the laser pick-off mechanism includes receiving thoroughly
Mirror and receiving module, the receiving lens and the receiving module interval are arranged, and the receiving lens are sheathed on the laser hair
It penetrates outside mechanism, the laser of the stationary mirror reflection can be refracted to the receiving module by the receiving lens, described
Receiving module is connected to the processor.
10. a kind of unmanned floor truck, which is characterized in that including trolley body and scanning laser sensor, the laser scanning
Sensor includes shell, laser body, rotary reflection mechanism, stationary mirror, laser pick-off mechanism and processor, described
Laser body, the rotary reflection mechanism, the stationary mirror, the laser pick-off mechanism and the processor are pacified
Loaded in the shell, the shell is installed in the trolley body, the laser body and the rotary reflection machine
The setting of structure interval, the rotary reflection mechanism and the stationary mirror interval are arranged, the stationary mirror and the laser
The setting of receiving mechanism interval, the laser reflection that the rotary reflection mechanism can issue the laser body is to described solid
Determine reflecting mirror, then be reflected into the laser pick-off mechanism from the stationary mirror, the shell is provided with opening, the rotation
The laser that the laser body issues can also be reflected into the external world, the processor point by the opening by reflecting mechanism
Do not connect with the laser body and the laser pick-off mechanism, the processor for measure laser from be issued to receive
Real time it is poor, and preset time difference is compared to obtain error rate value with the real time difference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821091464.8U CN208334653U (en) | 2018-07-10 | 2018-07-10 | A kind of scanning laser sensor and unmanned floor truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821091464.8U CN208334653U (en) | 2018-07-10 | 2018-07-10 | A kind of scanning laser sensor and unmanned floor truck |
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| Publication Number | Publication Date |
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| CN208334653U true CN208334653U (en) | 2019-01-04 |
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ID=64786782
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821091464.8U Active CN208334653U (en) | 2018-07-10 | 2018-07-10 | A kind of scanning laser sensor and unmanned floor truck |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111935959A (en) * | 2020-08-19 | 2020-11-13 | 珠海格力智能装备有限公司 | Heat abstractor and AGV dolly |
| WO2023284227A1 (en) * | 2021-07-12 | 2023-01-19 | 美智纵横科技有限责任公司 | Sensor module and cleaning robot |
-
2018
- 2018-07-10 CN CN201821091464.8U patent/CN208334653U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111935959A (en) * | 2020-08-19 | 2020-11-13 | 珠海格力智能装备有限公司 | Heat abstractor and AGV dolly |
| WO2023284227A1 (en) * | 2021-07-12 | 2023-01-19 | 美智纵横科技有限责任公司 | Sensor module and cleaning robot |
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Address after: 528000, Building 8, Shengyue Garden, No. 33 Shunye East Road, Xingtan Town, Shunde District, Foshan City, Guangdong Province, China (Residence application) Patentee after: Guangdong Xingsong Technology Co.,Ltd. Address before: No. 1602, Building 3, Gaojun Technology Innovation Center, No. 1 Chaogui South Road, Ronggui Xiaohuangpu Neighborhood Committee, Shunde District, Foshan City, Guangdong Province, 528000 Patentee before: FOSHAN HINSON ROBOT TECHNOLOGY CO.,LTD. |
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