CN210210467U - Image acquisition structure and robot - Google Patents
Image acquisition structure and robot Download PDFInfo
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- CN210210467U CN210210467U CN201920799873.1U CN201920799873U CN210210467U CN 210210467 U CN210210467 U CN 210210467U CN 201920799873 U CN201920799873 U CN 201920799873U CN 210210467 U CN210210467 U CN 210210467U
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Abstract
The utility model discloses an image acquisition structure and robot relates to mechanical technical field. This image acquisition structure, including industry camera, long-range view camera, thermal infrared camera, shell, light source portion and supporting part, wherein: the industrial camera and the thermal infrared camera are connected to the supporting part, and the thermal infrared camera is positioned on the side of the industrial camera; the industrial camera and the thermal infrared camera are positioned inside the shell; the long-range camera is connected to the outside of the shell; the light source part is connected to the upper side and/or the lower side of the support part. This embodiment can improve the recognition rate and the collection precision of image acquisition structure, and intelligent hardware such as the robot of being convenient for gathers external environment information, adapts to dim light, dark environment better.
Description
Technical Field
The utility model relates to the technical field of machinery, concretely relates to image acquisition structure and robot.
Background
In recent years, the robot industry is rapidly developing, and the requirements of users on the robot under different scenes are higher and higher, for example, machine room inspection, street view shooting, unmanned goods distribution and the like. For industrial robots and some service robots, the robots need to collect environmental information to know the surrounding environment.
Generally, a robot uses a high-definition camera as an environment sensing camera to capture an image of an environment, and then uses some algorithms or software to analyze the image of the environment to obtain environment information, so as to know the environment of the environment.
In the course of implementing the present invention, the inventor finds that the above-mentioned operation mode has the following disadvantages:
1. the environment perception camera is mostly directly arranged on the robot, and the brightness of light is greatly different for different environments, so that the quality of the shot surrounding images cannot be ensured, and the acquisition precision is low;
2. the environment perception camera is single, the quality of shooting surrounding images cannot be guaranteed, and the acquisition precision is low.
SUMMERY OF THE UTILITY MODEL
For the quality of the unable assurance shooting image around solving among the prior art, gather the problem that the precision is low, the utility model provides an image acquisition structure and robot can improve the recognition rate and the collection precision of image acquisition structure, and intelligent hardware such as the robot of being convenient for gathers external environment information, adapts to dim light, dark environment better.
To achieve the above object, according to one aspect of the embodiments of the present invention, an image capturing structure is provided.
The utility model discloses an image acquisition structure includes: industry camera, long-range view camera, thermal infrared camera, shell, light source portion and supporting part, wherein:
the industrial camera and the thermal infrared camera are connected to the supporting part, and the thermal infrared camera is positioned on the side of the industrial camera;
the industrial camera and the thermal infrared camera are located inside the housing; the long-range camera is connected to the outside of the shell;
the light source part is connected to an upper side and/or a lower side of the support part.
Optionally, the support portion comprises: industry camera mount and thermal infrared camera fixed plate, wherein:
the industrial camera fixing frame is connected with the rear part of the industrial camera;
the thermal infrared camera fixing plate is connected to the side face of the industrial camera fixing frame and connected with the thermal infrared camera.
Optionally, the method further comprises: a connecting frame and a flange, wherein:
the connecting frame is respectively connected with the industrial camera fixing frame and the shell;
the flange plate is connected with the connecting frame; the flange plate is used for being connected with the robot.
Optionally, the light source unit includes: light source, light source cover and bracing frame, wherein:
the light source is arranged in the light source cover;
the light source cover is connected with the inclined strut frame;
the inclined strut frame is connected to the upper end and/or the lower end of the industrial camera fixing frame.
Optionally, the housing comprises a front shell provided with a camera hole and a bracket hole, wherein:
the bracket hole is matched with the inclined strut frame;
the long-range camera is connected to the outer side of the front shell and is positioned between the front shell and the light source cover;
the industrial camera and the thermal infrared camera are located within the front housing; the industrial camera and the thermal infrared camera are respectively matched with the camera hole.
Optionally, one side of the front shell connected with the long-range view camera is provided with a reinforcing rib, and the reinforcing rib is located on two sides of the long-range view camera.
Optionally, the housing further includes a rear case, and one end of the diagonal bracing frame close to the industrial camera fixing frame is provided with a slot, wherein:
one end of the rear shell is connected with the front shell and clamped in the slotted hole;
the other end of the rear shell is connected with the connecting frame.
Optionally, the cable fixing device further comprises an outer cable fixing plate, an inner cable fixing plate and a quick-insertion fixing plate, wherein:
the external cable fixing plate is connected to the outer side face of the connecting frame;
the inner cable fixing plate is connected to the lower end of the industrial camera fixing frame;
the quick-insertion fixing plate is connected to the upper end of the industrial camera fixing frame.
Optionally, the system further comprises a control part for controlling the industrial camera, the long-range camera, the thermal infrared camera and the light source part, wherein:
the control part is in communication connection with the industrial camera, the long-range camera, the thermal infrared camera and the light source part.
To achieve the above object, according to still another aspect of an embodiment of the present invention, a robot is provided.
The utility model discloses a robot, the actuating mechanism's of robot end is provided with the utility model discloses the image acquisition structure of embodiment.
An embodiment in the above-mentioned utility model has following advantage or beneficial effect:
1. the cameras with different functions are arranged together in a centralized manner, and the light supplement lamp is added, so that the recognition rate and the acquisition precision of the image acquisition structure are improved, the intelligent hardware such as a robot and the like can conveniently acquire external environment information, and the system is better suitable for dim light and dark environments;
2. when the environment information is shot, the light source can supplement light to the surrounding environment, and the shooting quality is improved;
3. the long-range camera is connected to the outside of the shell, so that the long-range camera can be conveniently maintained and replaced, and can also be conveniently replaced by a camera with other functions;
4. the industrial camera, the long-range camera, the thermal infrared camera, the shell, the light source part and the supporting part can be integrally connected to the robot through the connecting frame and the flange plate, and meanwhile, the whole can be easily separated from the robot during disassembly, so that the assembly and the maintenance are convenient;
5. the external cable fixing plate and the internal cable fixing plate enable the cable to be neatly placed;
6. the quick-insertion fixing plate can realize plug-and-play of the image acquisition structure, and is efficient and convenient;
7. when preceding shell and backshell are connected with the connecting frame, with the slotted hole cooperation of bracing frame, make the installation of shell more firm, avoid rocking at the operation in-process.
Drawings
Fig. 1 is a schematic diagram of an image capturing structure provided by an embodiment of the present invention;
fig. 2 is a schematic perspective view of a partial structure of an image capturing structure according to an embodiment of the present invention;
fig. 3 is a schematic perspective structural diagram of an image capturing structure provided in an embodiment of the present invention;
fig. 4 is a right side view of a partial structure of an image capturing structure according to an embodiment of the present invention;
fig. 5 is a first front view of an image capturing structure provided by an embodiment of the present invention;
fig. 6 is a second front view of an image capturing structure provided in an embodiment of the present invention;
fig. 7 is a left side view of an image capturing structure provided by an embodiment of the present invention;
fig. 8 is a rear view of an image capturing structure according to an embodiment of the present invention.
In the figure, the position of the upper end of the main shaft,
1-an industrial camera; 2-a distant view camera; 3-a thermal infrared camera; 4-a housing; 41-front shell; 411-reinforcing ribs; 42-rear shell; 5-a light source section; 51-a light source; 52-light source cover; 53-a diagonal bracing frame; 531-slotted hole; 6-a support part; 61-industrial camera mount; 62-thermal infrared camera fixing plate; 71-a connecting frame; 72-flange plate; 81-an outer cable fixing plate; 82-an inner cable fixing plate; 83-quick-insert fixing plate.
Detailed Description
Exemplary embodiments of the invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a schematic diagram of an image capturing structure provided by an embodiment of the present invention; fig. 2 is a schematic perspective view of a partial structure of an image capturing structure according to an embodiment of the present invention; fig. 3 is a schematic perspective structural diagram of an image capturing structure provided in an embodiment of the present invention; fig. 4 is a right side view of a partial structure of an image capturing structure according to an embodiment of the present invention; fig. 5 is a first front view of an image capturing structure provided by an embodiment of the present invention; fig. 6 is a second front view of an image capturing structure provided in an embodiment of the present invention; fig. 7 is a left side view of an image capturing structure provided by an embodiment of the present invention; fig. 8 is a rear view of an image capturing structure according to an embodiment of the present invention. The utility model discloses an image acquisition structure, the camera (being industrial camera 1, long-range scene camera 2 and thermal infrared camera 3) with different functions is concentrated and is installed together to increase the light filling lamp (being light source portion 5), improved the recognition rate and the collection precision of image acquisition structure, intelligent hardware such as the robot of being convenient for gathers external environment information, adapts to dim light, dark environment better.
As shown in fig. 1-8, an embodiment of the present invention provides an image capturing structure, which mainly includes: an industrial camera 1, a distant view camera 2, a thermal infrared camera 3, a housing 4, a light source section 5, and a support section 6. The industrial camera 1 is used for shooting surrounding images and identifying the state of specific information in the image; the long-range view camera 2 is used for detecting a target, following the target and judging the target distance; the thermal infrared camera 3 is used for shooting a thermal infrared image and judging the target temperature; the light source unit 5 is used to supplement light to the surrounding environment when capturing the environmental information.
Specifically, the industrial camera 1 and the thermal infrared camera 3 are located within the housing 4, and the thermal infrared camera 3 is disposed to the side of the industrial camera 1 (i.e., the thermal infrared camera 3 and the industrial camera 1 are disposed adjacent to each other). The long-range view camera 2 is connected to the outside of shell 4, supports fixed long-range view camera 2 through shell 4, connects long-range view camera 2 in the outside of shell 4, can be convenient for the maintenance of long-range view camera 2 to change, also can change the camera that has other functions conveniently. The industrial camera 1 and the thermal infrared camera 3 are connected to the support portion 6, and the industrial camera 1 and the thermal infrared camera 3 are supported and fixed by the support portion 6. The light source unit 5 is connected to the upper side and/or the lower side of the support unit 6, and a supplementary lighting lamp may be added to one side of the support unit 6 or to both sides of the support unit 6.
It should be noted that, in fig. 1 to 8, only the main body portions of the components such as the industrial camera 1, the distant view camera 2, the thermal infrared camera 3, and the light source section 5 are shown, cables for communication, power supply, and the like are not shown in the drawings, and the shapes of the industrial camera 1, the distant view camera 2, the thermal infrared camera 3, and the light source section 5 are determined according to the actually selected camera or lamp.
With continuing reference to fig. 1-8, the image capturing structure of the embodiment of the present invention can further include: the connecting frame 71 and the flange 72 can connect the whole of the industrial camera 1, the long-range camera 2, the thermal infrared camera 3, the housing 4, the light source part 5 and the supporting part 6 to the robot through the connecting frame 71 and the flange 72, and can be easily separated from the robot during disassembly, thereby facilitating assembly and maintenance.
Specifically, the flange 72 is used for connection with the robot, the connection frame 71 is connected with the flange 72, and the connection frame 71 is connected with the housing 4 and the industrial camera mount 61 of the support portion 6, respectively.
It should be noted that by adjusting the angle of the connection frame 71 connected to the industrial camera fixing frame 61, the angle of the image capturing structure on the robot can be flexibly adjusted, for example, the light source 5 is disposed on the upper and lower sides of the industrial camera 1 (as shown in fig. 5), or the light source 5 is disposed on the left and right sides of the industrial camera 1 (as shown in fig. 6). In addition, the connection between the connecting frame 71 and the flange 72 can be achieved by means known in the art, such as welding.
With continued reference to fig. 1-8, the image capturing structure of the embodiment of the present invention may further include an external cable fixing plate 81, an internal cable fixing plate 82, and a quick-insertion fixing plate 83, wherein the external cable fixing plate 81 is used to fix an external cable, such as a cable for supplying power to the light source unit 5; the inner cable fixing plate 82 is used to fix an inner cable, such as an optical cable of the industrial camera 1; the quick-plug fixing plate 83 is used for fixing a quick-plug connector, the quick-plug connector is a plug-and-play connection mode, a plurality of cables of the same type are integrated into one connector, and the advantages of the quick-plug connector can be embodied particularly on the occasions where connection is inconvenient and difficult. The cable is neatly installed by the outer cable fixing plate 81 and the inner cable fixing plate 82. The connection of the image capturing structure to the robot can be made more convenient by inserting the fixing plate 83 quickly.
Specifically, the outer cable fixing plate 81 is connected to an outer side surface of the connection frame 71. The inner cable fixing plate 82 is connected to the lower end of the industrial camera fixing frame 61. The quick-insertion fixing plate 83 is connected to the upper end of the industrial camera fixing frame 61. The above connection can be achieved by means of a technique known in the art, such as screw connection or fixing by adhesive.
In the embodiment of the present invention, the image capturing structure of the embodiment of the present invention may further include a control portion (not shown in the figure), and the industrial camera 1, the long-range camera 2, the thermal infrared camera 3 and the light source portion 5 are all in communication connection with the control portion. The control unit controls the industrial camera 1, the distant view camera 2, the thermal infrared camera 3, and the light source unit 5, and may use a core processor in the robot body as the control unit to control the robot and the industrial camera 1, the distant view camera 2, the thermal infrared camera 3, and the light source unit 5 in a unified manner.
Referring next to fig. 2 and 4, in an embodiment of the present invention, the supporting portion 6 may include: an industrial camera mount 61 and a thermal infrared camera mount 62. The industrial camera fixing frame 61 is used for supporting and fixing the industrial camera 1; the thermal infrared camera fixing plate 62 is used to support and fix the thermal infrared camera 3.
Specifically, the industrial camera mount 61 is connected to the rear of the industrial camera 1. The thermal infrared camera fixing plate 62 is attached to a side of the industrial camera fixing frame 61, and the thermal infrared camera fixing plate 62 is attached to the thermal infrared camera 3. The above connection can be achieved by means of techniques known in the art, such as by screw connection.
Referring next to fig. 2, 4 and 7, in an embodiment of the present invention, the light source part 5 may include: a light source 51, a light source cover 52 and a diagonal frame 53. The light source 51 is disposed in the light source cover 52, and an LED or the like may be selected as the light source 51. The light source cover 52 is connected with the inclined strut frame 53, and the inclined strut frame 53 is connected to the upper end and/or the lower end of the industrial camera fixing frame 61, so that the light supplement lamps are added on one side of the supporting part 6, or the light supplement lamps are added on two sides of the supporting part 6.
The connection between the inclined frame 53 and the light source cover 52 or the industrial camera fixing frame 61 may be achieved by a technique known in the art, for example, by a screw connection. In addition, a slot hole 531 is formed at an end of the diagonal-brace frame 53 near the industrial camera mount 61, and the slot hole 531 is used to engage with the housing 4, so that the housing 4 is more firmly fixed.
Referring next to fig. 7 and 8, in the embodiment of the present invention, the housing 4 may include a front shell 41 and a rear shell 42, wherein the front shell 41 is provided with a stiffener 411, a camera hole (not shown) and a bracket hole (not shown), and the front shell 41 and the rear shell 42 may be formed by splicing several parts. The industrial camera 1 and the thermal infrared camera 3 are protected by a front case 41 and a rear case 42.
The bracket hole of the front case 41 is used to cooperate with the diagonal bracing frame 53, and the diagonal bracing frame 53 needs to pass through the bracket hole to be connected with the industrial camera fixing frame 61. The industrial camera 1 and the thermal infrared camera 3 are located in the front shell 41, the industrial camera 1 and the thermal infrared camera 3 are respectively matched with the camera holes, the front shell 41 is relatively fixed with the industrial camera 1 and the thermal infrared camera 3 while providing protection for the industrial camera 1 and the thermal infrared camera 3, and looseness in the operation process is avoided. The distant view camera 2 is connected to the outer side of the front case 41, the distant view camera 2 is located between the front case 41 and the light source cover 52, and the reinforcing ribs 411 are located at both sides of the distant view camera 2. The strength of the front case 41 is improved by the reinforcing ribs 411, and the telephoto camera 2 is better supported.
One end of the rear shell 42 is connected with the front shell 41, the rear shell 42 is clamped in the slot hole 531 of the inclined strut frame 53, the other end of the rear shell 42 is connected with the connecting frame 71, the front shell 41 and the rear shell 42 are fixed through the connecting frame 71, and the front shell 41 and the rear shell 42 are prevented from shaking in the operation process.
Furthermore, the embodiment of the utility model provides a still provide a robot, the actuating mechanism's of this robot end is provided with the utility model discloses the image acquisition structure of embodiment.
The utility model discloses the robot, the camera and the light filling lamp with different functions are concentrated and are installed together, form the whole of image acquisition structure, and this whole can be installed in the actuating mechanism's of robot end, and actuating mechanism can be manipulator or multiaxis arm etc. moves through the position of actuating mechanism and robot, realizes the shooting to different targets, utilizes actuating mechanism's flexibility simultaneously, realizes detecting and follows the function in a flexible way, accurately. The camera through integrating different functions has just increased the light filling lamp, has improved the recognition rate and the collection precision of image acquisition structure, and the robot of being convenient for gathers external environment information, adapts to dim light, dark ring better.
Furthermore, the utility model discloses the robot can be the equipment that needs the shooting such as patrolling and examining robot, microscope, street view shooting robot or delivery robot.
In order to further explain the technical idea of the embodiment of the present invention, the technical solution of the present invention is now described by combining with the specific application scenario.
Taking a machine room inspection robot as an example, the machine room inspection robot uses a mechanical arm to connect the image acquisition structure of the embodiment of the utility model, uses an industrial camera 1 to shoot surrounding images, and identifies the color of a server indicator light, the state of the indicator light, instrument panel information and the like in the machine room according to the shot images; detecting the staff by using the long-range camera 2, following the target and judging the target distance; and shooting a thermal infrared image by using the thermal infrared camera 3, and judging the color of the indicator light of the server in the machine room, the state of the indicator light, instrument panel information and the like on the basis of the thermal infrared image.
It should be noted that the machine room inspection robot may use its own core processor to control the industrial camera 1, the distant view camera 2, the thermal infrared camera 3 and the light source 51, and determine whether to turn on the light source 51 according to the actual situation around.
As can be seen from the above description, the utility model discloses a vision terminal structure and robot has following advantage or beneficial effect at least:
1. the cameras with different functions are arranged together in a centralized manner, and the light supplement lamp is added, so that the recognition rate and the acquisition precision of the image acquisition structure are improved, the intelligent hardware such as a robot and the like can conveniently acquire external environment information, and the system is better suitable for dim light and dark environments;
2. when the environmental information is shot, the light source 51 can supplement light to the surrounding environment, so that the shooting quality is improved;
3. the long-range view camera 2 is connected to the outside of the shell 4, so that the long-range view camera 2 can be conveniently maintained and replaced, and can also be conveniently replaced by a camera with other functions;
4. the industrial camera 1, the long-range camera 2, the thermal infrared camera 3, the housing 4, the light source part 5 and the supporting part 6 can be integrally connected to the robot through the connecting frame 71 and the flange 72, and the whole can be easily separated from the robot during disassembly, so that the assembly and the maintenance are convenient;
5. the outer cable fixing plate 81 and the inner cable fixing plate 82 enable the cable to be placed neatly;
6. the quick-insertion fixing plate 83 can realize plug-and-play of an image acquisition structure, and is efficient and convenient;
7. when the front shell 41 and the rear shell 42 are connected with the connecting frame 71, the front shell and the rear shell are matched with the slotted holes 531 of the inclined strut frame 53, so that the shell 4 is more firmly installed, and the situation that the shell shakes in the operation process is avoided.
The above is only a preferred embodiment of the present invention, and should not be limited to the present invention, and any modifications, equivalent replacements, simple improvements and the like made in the spirit of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An image acquisition structure, characterized by comprising an industrial camera (1), a distant view camera (2), a thermal infrared camera (3), a housing (4), a light source section (5) and a support section (6), wherein:
the industrial camera (1) and the thermal infrared camera (3) are connected to the support part (6), and the thermal infrared camera (3) is positioned at the side of the industrial camera (1);
the industrial camera (1) and the thermal infrared camera (3) are located inside the housing (4); the long-range camera (2) is connected to the outside of the shell (4);
the light source unit (5) is connected to the upper side and/or the lower side of the support unit (6).
2. The image acquisition structure according to claim 1, characterized in that the support (6) comprises: an industrial camera mount (61) and a thermal infrared camera mounting plate (62), wherein:
the industrial camera fixing frame (61) is connected with the rear part of the industrial camera (1);
the thermal infrared camera fixing plate (62) is connected to the side face of the industrial camera fixing frame (61) and is connected with the thermal infrared camera (3).
3. The image acquisition architecture as set forth in claim 2, further comprising: a connection frame (71) and a flange (72), wherein:
the connecting frame (71) is respectively connected with the industrial camera fixing frame (61) and the shell (4);
the flange plate (72) is connected with the connecting frame (71); the flange plate (72) is used for being connected with the robot.
4. The image capturing structure according to claim 3, characterized in that the light source section (5) includes: a light source (51), a light source cover (52), and a sprag frame (53), wherein:
the light source (51) is arranged in the light source cover (52);
the light source cover (52) is connected with the inclined strut frame (53);
the inclined strut frame (53) is connected to the upper end and/or the lower end of the industrial camera fixing frame (61).
5. Image acquisition arrangement according to claim 4, characterized in that the housing (4) comprises a front shell (41), the front shell (41) being provided with a camera hole and a holder hole, wherein:
the bracket hole is matched with the inclined strut frame (53);
the long-range camera (2) is connected to the outer side of the front shell (41) and is positioned between the front shell (41) and the light source cover (52);
the industrial camera (1) and the thermal infrared camera (3) are located within the front shell (41); the industrial camera (1) and the thermal infrared camera (3) are respectively matched with the camera hole.
6. The image capturing structure according to claim 5, characterized in that a reinforcing rib (411) is provided on the side of the front housing (41) connected to the distant view camera (2), and the reinforcing rib (411) is located on both sides of the distant view camera (2).
7. The image acquisition structure according to claim 5, characterized in that the housing (4) further comprises a rear shell (42) and the end of the diagonal frame (53) close to the industrial camera mount (61) is provided with a slotted hole (531), wherein:
one end of the rear shell (42) is connected with the front shell (41) and is clamped in the slotted hole (531);
the other end of the rear shell (42) is connected with the connecting frame (71).
8. The image acquisition structure according to claim 3, further comprising an outer cable fixing plate (81), an inner cable fixing plate (82) and a quick-insertion fixing plate (83), wherein:
the external cable fixing plate (81) is connected to the outer side surface of the connecting frame (71);
the inner cable fixing plate (82) is connected to the lower end of the industrial camera fixing frame (61);
the quick-insertion fixing plate (83) is connected to the upper end of the industrial camera fixing frame (61).
9. The image acquisition arrangement according to any one of claims 1-8, further comprising a control section for controlling the industrial camera (1), the long-range camera (2), the thermal infrared camera (3) and the light source section (5), wherein:
the control part is in communication connection with the industrial camera (1), the long-range camera (2), the thermal infrared camera (3) and the light source part (5).
10. A robot, characterized in that the end of the actuator of the robot is provided with an image acquisition arrangement according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920799873.1U CN210210467U (en) | 2019-05-30 | 2019-05-30 | Image acquisition structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920799873.1U CN210210467U (en) | 2019-05-30 | 2019-05-30 | Image acquisition structure and robot |
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| Publication Number | Publication Date |
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| CN210210467U true CN210210467U (en) | 2020-03-31 |
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| CN201920799873.1U Active CN210210467U (en) | 2019-05-30 | 2019-05-30 | Image acquisition structure and robot |
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| CN (1) | CN210210467U (en) |
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Address after: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Beijing Economic and Technological Development Zone, Beijing 100176 Patentee after: Jingdong Technology Information Technology Co.,Ltd. Address before: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Beijing Economic and Technological Development Zone, Beijing 100176 Patentee before: Jingdong Shuke Haiyi Information Technology Co.,Ltd. Address after: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Beijing Economic and Technological Development Zone, Beijing 100176 Patentee after: Jingdong Shuke Haiyi Information Technology Co.,Ltd. Address before: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Beijing Economic and Technological Development Zone, Beijing 100176 Patentee before: BEIJING HAIYI TONGZHAN INFORMATION TECHNOLOGY Co.,Ltd. |