CN211505872U - Rotary laser scanning device - Google Patents
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- CN211505872U CN211505872U CN201922222699.7U CN201922222699U CN211505872U CN 211505872 U CN211505872 U CN 211505872U CN 201922222699 U CN201922222699 U CN 201922222699U CN 211505872 U CN211505872 U CN 211505872U
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Abstract
The utility model discloses a rotation type laser scanning device is equipped with rotary mechanism on its casing and is used for driving rotary mechanism to follow transmission shaft pivoted motion control mechanism, installs detachable lidar on the rotary mechanism, and rotary mechanism includes runing rest, first fastening frame and second fastening frame, runing rest passes through lock nut with the transmission shaft and links to each other, runing rest links to each other with first fastening frame and second fastening frame respectively, the lidar centre gripping is arranged between first fastening frame and second fastening frame. The utility model discloses scanning stability is strong, uses the scene many, the wide range, and the device is simple and easy, use the flexibility ratio strong, and the commonality that is suitable for the platform is strong, and work efficiency is high, has convenient to use swiftly, simple structure is compact, the lower advantage of cost, has reduced adverse circumstances to the influence of using the scanning, has improved the precision of scanning and the reliability of work, has reduced the cost of manufacture.
Description
Technical Field
The utility model relates to a measure laser scanning positioning device for survey and drawing, concretely relates to rotation type laser scanning device.
Background
The fields of underground survey and drawing, real estate survey and drawing, homestead right confirmation registration, house construction over-specification out-of-border dispute judgment, subway and tunnel engineering survey, archaeology and ancient building protection, cave exploration and the like all need to carry out survey and drawing on scenes, and the traditional method mainly utilizes a total station instrument, a tape measure and the like, is complex in operation and low in efficiency, and needs to consume a large amount of manpower and material resources. Particularly, in the aspect of underground measurement and mapping, due to the limitation of various factors such as measurement environment, installation conditions, equipment and the like, the traditional measurement method is low in speed, high in instrument cost and high in consumption of a large amount of manpower and material resources, and mine enterprises need to measure the area of a mineral house or a goaf frequently to approve the change situation of workload and reserves. The existing measuring method and equipment are difficult to meet the requirements.
The rotary laser scanner has the characteristics of portable equipment, simplicity in operation, high acquisition efficiency, high flexibility and the like, and is increasingly and widely applied to the fields of buildings, Building Information Modeling (BIM), closed space information acquisition, outdoor large-scale mapping, subway tunnels, mines, metering, forestry, ships, accident sites and the like. In mine application, the rapid three-dimensional scanning of the mine channels, mine holes, goafs, ore rooms and the like can be used for mine enterprise drawing updating, production management, local mining amount assessment and the like, and the information management degree and the management efficiency of the mine enterprise drawing updating, production management, local mining amount assessment and the like are greatly improved. The rotary laser scanner can greatly improve the efficiency of scientific investigation and the accuracy of data extraction in archaeology and exploratory holes.
The indoor map can be said to realize the infrastructure of the indoor position service, the industrial factory, large-scale business, military gallery all have the demand of the quick three-dimensional modeling of indoor scene, the appearance of the rotary laser scanner, can be fast and convenient to carry on the drawing to the complicated indoor, underground multilayer space, scan and visual data in real time, has saved a large amount of time and cost, general estimation, only need 30 minutes can finish the scanning and processing work of a common area's three-layer building, will help to reduce the map data acquisition, cost and improvement work efficiency of modeling, promote the large-scale popularization and application of the indoor map service.
However, the laser scanning device which can meet the requirements at present is basically monopolized abroad, is expensive, and is inconvenient for popularization and secondary development. Similar related equipment in the existing market has a lack of functional effect; some products have limited scanning dimension and cannot be adjusted randomly; some products have single use mode and limited application scenes; some products are relatively heavy in whole system, a plurality of laser modules are additionally arranged, and the using process is very complicated. Therefore, it is necessary to develop a rotary laser scanning device with performance index lower than that of the mainstream device in foreign countries for the above specific application requirements.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem who solves: to the above-mentioned problem of prior art, a rotation type laser scanning device is provided, the utility model discloses scanning stability is strong, uses the scene many, the scope is wide, and the device is simple and easy, use the flexibility ratio strong, and the commonality that is suitable for the platform is strong, and work efficiency is high, has convenient to use swiftly, simple structure is compact, the lower advantage of cost, has reduced adverse circumstances to using the influence of scanning, has improved the precision of scanning and the reliability of work, has reduced the cost of manufacture.
In order to solve the technical problem, the utility model discloses a technical scheme be:
the utility model provides a rotation type laser scanning device, includes the casing, be equipped with rotary mechanism on the casing and be used for driving rotary mechanism to follow transmission shaft pivoted motion control mechanism, the last detachable laser radar that installs of rotary mechanism.
Optionally, the rotating mechanism includes a rotating bracket, a first fastening frame and a second fastening frame, the rotating bracket is connected to the transmission shaft through a locking nut, the rotating bracket is respectively connected to the first fastening frame and the second fastening frame, and the laser radar is clamped between the first fastening frame and the second fastening frame.
Optionally, at least one of the rotating bracket, the first fastening frame and the second fastening frame is provided with a fool-proof structure, the laser radar is clamped between the first fastening frame and the second fastening frame and is matched and assembled with the fool-proof structure, and the fool-proof structure is a fool-proof groove or a fool-proof protruding portion.
Optionally, a through hole is formed in the axis of the transmission shaft, a conductive slip ring is arranged in the through hole, a first electric connector used for transmitting power and data is arranged on the shell, and a cable of the laser radar penetrates through the through hole of the transmission shaft and then is electrically connected with the first electric connector through the conductive slip ring.
Optionally, the motion control mechanism includes a driving motor and a transmission assembly, and an output shaft of the driving motor drives the transmission shaft through the transmission assembly so that the rotating mechanism rotates along with the transmission shaft.
Optionally, a control unit is further arranged in the shell, a control end of the driving motor is connected with the control unit, a motion detection sensor is further arranged on the transmission shaft, and an output end of the motion detection sensor is connected with the driving motor.
Optionally, a second electrical connector for transmitting power and data is further disposed on the housing, and a power supply terminal and a communication terminal of the control unit are electrically connected to the second electrical connector.
Optionally, the control unit includes a navigation sensor assembly, a microprocessor, a communication module, and an antenna, the navigation sensor assembly includes an inertial navigation sensor and a satellite navigation sensor, the inertial navigation sensor, the satellite navigation sensor, and the communication module are respectively connected to the microprocessor, the communication module is connected to the antenna, and the antenna is installed at the top of the housing.
Optionally, be equipped with main camera and auxiliary camera on the casing, the center of main camera keeps the collineation with laser radar's axis, be the contained angle between auxiliary camera's axis and laser radar's axis, main camera and auxiliary camera microprocessor link to each other respectively.
Optionally, a first camera protection frame is arranged outside the main camera, the first camera protection frame is mounted on the casing through a first camera bracket, a second camera protection frame is arranged outside the auxiliary camera, and the second camera protection frame is mounted on the casing through a second camera bracket.
Compared with the prior art, the utility model has the advantages of as follows: the utility model discloses be equipped with rotary mechanism on the casing and be used for driving rotary mechanism to follow transmission shaft pivoted motion control mechanism, install detachable laser radar on the rotary mechanism, consequently can drive laser radar and realize stable the rotation, and can be through various laser radar of rotary device adaptation, for example single line laser radar, multi-thread (be more than single line) laser radar and solid-state laser radar etc. the utility model discloses scanning stability is strong, and it is many, the wide range to use the scene, and the device is simple and easy, uses the flexibility ratio strong, and the commonality of being suitable for the platform is strong, and work efficiency is high, has convenient to use swiftly, simple structure is compact, advantage that the cost is lower, has reduced adverse circumstances to using the influence of scanning, has improved the precision of scanning and the reliability of work.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a schematic diagram of a three-dimensional structure of the embodiment of the present invention in a rotating state in a laser radar.
Fig. 3 is a schematic sectional structural view of an embodiment of the present invention.
Fig. 4 is a schematic sectional structure view of a motor transmission part according to an embodiment of the present invention.
Illustration of the drawings: 1. a housing; 11. a first electrical connector; 12. a second electrical connector; 2. a rotation mechanism; 20. a drive shaft; 201. a conductive slip ring; 202. a motion detection sensor; 203. a main bearing; 204. a secondary bearing; 21. rotating the bracket; 211. locking the nut; 22. a first fastening frame; 23. a second fastening frame; 3. a motion control mechanism; 31. a drive motor; 32. a transmission assembly; 4. a laser radar; 5. A control unit; 51. a navigation sensor assembly; 52. a microprocessor; 53. a communication module; 54. an antenna; 6. a main camera; 61. a camera bezel; 62. a first camera support; 7. an auxiliary camera; 71. a second camera protection frame; 72. a second camera support; 8. a support device; 81. a screw.
Detailed Description
As shown in fig. 1, fig. 2, fig. 3 and fig. 4, the rotary laser scanning device of the present embodiment includes a housing 1, a rotating mechanism 2 and a motion control mechanism 3 for driving the rotating mechanism 2 to rotate along with a transmission shaft 20 are disposed on the housing 1, and a detachable laser radar 4 is mounted on the rotating mechanism 2. The usable rotary mechanism 2 of rotation type laser scanning device of this embodiment can drive laser radar 4 and realize stable the rotation, and can be through 2 various laser radar 4 of rotary device adaptation, for example single line laser radar, multi-thread (being more than the single line) laser radar and solid-state laser radar etc, the utility model discloses scanning stability is strong, and it is many, the wide range of application scene, the device is simple and easy, the use flexibility ratio is strong, and the commonality that is suitable for the platform is strong, and work efficiency is high, has convenient to use swiftly, simple structure is compact, the lower advantage of cost, has reduced adverse circumstances to the influence of using the scanning, has improved the precision of scanning and the reliability of work, has reduced the cost of manufacture.
As shown in fig. 1, fig. 2, fig. 3 and fig. 4, in this embodiment, the rotating mechanism 2 includes a rotating bracket 21, a first fastening frame 22 and a second fastening frame 23, the rotating bracket 21 is connected to the transmission shaft 20 through a locking nut 211, the rotating bracket 21 is respectively connected to the first fastening frame 22 and the second fastening frame 23, the lidar 4 is clamped between the first fastening frame 22 and the second fastening frame 23, the lidar 4 is locked on the rotating bracket 21 through the first fastening frame 22 and the second fastening frame 23, on one hand, the rotating device 2 can be adapted to various lidar 4, on the other hand, the installation of the lidar 4 can be ensured to be firm and reliable, the scanning stability of the lidar 4 can be improved, the lidar 4 can be prevented from moving in the moving process, and the good working state and the accurate result of the device can be ensured.
In this embodiment, runing rest 21, first fastening frame 22, second fastening frame 23 three all has prevents slow-witted structure (in addition also can select one of them or two to have as required and prevent slow-witted structure), 4 centre gripping of laser radar arranges between first fastening frame 22 and second fastening frame 23 and with prevent slow-witted structure matching assembly, prevent slow-witted structure for preventing slow-witted groove (in addition also can be for preventing slow-witted bulge), through the matching assembly of preventing slow-witted structure, can ensure not abnormal movement after 4 installations of laser radar, can improve the stability of 4 scans of laser radar, prevent that laser radar 4 from taking place the abnormal movement in the motion process, ensure the good operating condition and the accurate result of this device.
As shown in fig. 3 and 4, in this embodiment, a through hole is formed in an axis of the transmission shaft 20, a conductive slip ring 201 is disposed in the through hole, a first electrical connector 11 for transmitting power and data is disposed on the housing 1, and a cable of the laser radar 4 passes through the through hole of the transmission shaft 20 and then is electrically connected to the first electrical connector 11 through the conductive slip ring 201. The first electric connector 11 can be compatible with various laser radars 4 and various using platforms, simultaneously the requirements of integrated data processing and power supply are eliminated, and the internal space requirement and the related weight of the device can be reduced. In this embodiment, the first electrical connector 11 is specifically an aviation socket, and other electrical connectors supporting power and data transmission may be used as needed. The cable passing through laser radar 4 is electrically connected with first electric connector 11 through conducting slip ring 201 after passing through the through hole of transmission shaft 20, makes all connecting wires of laser radar 4 all along the inside laying of transmission shaft 20, can ensure like this that laser radar 4, rotary mechanism 2 and transmission shaft 20 do not have relative motion, guarantees the integrality of its function when realizing that laser radar 4 is rotatory. As shown in fig. 4, in order to achieve smooth rotation of the propeller shaft 20, a main bearing 203 is mounted at one end of the propeller shaft 20 and a sub-bearing 204 is mounted at the other end thereof.
As shown in fig. 3 and 4, the motion control mechanism 3 in this embodiment includes a driving motor 31 and a transmission assembly 32, and an output shaft of the driving motor 31 drives the transmission shaft 20 through the transmission assembly 32 so that the rotation mechanism 2 rotates along with the transmission shaft 20. In this embodiment, the driving motor 31 is arranged in the vertical direction, and the transmission shaft 20 is arranged in the horizontal direction, so that the transmission assembly 32 specifically adopts a worm and gear assembly to solve the problem of angle difference, the driving motor 31 makes corresponding movement under a control instruction, and the worm and gear assembly makes corresponding movement to drive the transmission shaft 20 to move, and the whole transmission process is simple, stable and reliable. In addition, the transmission assembly 32 may be a transmission assembly based on a general gear transmission, a crown gear transmission, a friction transmission, a belt transmission, and a sprocket transmission, as required.
As shown in fig. 3 and 4, in this embodiment, a control unit 5 is further disposed in the housing 1, a control end of the driving motor 31 is connected to the control unit 5, a motion detection sensor 202 is further disposed on the transmission shaft 20, an output end of the motion detection sensor 202 is connected to the driving motor 31, the driving motor 31 can be conveniently controlled to rotate by the control unit 5, and the rotating mechanism 2 is further driven to rotate along with the transmission shaft 20. The motion detection sensor 202 is used for detecting the motion of the transmission shaft 20 in real time to regulate and control and ensure that the driving motor 31 moves according to the required frequency, so that the laser radar 4 is ensured to uniformly acquire and record application scene data as required, and the precision of the scanning device is improved. The current rotation angle of the drive shaft 20 can be detected by the motion detection sensor 202, so that accurate control of the rotation mechanism 2 rotating following the drive shaft 20 can be realized. In this embodiment, the motion detection sensor 202 specifically employs a photoelectric encoder, and in addition, other types of motion detection sensors may be employed as needed, and the detection of the current rotation angle of the transmission shaft 20 may also be implemented in the same way.
As shown in fig. 1, fig. 2, fig. 3 and fig. 4, in this embodiment, a second electrical connector 12 for transmitting power and data is further disposed on the housing 1, and the power supply terminal and the communication terminal of the control unit 5 are electrically connected to the second electrical connector 12. In this embodiment, the second electrical connector 12 is an aviation socket, and is compatible with various types of platforms, and meanwhile, the requirement of the device for power supply is eliminated, so that the requirement for internal space and the related weight are reduced, and other electrical connectors supporting power and data transmission can be adopted according to the requirement. The power supply terminal and the communication terminal of the control unit 5 are electrically connected to the second electrical connector 12, so as to receive external command information, control the driving motor 31 to move and further drive the transmission assembly 32 to drive the transmission shaft 20 to rotate.
As shown in fig. 3 and 4, in the present embodiment, the control unit 5 includes a navigation sensor assembly 51, a microprocessor 52, a communication module 53, and an antenna 54, wherein the navigation sensor assembly 51 includes an inertial navigation sensor and a satellite navigation sensor (which can greatly improve the accuracy and scanning effect of the device in indoor and outdoor applications), the inertial navigation sensor, the satellite navigation sensor, and the communication module 53 are respectively connected to the microprocessor 52, the communication module 53 is connected to the antenna 54, and the antenna 54 is mounted on the top of the housing 1 (to ensure stable and reliable communication signals). And because the power supply terminal and the communication terminal of the control unit 5 are electrically connected with the second electric connector 12, the power supply and the related data of the control unit 5 are connected with the outside through the second electric connector 12, so that the related position data can be obtained in time and analyzed and processed, the related display requirements are realized, the requirements of the second electric connector 12 on data storage and processing are also cancelled, and the internal space requirements and the related weight are reduced.
As shown in fig. 1, fig. 2, fig. 3 and fig. 4, in this embodiment, the main camera 6 and the auxiliary camera 7 are disposed on the housing 1, the center of the main camera 6 and the central axis of the laser radar 4 are kept collinear, the main camera 6 is used for adjusting and controlling the precision of the scanning device, and can record the application scene position point in real time, so as to facilitate post-processing and analysis, an included angle is formed between the central axis of the auxiliary camera 7 and the central axis of the laser radar 4, the auxiliary camera 7 is used for adjusting and controlling the dimension of the scanning device, and compensate and record the application scene position point in real time, so as to facilitate post-processing and analysis, and the main camera 6 and the auxiliary camera 7 are respectively.
As shown in fig. 1, 2, 3, and 4, the exterior of the primary camera 6 is provided with a first camera protection frame 61, and the first camera protection frame 61 is mounted on the housing 1 by a first camera mount 62, the exterior of the secondary camera 7 is provided with a second camera protection frame 71, and the second camera protection frame 61 is mounted on the housing 1 by a second camera mount 72.
In this embodiment, the housing 1 is formed by interconnecting a front shell, a bottom shell and a rear shell, and the motion control mechanism 3 and the control unit 5 are both installed and fixed between the front shell and the rear shell.
As shown in fig. 1, 2, 3 and 4, in the present embodiment, a fixing table is mounted on the bottom (bottom shell) of the housing 1, and a supporting device 8 is clamped on the fixing table. A screw 81 is also provided in the support device 8, the screw 81 being in threaded connection with an internal threaded hole in the fixed table to fix the support device 8 and the housing 1. In this embodiment, the support device 8 is specifically a handle, and various hand-held, backpack, mobile/vehicle-mounted and other structures can be adopted as required.
In conclusion, the rotary laser scanning device has the advantages of strong scanning stability, multiple application scenes, wide range, simplicity, strong use flexibility, strong universality of applicable platforms, high working efficiency, convenience and rapidness in use, compact and simple structure and lower cost, reduces the influence of severe environment on application scanning, improves the scanning precision and the working reliability, and reduces the manufacturing cost.
It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A rotary laser scanning device is characterized in that: including casing (1), be equipped with rotary mechanism (2) on casing (1) and be used for driving rotary mechanism (2) to follow transmission shaft (20) pivoted motion control mechanism (3), install detachable laser radar (4) on rotary mechanism (2).
2. The rotary laser scanning device of claim 1, wherein: the rotating mechanism (2) comprises a rotating support (21), a first fastening frame (22) and a second fastening frame (23), the rotating support (21) is connected with the transmission shaft (20) through a locking nut (211), the rotating support (21) is connected with the first fastening frame (22) and the second fastening frame (23) respectively, and the laser radar (4) is clamped between the first fastening frame (22) and the second fastening frame (23).
3. The rotary laser scanning device of claim 2, wherein: at least one of runing rest (21), first fastening frame (22), second fastening frame (23) three has prevents slow-witted structure, laser radar (4) centre gripping arrange between first fastening frame (22) and second fastening frame (23) and with prevent slow-witted structure matching assembly, prevent that slow-witted structure is for preventing slow-witted groove or prevent slow-witted bulge.
4. The rotary laser scanning device of claim 1, wherein: the axis of the transmission shaft (20) is provided with a through hole, a conductive sliding ring (201) is arranged in the through hole, a first electric connector (11) used for transmitting power and data is arranged on the shell (1), and a cable of the laser radar (4) penetrates through the through hole of the transmission shaft (20) and then is electrically connected with the first electric connector (11) through the conductive sliding ring (201).
5. The rotary laser scanning device of claim 1, wherein: the motion control mechanism (3) comprises a driving motor (31) and a transmission assembly (32), wherein an output shaft of the driving motor (31) drives the transmission shaft (20) through the transmission assembly (32) to enable the rotating mechanism (2) to rotate along with the transmission shaft (20).
6. The rotary laser scanning device of claim 5, wherein: still be equipped with control unit (5) in casing (1), the control end and the control unit (5) of driving motor (31) link to each other, still be equipped with motion detection sensor (202) on transmission shaft (20), the output of motion detection sensor (202) links to each other with driving motor (31).
7. The rotary laser scanning device of claim 6, wherein: the shell (1) is further provided with a second electric connector (12) used for transmitting power and data, and a power supply terminal and a communication terminal of the control unit (5) are electrically connected with the second electric connector (12).
8. The rotary laser scanning device of claim 6, wherein: the control unit (5) comprises a navigation sensor assembly (51), a microprocessor (52), a communication module (53) and an antenna (54), wherein the navigation sensor assembly (51) comprises an inertial navigation sensor and a satellite navigation sensor, the inertial navigation sensor, the satellite navigation sensor and the communication module (53) are respectively connected with the microprocessor (52), the communication module (53) is connected with the antenna (54), and the antenna (54) is installed at the top of the shell (1).
9. The rotary laser scanning device of claim 8, wherein: be equipped with main camera (6) and auxiliary camera (7) on casing (1), the center of main camera (6) keeps the collineation with the axis of laser radar (4), be the contained angle between the axis of auxiliary camera (7) and the axis of laser radar (4), main camera (6) and auxiliary camera (7) link to each other with microprocessor (52) respectively.
10. The rotary laser scanning device of claim 9, wherein: the outside of main camera (6) is equipped with first camera protective frame (61), just first camera protective frame (61) is installed on casing (1) through first camera support (62), the outside of auxiliary camera (7) is equipped with second camera protection frame (71), just second camera protection frame (61) is installed on casing (1) through second camera support (72).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922222699.7U CN211505872U (en) | 2019-12-12 | 2019-12-12 | Rotary laser scanning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922222699.7U CN211505872U (en) | 2019-12-12 | 2019-12-12 | Rotary laser scanning device |
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| CN211505872U true CN211505872U (en) | 2020-09-15 |
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| CN201922222699.7U Active CN211505872U (en) | 2019-12-12 | 2019-12-12 | Rotary laser scanning device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112711028A (en) * | 2020-12-10 | 2021-04-27 | 安徽卡孚光电子科技有限公司 | Photoelectron measuring device and measuring method |
| CN113009504A (en) * | 2021-01-29 | 2021-06-22 | 上海图趣信息科技有限公司 | Handheld full-element high-precision map acquisition equipment |
| CN114894167A (en) * | 2022-04-06 | 2022-08-12 | 西北工业大学 | Cave automatic surveying and mapping system and method based on multi-sensor technology |
-
2019
- 2019-12-12 CN CN201922222699.7U patent/CN211505872U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112711028A (en) * | 2020-12-10 | 2021-04-27 | 安徽卡孚光电子科技有限公司 | Photoelectron measuring device and measuring method |
| CN113009504A (en) * | 2021-01-29 | 2021-06-22 | 上海图趣信息科技有限公司 | Handheld full-element high-precision map acquisition equipment |
| CN114894167A (en) * | 2022-04-06 | 2022-08-12 | 西北工业大学 | Cave automatic surveying and mapping system and method based on multi-sensor technology |
| CN114894167B (en) * | 2022-04-06 | 2024-01-30 | 西北工业大学 | Automatic cave mapping system and method based on multi-sensor technology |
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Address after: 410205 1705, building 1b, Hunan military civilian integration science and Technology Innovation Industrial Park, No. 699, Qingshan Road, Changsha high tech Development Zone, Changsha, Hunan Patentee after: Hunan yunjiangna micro Information Technology Co.,Ltd. Patentee after: Hubei Institute of Space Planning Address before: 410205 No. 5, building F4, luguyuyuan, No. 27, Wenxuan Road, high tech Development Zone, Changsha, Hunan Patentee before: HUNAN GLONAVIN INFORMATION TECHNOLOGY CO.,LTD. Patentee before: Hubei Provincial Institute of land and resources (real estate registration center of Hubei Provincial Department of land and resources) |
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