CN216118003U - Laser radar receiving circuit and laser radar receiver - Google Patents
Laser radar receiving circuit and laser radar receiver Download PDFInfo
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- CN216118003U CN216118003U CN202121383310.8U CN202121383310U CN216118003U CN 216118003 U CN216118003 U CN 216118003U CN 202121383310 U CN202121383310 U CN 202121383310U CN 216118003 U CN216118003 U CN 216118003U
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Abstract
The embodiment of the utility model discloses a laser radar receiving circuit and a laser radar receiver, wherein the laser radar receiving circuit comprises a receiving conversion module and a voltage output module, and the receiving conversion module is connected with the voltage output module; the receiving conversion module receives the reflected laser pulse echo and converts the reflected laser pulse echo into narrow pulse current; the voltage output module converts the narrow pulse current into corresponding output voltage and performs logarithmic amplification; when the receiving conversion module detects that no laser pulse echo exists, the receiving conversion module stops outputting narrow pulse current according to an input high-voltage power supply; and the voltage output module correspondingly stops generating the output voltage. The conversion from narrow pulse current to voltage is realized, the dynamic range of measurement is enlarged through logarithmic amplification, the distance measurement resolution is improved, and the narrow pulse amplification function is realized.
Description
Technical Field
The utility model relates to the technical field of laser radars, in particular to a laser radar receiving circuit and a laser radar receiver.
Background
In laser radar ranging, particularly in high-speed three-dimensional laser radars, the problems that the input signal of a laser receiving circuit has a large dynamic range, the single-point single-measurement precision is improved, and the single-pulse laser transmitting to different reflection targets and multiple echo signals can be returned are solved. Especially when the laser radar is used in the fields of automatic driving of automobiles, positioning and guiding of robots and the like, the external environment is complex and rapid and changeable, the dynamic range of the received echo laser signal is very wide (1:10000 or more), the measurement point of a single azimuth can only be measured once in one period, and the precision of single measurement is required to be high. After a single pulse laser is emitted, multiple echo signals may appear at a receiving end due to reflection of multiple targets during transmission of the pulse laser. The receiving system must distinguish multiple echo signals as much as possible to obtain rich spatial target information.
The existing radar ranging usually adopts an automatic gain control scheme, and by collecting the size of a measurement signal, the gain and the laser emission power are changed according to the size of the last signal in the next measurement; however, since the size of the next reflected signal cannot be effectively predicted, the method is blind, has low resolution, and cannot effectively act on random single ranging pulses. In addition, the scheme is to output a plurality of groups of signals with different gains, and to sample the signals by using a multi-channel ADC (analog-to-Digital conversion) or a TDC (Time-to-Digital Converter), which has the disadvantages of complex circuit and high cost.
SUMMERY OF THE UTILITY MODEL
In view of the above technical problems, embodiments of the present invention provide a laser radar receiving circuit and a laser radar receiver to solve the problem of low resolution in the conventional radar ranging.
The embodiment of the utility model provides a laser radar receiving circuit, which comprises a receiving conversion module and a voltage output module, wherein the receiving conversion module is connected with the voltage output module;
the receiving conversion module receives the reflected laser pulse echo and converts the reflected laser pulse echo into narrow pulse current; the voltage output module converts the narrow pulse current into corresponding output voltage and performs logarithmic amplification;
when the receiving conversion module detects that no laser pulse echo exists, the receiving conversion module stops outputting narrow pulse current according to an input high-voltage power supply; and the voltage output module correspondingly stops generating the output voltage.
Optionally, in the lidar receiving circuit, the receiving conversion module includes a current limiter, a first capacitor, a first transistor, and a photoelectric converter;
one end of the current limiter is input with a high-voltage power supply, and the other end of the current limiter is connected with one end of the first capacitor and the negative electrode of the photoelectric converter; the positive electrode of the photoelectric converter is connected with the collector of the first transistor, the base of the first transistor and the voltage output module; the other end of the first capacitor and the emitter of the first transistor are both grounded.
Optionally, in the lidar receiving circuit, the first transistor is a high-speed NPN transistor.
Optionally, in the laser radar receiving circuit, the receiving and converting module further includes a first resistor, one end of the first resistor is connected to the anode of the photoelectric converter and the base of the transistor, and the other end of the first resistor is connected to the voltage output module.
Optionally, in the lidar receiving circuit, the voltage output module includes a transimpedance amplifier, a second transistor, a feedback resistor, a second resistor, a third resistor, and a fourth resistor;
the inverting input end of the transimpedance amplifier is connected with one end of the feedback resistor, the collector of the second transistor and the other end of the first resistor; the non-inverting input end of the transimpedance amplifier is grounded, a positive power supply is input into the power supply end of the transimpedance amplifier, and a negative power supply is input into the ground end of the transimpedance amplifier; the output end of the transimpedance amplifier is connected with the other end of the feedback resistor and one end of the second resistor and outputs output voltage; the other end of the second resistor is connected with one end of the third resistor, the base of the second transistor and one end of the fourth resistor; the other end of the third resistor is grounded, and the collector of the second transistor is connected with the other end of the fourth resistor and is input with a negative power supply.
Optionally, in the laser radar receiving circuit, the transimpedance amplifier is a high-speed transimpedance amplifier, and the second transistor is a high-speed PNP transistor.
Optionally, in the laser radar receiving circuit, the voltage output module further includes a second capacitor, one end of the second capacitor is connected to one end of the feedback resistor and an emitter of the second transistor, and the other end of the second capacitor is connected to a base of the second transistor and one end of the fourth resistor.
Optionally, in the laser radar receiving circuit, the voltage output module further includes a third capacitor, one end of the third capacitor is connected to the collector and the negative power terminal of the second transistor, and the other end of the third capacitor is grounded.
The second aspect of the embodiment of the utility model provides a laser radar receiver, which comprises a high-voltage circuit, a voltage stabilizing circuit and a laser radar receiving circuit, wherein the laser radar receiving circuit is arranged between the high-voltage circuit and the voltage stabilizing circuit; the laser radar receiving circuit is connected with the high-voltage circuit and the voltage stabilizing circuit;
the high-voltage circuit outputs a high-voltage power supply to the laser radar receiving circuit;
the voltage stabilizing circuit outputs a negative power supply and a positive power supply to supply power to the laser radar receiving circuit;
the laser radar receiving circuit receives the reflected laser pulse echo, and performs current-voltage conversion and logarithmic amplification to generate corresponding output voltage;
and when the laser radar receiving circuit detects that no reflection exists, the output voltage is stopped to be generated according to the high-voltage power supply.
In the technical scheme provided by the embodiment of the utility model, the laser radar receiving circuit comprises a receiving conversion module and a voltage output module, wherein the receiving conversion module is connected with the voltage output module; the receiving conversion module receives the reflected laser pulse echo and converts the reflected laser pulse echo into narrow pulse current; the voltage output module converts the narrow pulse current into corresponding output voltage and performs logarithmic amplification; when the receiving conversion module detects that no laser pulse echo exists, the receiving conversion module stops outputting narrow pulse current according to an input high-voltage power supply; and the voltage output module correspondingly stops generating the output voltage. The conversion from narrow pulse current to voltage is realized, the dynamic range of measurement is enlarged through logarithmic amplification, the distance measurement resolution is improved, and the narrow pulse amplification function is realized.
Drawings
Fig. 1 is a schematic structural diagram of a lidar receiver in an embodiment of the present invention.
Fig. 2 is a schematic circuit diagram of a lidar receiving circuit according to an embodiment of the present invention.
FIG. 3 is a graph of narrow pulse current versus output voltage according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The embodiments of the present invention, and all other embodiments obtained by those skilled in the art without any inventive step, belong to the protection scope of the present invention.
Referring to fig. 1 and fig. 2, a lidar receiver according to an embodiment of the present invention includes a main board, where the main board is provided with a lidar receiving circuit 10, a high-voltage circuit 20, and a voltage regulator circuit 30, and the lidar receiving circuit 10 is connected to the high-voltage circuit 20 and the voltage regulator circuit 30; the high-voltage circuit 20 outputs a high-voltage power supply HVCC to the laser radar receiving circuit 10, and the voltage stabilizing circuit 30 outputs a negative power supply V-and a positive power supply V + to supply power to the laser radar receiving circuit 10; the laser radar receiving circuit 10 receives the reflected laser pulse echo, performs current-voltage conversion and logarithmic amplification, and generates a corresponding output voltage; when the laser radar receiving circuit 10 detects that there is no reflection, the output voltage is set to zero (i.e., generation of the output voltage is stopped) according to the high voltage power supply HVCC.
In this embodiment, the laser radar receiving circuit 10 includes a receiving conversion module 110 and a voltage output module 120, where the receiving conversion module 110 is connected to the voltage output module 120; the receiving and converting module 110 receives the reflected laser pulse echo and converts the reflected laser pulse echo into a narrow pulse current, and the voltage output module 120 converts the narrow pulse current into a corresponding output voltage and performs logarithmic amplification. The laser radar receiving circuit is based on a Time of flight (TOF) principle, conversion from narrow pulse current to voltage is achieved, a measurement dynamic range is expanded through logarithmic amplification, ranging resolution is improved, and a narrow pulse amplification function is achieved. When the receiving conversion module detects that no laser pulse echo exists, the receiving conversion module stops outputting narrow pulse current according to an input high-voltage power supply; and the voltage output module correspondingly stops generating the output voltage.
As shown in fig. 2, the receiving conversion module 110 includes a current limiter R, a first capacitor C1, a first transistor Q1, and a photoelectric converter D1; one end of the current limiter R is input with a high-voltage power supply HVCC, and the other end of the current limiter R is connected with one end of a first capacitor C1 and the negative electrode of the photoelectric converter D1; the anode of the photoelectric converter D1 is connected with the collector of the first transistor Q1, the base of the first transistor Q1 and the voltage output module 120; the other terminal of the first capacitor C1 and the emitter of the first transistor Q1 are both grounded.
The current limiter R may be a device with a current limiting function, such as a resistor or a constant current diode, for protecting the photoelectric converter D1 and preventing the photoelectric converter D1 from being damaged by a large current which lasts for a long time. The first transistor Q1 is a high-speed NPN transistor (which can be replaced by a high-speed diode), and the first capacitor C1 is a filter capacitor; the photoelectric converter D1 may be a PIN (P-type semiconductor-impurity-N-type semiconductor) or an APD (Avalanche Photo Diode) device. The voltage magnitude of the high voltage power source HVCC directly affects the gain of the photoelectric converter D1, and the optimal bias voltage of the photoelectric converter D1 is 100V to 160V and varies with temperature.
When no laser pulse echo is reflected, the high-voltage power supply HVCC passes through the low-pass filter circuit formed by the current limiter R and the first capacitor C1, and then provides a low-ripple bias power supply for the photoelectric conversion device D1, and the first transistor Q1 is turned off (i.e., is not turned on), and at this time, no narrow pulse current is output.
When the laser pulse echo is reflected, the photoelectric converter D1 receives the laser pulse echo reflected by the target, converts the laser pulse echo into a narrow pulse current, and transmits the narrow pulse current to the voltage output module. When the narrow pulse current output by the photoelectric converter D1 is larger than a preset value, the first transistor Q1 is turned on, the narrow pulse current is discharged to the ground, the transimpedance amplifier A1 in the voltage output module is protected, and meanwhile the saturation output width output by the transimpedance amplifier A1 is reduced.
Preferably, the receiving and converting module 110 further includes a first resistor R1, one end of the first resistor R1 is connected to the anode of the photoelectric converter D1 and the base of the transistor Q1, and the other end of the first resistor R1 is connected to the voltage output module 120. The first resistor R1 is used to provide a load for the transimpedance amplifier a1, and the protection capability of the first transistor Q1 is improved. When the junction capacitance of the photoelectric converter D1 is greater than a set value, the transimpedance amplifier a1 has a high gain for high-frequency noise, the transimpedance amplifier a1 easily self-oscillates, and the first resistor R1 is provided to damp oscillation.
In this embodiment, the voltage output module 120 includes a transimpedance amplifier a1, a second transistor Q2, a feedback resistor Rf, a second resistor R2, a third resistor R3, and a fourth resistor R4; the inverting input end of the transimpedance amplifier A1 is connected with one end of the feedback resistor Rf, the collector of the second transistor Q2 and the other end of the first resistor R1; the non-inverting input end of the transimpedance amplifier A1 is grounded, the power supply end of the transimpedance amplifier A1 is connected with a positive power supply end (input positive power supply V +), and the ground end of the transimpedance amplifier A1 is connected with a negative power supply end (input negative power supply V-); the output end of the transimpedance amplifier a1 (connected to the existing sampling circuit) is connected to the other end of the feedback resistor Rf and one end of the second resistor R2, and outputs an output voltage out; the other end of the second resistor R2 is connected with one end of a third resistor R3, the base of a second transistor Q2 and one end of a fourth resistor R4; the other end of the third resistor R3 is grounded, and the collector of the second transistor Q2 is connected to the other end of the fourth resistor R4 and the negative power supply terminal.
The transimpedance amplifier a1 is a high-speed transimpedance amplifier for converting a small narrow pulse current (i.e., a narrow pulse current) output by the photoelectric converter D1 into a voltage signal. The voltage value U0 of the output voltage out of the transimpedance amplifier a1 is-I × R _ f, where I is the current value of the narrow pulse current output by the photoelectric converter D1, and R _ f is the resistance value of the feedback resistor Rf. The negative power supply V-and the positive power supply V + are provided by an external voltage stabilizing circuit, and the voltage range required by the trans-impedance amplifier A1 is from +/-1.35V to +/-5V.
The second transistor Q2 is a high-speed PNP transistor with high frequency, and when the narrow pulse current output by the photoelectric converter D1 is relatively large, if the linear range of the transimpedance amplifier a1 is exceeded, the output voltage out of the transimpedance amplifier a1 is very high, and at this time, the second transistor Q2 is turned on rapidly, a high-speed current-voltage conversion logarithmic amplification circuit is formed between the second transistor Q2 and the transimpedance amplifier a1, the output voltage out of the transimpedance amplifier a1 is clamped, the width of a saturation pulse output by the transimpedance amplifier a1 is greatly reduced, the measuring blind area of the laser radar can be reduced, the subsequent sampling circuit (the existing ADC (analog-to-Digital conversion) or TDC (Time-to-Digital Converter) circuit is convenient for analyzing the output voltage of the transimpedance amplifier A1, the ranging resolution when the laser radar receives the returned laser pulse is correspondingly improved, and the resolution of the echo signal is improved.
The second resistor R2, the third resistor R3, and the fourth resistor R4 provide an appropriate bias voltage for the base of the second transistor Q2, and the second transistor Q2 can perform a shunting function when the narrow pulse current (i.e., the narrow pulse current) output by the photoelectric converter D1 is too large by selecting an appropriate bias voltage value. Meanwhile, the relationship between the output current i of the collector of the second transistor Q2 and the voltage difference U between the base and the emitter of Q2 is: is [ exp (U/UT) -1], where Is the reverse saturation current of the transistor Q2, typically on the order of 10 to-12 amps to 10 to-18 amps.
UT is temperature voltage equivalent, and is 26mV at normal temperature (T300K). UT is K × T/q (K is boltzmann's constant, T is thermodynamic temperature, and q is an electron charge amount). The magnitude of the current shunted by the base of Q2 is i/β, which is the current amplification factor of Q2, typically 50 to 250.
Preferably, the voltage output module 120 further includes a second capacitor C2, one end of the second capacitor C2 is connected to one end of the feedback resistor Rf and the emitter of the second transistor Q2, and the other end of the second capacitor C2 is connected to the base of the second transistor Q2 and one end of the fourth resistor R4. The second capacitor C2 is connected in parallel with the feedback resistor Rf to provide a low-pass filtering effect for the output voltage of the transimpedance amplifier a 1.
Preferably, the voltage output module 120 further includes a third capacitor C3, one end of the third capacitor C3 is connected to the collector and the negative power terminal of the second transistor Q2, and the other end of the third capacitor C3 is grounded. The third capacitor C3 is used for filtering the negative supply V- (here the reference voltage).
With reference to fig. 2, the operation principle of the lidar receiving circuit is as follows:
when no laser pulse echo is reflected, the high-voltage power supply HVCC passes through the low-pass filter circuit formed by the current limiter R and the first capacitor C1, and then provides a bias power supply with low ripple for the photoelectric converter D1, and the first transistor Q1 is not turned on, so that the narrow pulse current I output by the photoelectric converter D1 is 0. The output voltage out at the output pin of the transimpedance amplifier a1 of the transimpedance amplifier a1 has a voltage value U0 — I × R _ f of 0V.
When there is reflection, the photoelectric converter D1 receives the reflected laser pulse echo and converts the reflected laser pulse echo into a narrow pulse current I (a kind of narrow pulse current), and when the product of the narrow pulse current I and the feedback resistor Rf is smaller than the on-voltage VBE of the base and the emitter of the second transistor Q2 (the magnitude of the on-voltage VBE is generally 0.5V to 0.7V), the second transistor Q2 remains off (since the resistance value of the first resistor R1 is much smaller than that of the feedback resistor Rf, at this time, the Q2 must also be turned off), and the voltage value U0 of the output voltage out of the transimpedance amplifier a1 is — I × R _ f.
When the output voltage out is greater than the turn-on voltage VBE of the base and emitter of the second transistor Q2, assuming that the transimpedance amplifier a1 is an ideal operational amplifier, the levels of the non-inverting input terminal and the inverting input terminal thereof are equal, which is called an imaginary short. When the voltage of the emitter of the second transistor Q2 is 0 and the voltage of the base of the second transistor Q2 can be Vb, the voltage difference between the base and the emitter of Q2 is Vb, and the current input into the a1 through the inverting input terminal is approximately zero, which is called virtual break. Since the sum of the currents flowing into and out of the base node of Q2 is zero, using the node current law we obtain:
(Vr-Vb)/R _4+ (I + U0/R _ f)/β + (0-Vb)/R _3+ (U0-Vb)/R _2 ═ 0. (formula 1)
Wherein Vr is a voltage value of the negative power supply V-, β is a current amplification factor of Q2, U0 is a voltage value of the output voltage out, Vb is a base voltage of Q2, I is a current value of the narrow pulse current output by the photoelectric converter D1, R _2 is a resistance value of the second resistor R2, R _3 is a resistance value of the third resistor R3, and R _4 is a resistance value of the fourth resistor R4. Combining the formula I ═ Is [ exp (U/UT) -1], the magnitude of the current shunted by the collector of Q2 Is I, which results in Vb ═ UT × ln [1+ (I + U0/R _ f)/Is ], and substituting the formula (1) results in a latent function with respect to the narrow pulse current I and the output voltage out of a 1.
In specific implementation, Vr — 5V, R _ f 100000 ohm, R _2 681 ohm, R _3 100 ohm, and R _4 1000 ohm may be set. The value of U0 was 3405-8.49UT × ln [1+ (I + U0/Rf)/Is ] -681 × I/β. The small term 681 × I/β and the 1 inside the natural logarithm in the above formula are omitted, and thus: u0 Is 3405-8.49UT × ln [ (I + U0/Rf)/Is ]. Then the analytical formula is obtained: i ═ Is × exp (3405-U0)/8.49/UT-U0/Rf. Taking UT as 26mv, R _ f as 100000 ohm, Is as 0.437 × 10^ -12mA, a function curve of the narrow pulse current I output by the photoelectric converter D1 and the output voltage out of the transimpedance amplifier a1 can be made, as shown in fig. 3. It can be seen from fig. 3 that when the narrow pulse current I is less than 0.017mA, U0 is less than 1500mV, I is approximately linear with U0. When the narrow pulse current I is larger than 0.017mA, U0 is larger than 1500mV, and I and U0 enter a logarithmic interval.
In summary, the laser radar receiving circuit and the laser radar receiver provided by the utility model can realize the functions of high gain, large dynamic range and narrow pulse amplification of instantaneous dynamic compression by forming a high-speed current-voltage conversion and logarithmic amplification circuit through the high-speed PNP transistor, the high-speed transimpedance amplifier, the feedback resistor and other devices, so that the laser radar can distinguish a small signal of a long-distance target and cannot block a large signal of a short-distance target, the defect that an automatic gain control scheme cannot effectively act on random single ranging pulse is overcome, and the laser radar receiving circuit and the laser radar receiver have the advantages of high small signal gain, large input dynamic range, short signal delay, small expansion after large signal amplification and the like; and the device also has the characteristics of stability, reliability, small volume, light weight and the like, and is suitable for the miniaturization and light weight development of the whole machine.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. The laser radar receiving circuit is characterized by comprising a receiving conversion module and a voltage output module, wherein the receiving conversion module is connected with the voltage output module;
the receiving conversion module receives the reflected laser pulse echo and converts the reflected laser pulse echo into narrow pulse current; the voltage output module converts the narrow pulse current into corresponding output voltage and performs logarithmic amplification;
when the receiving conversion module detects that no laser pulse echo exists, the receiving conversion module stops outputting narrow pulse current according to an input high-voltage power supply; and the voltage output module correspondingly stops generating the output voltage.
2. The lidar receiving circuit of claim 1, wherein the receive conversion module comprises a current limiter, a first capacitor, a first transistor, and a photoelectric converter;
one end of the current limiter is input with a high-voltage power supply, and the other end of the current limiter is connected with one end of the first capacitor and the negative electrode of the photoelectric converter; the positive electrode of the photoelectric converter is connected with the collector of the first transistor, the base of the first transistor and the voltage output module; the other end of the first capacitor and the emitter of the first transistor are both grounded.
3. The lidar receiving circuit of claim 2, wherein the first transistor is a high-speed NPN transistor.
4. The lidar receiving circuit of claim 3, wherein the receiving and converting module further comprises a first resistor, one end of the first resistor is connected to the anode of the photoelectric converter and the base of the transistor, and the other end of the first resistor is connected to the voltage output module.
5. The lidar receiving circuit of claim 2, wherein the voltage output module comprises a transimpedance amplifier, a second transistor, a feedback resistor, a second resistor, a third resistor, and a fourth resistor;
the inverting input end of the transimpedance amplifier is connected with one end of the feedback resistor, the collector of the second transistor and the other end of the first resistor; the non-inverting input end of the transimpedance amplifier is grounded, a positive power supply is input into the power supply end of the transimpedance amplifier, and a negative power supply is input into the ground end of the transimpedance amplifier; the output end of the transimpedance amplifier is connected with the other end of the feedback resistor and one end of the second resistor and outputs output voltage; the other end of the second resistor is connected with one end of the third resistor, the base of the second transistor and one end of the fourth resistor; the other end of the third resistor is grounded, and the collector of the second transistor is connected with the other end of the fourth resistor and is input with a negative power supply.
6. The lidar receiving circuit of claim 5, wherein the transimpedance amplifier is a high-speed transimpedance amplifier and the second transistor is a high-speed PNP transistor.
7. The lidar receiving circuit of claim 5, wherein the voltage output module further comprises a second capacitor, one end of the second capacitor is connected to one end of the feedback resistor and the emitter of the second transistor, and the other end of the second capacitor is connected to the base of the second transistor and one end of the fourth resistor.
8. The lidar receiving circuit of claim 5, wherein the voltage output module further comprises a third capacitor, one end of the third capacitor is connected to the collector and the negative power supply terminal of the second transistor, and the other end of the third capacitor is grounded.
9. A lidar receiver comprising a high voltage circuit and a voltage regulator circuit, further comprising a lidar receiving circuit according to any of claims 1 to 8; the laser radar receiving circuit is connected with the high-voltage circuit and the voltage stabilizing circuit;
the high-voltage circuit outputs a high-voltage power supply to the laser radar receiving circuit;
the voltage stabilizing circuit outputs a negative power supply and a positive power supply to supply power to the laser radar receiving circuit;
the laser radar receiving circuit receives the reflected laser pulse echo, and performs current-voltage conversion and logarithmic amplification to generate corresponding output voltage;
and when the laser radar receiving circuit detects that no reflection exists, the output voltage is stopped to be generated according to the high-voltage power supply.
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Effective date of registration: 20220802 Address after: 518000 floor 16, block a, building 7, phase III, Shenzhen International Innovation Valley, Dashi 1st Road, Nanshan District, Shenzhen, Guangdong Patentee after: SHENZHEN YUEDENG TECHNOLOGY Co.,Ltd. Address before: 516000 room 2317-04, 23rd floor, innovation building, 106 Dongxin Avenue, Dongxing District, Dongjiang Industrial Park, Zhongkai high tech Zone, Huizhou City, Guangdong Province Patentee before: Huizhou yuedeng Intelligent Technology Co.,Ltd. |