CN208725647U - Mobile robot - Google Patents
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- CN208725647U CN208725647U CN201820015765.6U CN201820015765U CN208725647U CN 208725647 U CN208725647 U CN 208725647U CN 201820015765 U CN201820015765 U CN 201820015765U CN 208725647 U CN208725647 U CN 208725647U
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- 238000001514 detection method Methods 0.000 claims abstract description 27
- 230000003287 optical effect Effects 0.000 claims description 9
- 238000004140 cleaning Methods 0.000 description 20
- 230000007246 mechanism Effects 0.000 description 8
- 239000000428 dust Substances 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 6
- 244000007853 Sarothamnus scoparius Species 0.000 description 4
- 230000009471 action Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000001914 filtration Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000001680 brushing effect Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a kind of mobile robots, include: ontology, connection ontology and be configured as the drive system for driving mobile robot to move on the ground, by the ground detection module and controller of ontology carrying, ground detection module includes the light source, the characteristic information of the image on acquisition ground and the photoinduction unit of fast gate value towards ground launch light；Controller adjusts the power of light source according to the characteristic information of image, and prevents to judge by accident so as to accurately detect the situation on ground according to the situation that fast gate value monitors ground.
Description
Technical field
The utility model relates to mobile robot technology field more particularly to a kind of mobile robots.
Background technique
Nowadays, the type of mobile robot becomes diversification, for example, dust-collecting robot, sweeping robot, floor-mopping robot
Equal clean robots, family accompany and attend to robot, guest-meeting robot, remote supervisory and controlling equipment device people etc..Traditionally, mobile robot makes
The situation on ground is detected with module is examined infraredly, this examine infraredly module include: be configured as it is red towards ground launch
It the infrared transmitting tube of UV light and is configured as receiving the infrared receiving tube of the infrared light via ground return.
In practical applications, the infrared transmitting tube of module is examined infraredly towards the infrared light of ground launch, if infrared connect
Closed tube, which is received, is greater than fixed threshold by the signal strength of the infrared light of ground return, then it is assumed that mobile robot encountered is
Normal ground；If infrared receiving tube, which is received, is less than fixed threshold, Huo Zhewei by the signal strength of the infrared light of ground return
Receive by the infrared light of ground return, then it is assumed that mobile robot encountered be have height fall ground (such as steep cliff,
Step etc.).
It is red due to infrared transmitting tube transmitting however, when ground is equipped with black woollen blanket or the reflecting rate on ground is lower
UV light is largely absorbed by black woollen blanket or ground itself, and the infrared light for being reflected into infrared receiving tube is few, it is more likely that
Think that mobile robot encounters is the ground with height fall, evades behavior (such as retreat, turn to etc.) to take, leads
Cause can not be moved to the ground region for being mistaken for having height fall.
Utility model content
The technical problem to be solved by the utility model is to use existing module of examining infraredly to be easy by ground face ring
The influence in border provides a kind of situation for capableing of accurate measurements ground, prevents the mobile robot of erroneous judgement.
A kind of mobile robot, comprising:
Ontology；
Drive system connects the ontology and is configured as that the mobile robot is driven to move on the ground；
Ground detection module is carried by the ontology, and the ground detection module includes:
Light source is configured as towards ground launch light；And
Photoinduction unit is configured as obtaining the characteristic information of the image on ground and fast gate value；And
Controller is configured as adjusting the power of the light source according to the characteristic information of described image, and according to described fast
The situation on gate value monitoring ground.
Wherein, the characteristic information of described image includes the gray scale of image, if the controller is configured as described image
Gray scale is lower than default gray threshold, then adjusts the light source and become strong.
Wherein, the characteristic information of described image includes the quality of image, if the controller is configured as described image
Quality is horizontal lower than preset quality, then adjusts the light source and become strong.
Wherein, the controller is configured as calculating the average value of the characteristic information of described image, according to the average value
Adjust the power of the light source.
Wherein, the controller is configured as calculating being averaged for the characteristic information of described image using Mean Filtering Algorithm
Value, the power of the light source is adjusted according to the average value.
Wherein, the ground detection module further includes optical lens, and the optical lens is configured as by ground return
Light amplify the image on ground when passing through.
Wherein, it if the controller is configured as the fast gate value greater than threshold limit value, monitors ground and occurs highly falling
Difference executes avoiding action to control the mobile robot.
Wherein, the controller be configured as the fast gate value obtained according to the fast gate value first obtained, afterwards and
The situation on the difference monitoring ground of the two.
Wherein, if the controller is configured as, the difference is less than first threshold and the fast gate value obtained afterwards is less than
Second threshold then monitors ground and color change occurs.
Wherein, the mobile robot is clean robot, and the clean robot is configured with cleaning systems and gyroscope
Sensor；If the pitching angular dimensions that the controller is additionally configured to the gyro sensor mutates, described in adjusting
The cleaning mode of cleaning systems.
Wherein, the cleaning systems include dust extractor, and the cleaning mode for adjusting the cleaning systems includes adjusting
The power of the dust extractor becomes larger.
Wherein, the cleaning systems include in sweep component, the cleaning mode for adjusting the cleaning systems includes adjusting
The revolving speed that component is swept in described reduces.
A kind of mobile robot provided by the embodiment of the utility model, comprising: ontology, connection ontology simultaneously are configured as driving
Drive system that mobile robot moves on the ground, by the ground detection module and controller of ontology carrying, ground detection
Module includes the light source, the characteristic information of the image on acquisition ground and the photoinduction unit of fast gate value towards ground launch light；
Controller adjusts the power of light source according to the characteristic information of image, and the situation on ground is monitored according to fast gate value, so as to essence
The situation for really detecting ground prevents to judge by accident.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other variants.
Fig. 1 is that a kind of bottom structure for the clean mobile robot in ground provided by the embodiment of the utility model is illustrated
Figure；
Fig. 2 is the positive structure schematic of mobile robot in Fig. 1；
Fig. 3 is the structural schematic diagram positioned at the ground detection module of the bottom of ontology.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It is explicitly described, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole implementation
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
The every other embodiment obtained, fall within the protection scope of the utility model.
The utility model embodiment provides a kind of mobile robot, which can include but is not limited to be used for
The mobile robot that remotely monitors is played for the mobile robot of personal nursing, for the clean mobile robot in ground, remote control
Has mobile robot, for mobile robot of human-computer interaction etc..In the utility model embodiment, with clean for ground
It is illustrated for mobile robot.
Fig. 1 is that a kind of bottom structure for the clean mobile robot 10 in ground provided by the embodiment of the utility model shows
It is intended to, Fig. 2 is the positive structure schematic of mobile robot 10 in Fig. 1.It is shown as shown in Figure 1, mobile robot 10 includes: this
Body 100, drive system 200, ground detection module 300, controller 400, cleaning systems 500.
In the utility model embodiment, ontology 100 may include chassis 110, shell 120, and shell 120 is removably pacified
Loaded on chassis 110, to protect the various functional components inside mobile robot 10 to hit from fierceness during use or nothing
The damage of the liquid spilt is dripped between meaning；Chassis 110 and/or upper cover 120 are for carrying and supporting various functional components.
Mobile robot 10 can also include collision sensing device, and collision sensing device is formed in at least portion of ontology 100
Exceptionally periphery, in the utility model embodiment, collision sensing device include surround ontology 100 outer peripheral edge impact portions 600,
Sensor and elastic mechanism between ontology 100 and impact portions 600 are equipped with elastic machine between impact portions 600 and ontology 100
Structure and sensor, including but not limited to following situations: 1) elastic mechanism and sensor are between impact portions 600 and ontology 100；
2) elastic mechanism and/or sensor are installed on ontology 100, but a position of elastic mechanism and/or sensor is located at impact portions
Between 600 and ontology 100；3) elastic mechanism and/or sensor are installed in impact portions 600, but elastic mechanism and/or sensor
A position between impact portions 600 and ontology 100；4) elastic mechanism and/or sensor are installed on impact portions 600 and ontology
On 100.Elastic mechanism is for keeping having uniform free gap between impact portions 600 and ontology 100, and sensor is for sensing
Relative displacement between impact portions 600 and ontology 100.Sensor can be microswitch, Hall switch, Photoelectric infrared switch etc.
In any one or more, between ontology 100 and impact portions 600 can be equipped with multiple sensors, for example, in mobile robot
At least one sensor is distributed between ontology 100 and impact portions 600 at 10 front, two side positions.Sensor is usual
It is electrically connected with a certain controller 400, processor or the control system in mobile robot 10, in order to acquire the number of sensor
Corresponding actions are made according to control mobile robot 10.Since impact portions 600 surround ontology 100, mobile robot 10 is expert at
Walk in the process no matter impact portions 600 which position and barrier collision will all cause to send out between impact portions 600 and ontology 100
Raw relative displacement.Since sensor can sense the relative displacement between impact portions 600 and ontology 100, so that mobile robot
10 can sense the collision of barrier.The direction of motion can be changed to get around the barrier collided or take in mobile robot 10
Other counter-measures.
Drive system 200 connects ontology 100 and is configured as driving mobile robot 10 and moves on the ground, for example, moving
Mobile robot 10 can be designed to automatically planning path on the ground, can also be designed to respond in telecommand on ground
It is moved on face.In the utility model embodiment, drive system 200 include two wheels 210, at least one universal wheel 220, with
And the motor (not shown) for driving wheel 210 to rotate, wheel 210 and universal wheel 220 at least partly protrude out chassis
110 bottom, for example, two wheels 210 can be partially hidden from chassis under the action of 10 own wt of mobile robot
In 110.In an alternative embodiment, drive system 200 can also include any one in triangle Athey wheel, Mecanum wheel etc.
Kind.
Cleaning systems 500 sweep component 510, side brush assemblies 520 and set on being detachably arranged at ontology 100 in may include
Dust-collecting box 530.Wherein, it includes protruding the rotary broom 511 for being set to 100 bottom of ontology and set on ontology 100 that component 510 is swept in
Motor (not shown) that is internal and being configured as the driving rotation of rotary broom 511；Side brush assemblies 520 include being set to ontology 100
Bottom is brushing 521 and is brushing the motors of 521 rotations inside ontology 100 and when being configured as and driving, and side brush 521 is at least
Extend the outer profile of ontology 100 in part.When mobile robot 10 moves on the ground, motor driven rotary broom 511 is rotated,
Guiding the rubbish on ground to dust-collecting box 530, while brush 521 be conducive to wall while, corner, barrier edge carry out it is effective
It cleans.Cleaning systems 500 can also include the dust extractor (not shown out) inside the ontology 100, the blower of dust extractor
For providing the suction force of the suction inlet for opening up the rubbish on ground from the chassis of ontology 100 110 sucking dust-collecting box 530.
As shown in figure 3, ground detection module 300 is carried by ontology 100, ground detection module 300 can be optionally included
Optics range camera (that is, mouse camera), optics range camera are used to capture the image on 10 lower section ground of mobile robot.At this
In utility model embodiment, ground detection module 300 includes: light source 310, optical lens 320 and photoinduction unit 330.?
In one alternative embodiment, in the recessed structures 116 that the bottom that ground detection module 300 can be set to ontology 100 opens up.
Ground detection module 300 may include one or more light sources 310, and light source 310 is configured as towards ground launch
Light can illuminate the ground within the vision of ground detection module 300.Light source 310 can be LED light, which can send out
Penetrate visible light or infrared light etc..One or more light sources 310 can be located at the same side of photoinduction unit 330, but this
Layout is easy to cause the illumination unevenness on ground, and shade occurs in the ground being illuminated.Therefore, in a preferable alternative embodiment
In, multiple light sources 310 can be evenly arranged in two sides or the surrounding of photoinduction unit 330, so as to capture be more clear,
Accurate ground image.
Optical lens 320 is configured as amplifying the image on ground, optical lens 320 when being passed through by the light of ground return
It can be telecentric lens, be also possible to common convex lens.In practical applications, the ground that mobile robot 10 is walked may not
It is flat, cause the image on the ground captured to generate largely out of focus and unintelligible, therefore, the depth of field of optical lens 320 can
To cross over certain distance range, for example, the depth of field is 20 millimeters~40 millimeters.In the distance range of the depth of field, the image quilt on ground
Control is in acceptable degree out of focus.
Photoinduction unit 330 is configured as obtaining the characteristic information of the image on ground and fast gate value, in the utility model reality
It applies in example, the characteristic information of image includes but is not limited to the gray scale of image, the group of any one or two kinds in the quality of image
It closes.
Traditionally, photoinduction unit 330 include photosensitive element, electronic shutter, wherein photosensitive element be otherwise known as image biography
Sensor, for converting digital signal for optical image, photosensitive element can be CCD photosensitive element, it is photosensitive to be also possible to CMOS
Element.
Autoelectrinic shutter (AES, Auto Electronic Shutter) is configured as can be according to the image on ground
The effective exposure time of gray scale or quality automatic adjustment photosensitive element, when fast gate value is used to characterize effective exposure of photosensitive element
Between, unit is the second.For example, the gray scale of the image on ground is bigger, fast gate value is bigger, and the gray scale of the image on ground is smaller, fast gate value
It is smaller；For another example, the quality of the image on ground is deteriorated, and fast gate value becomes larger, and the quality of the image on ground improves, and fast gate value becomes smaller.
Controller 400 is configured as adjusting the power of light source according to the characteristic information of image.For example, the characteristic information of image
Gray scale including image, for another example, the characteristic information of image includes the quality of image.
Under conditions of the characteristic information of image includes the gray scale of image, controller 400 can be configured as judgement image
Gray scale whether be lower than default gray threshold, if the gray scale of image is lower than default gray threshold, adjusts light source 310 and become by force, if
The gray scale of image is higher than default gray threshold, then adjusts light source 310 and die down, so that the gray scale of image is maintained at acceptable model
In enclosing；It, can be according to the average value of the gray count gray scale of the image on the ground repeatedly obtained, in turn in an alternative embodiment
The power of light source 310 is adjusted according to the average value of gray scale, for example, the flat of the gray scale of image can be calculated using Mean Filtering Algorithm
Mean value.
Under conditions of the characteristic information of image includes the quality of image, controller 400 can be configured as judgement image
Quality whether be lower than preset quality level and adjust light source 310 if the quality of image is horizontal lower than preset quality and become by force, if
The quality of image is higher than preset quality level, then adjusts light source 310 and die down, so that the gray scale of image is maintained at acceptable model
In enclosing；It, can be according to the average value of the Mass Calculation quality of the image on the ground repeatedly obtained, in turn in an alternative embodiment
The power of light source 310 is adjusted according to the average value of quality, for example, the flat of the quality of image can be calculated using Mean Filtering Algorithm
Mean value.
In the practical application scene of mobile robot 10, the factor for influencing fast gate value includes the color on ground, ground inspection
Survey height etc. of the module 300 apart from ground.Mobile robot 10 is now directly placed at white ground, yellow ground, wine respectively
Red ground, black floor these four typical colors ground in the case where, read the Sh's that photoinduction unit 330 obtains
Value；And distance white ground, yellow ground, claret are individually positioned in the ground detection module 300 of mobile robot 10
Ground, black floor these four colors ground 8cm height in the case where, controller 400 reads what photoinduction unit 330 obtained
The value of Sh.It is linear between the value of Sh and actual fast gate value in watch 1 by the following table 1 of the value typing of Sh read above
Relationship, for example, fast gate value=0.8*Sh (μ s).
Table 1
Controller 400 is additionally configured to monitor the situation on ground according to fast gate value.Specifically in the utility model embodiment,
If controller 400, which is configured as fast gate value, is greater than threshold limit value, determine that monitoring ground height fall occurs, moves to control
Mobile robot 10 executes avoiding action.
From table 1 it follows that the value of Sh is significantly greater than and will move when ground detection module 300 is apart from ground 8cm height
The value of Sh when robot 10 is directly placed on ground, for example, the value of Sh is significantly greater than directly placement when apart from white ground 8cm
The value of Sh in black floor.Based on this rule, for example, threshold limit value can be chosen in from 1200 to 1400 section, if
The value of Sh is greater than the threshold limit value, then determines that monitoring ground height fall occurs, in turn, controller 400 controls mobile machine
People executes avoiding action, which includes retreating, turning to etc..
In an alternative embodiment, controller 400 can be additionally configured to obtain according to the fast gate value first obtained, afterwards fast
The situation on the difference of gate value and the two monitoring ground.The fast gate value first obtained and the fast gate value obtained afterwards are based on time order and function
Sequentially, for example, the case where 1) encountering height fall: mobile robot 10 encounters height when moving on certain color ground
Certain color steep cliff ground of drop, the fast gate value first obtained are reflection of the ground detection module 300 based on certain color ground
It measures, the fast gate value obtained afterwards is that ground detection module 300 is measured based on the reflection on certain color steep cliff ground；2) it encounters
The case where color change: mobile robot 10 encounters another color ground when moving on certain color ground, first obtains
Fast gate value is that ground detection module 300 is measured based on the reflection on certain color ground, and the fast gate value obtained afterwards is ground detection
Module 300 is measured based on the reflection on another color ground.
From table 1 it follows that if the difference of the fast gate value first obtained and the fast gate value obtained afterwards is less than first threshold
(such as the first threshold be 700) and the fast gate value obtained afterwards be less than second threshold (such as the second threshold can from 1200~
Chosen in 1400 interval range), then it can be determined that color change occurs in detection ground.In order to detect whether because encountering
Color change caused by woollen blanket can configure gyro sensor in mobile robot 10, in practical application scene, hair
Blanket has certain thickness, during mobile robot 10 is from ground moving to woollen blanket, the front and back meeting of mobile robot 10
Run-off the straight is based on this, can judge mobile robot 10 so that whether the pitching angular dimensions of gyro sensor mutates
Whether woollen blanket is encountered.Specifically, judging that mobile robot 10 encounters if the pitching angular dimensions of gyro sensor mutates
Woollen blanket, so as to adjusting the cleaning mode of cleaning systems 500.
In an alternative embodiment, cleaning systems 500 include dust extractor, adjust the cleaning mode packet of cleaning systems 500
The power for including the blower of adjusting dust extractor becomes larger, so that the dust on woollen blanket is more efficiently sucked dust-collecting box 530.One
In alternative embodiment, cleaning systems 500 include in sweep component 510, the cleaning mode for adjusting cleaning systems 500 includes sweeping in adjusting
The revolving speed of the motor of component 510 reduces, or the motor stalls of component 510 are swept in adjusting, sweeps to reduce in woollen blanket pair
The resistance of the rotary broom 511 of component 510, influences the movement speed of mobile robot 10.
A kind of mobile robot 10 provided by the embodiment of the utility model, comprising: ontology 100, connection ontology 100 are simultaneously matched
Be set to drive system 200 that driving mobile robot 10 moves on the ground, the ground detection module 300 that is carried by ontology 100,
And controller 400, ground detection module 300 include towards ground launch light light source 310, obtain ground image spy
The photoinduction unit 330 of reference breath and fast gate value；Controller 400 adjusts the power of light source, and root according to the characteristic information of image
Situation according to fast gate value monitoring ground prevents to judge by accident so as to accurately detect the situation on ground.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " alternative embodiment " etc. mean specific features described in conjunction with this embodiment or example, structure, material or
Feature is contained at least one embodiment or example of the utility model.In the present specification, to the schematic of above-mentioned term
Statement may not refer to the same embodiment or example.Moreover, the particular features, structures, materials, or characteristics of description can be
It can be combined in any suitable manner in any one or more embodiment or examples.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical solution within the spirit and principle of mode
Within enclosing.
Claims (2)
1. a kind of mobile robot characterized by comprising
Ontology；
Drive system connects the ontology and is configured as that the mobile robot is driven to move on the ground；
Ground detection module is carried by the ontology, and the ground detection module includes:
Light source is configured as towards ground launch light；And
Photoinduction unit is configured as obtaining the characteristic information of the image on ground and fast gate value；And
Controller is configured as adjusting the power of the light source according to the characteristic information of described image, and according to the fast gate value
Monitor the situation on ground.
2. mobile robot according to claim 1, which is characterized in that the ground detection module further includes optical lens
Mirror, the optical lens are configured as amplifying the image on ground when being passed through by the light of ground return.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820015765.6U CN208725647U (en) | 2018-01-04 | 2018-01-04 | Mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820015765.6U CN208725647U (en) | 2018-01-04 | 2018-01-04 | Mobile robot |
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| Publication Number | Publication Date |
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| CN208725647U true CN208725647U (en) | 2019-04-12 |
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| CN201820015765.6U Active CN208725647U (en) | 2018-01-04 | 2018-01-04 | Mobile robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108553027A (en) * | 2018-01-04 | 2018-09-21 | 深圳悉罗机器人有限公司 | Mobile robot |
| CN110123210A (en) * | 2019-05-07 | 2019-08-16 | 深圳市银星智能科技股份有限公司 | A kind of robot ground detecting method, clean robot and data storage device |
| CN112317490A (en) * | 2020-11-10 | 2021-02-05 | 深圳市鸿立凯科技有限公司 | Safe type cleaning and disinfecting equipment |
-
2018
- 2018-01-04 CN CN201820015765.6U patent/CN208725647U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108553027A (en) * | 2018-01-04 | 2018-09-21 | 深圳悉罗机器人有限公司 | Mobile robot |
| CN108553027B (en) * | 2018-01-04 | 2024-09-27 | 深圳飞鼠动力科技有限公司 | Mobile robot |
| CN110123210A (en) * | 2019-05-07 | 2019-08-16 | 深圳市银星智能科技股份有限公司 | A kind of robot ground detecting method, clean robot and data storage device |
| CN110123210B (en) * | 2019-05-07 | 2022-05-03 | 深圳市银星智能科技股份有限公司 | Robot ground inspection method, cleaning robot and data storage device |
| CN112317490A (en) * | 2020-11-10 | 2021-02-05 | 深圳市鸿立凯科技有限公司 | Safe type cleaning and disinfecting equipment |
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Address after: 518110 Guangdong Province, Shenzhen city Longhua District Guanlan Street sightseeing road Silver Star High-tech Industrial Park building A1 Patentee after: Shenzhen flying mouse Power Technology Co., Ltd Address before: 518110 Guangdong Province, Shenzhen city Longhua District Guanlan Street sightseeing road Silver Star High-tech Industrial Park building A1 Patentee before: Shenzhen Xiluo Robot Co.,Ltd. |
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