CN108814432B - Self-charging sweeping robot - Google Patents
Self-charging sweeping robot Download PDFInfo
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- CN108814432B CN108814432B CN201810564519.0A CN201810564519A CN108814432B CN 108814432 B CN108814432 B CN 108814432B CN 201810564519 A CN201810564519 A CN 201810564519A CN 108814432 B CN108814432 B CN 108814432B
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- 238000010408 sweeping Methods 0.000 title claims abstract description 93
- 230000006698 induction Effects 0.000 claims abstract description 8
- 230000005855 radiation Effects 0.000 claims abstract description 6
- 238000006243 chemical reaction Methods 0.000 claims abstract description 4
- 238000010521 absorption reaction Methods 0.000 claims description 17
- 238000004140 cleaning Methods 0.000 claims description 15
- 239000000758 substrate Substances 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 8
- 238000010248 power generation Methods 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 2
- 238000007726 management method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention relates to a self-charging sweeping robot, which comprises a robot body, a driving assembly, a solar panel and a thermal induction camera, wherein the driving assembly is arranged at the bottom of the robot body; the controller analyzes the heat information on the image and determines a high heat area with the lowest radiation intensity higher than the photoelectric conversion of the solar cell panel, so that the driving assembly is controlled to drive the self-charging floor sweeping robot to move towards the high heat area, and the solar panel receives heat to charge the self-charging floor sweeping robot.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a self-charging floor sweeping robot.
Background
The self-charging sweeping robots such as sweeping robots and mopping robots bear part of family cleaning labor to a great extent, so that people can have more time to relax. The existing self-charging floor sweeping robot is generally provided with a charging device corresponding to the robot, the charging device emits a radiation signal within a certain range, and the self-charging floor sweeping robot searches for the charging device within the radiation signal range and is in butt joint charging in the way. However, this method requires a charging device for each cleaning device, occupying a certain space; in addition, in the process of searching for the charging device by the self-charging floor sweeping robot, due to reasons such as signal interference, the situation that the self-charging floor sweeping robot cannot find the charging device often occurs, and therefore the self-charging floor sweeping robot cannot be charged in time.
Disclosure of Invention
In this summary, concepts in a simplified form are introduced that are further described in the detailed description section. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
According to one aspect of the invention, a self-charging sweeping robot is provided, which comprises a robot body, a driving assembly, a solar panel and a thermal induction camera, wherein the solar panel is installed at the top of the robot body, the driving assembly is used for driving the self-charging sweeping robot to move, the thermal induction camera is used for shooting images of the surrounding environment of the self-charging sweeping robot, and the self-charging sweeping robot further comprises a controller; the controller analyzes the heat information on the image and determines a high heat area with the lowest radiation intensity higher than the photoelectric conversion of the solar cell panel, so that the driving assembly is controlled to drive the self-charging floor sweeping robot to move towards the high heat area, and the solar panel receives heat to charge the self-charging floor sweeping robot.
Optionally, the solar panel includes a substrate and a flexible power generation layer covering the substrate, and the substrate is made of a hard material.
Optionally, flexible electricity generation layer includes a plurality of heat absorption units that the matrix was arranged, a plurality of heat absorption units absorb and the sensing heat, work as heat absorption unit heat absorption when not even of flexible electricity generation layer different positions department, controller control drive assembly removes, so that a plurality of heat absorption units evenly receive the heat.
Optionally, the controller is further configured to establish a coordinate system with an initial position of the self-charging floor-sweeping robot as an origin, an initial advancing direction of the self-charging floor-sweeping robot as an x-axis, and an axis perpendicular to the initial advancing direction as a y-axis.
Optionally, the controller is further configured to use a central point of a central axis of the image along the shooting direction thereof as a coordinate point of the image in the coordinate system, and splice the images according to the corresponding coordinate points to construct a map of the space to be cleaned and a corresponding heat distribution map.
Optionally, the controller is further configured to drive the self-charging floor-sweeping robot to travel towards a nearest chargeable area according to the map of the space to be cleaned and the corresponding heat distribution map when the electric quantity of the battery is lower than a threshold electric quantity, and receive heat through the solar panel to charge the self-charging floor-sweeping robot.
Optionally, the controller is further configured to drive the self-charging floor-sweeping robot to move towards a nearest chargeable area according to the map of the space to be cleaned and the corresponding heat distribution map when the task of sweeping the self-charging floor-sweeping robot is finished.
Therefore, the self-charging floor sweeping robot provided by the invention can shoot the image of the surrounding environment of the self-charging floor sweeping robot through the thermal induction camera, and determine the heat area through analyzing the heat information on the image, so that the driving assembly is controlled to drive the self-charging floor sweeping robot to move towards the heat area, and the solar panel receives heat to charge the self-charging floor sweeping robot. Therefore, the situation that the charging device cannot be found due to signal interference and the like can be avoided, and the self-charging floor sweeping robot can be charged in time.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings. The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings, the same reference numbers generally represent the same or similar parts or steps.
Fig. 1 is a schematic perspective view of a self-charging sweeping robot according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of a solar panel of the self-charging floor sweeping robot shown in fig. 1;
FIG. 3 is a schematic view of the solar panel heat sensing of FIG. 2;
fig. 4 is a connection block diagram of modules of the self-charging floor sweeping robot shown in fig. 1;
fig. 5 is a schematic view of a charging state of the self-charging sweeping robot.
Description of reference numerals:
100: self-charging sweeping robot 10: fuselage body
20: the thermal induction camera 30: solar panel
40: the driving assembly 50: controller
60: the battery assembly 70: region(s)
31: the geothermal unit 32: substrate
33: heat absorbing layer 51: charging management module
52: first rechargeable battery 53: second rechargeable battery
311: partial heat absorption area
Detailed Description
In order that the objects, technical solutions and advantages of the present invention will become more apparent, exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of embodiments of the invention and not all embodiments of the invention, with the understanding that the invention is not limited to the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention described herein without inventive step, shall fall within the scope of protection of the invention.
The self-charging sweeping robot 100 in the embodiment of the present invention may be a self-charging sweeping robot. Fig. 1 is a schematic perspective view of a self-charging sweeping robot 100. This self-charging robot 100 of sweeping floor includes fuselage 10 and drive assembly 40, and in this embodiment, fuselage 10 is discoid roughly, drive assembly 40 is two relative settings and is in the wheel of fuselage 10 one side, drive assembly 40 drives fuselage 10 walks in treating clean environment.
Referring to fig. 2 in combination, the self-charging sweeping robot 100 further includes a solar panel 30 and a thermal sensing camera 20. The solar panel 30 and the thermal sensing camera 20 are disposed on the other side of the body 10 opposite to the driving assembly 40. The solar panel 30 comprises a plurality of heat absorption units 31, the heat absorption units 31 form a heat absorption layer 33, the solar panel 30 further comprises a substrate 32, the heat absorption layer 33 covers the substrate 32, the heat absorption layer 33 is a soft material layer, the substrate 32 is a hard material layer, and the substrate 32 bears the heat absorption layer 33.
Referring to fig. 3, when the heat absorbing layer 33 senses heat, the heat absorbing units 31 need to maintain the consistency of heat absorption as much as possible, that is, each heat absorbing unit of the heat absorbing layer 33 can receive relatively strong heat, a part of the heat absorbing regions 311 (gray regions) of the heat absorbing layer 33 can receive relatively strong heat, and the rest of the heat absorbing layer 33 can receive relatively low heat, at this time, the controller 50 controls the driving assembly 40 to move in the direction F, so that the heat absorbing units 31 of the heat absorbing layer 33 all receive relatively strong heat.
Referring to fig. 3, the connection block diagram of the modules of the self-charging sweeping robot 100 is shown, the self-charging sweeping robot 100 further includes a controller 50 and a battery assembly 60, and the controller 50 is electrically connected to the driving assembly 40, the solar charging panel 30, the battery assembly 60, and the thermal sensing camera 20, respectively. A charging management module 51 is connected between the battery assembly 60 and the controller 50, and the battery assembly 60 includes a first rechargeable battery 52 and a second rechargeable battery 53. The charging management module 51 is configured to manage charging and discharging processes of the first rechargeable battery 52 and the second rechargeable battery 53, specifically, the solar charging panel 30 absorbs heat energy and converts the heat energy into electric energy, which is stored in the first rechargeable battery 52 and the second rechargeable battery 53 respectively, the charging management module 51 monitors charging electric quantities of the first rechargeable battery 52 and the second rechargeable battery 53 in real time, when the charging electric quantities of the first rechargeable battery 52 and the second rechargeable battery 53 reach preset electric quantities (generally, the electric quantities are fully charged), the charging management module 51 transmits an electric quantity full signal to the controller 50, and the controller 50 controls the solar panel 30 to stop absorbing heat. In this embodiment, the controller 50 may control the driving assembly 40 to move to a position where the light emission is relatively low, and the charging management module 51 may turn off the charging of the first rechargeable battery 52 and the second rechargeable battery 53. When a cleaning task needs to be performed, the controller 50 controls the self-charging floor cleaning robot 100 to walk on the ground to perform the cleaning task through a cleaning component (not shown), such as a rolling brush, an edge brush, a water tank, a mop cloth, and the like. The charging management module 51 controls the first rechargeable battery 52 to release stored electric energy for the self-charging floor-sweeping robot 100 to execute a cleaning task, the electric energy stored in the first rechargeable battery 52 is gradually consumed, until the first rechargeable battery 52 cannot continuously provide electric energy for the self-charging floor-sweeping robot 100 to use, the charging management module 51 controls to start the second rechargeable battery 53 to release stored electric energy for the self-charging floor-sweeping robot 100 to continuously execute the cleaning task, and the electric energy stored in the second rechargeable battery 53 is gradually consumed. Generally, the first rechargeable battery 52 provides power for 2 times of cleaning in a household, such as a household area of 70 square meters to 90 square meters. If it is a large-sized household, the sweeping task can be continuously performed for the large-sized household by using the amount of charge of the second rechargeable battery 53. When the self-charging floor-sweeping robot 100 completes one cleaning task, if the electric quantity in the second rechargeable battery 53 is not used, the charging management module 51 is used for preferentially controlling the second rechargeable battery 53 to release the stored electric energy when the self-charging floor-sweeping robot 100 executes the next cleaning task, so that the electric quantities of the first rechargeable battery 52 and the second rechargeable battery 53 can be fully utilized in the charging process and the discharging use process through continuously recycling the stored electric energy of the first rechargeable battery 52 and the second rechargeable battery 53, and the heat energy of the productivity of the solar panel 30 can be effectively managed and utilized.
It is understood that the self-charging sweeping robot 100 may further include a lighting device (not shown), such as an electric lamp, which may be connected to the controller 50 through the charging management module 51, and when the solar panel 30 absorbs heat to generate electric energy, the first rechargeable battery 52 and the second rechargeable battery 53 are fully charged, and then the lighting device may be continuously charged. When self-charging sweeping robot 100 gets into in the environment of brightness darker such as bed bottom, sofa bottom or table chair bottom, thermoinduction camera 20 can't shoot the photo under dim environment, opens this moment lighting device, with for self-charging sweeping robot 100 throws light on, thereby shoots the image and helps self-charging sweeping robot 100 cleans the planning in route. When the self-charging floor sweeping robot 100 leaves a dark environment, the lighting device is turned off.
The thermal sensing camera 20 is configured to capture an image of an environment around the self-charging sweeping robot 100. The controller 50 analyzes the heat information on the image and determines a high heat area with a light-electricity conversion minimum radiation intensity higher than that of the solar cell panel 30, so as to control the driving assembly 40 to drive the self-charging floor-sweeping robot 100 to move towards the high heat area, and receive heat through the solar cell panel 30 to charge the self-charging floor-sweeping robot 100. Referring to fig. 4, it can be understood that the area 70 is a region with high heat in the several heat areas, and the heat in other areas is less than that of the area 70, and generally, the area beside the window is a region with high heat.
In the embodiment of the present invention, the self-charging floor sweeping robot 100 may construct a coordinate system at an initial position of the moving path and establish a corresponding map, and complete the marking of the entire map by moving according to a preset moving manner. Specifically, the controller 50 establishes a coordinate system with the initial position of the self-charging floor-sweeping robot 100 as an origin, the initial advancing direction of the self-charging floor-sweeping robot 100 as an x-axis, and the direction perpendicular to the initial advancing direction as a y-axis. Further, the controller 50 uses the central point of the central axis of the image along the shooting direction thereof as the coordinate point of the image in the coordinate system, and splices the images according to the corresponding coordinate points to construct a map of the space to be cleaned and a corresponding heat distribution map, and completes the marking of the whole map through the coordinate points of the image. Since the shooting angle α and the height h of the thermal sensing camera 20 are fixed relative to the ground, the distance from the coordinate point of the image to the self-charging sweeping robot 100 can be obtained through the shooting angle α and the height h, which is about tan α × h, and then the coordinate point of the image in the coordinate system can be finally obtained according to the rotation angle β (obtained by the angle sensor) of the self-charging sweeping robot 100 relative to the x-axis of the initial advancing direction. In addition, through the marking of the map, the cleaning task of the whole room can be completed for the self-charging floor sweeping robot according to the marking mode. In addition, the path planning method of the embodiment of the invention ensures that the self-charging floor-sweeping robot 100 can realize full-area coverage in a short distance, ensures the optimal path, correspondingly saves the electric quantity used by the self-charging floor-sweeping robot 100, and has higher efficiency.
The controller 50 may be further configured to drive the self-charging floor-sweeping robot 100 to move towards the nearest chargeable area according to the map of the space to be cleaned and the corresponding heat distribution map when the electric quantity of the battery 60 is lower than the threshold electric quantity, and receive heat through the solar panel 30 to charge the self-charging floor-sweeping robot 100. In addition, the controller 50 may be further configured to drive the self-charging floor sweeping robot 100 to move towards the nearest chargeable area according to the map of the space to be cleaned and the corresponding heat distribution map when the cleaning task of the self-charging floor sweeping robot 100 is finished.
The self-charging sweeping robot disclosed by the invention can be charged by converting heat energy into electric energy, so that a charging pile is not required to be separately configured, the space for placing the charging pile in a family is saved, the household power consumption is saved, and the intelligent charging and sweeping process is realized.
The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. A self-charging sweeping robot comprises a robot body and a driving assembly arranged at the bottom of the robot body, and is characterized by further comprising a solar panel and a thermal induction camera, wherein the solar panel is mounted at the top of the robot body, and the driving assembly is used for driving the self-charging sweeping robot to move; the thermal induction camera is used for shooting images of the surrounding environment of the self-charging floor sweeping robot, and the shooting angle alpha and the height h of the thermal induction camera are fixedly arranged relative to the ground; the self-charging floor sweeping robot further comprises a controller; the controller is used for analyzing heat information on the image and determining a high-heat area with the lowest radiation intensity higher than the photoelectric conversion of the solar cell panel, so as to control the driving assembly to drive the self-charging floor-sweeping robot to move towards the high-heat area and receive heat through the solar panel to charge the self-charging floor-sweeping robot, the controller is further used for constructing a coordinate system by taking the initial position of the self-charging floor-sweeping robot as an origin, the initial advancing direction of the self-charging floor-sweeping robot as an x-axis and the direction perpendicular to the initial advancing direction as a y-axis, the controller is further used for taking the central point of the image in the shooting direction as a coordinate point of the image in the coordinate system and splicing the images according to the corresponding coordinate points to construct a map of a space to be cleaned and a corresponding heat distribution map, marking the whole map through the coordinate points of the image, wherein the coordinate points are obtained according to the shooting angle alpha and the height h, the distance tan alpha h between the coordinate points of the image and the self-charging sweeping robot is obtained, and then the coordinate points are obtained according to the rotation angle beta of the self-charging sweeping robot relative to the x axis of the initial advancing direction; the self-charging floor sweeping robot further comprises a battery assembly, a charging management module is connected between the battery assembly and the controller, the battery assembly comprises a first rechargeable battery and a second rechargeable battery, and the charging management module is used for managing the charging and discharging processes of the first rechargeable battery and the second rechargeable battery; when the self-charging floor-sweeping robot completes one cleaning task and the electric quantity in the second rechargeable battery is not used, the charging management module preferentially controls the second rechargeable battery to release the stored electric energy when the self-charging floor-sweeping robot executes the next cleaning task.
2. The self-charging sweeping robot of claim 1, wherein the solar panel comprises a substrate and a flexible power generation layer covering the substrate, and the substrate is made of a hard material.
3. The self-charging sweeping robot of claim 2, wherein the flexible power generation layer comprises a plurality of heat absorption units arranged in a matrix, the plurality of heat absorption units absorb and sense heat, and when the heat absorption units at different positions of the flexible power generation layer absorb heat unevenly, the controller controls the driving assembly to move so that the plurality of heat absorption units receive heat evenly.
4. The self-charging sweeping robot of claim 1, wherein the controller is further configured to drive the self-charging sweeping robot to travel towards a nearest chargeable area according to the map of the space to be cleaned and the corresponding heat distribution map when the battery power is lower than a threshold power, and receive heat through a solar panel for charging the self-charging sweeping robot.
5. The self-charging sweeping robot of claim 1, wherein the controller is further configured to drive the self-charging sweeping robot to travel towards a nearest chargeable area according to the map of the space to be cleaned and the corresponding thermal profile when the self-charging sweeping robot sweeping task is finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564519.0A CN108814432B (en) | 2018-06-04 | 2018-06-04 | Self-charging sweeping robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810564519.0A CN108814432B (en) | 2018-06-04 | 2018-06-04 | Self-charging sweeping robot |
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| CN108814432A CN108814432A (en) | 2018-11-16 |
| CN108814432B true CN108814432B (en) | 2021-06-29 |
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| CN201810564519.0A Active CN108814432B (en) | 2018-06-04 | 2018-06-04 | Self-charging sweeping robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109494833B (en) * | 2018-11-19 | 2020-09-15 | 珠海市一微半导体有限公司 | Electric quantity planning method based on robot working power consumption, robot and chip |
| CN110673043A (en) * | 2019-09-30 | 2020-01-10 | 安克创新科技股份有限公司 | Method for current electric quantity of battery of self-moving device, self-moving device and control method |
| CN113892876A (en) * | 2020-06-22 | 2022-01-07 | 速感科技（北京）有限公司 | Autonomous mobile device and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102014001797A1 (en) * | 2014-02-12 | 2015-08-13 | Ridha Azaiz | Flight robot for editing and cleaning smooth, curved and modular surfaces |
| CN107773168A (en) * | 2016-08-30 | 2018-03-09 | 天津三合成自行车配件有限公司 | A kind of intelligent dedusting robot |
| CN107026612B (en) * | 2017-05-17 | 2019-04-30 | 许昌学院 | A kind of solar power station automatic tour inspection system |
| CN107092262A (en) * | 2017-06-19 | 2017-08-25 | 成都领创先科技有限公司 | A kind of indoor intelligent cleaning device |
| CN107359689A (en) * | 2017-08-28 | 2017-11-17 | 安徽汉威电子有限公司 | A kind of intelligent solar charging system |
| CN107822564A (en) * | 2017-10-26 | 2018-03-23 | 绵阳鑫阳知识产权运营有限公司 | Sweeping robot with charge function of following spot |
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Effective date of registration: 20210728 Address after: 350400 No. 20 station C, No. 31, Taiwan Pioneer Park, Jin Jing two road, Pingtan comprehensive experimentation area, Fuzhou, Fujian. Patentee after: PINGTAN CHENGXIN ZHICHUANG TECHNOLOGY Co.,Ltd. Address before: 300000 10-4-401 Yangliuqing guanghuiyuan, Xiqing District, Tianjin Patentee before: Zhang Hui Patentee before: Zhao Hailong |
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Effective date of registration: 20231207 Address after: Unit 703, No. 199-1 Fengqi Road, Software Park Phase III, Xiamen City, Fujian Province, 361000 Patentee after: XIAMEN CHENGXIN ZHICHUANG TECHNOLOGY SERVICE CO.,LTD. Address before: 350400 No. 20 station C, No. 31, Taiwan Pioneer Park, Jin Jing two road, Pingtan comprehensive experimentation area, Fuzhou, Fujian. Patentee before: PINGTAN CHENGXIN ZHICHUANG TECHNOLOGY Co.,Ltd. |