CN108937701B - Window cleaning robot and state detection method thereof - Google Patents
Window cleaning robot and state detection method thereof Download PDFInfo
- Publication number
- CN108937701B CN108937701B CN201810666977.5A CN201810666977A CN108937701B CN 108937701 B CN108937701 B CN 108937701B CN 201810666977 A CN201810666977 A CN 201810666977A CN 108937701 B CN108937701 B CN 108937701B
- Authority
- CN
- China
- Prior art keywords
- current
- cleaning robot
- sampling
- window
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
Landscapes
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a window cleaning robot, which comprises a travelling mechanism, a sampling circuit and a singlechip, wherein the travelling mechanism is used for driving the window cleaning robot to move on the surface of glass; the sampling circuit is used for sampling the current of the travelling mechanism according to a fixed frequency; the single chip microcomputer comprises a storage module, a calculation module and a judgment module, wherein the storage module is used for storing a current sampling value of the travelling mechanism; the calculation module is used for calculating subtraction values of the current sampling value and the previous n continuous current sampling values, the sum of the subtraction values and the accumulated value of the sum of the m subtraction values; the judging module is used for judging the current walking state of the window cleaning robot according to the accumulated value. In addition, the invention also discloses a method for detecting the walking state of the window cleaning robot.
Description
Technical Field
The invention belongs to the field of mobile robots, and particularly relates to a window cleaning robot and a state detection method thereof.
Background
According to the method, under the condition that a mechanical switch is invalid or a walking environment is complex, the mechanical switch is not triggered, and a control system does not detect the frame or the obstacle, so that the window cleaning robot is dead or stuck and is still, and the walking path and the navigation planning of the window cleaning robot are seriously influenced.
Therefore, there is a need for an improved window wiping robot and a state detection method thereof.
Disclosure of Invention
One of the purposes of the present invention is to overcome the defects in the background art, and to provide a window-wiping robot capable of accurately detecting its operating state, the specific scheme is as follows:
a window cleaning robot comprises a travelling mechanism, a sampling circuit and a single chip microcomputer, wherein the travelling mechanism is used for driving the window cleaning robot to move on the surface of glass; the sampling circuit is used for sampling the current of the travelling mechanism according to a fixed frequency; the single chip microcomputer comprises a storage module, a calculation module and a judgment module, wherein the storage module is used for storing a current sampling value of the travelling mechanism; the calculation module is used for calculating subtraction values of the current sampling value and the previous n continuous current sampling values, the sum of the subtraction values and the accumulated value of the sum of the m subtraction values; the judging module is used for judging the current walking state of the window cleaning robot according to the accumulated value.
In one embodiment of the invention, the sampling circuit comprises a sampling resistor and an amplifying circuit.
Furthermore, one end of the sampling resistor is connected with a motor of the travelling mechanism, and the other end of the sampling resistor is grounded; one end of the amplifying circuit is connected between the motor of the travelling mechanism and the sampling resistor, and the other end of the amplifying circuit is connected to an IO port of the single chip microcomputer.
The second purpose of the present invention is to overcome the defects in the background art, and to provide a method for detecting the walking state of a window-cleaning robot, the scheme of which is as follows:
a walking state detection method of a window cleaning robot is characterized in that the following steps are executed when the window cleaning robot is in a working state, and S1: continuously sampling the motor current of a traveling mechanism of the window cleaning robot according to a fixed frequency; s2: respectively subtracting the current sampling value from the previous n continuous current sampling values and calculating the sum of the subtraction values; s3: repeating the step S2 until the sum of m subtraction values is obtained; s4: and judging the current walking state of the window wiping robot according to the accumulated value of the sum of the m subtraction values.
Further, the method further comprises step S5: and controlling the window cleaning robot to execute corresponding actions according to the walking state.
In order to avoid the erroneous determination, in an embodiment of the method, before the step S1, a step SO is further included: the window-cleaning robot moves along the direction opposite to the direction to be traveled for a predetermined time or distance and then returns to the traveling direction.
Further, the step S1 further includes a step of amplifying the sampled current value.
Compared with the prior art, the scheme of the invention cancels a collision detection structure of the existing window-cleaning robot, and realizes the quick judgment of the walking state of the window-cleaning robot by utilizing the real-time change of the motor current of the walking mechanism; meanwhile, the walking state of the window-cleaning robot is judged by adding the sum of a plurality of continuous current difference values and a comparison result of a set threshold value, so that current noise can be effectively filtered, and the detection precision of the walking state of the window-cleaning robot is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a block configuration diagram of a mobile robot in embodiment 1 of the present invention;
fig. 2 is a sampling circuit diagram in embodiment 1 of the present invention;
FIG. 3 is a flow chart of the method of the present invention;
FIG. 4 is a time diagram of the sampling current according to the method of the present invention;
FIG. 5 is one of the graphs of the current sampled in real time for the method of the present invention;
FIG. 6 is a graph of accumulated values D corresponding to the current sample values in FIG. 5;
FIG. 7 is a second graph of a real-time sampled current curve of the method of the present invention;
fig. 8 is a graph of the accumulated value D corresponding to the current sample values in fig. 7.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings and specific embodiments, and it is to be understood that the embodiments described herein are only a part of the embodiments of the invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the description of the specific embodiments of the invention without inventive step, shall fall within the scope of protection of the invention, as defined by the claims.
Example 1
As shown in fig. 1 and 2, a window cleaning robot in this embodiment includes a traveling mechanism, a sampling circuit, a single chip microcomputer, a power module, and necessary components such as a suction cup, a safety rope, a cleaning cloth, and an air pump.
Specifically, the running gear is used for driving the window cleaning robot to move on the surface of the glass, and the running gear of the window cleaning robot in the embodiment is a crawler-type running gear and comprises a motor, a gear and a crawler. Sampling circuit is used for sampling the electric current of running gear according to fixed frequency, sampling circuit in this embodiment includes sampling resistor and amplifier circuit, the motor of running gear is connected to sampling resistor one end, other end ground connection, amplifier circuit one end is connected between running gear's motor and sampling resistor, the other end is connected to the IO mouth of singlechip, the accuracy of sampling resistor and amplifier circuit's magnification are important parameter, adopt the higher sampling resistor of accuracy and sensitivity in this embodiment, amplifier circuit is used for enlargiing the sampling current value, a detection sensitivity is improved. The single chip microcomputer in the embodiment is an STM32, and comprises a storage module, a calculation module, a judgment module and an IO port, wherein the storage module is used for storing a current sampling value of a travelling mechanism, such as a Random Access Memory (RAM); the calculation module is used for calculating the sum of subtraction values and the sum of subtraction values of the current sampling value and the previous n continuous current sampling values and the accumulated value of the sum of m subtraction values, and the calculation module is an Arithmetic logic Unit (ALU for short); the judging module is used for judging the current walking state of the window cleaning robot according to the accumulated value, such as an MCU of a singlechip. In addition, the window cleaning robot in this embodiment further includes an alarm module, such as a buzzer or a warning light, for sending an alarm prompt when detecting that the window cleaning robot is in an abnormal working state but cannot automatically recover to a normal working state, or sending alarm information to a mobile phone of a user.
Example 2
The present embodiment describes a method for detecting the traveling state of a window-cleaning robot in detail. The hardware configuration of the window cleaning robot in the present embodiment can refer to embodiment 1. As shown in fig. 3, a flowchart of a method for detecting a walking state of a window-cleaning robot in this embodiment includes the following steps:
s0: the running mechanism moves along the direction opposite to the direction to be traveled for a preset time or distance and then returns to the traveling direction to move.
After the window cleaning robot is started, the traveling mechanism (such as a crawler-type traveling mechanism) of the window cleaning robot firstly moves in the direction opposite to the direction to be traveled for a preset time or distance and then returns to the traveling direction to move, so that the situation that when the window cleaning robot is started at the edge or corner of a window and is stuck, the current sampling value of the driving wheel is unchanged all the time and the state of the window cleaning robot is judged to be normal traveling is mainly avoided.
S1: and continuously sampling the motor current of the traveling mechanism of the window cleaning robot according to a fixed frequency.
In this embodiment, when the window-cleaning robot normally walks, the sampling circuit (such as the sampling circuit in embodiment 1) collects one piece of data every millisecond, and after 3 pieces of current data are collected, the highest value and the lowest value of the current are removed, and the middle value is selected as a current sampling value and stored in the memory of the single chip microcomputer.
S2: and respectively subtracting the current sampling value from the previous n continuous current sampling values and calculating the sum of the subtraction values.
As shown in connection with fig. 4, at time t by the sampling circuit 1 To t n Obtaining n continuous current sampling values i in total 1 To i n The numerical value is amplified by an amplifying circuit and then stored in a memory of the single chip; the single-chip microcomputer is at the moment t n+1 Obtaining the n +1 th sampling current value i n+1 Then the obtained n +1 th sampling current value i n+1 Respectively with time t 1 To t n Obtaining n successive current sampling values, subtracting to obtain n subtracted values, and calculating the sum I of the n subtracted values 1 I.e. I 1 ＝∑(i n+1 -i k ) K =1, 2, 3, · n. As can be seen from the formula, I 1 The value of (c) may be positive or negative.
It should be noted that, when the window-cleaning robot is walking, the time of noise current is short, in order to reduce the influence of the noise current sampling value on the sum of the subtraction values, the noise current sampling value can be realized by setting the value of n, and if the sampling circuit can collect j current sampling values at the maximum within the noise current duration, the noise current sampling value is realized by setting n to be more than or equal to 3j. Specifically, it is known from experience and test data that the duration of the noise current is generally less than 100ms, that is, 33 current samples can be collected at the sampling frequency in step S1, so that n is set to be greater than 99, specifically, n is set to be 100 in this embodiment.
S3: step S2 is repeated until the sum of m subtraction values is obtained.
Similarly, the single-chip microcomputer is at the time t n+2 Obtaining the n +2 th sampling current value i n+2 Then the obtained n +2 th sampling current value i n+2 Respectively associated with time t 2 To t n+2 Obtaining n continuous current sampling values in total, subtracting to obtain n difference values, and calculating the sum I of the n difference values 2 I.e. I 2 ＝∑(i n+2 -i k ) K =2, 3, 4,. N, n +1, and so on, until the m-th subtraction value sum I is obtained m ，I m ＝∑(i n+m -i k )，k＝m、m+1、...、n+m-1。
S4: and judging the current walking state of the window-cleaning robot according to the accumulated value of the sum of the m subtraction values.
According to step S3, a sum of m subtraction values can be obtained, which are then added to obtain an accumulated value D, i.e. D = ∑ I k And k =1, 2, 3.. Times, m, and then comparing the accumulated value D with a set threshold value to determine the current walking state of the window-wiping robot. For example, in the present embodiment, two thresholds are set, including detection for detecting that the window wiping robot collides with the window frame and detection for slipping. Specifically, when the window cleaning robot collides with the window frame, the motor current of the traveling mechanism (crawler) of the window cleaning robot is increased and continues for a period of time, at this time, the accumulated value D can be compared with a set threshold value, and when the accumulated value D is greater than the set threshold value, the window cleaning robot is considered to move to the window frame; when the walking mechanism of the window cleaning robot slips (the friction between the surface of the crawler and the glass is too small, and the crawler rotates but does not move relative to the surface of the glass), the motor current of the walking mechanism (the crawler) is reduced and continues for a period of time, at the moment, the accumulated value D can be compared with a set threshold value, and when the accumulated value D is smaller than the set threshold value, the window cleaning robot is considered to be in a slipping state.
It should be noted that, in order to reduce the influence of the noise current sampling value on the accumulated value D, the magnitude of m may be set, and if the sampling circuit can collect a maximum number of current sampling values within the noise current duration, m is set to be greater than or equal to j. Specifically, it is known from experience and test data that the duration of the noise current is generally less than 100ms, that is, 33 current samples can be collected at the sampling frequency in step S1, so that m is set to be greater than 33, specifically, m is set to be 50 in this embodiment.
S5: and controlling the window cleaning robot to execute corresponding actions according to the walking state.
When the window cleaning robot is detected to touch the window frame, the window cleaning robot is controlled to perform walking action or retreating action along the frame; when detecting that window-cleaning robot is in the state of skidding, then send alarm information in order to indicate work unusual.
Next, the procedure of detecting the movement of the window cleaning robot in this embodiment will be described in detail.
As shown in fig. 5, it is a real-time sampling current curve diagram of a sampling circuit, where the ab segment and the cd segment are current sampling values when the window cleaning robot works normally, the bc segment is a noise current sampling value (mostly when the window cleaning robot shakes), the de segment is a current sampling value when the window cleaning robot works normally to touch a window frame, and the ef segment is a current sampling value after the window cleaning robot collides with the window frame; as shown in fig. 6, which is a graph corresponding to the accumulated value D of the current sampling values in fig. 5, when the window cleaning robot is in a normal working state, the current is relatively stable, the accumulated value D is also substantially stable and is between two threshold values (threshold value 1 for window frame detection and threshold value 2 for track slip detection), when a noise current is sampled in a bc section, because the duration of noise is short, the number of sampled current sampling values which are larger (or smaller) is also smaller, the accumulated value D is only raised a little and is between the threshold value 1 and the threshold value 2, and the window cleaning robot is judged to be in a normal working state, and the walking state of the window cleaning robot cannot be misjudged due to the noise current; when the window cleaning robot collides with the window frame, the current of the motor of the crawler belt is increased and continues for a period of time, at the moment, the accumulated value D is rapidly increased and exceeds the threshold value 1, and then the window cleaning robot is judged to collide with the window frame, and then the moving direction is changed, such as retreating, turning or walking along the edge of the window.
As shown in fig. 7, it is another real-time sampling current curve diagram of the sampling circuit, where the ab segment and the cd segment are current sampling values when the window cleaning robot works normally, the bc segment is a noise current sampling value (mostly when the window cleaning robot shakes), the de segment is a current sampling value when the window cleaning robot works normally to the crawler belt slips, and the ef segment is a current sampling value after the crawler belt slips; as shown in fig. 8, which is a graph corresponding to the accumulated value D of the current sampling values in fig. 7, when the window cleaning robot is in a normal operating state, the current is relatively stable, the accumulated value D is also substantially stable and is between two threshold values (threshold value 1 for window frame detection and threshold value 2 for track slip detection), when a noise current is sampled in the bc section, because the duration of noise is short, the number of the sampled current sampling values which are larger (or smaller) is also smaller, the accumulated value D is only slightly increased and is between the threshold values 1 and 2, and the window cleaning robot is judged to be in a normal operation, and the error judgment on the walking state of the window cleaning robot due to the noise current is not caused; when the window cleaning robot slips due to insufficient friction force between the crawler and the glass surface, the motor current of the crawler is reduced and continues for a period of time, at the moment, the accumulated value D is rapidly reduced and is lower than the threshold value 2, the window cleaning robot is further judged to be in a slipping state, and then the window cleaning robot sends alarm information through an alarm device (such as a buzzer, an alarm indicator lamp or sends information to a mobile phone).
The above-mentioned embodiments are merely examples of the present invention, which should not be construed as limiting the scope of the invention, and therefore all equivalent variations to the claims are intended to be included in the scope of the invention.
Claims (7)
1. A window-cleaning robot is characterized in that:
comprises a walking mechanism, a sampling circuit and a singlechip,
the traveling mechanism is used for driving the window cleaning robot to move on the surface of the glass;
the sampling circuit is used for sampling the current of the travelling mechanism according to a fixed frequency;
the single chip microcomputer comprises a storage module, a calculation module and a judgment module, wherein the storage module is used for storing a current sampling value of the travelling mechanism; the calculation module is used for calculating subtraction values of the current sampling value and the previous n continuous current sampling values, the sum of the subtraction values and the accumulated value of the sum of the m subtraction values; the judging module is used for judging the current walking state of the window cleaning robot according to the accumulated value;
the value of m needs to be larger than the maximum number j of the current which can be collected by the sampling circuit in the noise current duration, and n is larger than or equal to 3j.
2. A window wiping robot according to claim 1, characterized in that: the sampling circuit comprises a sampling resistor and an amplifying circuit.
3. A window wiping robot according to claim 2, characterized in that: one end of the sampling resistor is connected with a motor of the travelling mechanism, and the other end of the sampling resistor is grounded; one end of the amplifying circuit is connected between the motor of the travelling mechanism and the sampling resistor, and the other end of the amplifying circuit is connected to an IO port of the single chip microcomputer.
4. A method for detecting the walking state of a window-cleaning robot is characterized in that the following steps are executed when the window-cleaning robot is in a working state,
s1: continuously sampling the motor current of a traveling mechanism of the window cleaning robot according to a fixed frequency;
s2: respectively subtracting the current sampling value from the previous n continuous current sampling values and calculating the sum of the subtraction values;
s3: repeating the step S2 until the sum of m subtraction values is obtained;
s4: judging the current walking state of the window-cleaning robot according to the accumulated value of the sum of the m subtraction values;
the value of m needs to be larger than the maximum number j of the current which can be collected by the sampling circuit in the noise current duration, and n is larger than or equal to 3j.
5. The method for detecting the walking state of the window-cleaning robot according to claim 4, wherein:
further comprising step S5: and controlling the window cleaning robot to execute corresponding actions according to the walking state.
6. The walking state detection method of the window-wiping robot according to claim 4, characterized in that:
step S0 is also included before step S1: the running mechanism moves along the direction opposite to the direction to be traveled for a preset time or distance and then returns to the traveling direction to move.
7. The method for detecting the walking state of the window-cleaning robot according to claim 4, wherein:
the step S1 further includes a step of amplifying the sampled current value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810666977.5A CN108937701B (en) | 2018-06-26 | 2018-06-26 | Window cleaning robot and state detection method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810666977.5A CN108937701B (en) | 2018-06-26 | 2018-06-26 | Window cleaning robot and state detection method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108937701A CN108937701A (en) | 2018-12-07 |
| CN108937701B true CN108937701B (en) | 2022-10-18 |
Family
ID=64486451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810666977.5A Active CN108937701B (en) | 2018-06-26 | 2018-06-26 | Window cleaning robot and state detection method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108937701B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154085B (en) * | 2019-05-14 | 2021-06-08 | 北京云迹科技有限公司 | Robot idle running recognition method and device |
| CN111839332B (en) * | 2020-06-20 | 2022-07-08 | 珠海一微半导体股份有限公司 | Control method of intelligent window cleaning machine and intelligent window cleaning machine |
| CN112220413B (en) * | 2020-09-30 | 2022-03-22 | 小狗电器互联网科技（北京）股份有限公司 | Method and device for detecting slippage of sweeping robot and readable storage medium |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5627718A (en) * | 1994-11-18 | 1997-05-06 | Eaton Corporation | Apparatus providing protection and metering in an ac electrical system utilizing a multi-function sampling technique |
| CN201466441U (en) * | 2009-06-01 | 2010-05-12 | 浙江恒达高电器有限公司 | Power supply device with wireless metering function |
| CN104905728B (en) * | 2015-06-17 | 2017-09-26 | 上海缘盟自动化技术有限公司 | Swing type is from window wiping robot and its control method of walking |
| JP6414127B2 (en) * | 2016-04-18 | 2018-10-31 | トヨタ自動車株式会社 | Abnormality determination apparatus and abnormality determination method |
| CN105919504A (en) * | 2016-06-29 | 2016-09-07 | 洛阳圣瑞智能机器人有限公司 | Walking state judgment follow-up device and method |
-
2018
- 2018-06-26 CN CN201810666977.5A patent/CN108937701B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108937701A (en) | 2018-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108937701B (en) | Window cleaning robot and state detection method thereof | |
| CN109748170B (en) | Elevator fault warning method, device, equipment and medium | |
| KR101921394B1 (en) | Autonomous moving object | |
| SE531619C2 (en) | Wheel sensor for sensing a vehicle movement | |
| JP6061782B2 (en) | Abnormal sound detection device and program | |
| CN111391791B (en) | Sensor cleaning method and device, unmanned vehicle for mine and readable storage medium | |
| CN109606255B (en) | Monitoring method for vehicle and vehicle | |
| CN111103877A (en) | Mobile robot slip early warning method, storage medium and mobile robot | |
| CN104210488A (en) | Method and device for preventing vehicle from colliding with road edge | |
| US9846174B2 (en) | Computer-implemented methods and computer systems/machines for identifying dependent and vehicle independent states | |
| KR20160063906A (en) | Method for analysis state of vehicle, apparatus for collecting vehicle information and smart device | |
| WO2006027930A1 (en) | Wheel theft detector, wheel theft detecting method, wheel theft detecting program, and its recording medium | |
| CN112211520B (en) | Anti-pinch detection method and system | |
| CN110459034B (en) | Fatigue driving early warning method and system | |
| CN105539642B (en) | Driving safety detection method and device | |
| CN106379325A (en) | Method and device used for early warning of dangerous driving | |
| EP4279226A1 (en) | Self-propelled device and collision detection method thereof | |
| CN111161527B (en) | Remote monitoring system and method for self-driving | |
| CN111986488A (en) | Fatigue driving detection method and device, electronic equipment and storage medium | |
| JP6511389B2 (en) | Operation ability estimation device, operation ability estimation method, and operation ability estimation program | |
| CN115009354B (en) | Fault diagnosis method and device for vehicle steering system, vehicle and storage medium | |
| CN112511063B (en) | Anti-pinch self-adaptive learning method and device for vehicle partition system | |
| JP7204300B2 (en) | Handle grip judgment system | |
| CN112849226B (en) | Speed measuring method of rail vehicle, storage medium and electronic equipment | |
| CN110657885B (en) | Vibration alarming method and system of vibration sensor and terminal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 510000 No. 30, haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B and C) Applicant after: GUANGDONG BONA ROBOT Corp.,Ltd. Address before: 518000 2nd and 3rd floors, block D, No. 438, Donghuan Road, Shajing street, Bao'an District, Shenzhen City, Guangdong Province Applicant before: GUANGDONG BONA ROBOT Corp.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220512 Address after: 510000 No. 30, haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province Applicant after: GUANGZHOU COAYU ROBOT Co.,Ltd. Address before: 510000 No. 30, haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B and C) Applicant before: GUANGDONG BONA ROBOT Corp.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PP01 | Preservation of patent right | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20230320 Granted publication date: 20221018 |