CN110109459A - Fire-fighting robot barrier-avoiding method and system - Google Patents
Fire-fighting robot barrier-avoiding method and system Download PDFInfo
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- CN110109459A CN110109459A CN201910421607.XA CN201910421607A CN110109459A CN 110109459 A CN110109459 A CN 110109459A CN 201910421607 A CN201910421607 A CN 201910421607A CN 110109459 A CN110109459 A CN 110109459A
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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Abstract
The present invention discloses a kind of fire-fighting robot barrier-avoiding method and system.The present invention is movable body for robot, needs the characteristics of monitoring surrounding enviroment at any time, rotary laser scanner is provided on robot body, the real-time range between barrier and fire-fighting robot is determined according to the scan data of rotary laser scanner.In fire-fighting robot traveling process, whether the distance between real-time judge barrier and fire-fighting robot are less than or equal to deceleration pre-determined distance, when real-time range is equal to deceleration pre-determined distance, issues deceleration instruction control fire-fighting robot and run slowly.When real-time range after running slowly between fire-fighting robot and barrier is equal to brake pre-determined distance, then issues brake instruction control fire-fighting robot and brake.Fire-fighting robot is operated by first deceleration rear braking, can effectively be avoided when automatic obstacle-avoiding due to toppling over overturn accident caused by bringing to a halt.
Description
Technical field
The present invention relates to fire-fighting domains, more particularly to a kind of fire-fighting robot barrier-avoiding method and system.
Background technique
With the high speed development of China's science and technology, robot is fully used in each field.In fire protection sector,
Fire-fighting robot is mainly used for fire-fighting fire extinguishing, smoke evacuation, and dangerous situations, the control modes such as scouting, rescue are mostly that manual remote control disappears
Anti- robot, fire-fighting robot cannot achieve automatic obstacle-avoiding, automatic retarding, brake, automatically terminate avoidance to safe direction operation
Movement.
Summary of the invention
The object of the present invention is to provide a kind of fire-fighting robot barrier-avoiding method and systems, after fire-fighting robot is by first slowing down
Brake operation can be avoided effectively due to toppling over overturn accident caused by bringing to a halt when automatic obstacle-avoiding, and can be stopped according to scene
Vehicle situation judges automatically safety movement direction and robot is allowed to move to the direction.
To achieve the above object, the present invention provides following schemes:
A kind of barrier-avoiding method, the barrier-avoiding method are used for fire-fighting robot avoidance, and the fire-fighting robot is provided with rotation
Formula laser scanner, the barrier-avoiding method include:
Obtain scan data, deceleration pre-determined distance and the brake pre-determined distance of the rotary laser scanner output；
The real-time range between barrier and the fire-fighting robot is determined according to the scan data；
Judge whether the real-time range is less than or equal to the deceleration pre-determined distance, obtains the first judging result；
When first judging result indicates that the real-time range is less than or equal to deceleration pre-determined distance, issues and slow down
Instruction is run slowly with controlling the fire-fighting robot；
After judgement is run slowly real-time range between the fire-fighting robot and barrier whether be equal to brake it is default away from
From the second judging result of acquisition；
When second judging result indicates that real-time range is equal to brake pre-determined distance, brake instruction is issued to control
Fire-fighting robot is stated to brake.
Optionally, the rotary laser scanner is rotary laser scanning rangefinder, described according to the scanning number
According to the real-time range determined between barrier and the fire-fighting robot, specifically include:
Using the center of the front end face of fire-fighting robot as pole, perpendicular in the fire-fighting robot of the front end face
Axis is that polar axis establishes polar coordinate system；
Barrier and the fire-fighting robot are determined according to the scan data that the rotary laser scanning rangefinder exports
The positional relationship of front end face；
It is marked the scan data in front of the front end face is located in the polar coordinate system according to the positional relationship
In, acquired disturbance object distance model；
Determine that the point nearest apart from the front end face is reference point according to the obstacle distance model；
The reference point is determined as at a distance from the front end face real-time between barrier and the fire-fighting robot
Distance.
Optionally, after the sending brake instruction is braked with to control the fire-fighting robot, further includes:
It obtains the brake direction of motion and restarts the direction of motion, the brake direction of motion is that the fire-fighting robot executes brake
Direction of motion when vehicle acts, it is described to restart the direction of motion to restart after the fire-fighting robot execution brake
The direction of motion；
Judge whether the brake direction of motion and the angle for restarting the direction of motion are greater than 90 °, obtains third judgement
As a result；
When the third judging result indicates that the angle is greater than 90 °, the fire-fighting robot is controlled according to described heavy
Open direction of motion movement；
When the third judging result indicates the angle less than 90 °, then forbid the fire-fighting robot according to described
Restart direction of motion movement.
Optionally, after the sending brake instruction is braked with to control the fire-fighting robot, further includes:
It obtains the brake direction of motion and restarts the direction of motion, the brake direction of motion is that the fire-fighting robot executes brake
Direction of motion when vehicle acts, it is described to restart the direction of motion to restart after the fire-fighting robot execution brake
The direction of motion；
Whether the angle that the direction of motion and the brake direction of motion are restarted described in judgement is equal to 180 °, obtains the 4th judgement
As a result；
When the 4th judging result indicates that the angle equal to 180 °, controls the fire-fighting robot and restarts according to described
Direction of motion movement；
When the 4th judging result indicates that the angle is not equal to 180 °, then locking instruction is issued with by the fire-fighting
Robot locking.
Optionally, the speed of service when fire-fighting robot runs slowly is 0.6 times of former travel speed.
A kind of obstacle avoidance system, the obstacle avoidance system are used for fire-fighting robot avoidance, and the fire-fighting robot is provided with rotation
Formula laser scanner, the obstacle avoidance system include:
Data acquisition module, for obtaining scan data, the deceleration pre-determined distance of the rotary laser scanner output
With brake pre-determined distance；
It is real-time between barrier and the fire-fighting robot for being determined according to the scan data apart from determining module
Distance；
First judgment module is obtained for judging whether the real-time range is less than or equal to the deceleration pre-determined distance
Obtain the first judging result；
Deceleration control module, for indicating that the real-time range is pre- less than or equal to slowing down when first judging result
If apart from when, issue deceleration instruction run slowly with controlling the fire-fighting robot；
Second judgment module, for judging that the real-time range after running slowly between the fire-fighting robot and barrier is
It is no to be equal to brake pre-determined distance, obtain the second judging result；
Brake control module, for sending out when second judging result indicates that real-time range is equal to brake pre-determined distance
Brake instruction is braked out with controlling the fire-fighting robot.
A kind of extinguishment fire suppression robot, the extinguishment fire suppression robot include: robot body, controller, setting in institute
State the fire monitor and rotary laser scanner on robot body, the controller respectively with the robot body and described
The connection of rotary laser scanner, the controller are used to control the robot body according to the barrier-avoiding method and carry out certainly
Dynamic avoidance.
Optionally, the rotary laser scanner includes motor and laser generator, the laser generator with it is described
The output axis connection of motor.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
Fire-fighting robot barrier-avoiding method provided by the invention and system, are movable bodies for robot, need to monitor at any time
The characteristics of surrounding enviroment, is provided with rotary laser scanner on robot body, according to sweeping for rotary laser scanner
It retouches data and determines real-time range between barrier and fire-fighting robot.In fire-fighting robot traveling process, real-time judge barrier
Hinder whether the distance between object and fire-fighting robot are less than or equal to deceleration pre-determined distance, is preset when real-time range is equal to slow down
Apart from when, issue deceleration instruction control fire-fighting robot run slowly.After running slowly between fire-fighting robot and barrier
When real-time range is equal to brake pre-determined distance, then issues brake instruction control fire-fighting robot and brake.Fire-fighting robot is logical
It operates, can be effectively avoided when automatic obstacle-avoiding due to toppling over overturn accident caused by bringing to a halt after first deceleration rear braking.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of flow chart of barrier-avoiding method provided in an embodiment of the present invention；
Fig. 2 is a kind of structural block diagram of obstacle avoidance system provided in an embodiment of the present invention；
Fig. 3 is a kind of structural block diagram of extinguishment fire suppression robot provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of fire-fighting robot barrier-avoiding method and systems, after fire-fighting robot is by first slowing down
Brake operation can be avoided effectively when automatic obstacle-avoiding due to colliding caused by bringing to a halt, toppling over overturn accident.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is a kind of flow chart of barrier-avoiding method provided in an embodiment of the present invention.As shown in Figure 1, a kind of barrier-avoiding method, institute
Barrier-avoiding method is stated for fire-fighting robot avoidance, the fire-fighting robot is provided with rotary laser scanner, the avoidance side
Method includes:
Step 11: scan data, deceleration pre-determined distance and the brake for obtaining the rotary laser scanner output are default
Distance.
Step 12: the real-time range between barrier and the fire-fighting robot is determined according to the scan data.
In the present embodiment, the rotary laser scanner is rotary laser scanning rangefinder, described to sweep according to
It retouches data and determines real-time range between barrier and the fire-fighting robot, specifically include:
Using the center of the front end face of fire-fighting robot as pole, perpendicular in the fire-fighting robot of the front end face
Axis is that polar axis establishes polar coordinate system.The polar coordinate system is that the scan data of rotary laser scanning rangefinder is passed through software
Compatible mode is shown in polar coordinate system, and the positive direction of angle is the rotation of the rotary laser scanner in polar coordinate system
Direction, length unit are chosen as 20~40 meters, in the present embodiment, and length unit is 30 meters.In the present embodiment, by polar angle be ±
90 °, radius be R fan-shaped region be divided into the minizone that the radial difference of n adjacent sectors is 10cm, due to the essence of laser scanning
Degree is in 5cm, thereby it is ensured that barrier can be identified in any position of polar coordinate system.
Barrier and the fire-fighting robot are determined according to the scan data that the rotary laser scanning rangefinder exports
The positional relationship of front end face.
It is marked the scan data in front of the front end face is located in the polar coordinate system according to the positional relationship
In, acquired disturbance object distance model.The graph data that laser scanner scans are formed, by software compatiblity in polar coordinate system
Middle display forms the mathematical model of obstacle distance for identification.Some public affairs of analytic geometry are integrated in the polar coordinate system
Formula: such as polar equation, distance between two points equation, for calculating the distance between barrier and robot.
Determine that the point nearest apart from the front end face is reference point according to the obstacle distance model.
The reference point is determined as at a distance from the front end face real-time between barrier and the fire-fighting robot
Distance.
Step 13: judging whether the real-time range is less than or equal to the deceleration pre-determined distance, obtain the first judgement
As a result.
When first judging result indicates that the real-time range is less than or equal to deceleration pre-determined distance, step is executed
14。
Step 14: it issues deceleration instruction and is run slowly with controlling the fire-fighting robot, speed of service when running slowly
It is 0.6 times of former travel speed.
Step 15: judging whether the real-time range after to run slowly between the fire-fighting robot and barrier is equal to brake
Pre-determined distance obtains the second judging result.
When second judging result indicates that real-time range is equal to brake pre-determined distance, step step 16 is executed.
Step 16: issuing brake instruction and braked with controlling the fire-fighting robot.
Preferably, it executes step 16: issuing after brake instruction braked with to control the fire-fighting robot, further includes:
It obtains the brake direction of motion and restarts the direction of motion, the brake direction of motion is that the fire-fighting robot executes brake
Direction of motion when vehicle acts, it is described to restart the direction of motion to restart after the fire-fighting robot execution brake
The direction of motion.
Judge whether the brake direction of motion and the angle for restarting the direction of motion are greater than 90 °, obtains third judgement
As a result.
When the third judging result indicates that the angle is greater than 90 °, the fire-fighting robot is controlled according to described heavy
Open direction of motion movement.
When the third judging result indicates the angle less than 90 °, then forbid the fire-fighting robot according to described
Restart direction of motion movement.
In the present embodiment, after the sending brake instruction is braked with to control the fire-fighting robot, further includes:
It obtains the brake direction of motion and restarts the direction of motion, the brake direction of motion is that the fire-fighting robot executes brake
Direction of motion when vehicle acts, it is described to restart the direction of motion to restart after the fire-fighting robot execution brake
The direction of motion.
Whether the angle that the direction of motion and the brake direction of motion are restarted described in judgement is equal to 180 °, obtains the 4th judgement
As a result.
When the 4th judging result indicates that the angle equal to 180 °, controls the fire-fighting robot and restarts according to described
Direction of motion movement.
When the 4th judging result indicates that the angle is not equal to 180 °, then locking instruction is issued with by the fire-fighting
Robot locking.
Fig. 2 is a kind of structural block diagram of obstacle avoidance system provided in an embodiment of the present invention.As shown in Fig. 2, a kind of obstacle avoidance system,
The obstacle avoidance system is used for fire-fighting robot avoidance, and the fire-fighting robot is provided with rotary laser scanner, the avoidance
System includes:
Data acquisition module 21, for obtain the scan data of rotary laser scanner output, slow down it is default away from
From with brake pre-determined distance.
Apart from determining module 22, for determining the reality between barrier and the fire-fighting robot according to the scan data
When distance.
First judgment module 23, for judging whether the real-time range is less than or equal to the deceleration pre-determined distance,
Obtain the first judging result.
Deceleration control module 24, for slowing down when first judging result indicates that the real-time range is less than or equal to
When pre-determined distance, issues deceleration instruction and run slowly with controlling the fire-fighting robot.
Second judgment module 25, for judging the real-time range after running slowly between the fire-fighting robot and barrier
Whether it is equal to brake pre-determined distance, obtains the second judging result.
Brake control module 26 is used for when second judging result indicates that real-time range is equal to brake pre-determined distance,
Brake instruction is issued to brake to control the fire-fighting robot.
Fig. 3 is a kind of structural block diagram of extinguishment fire suppression robot provided in an embodiment of the present invention.As shown in figure 3, one kind is gone out
Fiery fire-fighting robot, the extinguishment fire suppression robot include: robot body 31, controller 32, are arranged in the robot sheet
Fire monitor 33 and rotary laser scanner 34 on body.The controller 32 respectively with the robot body 31 and the rotation
Rotatable laser scanner 34 connects, the controller 32 be used to be controlled according to the barrier-avoiding method robot body 31 into
Row automatic obstacle-avoiding.
In the present embodiment, the rotary laser scanner 34 includes motor and laser generator, the laser generator
With the output axis connection of the motor.Laser generator and motor are rotated when work with the speed sync that 300r/min turns, can be with
360 ° uninterruptedly scan without dead zone, in practical applications in order to all cover robot direction of advance, and reduce data processing
Amount, the present embodiment mask the scan data of the 180 ° of ranges in rotary shaft rear, only the scan data of the 180 ° of ranges in processing front.
Fire-fighting robot maximum travel speed is > 5Km/h at present, and the bring of brake meeting suddenly is each when robot runs at high speed
Kind damage, such as tumbles, and hits, and damages motor reducer and drive axle etc..
Kinetic energy E=mv2, wherein m be robot body quality, v be robot slow down before the speed of service, robot slow down
Speed when operation is 0.6v, the kinetic energy E1=0.36mv after robot deceleration2, the robot that brakes under such kinetic energy only has
Slightly slight vibration, therefore, scheme provided by the invention is first slowed down when finding barrier, deceleration pre-determined distance S1 be by
Calculating and test are obtained, and in the present embodiment, deceleration pre-determined distance S1 is the steady required time t that run slowly by robot
It is obtained multiplied by 0.6v, then sets the default S2 that brakes, robot realizes self-actuating brake when reaching S2, fundamentally keeps away
Situations such as having exempted to tumble caused by unexpected brake, having hit, damage motor reducer and drive axle.Meanwhile it provided by the invention going out
Fiery fire-fighting robot forbids robot toward dangerous direction movement after robot stop motion, and permission robot is towards danger side
To opposite direction move.
In the present embodiment, the extinguishment fire suppression robot further include: CAN bus communication module, the first coding/decoding module, distant
Control device, the second coding/decoding module and display screen.The controller is sent out the scan data by the CAN bus communication module
First coding/decoding module is given, first coding/decoding module is connect with the module that receives/sends of the remote controler, and described first
Coding/decoding module receives/sends module, the scanning that receives/sends module and will receive described in being sent to after encoding the scan data
Data are sent to hair/connection module of remote controler, the hair/connection module by the scan data received be sent to the second codec into
Row decoding.Decoded data are sent to remote controler by the second codec, and the display screen of remote controler intuitively shows barrier
Distance and direction.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (8)
1. a kind of barrier-avoiding method, which is characterized in that the barrier-avoiding method is used for fire-fighting robot avoidance, and the fire-fighting robot is set
It is equipped with rotary laser scanner, the barrier-avoiding method includes:
Obtain scan data, deceleration pre-determined distance and the brake pre-determined distance of the rotary laser scanner output；
The real-time range between barrier and the fire-fighting robot is determined according to the scan data；
Judge whether the real-time range is less than or equal to the deceleration pre-determined distance, obtains the first judging result；
When first judging result indicates that the real-time range is less than or equal to deceleration pre-determined distance, deceleration instruction is issued
It is run slowly with controlling the fire-fighting robot；
Judge whether the real-time range after to run slowly between the fire-fighting robot and barrier is equal to brake pre-determined distance, obtains
Obtain the second judging result；
When second judging result indicates that real-time range is equal to brake pre-determined distance, brake instruction is issued to control described disappear
Anti- robot brakes.
2. barrier-avoiding method according to claim 1, which is characterized in that the rotary laser scanner is rotary laser
Scanning rangefinder, the real-time range determined according to the scan data between barrier and the fire-fighting robot, specifically
Include:
Using the center of the front end face of fire-fighting robot as pole, perpendicular to the front end face the fire-fighting robot central axes
Polar coordinate system is established for polar axis；
Barrier and the fire-fighting robot front end are determined according to the scan data that the rotary laser scanning rangefinder exports
The positional relationship in face；
It is marked in the polar coordinate system, is obtained by the scan data in front of the front end face is located at according to the positional relationship
Obtain obstacle distance model；
Determine that the point nearest apart from the front end face is reference point according to the obstacle distance model；
The real-time range reference point being determined as at a distance from the front end face between barrier and the fire-fighting robot.
3. barrier-avoiding method according to claim 1, which is characterized in that the sending brake instruction is to control the fire tower
After device people brakes, further includes:
It obtains the brake direction of motion and restarts the direction of motion, the brake direction of motion is that fire-fighting robot execution brake is dynamic
Direction of motion when making, it is described restart the direction of motion be the fire-fighting robot execute the fortune restarted after the brake
Dynamic direction；
Judge whether the brake direction of motion and the angle for restarting the direction of motion are greater than 90 °, obtains third judging result；
When the third judging result indicates that the angle is greater than 90 °, the fire-fighting robot is controlled according to described and restarts fortune
Dynamic direction movement；
When the third judging result indicates the angle less than 90 °, then the fire-fighting robot is forbidden to restart according to described
Direction of motion movement.
4. barrier-avoiding method according to claim 1, which is characterized in that the sending brake instruction is to control the fire tower
After device people brakes, further includes:
It obtains the brake direction of motion and restarts the direction of motion, the brake direction of motion is that fire-fighting robot execution brake is dynamic
Direction of motion when making, it is described restart the direction of motion be the fire-fighting robot execute the fortune restarted after the brake
Dynamic direction；
Whether the angle that the direction of motion and the brake direction of motion are restarted described in judgement is equal to 180 °, obtains the 4th judgement knot
Fruit；
When the 4th judging result indicates that the angle equal to 180 °, controls the fire-fighting robot according to described and restarts movement
Direction movement；
When the 4th judging result indicates that the angle is not equal to 180 °, then locking instruction is issued with by the fire-fighting machine
People's locking.
5. barrier-avoiding method according to claim 1, which is characterized in that the operation speed when fire-fighting robot runs slowly
Degree is 0.6 times of former travel speed.
6. a kind of obstacle avoidance system, which is characterized in that the obstacle avoidance system is used for fire-fighting robot avoidance, and the fire-fighting robot is set
It is equipped with rotary laser scanner, the obstacle avoidance system includes:
Data acquisition module, for obtaining scan data, deceleration pre-determined distance and the brake of the rotary laser scanner output
Vehicle pre-determined distance；
Apart from determining module, for according to the scan data determine between barrier and the fire-fighting robot it is real-time away from
From；
First judgment module obtains for judging whether the real-time range is less than or equal to the deceleration pre-determined distance
One judging result；
Deceleration control module, for when first judging result indicate the real-time range be less than or equal to slow down it is default away from
From when, issue deceleration instruction run slowly with controlling the fire-fighting robot；
Second judgment module, for judge real-time range after running slowly between the fire-fighting robot and barrier whether etc.
In brake pre-determined distance, the second judging result is obtained；
Brake control module, for issuing and stopping when second judging result indicates that real-time range is equal to brake pre-determined distance
Vehicle instruction is braked with controlling the fire-fighting robot.
7. a kind of extinguishment fire suppression robot, which is characterized in that the extinguishment fire suppression robot include: robot body, controller,
Fire monitor on the robot body and rotary laser scanner be set, the controller respectively with the robot sheet
Body is connected with the rotary laser scanner, and the controller is used for avoidance side according to claim 1-5
Method controls the robot body and carries out automatic obstacle-avoiding.
8. extinguishment fire suppression robot according to claim 7, which is characterized in that the rotary laser scanner includes electricity
Machine and laser generator, the output axis connection of the laser generator and the motor.
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| CN201910421607.XA CN110109459B (en) | 2019-05-21 | 2019-05-21 | Obstacle avoidance method and system for fire-fighting robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110609546A (en) * | 2019-08-15 | 2019-12-24 | 浙江国自机器人技术有限公司 | Protection method, system, computer device and readable storage medium for picking device |
| CN111625000A (en) * | 2020-05-28 | 2020-09-04 | 北京海益同展信息科技有限公司 | Robot, and obstacle avoidance method and device for robot |
| CN112496525A (en) * | 2020-12-15 | 2021-03-16 | 天津默纳克电气有限公司 | Industrial robot control system |
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| CN111625000B (en) * | 2020-05-28 | 2023-12-05 | 京东科技信息技术有限公司 | Robot, obstacle avoidance method and device for robot |
| CN112496525A (en) * | 2020-12-15 | 2021-03-16 | 天津默纳克电气有限公司 | Industrial robot control system |
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Effective date of registration: 20221208 Address after: 201600 no.18-1, Lane 517, Xinbo Road, Maogang Town, Songjiang District, Shanghai Patentee after: SHANGHAI BOCAN SIGNAL EQUIPMENT Co.,Ltd. Address before: 201600 no.18-1, Lane 517, Xinbo Road, Maogang Town, Songjiang District, Shanghai Patentee before: Shanghai Bocan Robot Technology Co.,Ltd. |