CN213444509U - Servo embedded delivery vehicle - Google Patents
Servo embedded delivery vehicle Download PDFInfo
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- CN213444509U CN213444509U CN202021840359.7U CN202021840359U CN213444509U CN 213444509 U CN213444509 U CN 213444509U CN 202021840359 U CN202021840359 U CN 202021840359U CN 213444509 U CN213444509 U CN 213444509U
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Abstract
The embodiment of the utility model discloses servo embedded carrier, its and external controlgear wireless communication, this carrier includes: the servo driver is connected with the servo motor; the main controller is in wireless communication with the external control equipment and is used for acquiring target operation parameter information from the external control equipment and sending the target operation parameter information to the servo driver; the servo driver is electrically connected between the main controller and the servo motor and used for analyzing the target operation parameter information and controlling the servo motor to rotate according to the analyzed operation parameters. The utility model discloses, external control equipment only needs to send down motion parameter for the carrier, and the main control ware is controlled and is driven servo motor according to this outside operational parameter in the carrier, has realized the independent control and the drive of vehicle self, has simplified the operation control flow of carrier, and the cost is reduced has realized the intellectuality of carrier.
Description
Technical Field
The embodiment of the utility model provides a relate to vehicle control technique, especially relate to a servo embedded delivery vehicle.
Background
Vehicles are equipment that comes with automated logistics systems and automated warehouses. Vehicles have two main forms in warehouse logistics equipment: a delivery tool type warehouse-in and warehouse-out system and a delivery tool type warehouse-in system, wherein a trolley running on a fixed track in a reciprocating or loop-back mode transports goods to a specified place or a connecting device.
The existing delivery vehicles are driven by a direct current brushless motor, an operation control algorithm is integrated in external equipment, the start and stop of each delivery vehicle are remotely controlled, the delivery vehicles are powered on to drive to operate, and the delivery vehicles are controlled to stop when power is off. Obviously, each warehouse or logistics system needs to embed a corresponding operation control algorithm in external equipment, which causes high operation cost and complex control process of the delivery vehicle.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a servo embedded delivery vehicle to simplify delivery vehicle control flow.
The embodiment of the utility model provides a servo embedded carrier, with external controlgear wireless communication, this carrier includes: the servo driver is connected with the servo motor;
the main controller is in wireless communication with the external control equipment and is used for acquiring target operation parameter information from the external control equipment and sending the target operation parameter information to the servo driver;
the servo driver is electrically connected between the main controller and the servo motor and used for analyzing the target operation parameter information and controlling the servo motor to rotate according to the analyzed operation parameters.
Further, the analyzed operation parameters include one or more of an operation distance, an operation direction, an operation acceleration and deceleration time, and an operation speed.
Furthermore, the master controller and the servo driver adopt CAN bus communication, RS485 bus communication or pulse bus communication.
Furthermore, the servo driver is further configured to obtain actual operation data of the servo motor, and feed back the actual operation data to the external control device through the master controller.
Further, the analyzed operation parameters at least comprise a target operation distance, and the actual operation data at least comprise an actual operation distance;
the main controller is used for acquiring the target running distance from the external control equipment, acquiring the actual running distance through the servo driver, and sending a motion stopping message to the servo driver to stop the motion of the servo motor when detecting that the difference value between the actual running distance and the target running distance is smaller than or equal to a first preset distance threshold value.
Furthermore, a plurality of fixed-point obstacles are arranged on the ground or on a track on which the vehicle runs, and the vehicle further comprises a photoelectric sensor which is electrically connected with the master controller;
the photoelectric sensor is used for outputting a light emission signal to the running direction of the vehicle and generating a first electric signal when receiving a light feedback signal reflected by the obstacle;
the main controller is used for sending a motion stopping message to the servo driver to stop the motion of the servo motor when detecting that the difference value between the actual running distance and the target running distance is smaller than or equal to the first preset distance threshold value and the first electric signal is obtained.
Furthermore, the rotating wheels of the vehicle comprise a driving rotating wheel and a driven rotating wheel, the driving rotating wheel is electrically connected with the servo driver, an encoder is arranged on the driven rotating wheel and is electrically connected with the main controller, and the actual operation data at least comprises the operation distance of the driving wheel;
the encoder is used for generating a corresponding pulse signal according to the rotation condition of the driven rotating wheel and outputting the pulse signal to the main controller;
the main controller is used for calculating the running distance of a driven wheel of the driven rotating wheel according to the pulse signal, and sending a movement stopping message to the servo driver to stop the servo motor when detecting that the difference value between the running distance of the driven wheel and the running distance of the driving wheel is greater than a second preset distance threshold value.
Furthermore, the driven rotating wheel rotates a circle to drive the encoder to rotate a circle, the encoder rotates a circle to output n pulses, and n is a positive integer.
Further, the vehicle also includes an alarm;
the master controller is used for sending an alarm signal to the alarm to make the alarm give an alarm when sending the message for stopping movement.
The embodiment of the utility model provides a servo embedded carrier, external controlgear only need provide the running parameter for the carrier, and the master controller issues this target running parameter information for servo driver in the carrier, and servo driver is according to the rotation of analytic back running parameter control servo motor. Compared with the prior art, the embodiment of the utility model provides an inside independent motion control device that has integrateed of delivery vehicle, external control equipment only needs to issue motion parameter and gives delivery vehicle, master controller controls and drives servo motor according to this outside operating parameter in the delivery vehicle, vehicle self's independent control and drive have been realized, it provides the control drive that the motion control algorithm carries out every delivery vehicle in real time to need not external control equipment, consequently, different external control equipment can adopt the delivery vehicle of general volume production, delivery vehicle can be applicable to different user platform, the operation control flow of delivery vehicle has been simplified, therefore, the cost is reduced, delivery vehicle's intellectuality has been realized.
Drawings
To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the technical solutions in the prior art, and it should be apparent that the drawings in the following description are some specific embodiments of the present invention, and it is obvious for those skilled in the art that the basic concepts of the device structure, the driving method and the manufacturing method disclosed and suggested according to the various embodiments of the present invention can be extended and extended to other structures and drawings, which should not be undoubted to be within the scope of the claims of the present invention.
Fig. 1 is a schematic diagram of a servo embedded vehicle according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a master controller according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described clearly and completely through embodiments with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments obtained by a person skilled in the art based on the basic concepts disclosed and suggested by the embodiments of the present invention belong to the protection scope of the present invention.
Referring to fig. 1, a schematic diagram of a servo embedded vehicle according to an embodiment of the present invention is shown. The present embodiment provides a vehicle 1 and an external control device 2 for wireless communication, where the vehicle 1 includes: a master controller 11, a servo driver 12 and a servo motor 13; the main controller 11 is in wireless communication with the external control device 2, and is configured to obtain target operation parameter information from the external control device 2, and issue the target operation parameter information to the servo driver 12; the servo driver 12 is electrically connected between the master controller 11 and the servo motor 13, and is configured to analyze the target operation parameter information, and control the rotation of the servo motor 13 according to the analyzed operation parameter. The operation parameters after the optional analysis comprise one or more of operation distance, operation direction, operation acceleration and deceleration time and operation speed.
In this embodiment, optional master controller 11 is embedded main chip, can with external controlgear 2 wireless communication, does not specifically prescribe the model of embedded main chip here, and arbitrary one kind is applicable to the embedded main chip of delivery vehicle and all falls into the utility model discloses a protection scope. The main controller 11 can obtain various operation parameters of the carrier 1 from the external control device 2, and accordingly, the servo driver 12 drives the servo motor 13 to rotate, so that the carrier 1 operates according to the various operation parameters issued by the external control device 2.
It can be understood that each operation parameter sent from the optional external control device 2 to the master controller 11 includes one or more of the operation distance, the operation direction, the operation acceleration and deceleration time, and the operation speed of the vehicle 1, the master controller 11 obtains the operation parameters and sends the operation parameters to the servo driver 12, and the optional master controller 11, the external control device 2, and the servo driver 12 may transmit messages, where the messages include information such as the operation distance, the operation direction, the operation acceleration and deceleration time, and the operation speed. The message including the information of the running distance, the running direction, the running acceleration and deceleration time, the running speed, and the like is the target running parameter information issued to the master controller 11 by the external control device 2. The message is adopted for transmission, so that the data transmission delay is very small, the real-time performance is strong, the transmitted data cannot be out of sequence, and the channel safety is high.
In this embodiment, the servo driver 12 is electrically connected between the master controller 11 and the servo motor 13, and is configured to analyze the target operation parameter information, and control the rotation of the servo motor 13 according to the analyzed operation parameter. The master controller 11 sends a message including information of a running distance, a running direction, running acceleration and deceleration time, running speed and the like to the servo driver 12, and the servo driver 12 analyzes the message to obtain running parameters carried in the message, wherein the running parameters after analysis comprise one or more of the running distance, the running direction, the running acceleration and deceleration time and the running speed. The servo driver 12 plans the movement route of the vehicle 1 according to the analyzed operation parameters, and controls the servo motor 13 to rotate so that the vehicle 1 moves according to the planned movement route.
It will be appreciated that an off-board control device may be used to communicate with a vehicle. And one external control device can be selected to simultaneously communicate with a plurality of vehicles, so that the external control device and each vehicle independently communicate and control the driving. The external control equipment and the delivery vehicle can not only transmit operation parameters, but also issue certain specific instructions input by a user and transmit vehicle feedback information; for example, a user directly issues an operation stop instruction to a certain vehicle through an external control device; or, a battery module is integrated in the vehicle, and the vehicle can feed back battery capacity information to the external control equipment when the battery capacity is lower than 20%; and the like, without being limited thereto.
As shown in fig. 2, the optional master controller has a network communication interface 11a, the master controller is connected to the network through the network communication interface 11a, and the master controller and the external control device communicate through the network. In other embodiments, the main controller can also be selected to communicate with the external control device in a communication mode such as Bluetooth and the like.
The selectable master controller and the servo driver adopt CAN bus communication, RS485 bus communication or pulse bus communication. As shown in fig. 2, the optional master has a CAN bus communication interface 11b through which the master communicates with the servo driver 11 b. In other embodiments, other communication methods can be used for communication between the master controller and the servo driver, but not limited to this.
The embodiment of the utility model provides a servo embedded carrier, external controlgear only need provide the running parameter for the carrier, and the master controller issues this target running parameter information for servo driver in the carrier, and servo driver is according to the rotation of analytic back running parameter control servo motor. Compared with the prior art, the embodiment of the utility model provides an inside independent motion control device that has integrateed of delivery vehicle, external control equipment only needs to issue motion parameter and gives delivery vehicle, the master controller controls and drives servo motor according to this outside operating parameter in the delivery vehicle, vehicle self's independent control and drive have been realized, it provides the control drive that the motion control algorithm carries out every delivery vehicle in real time to need not external control equipment, consequently, different external control equipment can adopt the delivery vehicle of general volume production, delivery vehicle can be applicable to different user platform, the operation control flow of delivery vehicle has been simplified, the cost is reduced, delivery vehicle's intellectuality has been realized.
Illustratively, on the basis of the above technical solution, the optional servo driver is further configured to obtain actual operation data of the servo motor, and feed back the actual operation data to the external control device through the master controller.
As shown in fig. 2, the selectable servo driver transmits actual operation data of the servo motor to the master controller through the CAN bus communication interface 11b, and the master controller uploads the actual operation data to the external control device through the network communication interface 11 a. Specifically, the main controller obtains actual operation data of the servo motor through the servo driver and feeds the actual operation data back to the external control equipment for storage and display, so that a user can check or monitor the operation state of each carrier in real time through the external control equipment and can adjust and send the operation parameters to the carriers at any time according to actual requirements. For example, the actual operating data may include an actual operating distance of the vehicle, a servo motor torque, vehicle warning information, and the like. The feedback mode of the actual operation data can be real-time feedback or timing feedback.
The operation parameters after the optional analysis at least comprise a target operation distance, and the actual operation data at least comprise an actual operation distance; the main controller is used for obtaining a target running distance from the external control equipment and obtaining an actual running distance through the servo driver, and when the difference value between the actual running distance and the target running distance is detected to be smaller than or equal to a first preset distance threshold value, a motion stopping message is sent to the servo driver to stop the motion of the servo motor.
In this embodiment, the main controller controls the servo motor to rotate through the servo driver according to the target operation parameter information issued by the external control device, so that the carrier can operate according to the target operation parameter. In an ideal state, if the target running distance issued by the external control equipment is equal to or very small in difference with the actual running distance of the carrier, the carrier reaches a target location corresponding to the target running distance; if the difference value between the target running distance and the actual running distance of the carrier is larger, the carrier is far away from the target location, and the carrier needs to continue to run until the carrier approaches or reaches the target location. Based on the method, a first preset distance threshold value is determined in advance through multiple tests by related practitioners and stored in a main controller, and the first preset distance threshold value is used as a judgment basis for judging whether the running distance of the vehicle is normal or has a deviation.
In actual use, the main controller controls the servo motor to rotate through the servo driver. The main controller also extracts a target running distance from the target running parameter information, meanwhile, the servo driver also uploads the actual running distance of the delivery vehicle obtained from the servo motor to the main controller, and the main controller compares the target running distance with the actual running distance. When the main controller detects that the difference value between the actual running distance and the target running distance is smaller than or equal to a first preset distance threshold value, the main controller can judge that the carrier has run to a target place corresponding to the target running distance; when the main controller detects that the difference value between the actual running distance and the target running distance is greater than the first preset distance threshold value, it can be judged that the difference between the running distance of the delivery vehicle and the target is far, and the delivery vehicle is far away from the target location and needs to continue running until the target location corresponding to the target running distance is reached. In order to ensure the safety of the vehicle, the main controller generates a movement stopping message and sends the movement stopping message to the servo driver to stop the servo motor when judging that the difference value between the running distance of the vehicle and the target running distance is smaller than or equal to a first preset distance threshold value, namely the vehicle arrives at a target place.
A plurality of fixed-point obstacles are arranged on the ground or on the track where the optional carrier runs, and the carrier also comprises a photoelectric sensor which is electrically connected with the master controller; the photoelectric sensor is used for outputting a light emission signal to the running direction of the vehicle and generating a first electric signal when receiving a light feedback signal reflected by an obstacle; the main controller is used for sending a motion stopping message to the servo driver to stop the motion of the servo motor when detecting that the difference value between the actual running distance and the target running distance is smaller than or equal to a first preset distance threshold value and acquiring a first electric signal.
In this embodiment, the optional photoelectric sensor is a reflective photoelectric sensor, the photoelectric sensor includes a light emitter and a light receiver, a reflective plate is disposed around the vehicle driving region, and a photoelectric control function is achieved by using a reflection principle. Under normal conditions, the light source emitted by the light emitter is reflected by the reflecting plate and then received by the light receiver, so that the intensity of the optical feedback signal received by the light receiver is approximate to the intensity of the light emitted by the light emitter. If a plurality of fixed point obstacles exist in front of the reflector, the fixed point obstacles on the light transmitting path of the light emitter can partially or completely block the light path of the light emitted by the light emitter, and the light receiver cannot receive the light of the reflector or the intensity of the light feedback signal received by the light receiver is very weak. Therefore, the photoelectric switch can be switched on and off according to different light feedback signal intensities, and corresponding switch control signals are output. In other embodiments, the photoelectric sensor may be of other types, not limited to reflective. The optional master has a sensor detection interface 11c as shown in fig. 2, and the master is electrically connected and in communication with the photosensors through the sensor detection interface 11 c.
Specifically, when the light emitted by the photoelectric sensor is not blocked by the fixed-point obstacle, the photoelectric sensor can generate a low level; when light emitted by the photoelectric sensor is shielded by a fixed-point obstacle, the photoelectric sensor can generate a high level, and the high level is a first electric signal. In other embodiments, the photoelectric sensor may generate a high level when the light emitted by the photoelectric sensor is not blocked by the fixed-point obstacle; when light emitted by the photoelectric sensor is blocked by a fixed-point obstacle, the photoelectric sensor generates a low level, and the low level is a first electric signal.
When the main controller detects that the difference value between the actual running distance and the target running distance is smaller than or equal to a first preset distance threshold value and detects a high level, the fact that the carrier reaches a target place corresponding to the target running distance is indicated, then a fixed-point barrier is found according to a photoelectric signal of the photoelectric sensor, and a motion stopping message is sent to the servo driver to stop the motion of the servo motor. The fixed-point parking of the shuttle vehicle carrier is realized, and the driving safety of the shuttle vehicle carrier is ensured.
The rotary wheels of the selectable carrying tool comprise a driving rotary wheel and a driven rotary wheel, the driving rotary wheel is electrically connected with the servo driver, the driven rotary wheel is provided with an encoder, the encoder is electrically connected with the main controller, and the actual operation data at least comprises the operation distance of the driving wheel; the encoder is used for generating a corresponding pulse signal according to the rotation condition of the driven rotating wheel and outputting the pulse signal to the main controller; the main controller is used for calculating the running distance of a driven wheel of the driven rotating wheel according to the pulse signal, and sending a motion stopping message to the servo driver to stop the motion of the servo motor when detecting that the difference value between the running distance of the driven wheel and the running distance of the driving wheel is greater than a second preset distance threshold value. The alternative master as shown in fig. 2 has an encoder detection interface 11d, the master being electrically connected and communicating with the encoder through the encoder detection interface 11 d.
In this embodiment, the driving wheel is electrically connected to the servo driver, and the servo driver obtains an actual movement distance of the driving wheel, i.e., a driving wheel movement distance, and transmits the actual movement distance to the main controller. The driven rotating wheel is provided with an encoder, the encoder is used for generating corresponding pulse signals according to the rotating condition of the driven rotating wheel and outputting the pulse signals to the main controller, and the main controller is used for calculating the running distance of a driven wheel of the driven rotating wheel according to the pulse signals. The selectable driven rotating wheel rotates for a circle to drive the encoder to rotate for a circle, the encoder rotates for a circle to output n pulses, and n is a positive integer.
For example, if n is equal to 1, the driven rotating wheel rotates for one circle, the encoder outputs a fixed pulse signal, the driven rotating wheel continuously rotates for 10 circles, and the encoder outputs 10 fixed pulse signals; the main controller captures and records the number of pulses of the pulse signal output by the encoder by adopting the pulses, if the number of the pulses is equal to 100, the driven rotating wheel rotates for 100 circles, the driven rotating wheel is of a fixed mechanical structure, and the outer circumference M of the driven rotating wheel is known, so that the running distance of the driven rotating wheel can be calculated to be 100M. For example, if n is equal to 5, the driven rotating wheel rotates for one circle, the encoder outputs 5 fixed pulse signals, and the driven rotating wheel rotates for 10 circles, and the encoder outputs 50 fixed pulse signals; if the master controller calculates that the number of the pulses is equal to 100, the driven rotating wheel rotates for 20 circles, and then the running distance of the driven rotating wheel can be calculated to be 20M.
And the related practitioner predetermines a second preset distance threshold value through a plurality of tests and stores the second preset distance threshold value in the main controller, and the second preset distance threshold value is used as a judgment basis for the normal and abnormal running distance of the main rotating wheel and the driven rotating wheel of the carrier. The main controller detects a difference value between the running distance of the driven wheel and the running distance of the driving wheel, and when the difference value is judged to be larger than a second preset distance threshold value, the difference value between the running distances of the driving rotating wheel and the driven rotating wheel of the carrying tool is too large, the carrying tool possibly slips or other abnormal running phenomena occur, and a stopping movement message is sent to the servo driver based on the main controller to enable the servo motor to stop moving, so that the safety of the carrying tool is guaranteed. The main controller detects that the difference value between the running distance of the driven wheel and the running distance of the driving wheel is smaller than or equal to a second preset distance threshold value, and the difference between the running distances of the driving rotating wheel and the driven rotating wheel of the carrying tool is smaller, so that the carrying tool runs normally.
In this embodiment, the external encoder is mounted on the driven rotating wheel, so that it is possible to detect whether the main rotating wheel and the driven rotating wheel of the vehicle are abnormal or not, and to stop the vehicle in time when the abnormality occurs.
The alternative vehicle further includes an alarm; the main controller is used for sending an alarm signal to the alarm to make the alarm give an alarm when sending the message of stopping movement. The alarm can be an audible and visual alarm, namely, the alarm can give an alarm synchronously through sound and light so as to prompt the abnormality of the working personnel. In other embodiments, the alarm can be a buzzer or a light emitting diode.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (9)
1. A servo embedded vehicle in wireless communication with an external control device, the vehicle comprising: the servo driver is connected with the servo motor;
the main controller is in wireless communication with the external control equipment and is used for acquiring target operation parameter information from the external control equipment and sending the target operation parameter information to the servo driver;
the servo driver is electrically connected between the main controller and the servo motor and used for analyzing the target operation parameter information and controlling the servo motor to rotate according to the analyzed operation parameters.
2. The servo embedded vehicle of claim 1, wherein the resolved operational parameters comprise one or more of a travel distance, a travel direction, a travel acceleration and deceleration time, and a travel speed.
3. The servo embedded vehicle of claim 1, wherein the master and the servo drives employ CAN bus communication, RS485 bus communication, or impulse bus communication.
4. The servo embedded vehicle of claim 1, wherein the servo driver is further configured to obtain actual operation data of the servo motor, and feed the actual operation data back to the external control device through the master controller.
5. The servo embedded vehicle of claim 4, wherein the resolved operational parameters comprise at least a target operational distance, and the actual operational data comprise at least an actual operational distance;
the main controller is used for acquiring the target running distance from the external control equipment, acquiring the actual running distance through the servo driver, and sending a motion stopping message to the servo driver to stop the motion of the servo motor when detecting that the difference value between the actual running distance and the target running distance is smaller than or equal to a first preset distance threshold value.
6. The servo embedded vehicle of claim 5, wherein a plurality of fixed point obstacles are provided on the ground or on a track on which the vehicle is running, the vehicle further comprising a photo sensor electrically connected to the master controller;
the photoelectric sensor is used for outputting a light emission signal to the running direction of the vehicle and generating a first electric signal when receiving a light feedback signal reflected by the obstacle;
the main controller is used for sending a motion stopping message to the servo driver to stop the motion of the servo motor when detecting that the difference value between the actual running distance and the target running distance is smaller than or equal to the first preset distance threshold value and the first electric signal is obtained.
7. The servo embedded vehicle of claim 4, wherein the rotating wheels of the vehicle comprise a driving rotating wheel and a driven rotating wheel, the driving rotating wheel is electrically connected with the servo driver, the driven rotating wheel is provided with an encoder, the encoder is electrically connected with the master controller, and the actual operation data at least comprises a driving wheel operation distance;
the encoder is used for generating a corresponding pulse signal according to the rotation condition of the driven rotating wheel and outputting the pulse signal to the main controller;
the main controller is used for calculating the running distance of a driven wheel of the driven rotating wheel according to the pulse signal, and sending a movement stopping message to the servo driver to stop the servo motor when detecting that the difference value between the running distance of the driven wheel and the running distance of the driving wheel is greater than a second preset distance threshold value.
8. The servo embedded vehicle of claim 7, wherein one revolution of the driven rotating wheel drives one revolution of the encoder, wherein one revolution of the encoder outputs n pulses, and wherein n is a positive integer.
9. The servo embedded vehicle of claim 5, 6 or 7, wherein the vehicle further comprises an alarm;
the master controller is used for sending an alarm signal to the alarm to make the alarm give an alarm when sending the message for stopping movement.
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| CN202021840359.7U CN213444509U (en) | 2020-08-28 | 2020-08-28 | Servo embedded delivery vehicle |
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| CN202021840359.7U CN213444509U (en) | 2020-08-28 | 2020-08-28 | Servo embedded delivery vehicle |
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Address after: Room 603, building 8, Chinese Academy of Sciences, no.778, Asia Pacific Road, Nanhu District, Jiaxing City, Zhejiang Province, 314000 Patentee after: Zhejiang kaileshi Technology Group Co.,Ltd. Address before: Room 603, building 8, Chinese Academy of Sciences, no.778, Asia Pacific Road, Nanhu District, Jiaxing City, Zhejiang Province, 314000 Patentee before: ZHEJIANG GALAXIS TECHNOLOGY Co.,Ltd. |