CN107253500A - A kind of passive type mobile robot with energy harvesting capabilities - Google Patents
A kind of passive type mobile robot with energy harvesting capabilities Download PDFInfo
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- CN107253500A CN107253500A CN201710418643.1A CN201710418643A CN107253500A CN 107253500 A CN107253500 A CN 107253500A CN 201710418643 A CN201710418643 A CN 201710418643A CN 107253500 A CN107253500 A CN 107253500A
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- 238000003306 harvesting Methods 0.000 title claims abstract description 16
- 238000009165 androgen replacement therapy Methods 0.000 claims abstract description 28
- 230000003534 oscillatory effect Effects 0.000 claims abstract description 3
- 230000006698 induction Effects 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 3
- 230000010355 oscillation Effects 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 230000003321 amplification Effects 0.000 claims description 2
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 230000007774 longterm Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 230000010358 mechanical oscillation Effects 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/32—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from a charging set comprising a non-electric prime mover rotating at constant speed
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
A kind of passive type mobile robot with energy harvesting capabilities is claimed in the present invention.Mainly include flap-type elastic shell, four road TRTs and double freedom pendulum-type battery compartment；Wherein flap-type elastic shell is made up of four identical flap-type gas cells, and ball shape is assembled into outside robot；Four road TRTs are evenly arranged in robot wobble ring, the mechanical rotational energy of both direction can be converted into electric current energy simultaneously；Double freedom pendulum-type battery compartment is arranged on the center of robot, and its mass cg can store the energy that robot is collected into below the robot centre of sphere, can be along trunnion axis and robot housing opposing oscillatory；The outstanding feature of this kind of robot be in the presence of external force of environment can passive type movement, and the energy of applied external force can be changed into electric energy, and be stored in battery compartment；This kind of robot is without power source, so that it may carries miniature detection sensor and is moved for a long time under ocean or polar region environment and perform data acquisition session.
Description
Technical field
The invention belongs to field of special robots, and in particular to be moved to a kind of passive type with energy harvesting capabilities
Mobile robot.
Background technology
At present, the information of progress marine environment and polar region environment has increasingly obtained the weight of the scientific research personnel of countries in the world
Depending on.There is abundant mineral resources, living resources and space resources etc. in marine environment and polar region environment, but be due to ocean
Environment is complicated, and area is vast, and polar region environment is not suitable for human normal life and action, the spy of environment throughout the year by snow and ice cover
Different property brings difficulty to the smooth performing environment information task of scientific research personnel.In recent years, application autonomous robot technology is entered
The detection of row hazardous environment is increasingly paid close attention to by people, but be due to marine environment and polar region environment away from human lives and
The place of work, and robot carry limited energy, therefore long-term work of the robot under this particular surroundings by
Limitation.Therefore inventing a kind of need not carry that the energy can just be moved for a long time and the robot of performing environment detection mission has
Important meaning.
A kind of robot that need not carry the energy with regard to the long-term performing environment detection mission of energy of invention, this requires robot
There are energy harvesting capabilities.The external energy in environment can be converted at present among the robot of electric energy, to collect too
Sun can be relatively conventional come the environment exploring robot that generates electricity, but on the one hand this robot requires that abundance will be had by detecting environment
Luminous energy, on the other hand also requires that there is sufficiently large surface area in robot to deploy cell panel, and benthos and terrestrial pole
The head of district does not have sunlight covering the time, so can be restricted to this environment by collecting solar powered robot application.
Also a kind of common energy collecting device, the energy of mechanical oscillation is exactly absorbed using piezoelectric ceramics, this energy is used
Collection method requires that robot additionally carries TRT, and to have vibration to produce in moving process, and robot is in pole
Moved under ground environment or under marine environment, it is more difficult to produce this desired vibration, this Energy harvesting methods nor
It is highly desirable.Therefore the particular surroundings of comprehensive analysis ocean and polar region, will have mobile and information with reference to sniffing robot
It is required that, study it is a kind of can passive type move and collect external energy and carry out the robot of ocean and polar region environment detection and have
Significance.
Different from existing disclosed robot technology, this robot of invention has passive type locomotivity
And energy harvesting capabilities, ocean current power and wind-force in environment can be utilized passively to move, while converting mechanical energy into electric energy.Entirely
Spherical-like morphology is presented in robot, is acted on by external environment condition ocean current power and wind-force, and robot can be by rolling using housing
Mode move, internal battery can be rotated relative to spherical shell, and the mechanical energy of rotation can be converted into electric energy by TRT
It is stored in battery.This patent specially devises flap-type elastic shell, four road TRTs and double freedom swing mechanism, makes institute
The robot of invention external force of environment effect under can passive type movement, while the energy of environment can also be collected.
The content of the invention
It is an object of the invention to the deficiency for existing environment exploring robot, devise it is a kind of have collection of energy and
The robot of passive type locomotivity, this kind of robot utilizes the movement and sensor of ocean current power and wind-force in environment for oneself
Detection provides energy；Robot uses enclosed elastic shell, and inner member can be arranged in housing, will not be by outside seawater
Corrode and object scratching, housing elasticity can buffer excessive impulsive force, and TRT will generate electric current as the robot moves,
Final imported into battery stores.Two pivot centers of double freedom swing mechanism are mutually perpendicular to intersect, it is possible to achieve it is double from
Swung by degree.Robot has good planar movement ability, collects environmental energy storage into battery, can be detection sensor
Power supply, with for a long time in ocean and polar region environment execution information acquisition tasks ability.
Technical scheme is as follows：
A kind of passive type mobile robot with energy harvesting capabilities, it includes：Flap-type elastic shell, four tunnels, which generate electricity, to be filled
Put and constituted with double freedom swing mechanism, wherein the flap-type elastic shell is to be assembled into spherical shape by several air bags, is located at
The outermost layer of robot, four road TRTs and double freedom swing mechanism are located in flap-type elastic shell；The double freedom
Pendulum-type battery compartment is arranged on the center of robot, and its mass cg is received below the robot centre of sphere for storing robot
The energy collected, along horizontal axis and robot housing opposing oscillatory；Four road TRT is evenly arranged in robot
In internal wobble ring, for being converted the mechanical rotational energy of both direction simultaneously, machinery can be relatively rotated to speed amplification
Induction coil is transferred to, the magnetic induction line magnetic of induction coil cutting permanent magnet, which is converted into electric current, to be stored, and be the micro- of robot
Type device with energy.
Further, the flap elastic shell of the robot is made up of four flap air bags, the external edge of flap air bag
Three sticky tapes are designed with edge, left and right sides viscosity tape can be bonded with adjacent flap elastic bag, middle viscosity
Tape can be bonded with the spherical framework of robot.
Further, four flaps inside air bag gassy, is uniformly wrapped in outside the spherical framework of robot.
Further, four road TRT includes first via TRT-fourth round TRT, uniform to set
In on the spherical lower portion four direction of robot machine people, the first via TRT is main by speed increaser, permanent magnet, sense
Coil is answered to constitute；Wobble ring is designed with two coaxial generators with spherical framework junction, collects wobble ring relative with spherical framework
Mechanical energy is rotated, balance staff is designed with two coaxial generators with wobble ring junction, collect the machine that balance staff is relatively rotated with wobble ring
Tool energy；Output shaft of the speed increaser is connected with coil, for lifting the velocity of rotation of coil, produces induction coil fly-cutting permanent magnet
Raw magnetic induction line, the electric current of generation is transmitted to pendulum circle from spherical framework, then is transmitted to balance staff from Bai Quan.
Further, the double freedom swing mechanism of the robot mainly includes spherical framework, Bai Quan, balance staff and electricity
Pond is constituted；Pendulum circle center overlapped with spherical frame center, and put enclose can around a pair of coupled generators axis
Relatively spherical frame member, rectangular cell is connected firmly in the centre of balance staff, center of gravity in balance staff bottom, battery and balance staff can around with its
The axis of the another pair that is connected generator is rotated relative to pendulum circle, it is ensured that the pendulum with two free degree of the battery in robot interior
It is dynamic, do not interfere with mobility of the robot in ground moving.
Further, the spherical framework by four and half curved metal bars weld globulate, the pendulum circle can with it is spherical
Framework is relatively rotated, and balance staff can be relatively rotated with pendulum circle, and the axis of oscillation of pendulum circle and balance staff is mutually perpendicular to.
Advantages of the present invention and have the beneficial effect that：
The advantage of the invention is that according to ocean and the performance requirement of polar region environment exploring robot, having invented one kind has
The passive type mobile robot of energy harvesting capabilities；The flexible spherical shell of this small scale robot, makees in external force of environment
Can freely it be rolled under, spherical shell is made up of four flap air bags, easy for removal and installation；Indoor design has four road TRTs
The mechanical energy that robot spherical shell is rotated can be converted into electric energy, be stored in internal cell, powered to sensor；In robot
There are the double freedom swing mechanism in portion two to swing the free degree and balance staff is mutually perpendicular to, and on the one hand provides sky for generator design
Between, on the other hand do not interfere with the passive type movement of robot.In summary, the robot invented can not carry power supply
Under conditions of, long-term movement and perform detection mission under ocean and polar region environment.
Brief description of the drawings
Fig. 1 is the robot schematic appearance that the present invention provides preferred embodiment
Fig. 2 removes the assembling schematic diagram of part spherical shell for the robot of the present invention
Fig. 3 is robot interior structure top view of the invention
Fig. 4 is robot interior structural side view of the invention
Fig. 5 is robot interior structure front view of the invention
Fig. 6 encloses the assembling schematic diagram with balance staff for the robot pendulum of the present invention
Label in figure：1：Flap air bag, 2：Sticky tape, 3：Spherical framework, 4：Pendulum circle, 5：Balance staff, 6：The line of left motor
Circle, 7：The permanent magnet of left motor, 8：The speed increaser of left motor, 9：The coil of right motor, 10：The permanent magnet of right motor, 11：Right electricity
The speed increaser of machine, 12：The coil of front motor, 13：The permanent magnet of front motor, 14：The speed increaser of front motor, 15：Battery, 16：Afterwards
The coil of motor, 17：The permanent magnet of motor, 18 afterwards：The speed increaser of motor afterwards.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, detailed
Carefully describe.Described embodiment is only a part of embodiment of the present invention.
The present invention solve above-mentioned technical problem technical scheme be：
The structure design of the present invention, main contents are exactly to devise one there is collection external environment condition energy and passive type to move
The miniature mobile robot of kinetic force.The mechanical energy that the robot can act on external environment condition on spherical shell is converted into electric energy and stored up
Exist in battery, can be powered for the microdevice and passive sensor of the carrying of robot, with ocean and polar region environment
The ability detected for a long time.
Fig. 1 is the robot schematic appearance of invention：The positive spherical housing of robot is a valve as we can see from the figure
Formula elastic shell structure, assembled by four flap air bags 1, this structure can be tried hard to keep with absorbing external protects robot interior member
Part, can also roll movement.
Fig. 2 removes the assembling schematic diagram of part spherical shell, the sidepiece band of the flap air bag 1 of robot for the robot of the present invention
Toughness tape 2 can be Nian Jie with adjacent flap air bag, and middle sticky tape can be bonded with spherical framework 3, so designs
It is easy to the dismounting and installation of robot；The four road TRTs and double freedom pendulum-type battery compartment of robot are arranged on robot ball
Inside shape framework 3.
Fig. 3 is the robot interior structure top view of the present invention, and Fig. 4 is robot interior structural side view of the invention,
Fig. 5 is robot interior structure front view of the invention：Spherical framework welds globulate, pendulum by four and half curved metal bars in figure
Circle 4 is located inside spherical framework 3, and pendulum circle 4 can be relatively rotated with spherical framework 3, and balance staff 5 is located inside pendulum circle 3, and balance staff 5 can
To be relatively rotated with pendulum circle 4, the axis of oscillation of pendulum circle 4 and balance staff 5 is mutually perpendicular to, and battery 15 is fixed in the middle of balance staff 5, its center of gravity
Positioned at the lower section of balance staff 5.
Fig. 6 is the coil 6 of left motor in the assembling schematic diagram of the robot pendulum circle and balance staff of the present invention, figure, left motor
The speed increaser 8 of permanent magnet 7 and left motor constitutes first via TRT, the coil 9 of right motor, the and of permanent magnet 10 of right motor
The speed increaser 11 of right motor constitutes the second road TRT, the coil 12 of front motor, the permanent magnet 13 of front motor and front motor
Speed increaser 14 constitute the 3rd road TRT, the speedup of the coil 16 of rear motor, the permanent magnet 17 of rear motor and rear motor
Device 18 constitutes the 4th road TRT；All the way with the speed increaser 8 and the speedup of right motor of the left motor in two road TRTs
Device 11 is located at 4 left and right ends of pendulum circle, and its axis is overlapped with the pivot center of pendulum circle 4, and its shell is connected with pendulum circle 4, its input shaft
It is connected with spherical framework 3, its output shaft is each connected with the coil 6 of the left motor for TRT of going the same way and the coil 9 of right motor,
The permanent magnet 7 of left motor is located at the both sides of coil 6 of left motor, and is connected with pendulum circle 4, and the permanent magnet 10 of right motor is located at right motor
The both sides of coil 9, also with pendulum circle 4 be connected；The increasing of the speed increaser 14 and rear motor of front motor in three-way and four-way TRT
Fast device 18 is located at the rear and front end of balance staff 5, and its axis is overlapped with the pivot center of balance staff 5, and its shell is connected with balance staff 5, and its is defeated
Enter axle to be connected with pendulum circle 4, its output shaft each connects with the coil 12 of the front motor for TRT of going the same way and the coil 16 of rear motor
Connect, the permanent magnet 13 of front motor is located at the both sides of the coil 12 of front motor, and is connected with balance staff 5, the permanent magnet of rear motor 17
In the both sides of the coil 16 of rear motor, also it is connected with balance staff 5.
Robot passive type movement and collection of energy process：Because robot housing is in spherical, when the power in external environment condition
(such as ocean current power and wind-force) it is uneven when acting on the flap air bag 1 of robot, robot can be rolled passively, and machine
The center of gravity of battery 15 inside device people is located at the lower section of the robot centre of sphere, and in the presence of gravitational moment, battery 15 can swing one
Low-angle, but will not be rotated with spherical shell, will exist between such battery 15 and spherical framework 3 and relatively rotate, this phase
The rotation of pendulum circle 4 and pendulum circle 5 is broken down into inside spherical framework 3 to rotating, velocity of rotation passes through the increasing of four road TRTs
Fast device is amplified, and the magnetic induction line of induction coil fly-cutting permanent magnet just generates electric current, is finally imported in battery 15 and is carried out
Storage, is miniature or passive sensor is powered, here it is robot passive type movement and collection of energy process.
In summary：A kind of passive type mobile robot with energy harvesting capabilities invented, makees in external force of environment
Under can passive type movement, flap-type elastic shell be in spherical shape, can not only roll but also flexible available buffer external force,
And internal component can be protected；The rolling of spherical shell can be resolved into pendulum in robot interior and enclosed by double freedom swing mechanism
With the rotation of balance staff；Four road TRTs are symmetrically arranged in orthogonal rotary shaft, can be by robot moving process
Rotation mechanical energy change into power storage in the battery, can be powered for sensor；Robot can be mobile flat as detection
Platform, carries various miniature and passive sensor, just can be in ocean and polar region environment under conditions of it need not additionally carry the energy
Medium-term and long-term execution information is collected and detection mission.
The above embodiment is interpreted as being merely to illustrate the present invention rather than limited the scope of the invention.
After the content for the record for having read the present invention, technical staff can make various changes or modifications to the present invention, these equivalent changes
Change and modification equally falls into the scope of the claims in the present invention.
Claims (6)
1. a kind of passive type mobile robot with energy harvesting capabilities, it is characterised in that including：Flap-type elastic shell, four
Road TRT and double freedom swing mechanism composition, wherein the flap-type elastic shell is to be assembled into ball by several air bags
Shape, positioned at the outermost layer of robot, four road TRTs and double freedom swing mechanism are located in flap-type elastic shell；It is described double
Free degree pendulum-type battery compartment is arranged on the center of robot, and its mass cg is below the robot centre of sphere, for storage machine
The energy that device people is collected into, along horizontal axis and robot housing opposing oscillatory；Four road TRT is evenly arranged in machine
In the inside wobble ring of device people, for being converted the mechanical rotational energy of both direction simultaneously, machinery can be relatively rotated speed
Degree amplification is transferred to induction coil, and the magnetic induction line magnetic of induction coil cutting permanent magnet, which is converted into electric current, to be stored, and be machine
People's microdevice provides energy.
2. the passive type mobile robot according to claim 1 with energy harvesting capabilities, it is characterised in that the machine
The flap elastic shell of device people is made up of four flap air bags (1), and three viscosity are designed with the external margin of flap air bag (1)
Tape (2), left and right sides viscosity tape can be bonded with adjacent flap elastic bag, and middle viscosity tape can be with robot
Spherical framework (3) bond.
3. the passive type mobile robot according to claim 2 with energy harvesting capabilities, it is characterised in that described four
Individual flap inside air bag gassy, is uniformly wrapped in outside the spherical framework of robot.
4. the passive type mobile robot with energy harvesting capabilities according to one of claim 1-3, it is characterised in that
Four road TRT includes first via TRT-fourth round TRT, is uniformly arranged at robot machine people's ball
On shape lower portion four direction, the first via TRT is main by speed increaser, permanent magnet, induction coil composition；Wobble ring
Two coaxial generators are designed with spherical framework junction, wobble ring is collected and relatively rotates mechanical energy, balance staff with spherical framework
Two coaxial generators are designed with wobble ring junction, the mechanical energy that balance staff (5) is relatively rotated with wobble ring (4) is collected；Speedup
Device output shaft is connected with coil, for lifting the velocity of rotation of coil, the magnetic strength for producing induction coil fly-cutting permanent magnet
Line, the electric current of generation is transmitted to pendulum circle from spherical framework, then is transmitted to balance staff from Bai Quan.
5. the passive type mobile robot according to claim 2 with energy harvesting capabilities, it is characterised in that the machine
The double freedom swing mechanism of device people mainly includes spherical framework (3), pendulum circle (4), balance staff (5) and battery composition；Pendulum circle (4)
Center overlapped with spherical frame center (3), and put circle (4) can around a pair of coupled generators axis with respect to ball
Shape frame member, rectangular cell connects firmly the centre in balance staff (5), center of gravity in balance staff bottom, battery and balance staff can around with its phase
Even the axis of another pair generator is rotated relative to pendulum circle, it is ensured that the pendulum with two free degree of the battery in robot interior
It is dynamic, do not interfere with mobility of the robot in ground moving.
6. the passive type mobile robot according to claim 5 with energy harvesting capabilities, it is characterised in that the ball
Shape framework (3) welds globulate by four and half curved metal bars, and the pendulum circle (4) can relatively rotate with spherical framework (3), puts
Axle (5) can be relatively rotated with pendulum circle (4), and the axis of oscillation of pendulum circle (4) and balance staff (5) is mutually perpendicular to.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710418643.1A CN107253500B (en) | 2017-06-06 | 2017-06-06 | A kind of passive type mobile robot with energy harvesting capabilities |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710418643.1A CN107253500B (en) | 2017-06-06 | 2017-06-06 | A kind of passive type mobile robot with energy harvesting capabilities |
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| Publication Number | Publication Date |
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| CN107253500A true CN107253500A (en) | 2017-10-17 |
| CN107253500B CN107253500B (en) | 2019-05-31 |
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| CN201710418643.1A Active CN107253500B (en) | 2017-06-06 | 2017-06-06 | A kind of passive type mobile robot with energy harvesting capabilities |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111345882A (en) * | 2020-04-09 | 2020-06-30 | 南方医科大学第三附属医院 | Intramedullary pressure applying robot capable of replacing transverse bone moving |
| CN111396237A (en) * | 2020-02-20 | 2020-07-10 | 重庆邮电大学 | Spherical underwater robot wave energy capturing system and method based on inertial pendulum |
| CN113029514A (en) * | 2021-02-25 | 2021-06-25 | 重庆邮电大学 | Mobile robot experiment platform for simulating underwater dynamic complex environment |
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| CN102087528A (en) * | 2010-08-05 | 2011-06-08 | 北京交通大学 | Passively-driven exploration robot based on tumbleweed bionics |
| JP2011217540A (en) * | 2010-03-31 | 2011-10-27 | Sinfonia Technology Co Ltd | Electromagnetic actuator |
| CN105591452A (en) * | 2016-01-16 | 2016-05-18 | 上海大学 | Spherical robot capable of balanced generation |
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Patent Citations (4)
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| CN101249849A (en) * | 2008-04-08 | 2008-08-27 | 西安电子科技大学 | Pneumatic environment detection spherical robot having multiple motion modes |
| JP2011217540A (en) * | 2010-03-31 | 2011-10-27 | Sinfonia Technology Co Ltd | Electromagnetic actuator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113029514A (en) * | 2021-02-25 | 2021-06-25 | 重庆邮电大学 | Mobile robot experiment platform for simulating underwater dynamic complex environment |
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| CN107253500B (en) | 2019-05-31 |
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Effective date of registration: 20241009 Address after: No. 36, Beiyuan Road, Yinglong Town, Economic Development Zone, Nan'an District, Chongqing City, with a budget of 400000 RMB Patentee after: Chongqing Lecheng Technology Co.,Ltd. Country or region after: China Address before: 400065 Chongwen Road, Nanshan Street, Nanan District, Chongqing Patentee before: CHONGQING University OF POSTS AND TELECOMMUNICATIONS Country or region before: China |