CN103234500B - Brake displacement measuring device for unmanned dynamic delta wing and calibration method thereof - Google Patents
Brake displacement measuring device for unmanned dynamic delta wing and calibration method thereof Download PDFInfo
- Publication number
- CN103234500B CN103234500B CN201310108748.9A CN201310108748A CN103234500B CN 103234500 B CN103234500 B CN 103234500B CN 201310108748 A CN201310108748 A CN 201310108748A CN 103234500 B CN103234500 B CN 103234500B
- Authority
- CN
- China
- Prior art keywords
- brake
- wire
- delta
- displacement
- encoder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000006073 displacement reaction Methods 0.000 title claims abstract description 67
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000008859 change Effects 0.000 claims description 3
- 101100129500 Caenorhabditis elegans max-2 gene Proteins 0.000 claims description 2
- 239000004677 Nylon Substances 0.000 description 10
- 229920001778 nylon Polymers 0.000 description 10
- 238000005259 measurement Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000007372 rollout process Methods 0.000 description 2
- 238000009341 apiculture Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012857 repacking Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Landscapes
- A Measuring Device Byusing Mechanical Method (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a brake displacement measuring device for an unmanned dynamic delta wing and a calibration method thereof. The brake displacement measuring device comprises a pull-wire seat, a brake wire, a pull-wire encoder, a pull-wire-encoder pull wire, a signal wire and a DSP (digital signal processor) plate. The pull-wire seat is fixed on a brake pedal, one end of the brake wire is connected on the pull-wire seat, and the other end of the brake wire is connected on a brake disc. The pull-wire encoder is fixedly connected with a wheel fork. One end of the pull-wire-encoder pull wire extends from the pull-wire encoder to be fixed on the brake wire. The pull-wire encoder is connected with the DSP plate through the signal wire, and transmits pull-wire displacement signals to the DSP plate. The DSP plate calculates the displacement of the brake wire according to the pull-wire displacement signals. On the basis that original front-wheel manipulated torque and braking force mechanical structure are not changed, a new measuring device is added, and manipulating safety of airplane ground running is not affected; and the brake displacement of the unmanned dynamic delta wing during automatic take-off and landing running can be measured in real time, and high-speed collection of real-time data is completed.
Description
Technical field
The invention belongs to detection technique field, relate to measurement mechanism and the scaling method thereof of the brake displacement of unmanned dynamic-delta-wing.
Background technology
Dynamic-delta-wing is a kind of with the dynamic lightweight aircraft with good gliding ability, its principal feature: cheap, and structure is simple, and fast demountable is folding carries out vehicle-mounted, boat-carrying and air transportation; Near-the-ground performance is good; Landing is apart from short, safe and reliable, simple to operate easy to learn.Can on meadow, airstrip, highway landing.Be widely used in tourism, transport, the prospecting of petrochemistry pipeline, agricultural deinsectization, forest fire protection early warning, Aerial photography, flight training, rescue and relief work, police patrol, taboo cut down forbidden zone inspection, airborne control operation, environmental monitoring, special operations, backwoodsman anti-terrorism, drug law enforcement such as (fishing, hunt) and search for smugglers and smuggling goods and the tasks such as relaying seeking help in case of emergency that communicate.Also can meet the demand of the industries such as fishery, farm industry, apiculture, geological mapping industry, scientific investigation industry and sports.
Dynamic-delta-wing load is large, generally can reach 250 kilograms.Therefore dynamic-delta-wing is adapted as unmanned plane, will has obvious advantage, therefore unmanned dynamic-delta-wing will have significant economic benefit and practical value.But unmanned dynamic-delta-wing is owing to carrying a large amount of load, in order at round-the-clock lower reliably working, being necessary to realize wheeled autonomous landing, to free the dependence to handling hand, being more convenient to practical application and the product promotion of unmanned dynamic-delta-wing.Autonomous landing function becomes the most important flight performance of unmanned dynamic-delta-wing.
But at the operating control that the prerequisite that unmanned dynamic-delta-wing designs is by there being now people's dynamic-delta-wing, change unmanned electric device into.In order to realize autonomous landing function, need to carry out electronic repacking to skidding and front-wheel steer; In order to carry out type selecting to the power output of electric device, need to measure brake displacement when having people's dynamic-delta-wing to handle, front-wheel operating torque/damping force, to calculate maximum demand steering force in whole autonomous landing ground roll-out process.
Summary of the invention
(1) technical matters that will solve
Technical matters to be solved by this invention is to provide a kind of unmanned dynamic-delta-wing brake displacement measuring device, to meet at the measurement demand of autonomous landing ground roll-out process to unmanned dynamic-delta-wing brake displacement.
(2) technical scheme
For solving the problems of the technologies described above, the present invention proposes a kind of unmanned dynamic-delta-wing brake displacement measuring device, for measuring the brake displacement of unmanned dynamic-delta-wing, described unmanned dynamic-delta-wing comprises girder, wheel fork, tire, brake flange and brake pedal, described girder is fixedly connected with wheel fork, described tire is arranged on described wheel fork, and the wheel hub side of described tire installs described brake flange; Described brake flange carries out card by the control of brake pedal to described tire and stops, and described brake pedal can automatically move, and described brake displacement measuring device comprises bracing wire seat, brake cable, draw wire encoder, draw wire encoder bracing wire, signal wire and dsp board; Described bracing wire seat is fixed on described brake pedal; Described brake cable one end is connected on bracing wire seat, and one end is connected on described brake flange; Described draw wire encoder is fixedly connected with described wheel fork; One end of described draw wire encoder bracing wire is fixed in brake cable after stretching out from draw wire encoder; Described draw wire encoder is connected with described dsp board by described signal wire, and transmits bracing wire displacement signal to this dsp board; Described dsp board calculates the displacement of described brake cable according to this bit line displacement signal.
The invention also proposes a kind of scaling method of unmanned dynamic-delta-wing brake displacement measuring device, for the demarcation of above-mentioned unmanned dynamic-delta-wing brake displacement measuring device, the displacement that the method comprises the steps: step S1, the data pulse of measuring described draw wire encoder is converted to described draw wire encoder bracing wire; Step S2, calculate the displacement of described brake cable according to the displacement of described draw wire encoder bracing wire.
(3) beneficial effect
(1) the present invention is on the basis not affecting original front-wheel operating torque and damping force mechanical structure, increases new measurement mechanism, can not affect the sliding handling safety of running of aircraft floor.
(2) the present invention can measure in real time to the unmanned dynamic-delta-wing brake displacement of the sliding race process of autonomous landing, completes the two-forty collection of real time data.
Accompanying drawing explanation
Figure 1A and Figure 1B is the structural representation of unmanned dynamic-delta-wing front wheel device, and wherein Figure 1A is side view, and Figure 1B is front view.
Fig. 2 is structure and the installation site schematic diagram of an embodiment of unmanned dynamic-delta-wing brake displacement measuring device of the present invention;
Fig. 3 is the structural representation of the dsp board of unmanned dynamic-delta-wing brake displacement measuring device of the present invention;
Fig. 4 is brake non-linear displacement correction principle schematic of the present invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in further detail.
Figure 1A and Figure 1B is the structural representation of dynamic-delta-wing front wheel device, and wherein Figure 1A is side view, and Figure 1B is front view.As shown in FIG. 1A and 1B, front wheel device comprises girder 101, rocking arm 102, wheel shaft 103, brake flange 104, tire 105, wheel fork 106, brake pedal 107, left vibroshock 108, gas pedal 109, right vibration damper 110, wheel cover 111.Girder 101 is fixedly connected with wheel fork 106, and tire 105 is arranged on wheel fork 106, and the wheel hub side of tire 105 installs brake flange 104, and brake flange 104 carries out card by the control of brake pedal 107 to tire and stops.For unmanned dynamic-delta-wing front wheel device, brake pedal 107 can automatically move.
Fig. 2 is structure and the installation site schematic diagram of unmanned dynamic-delta-wing brake displacement measuring device of the present invention.As shown in Figure 2, the displacement measuring device that brakes comprises: bracing wire seat 121, brake cable 122, support 123, right nylon pulley 124, left nylon pulley 125, draw wire encoder 126, deck 127, draw wire encoder bracing wire 128, snap ring 129, signal wire 130, dsp board 131.
Bracing wire seat 121 is fixed on brake pedal 107, is usually located at the front portion of brake pedal 107.Brake cable 122 one end is connected on bracing wire seat 121, and one end is connected on brake flange 104, and centre have passed through right nylon pulley 124, left nylon pulley 125 successively.Support 123 one end is fixed on wheel fork 106, and one end is unsettled; Left nylon pulley 125, right nylon pulley 124 lay respectively at the two ends, left and right of support 123, and brake cable 122 walks around right nylon pulley 124, left nylon pulley 125 successively, are connected to airplane wheel brake disk 104 after changing direction.The object arranging support 123 installs right nylon pulley 124, left nylon pulley 125, ensures that brake cable 122 is perpendicular to brake pedal 107, improves the ratio of brake pedal 107 displacement towing brake line 122 displacement.
Deck 127 is fixedly connected with wheel fork 106, and usually can be arranged on the middle and lower part of wheel fork 106.Draw wire encoder 126 is fixed on deck 127, is fixedly connected with thus with wheel fork 106, and meanwhile, one end of draw wire encoder bracing wire 128 is fixed in brake cable 129 after stretching out from draw wire encoder 126.Usually, this one end is fixed in brake cable 122 by snap ring 129, and the non-external part of bracing wire 128 is connected on the inner axle of draw wire encoder 126 by elastic force roller etc.Draw wire encoder 126 is connected with dsp board 131 by draw wire encoder signal wire 130, and transmits bracing wire displacement signal to dsp board 131.As shown in Figure 2, signal wire 130 can be arranged along wheel fork 106, and girder 101 is connected to dsp board 131.Dsp board 131 is preferably High-Speed DSP Board, for receiving the signal of draw wire encoder 126 to carry out brake bracing wire displacement measurement.
The course of work of unmanned dynamic-delta-wing brake displacement measuring device 1 is as follows:
From control brake pedal 107103, towing brake line 122 moves.Under the effect of snap ring 129, draw wire encoder bracing wire 128 is followed brake cable 122 and is moved, and drives draw wire encoder 126 to export bracing wire displacement signal, by signal wire 130, bracing wire displacement signal is delivered to dsp board 131, carry out high speed acquisition and record.
Fig. 3 is the structural representation of the dsp board of unmanned dynamic-delta-wing brake displacement measuring device of the present invention.As shown in Figure 3, it comprises: DSP master chip 1311, SD card 1312, RAM1313, RS232 interface 1314, power supply 1315, orthogonal encoder QEP interface 1316, AD interface 1317, spi bus 1318, SCI bus 1319.
DSP master chip 1311 such as can adopt the dsp chip TMS320F28335 (dominant frequency 150Mhz) of TI company, be connected with SD card 1312 by spi bus 1318, the external RAM interface that logical outer chip carries is connected with RAM1313, be connected with RS232 interface 1314 by SCI bus 1319, be connected with signal wire 130 by orthogonal encoder QEP interface 1316.
DSP master chip 1311 is mainly used in data acquisition, system management, communication and data record; SD card 1312 is mainly used in data permanent recording; RAM1313 is mainly used in image data and deposits temporarily; RS232 interface 1314 for PC communication, carry out optimum configurations; Power supply 1315 provides the power supply of DSP and various peripheral hardware, exports 5V, 3.3V and 1.8V.Orthogonal encoder QEP interface 1316 is for gathering the orthogonal intersection code signal of draw wire encoder 126.
The present invention comprises for the demarcating steps for brake displacement (mm):
Step S1, the displacement of bracing wire 128 is converted to the data pulse that draw wire encoder 126 is measured;
Step S2, calculate the displacement of brake cable 122 according to the displacement of bracing wire 128.
First, in step sl, that draw wire encoder 126 is measured is pulsed quantity P, if the taps number T of of draw wire encoder 126 week adopts orthogonal coding AB phase, pulse in one week is 4T), draw wire encoder 126 inner hub radius is R mm, then the transforming relationship of pulse P and bracing wire displacement S is:
Then, description of step S2 is carried out with reference to Fig. 4.Fig. 4 is brake non-linear displacement correction principle schematic of the present invention.As shown in Figure 4, due to draw wire encoder bracing wire 128 and the non-parallel installation of brake cable 122 of draw wire encoder 126, so draw wire encoder 126 reading needs to carry out revising just can form brake displacement.The minimum stroke S of draw wire encoder 126 in brake process
min(B point), range S
max(A point), the current point of brake displacement is N point.Wherein lateral deviation distance D, range S
maxcan ruler measurement be passed through out, when performing when braking, draw wire encoder reading changes delta P, then the stroke Δ S of actual brake cable 122
e(non-liner revision formula):
Wherein: T is the contour number adopting draw wire encoder 126, and R is the radius of draw wire encoder 126 inner hub, and Δ P is draw wire encoder 126 umber of pulse variable quantity in brake process.
Unmanned dynamic-delta-wing brake displacement measuring device of the present invention can be measured in real time to the dynamic-delta-wing brake displacement in autonomous landing ground roll-out stage, completes the two-forty collection of real time data, sampling rate 10Khz.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. a unmanned dynamic-delta-wing brake displacement measuring device, for measuring the brake displacement of unmanned dynamic-delta-wing, described unmanned dynamic-delta-wing comprises girder (101), wheel fork (106), tire (105), brake flange (104) and brake pedal (107), described girder (101) is fixedly connected with wheel fork (106), described tire (105) is arranged on described wheel fork (106), and the wheel hub side of described tire (105) installs described brake flange (104); Described brake flange (104) carries out card by the control of brake pedal (107) to described tire (105) and stops, and described brake pedal (107) can automatically move, and it is characterized in that,
Described brake displacement measuring device comprises bracing wire seat (121), brake cable (122), draw wire encoder (126), draw wire encoder bracing wire (128), signal wire (130) and dsp board (131);
Described bracing wire seat (121) is fixed on described brake pedal (107);
Described brake cable (122) one end is connected on bracing wire seat (121), and one end is connected on described brake flange (104);
Described draw wire encoder (126) is fixedly connected with described wheel fork (106);
One end of described draw wire encoder bracing wire (128) is fixed in brake cable (122) after stretching out from draw wire encoder (126);
Described draw wire encoder (126) is connected with described dsp board (131) by described signal wire (130), and transmits bracing wire displacement signal to this dsp board (131);
Described dsp board (131) calculates the displacement of described brake cable according to this bracing wire displacement signal.
2. unmanned dynamic-delta-wing brake displacement measuring device as claimed in claim 1, it is characterized in that, also comprise support (123), described support (123) one end is fixed on wheel fork (106), and one end is unsettled; Left chain wheel (125) and right pulley (124) is separately installed with at the two ends, left and right of described support (123); Described brake cable (122) between described bracing wire seat (121) and brake flange (104) successively through described right pulley (124) and left chain wheel (125).
3. unmanned dynamic-delta-wing brake displacement measuring device as claimed in claim 1, it is characterized in that, also bag hand deck (127), described deck (127) is fixedly connected with described wheel fork (106), and described draw wire encoder (126) is fixed on this deck (127).
4. unmanned dynamic-delta-wing brake displacement measuring device as claimed in claim 1, it is characterized in that, described draw wire encoder bracing wire (128) is fixed in described brake cable (122) by snap ring (129).
5. unmanned dynamic-delta-wing brake displacement measuring device as claimed in claim 1, it is characterized in that, described dsp board (131) is High-Speed DSP Board.
6. unmanned dynamic-delta-wing brake displacement measuring device as claimed in claim 5, it is characterized in that, described dsp board (131) comprises orthogonal encoder QEP interface (1316), and it is for gathering the orthogonal intersection code signal of described draw wire encoder (126).
7. the scaling method of a unmanned dynamic-delta-wing brake displacement measuring device, the unmanned dynamic-delta-wing brake displacement measuring device of described unmanned dynamic-delta-wing brake displacement measuring device according to any one of claim 1 to 6, it is characterized in that, comprise the steps:
Step S1, the data pulse of measuring described draw wire encoder (126) are converted to the displacement of described draw wire encoder bracing wire (128);
Step S2, calculate the displacement of described brake cable (122) according to the displacement of described draw wire encoder bracing wire (128).
8. the scaling method of unmanned dynamic-delta-wing brake displacement measuring device as claimed in claim 7, is characterized in that, in step s 2, and the displacement according to following formulae discovery brake cable:
Δ S
ebe the stroke of brake cable (122), Δ S is the change of bracing wire displacement, and D is lateral deviation distance, S
maxfor the range of draw wire encoder (126), Δ P is the change of draw wire encoder reading, and T is one week taps number of draw wire encoder (126), and R is the radius of draw wire encoder (126) inner hub.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310108748.9A CN103234500B (en) | 2013-03-29 | 2013-03-29 | Brake displacement measuring device for unmanned dynamic delta wing and calibration method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310108748.9A CN103234500B (en) | 2013-03-29 | 2013-03-29 | Brake displacement measuring device for unmanned dynamic delta wing and calibration method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103234500A CN103234500A (en) | 2013-08-07 |
| CN103234500B true CN103234500B (en) | 2015-05-06 |
Family
ID=48882552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310108748.9A Expired - Fee Related CN103234500B (en) | 2013-03-29 | 2013-03-29 | Brake displacement measuring device for unmanned dynamic delta wing and calibration method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103234500B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105973152B (en) * | 2016-05-12 | 2018-11-13 | 中国航空工业集团公司西安飞机设计研究所 | A kind of unmanned plane landing ground run distance measuring device and the unmanned plane with it |
| CN108663151B (en) * | 2017-04-01 | 2021-05-07 | 中国商用飞机有限责任公司 | Device and method for testing airplane pedal |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2563090Y (en) * | 2002-08-06 | 2003-07-30 | 黄重儒 | Bicycle braker |
| CN1743221A (en) * | 2005-03-15 | 2006-03-08 | 刘伟 | Wheel-type scotter |
| CN2860993Y (en) * | 2005-12-27 | 2007-01-24 | 康常涛 | Brake reinforce device for electric tricycle |
| CN101063622A (en) * | 2007-06-08 | 2007-10-31 | 武汉钢铁(集团)公司 | Silicon steel rotary type annealing furnace furnace bed rotating distance, device for measuring speed and method thereof |
| CN201086821Y (en) * | 2007-08-03 | 2008-07-16 | 西安大地测绘工程有限责任公司 | Pressure type brake for main undercarriage of unmanned aerial vehicle |
| CN101566463A (en) * | 2009-05-22 | 2009-10-28 | 江苏明珠试验机械有限公司 | V-belt length measuring machine |
| CN201347118Y (en) * | 2008-12-30 | 2009-11-18 | 好孩子儿童用品有限公司 | Brake apparatus for umbrella holder vehicle |
| CN201694388U (en) * | 2010-02-08 | 2011-01-05 | 哈尔滨飞机工业集团有限责任公司 | No-power source logical-control braking system of helicopter |
| CN201971154U (en) * | 2011-02-21 | 2011-09-14 | 北京北摩高科摩擦材料有限责任公司 | Braking main wheel for airplanes |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8464842B2 (en) * | 2009-02-17 | 2013-06-18 | Goodrich Corporation | Brake wear measurement system and method |
| BE1018958A5 (en) * | 2009-10-16 | 2011-11-08 | Willy Lambrecht | DEVICE FOR CHECKING BRAKED AND UN-BRAKED WHEELS OF VEHICLES. |
-
2013
- 2013-03-29 CN CN201310108748.9A patent/CN103234500B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2563090Y (en) * | 2002-08-06 | 2003-07-30 | 黄重儒 | Bicycle braker |
| CN1743221A (en) * | 2005-03-15 | 2006-03-08 | 刘伟 | Wheel-type scotter |
| CN2860993Y (en) * | 2005-12-27 | 2007-01-24 | 康常涛 | Brake reinforce device for electric tricycle |
| CN101063622A (en) * | 2007-06-08 | 2007-10-31 | 武汉钢铁(集团)公司 | Silicon steel rotary type annealing furnace furnace bed rotating distance, device for measuring speed and method thereof |
| CN201086821Y (en) * | 2007-08-03 | 2008-07-16 | 西安大地测绘工程有限责任公司 | Pressure type brake for main undercarriage of unmanned aerial vehicle |
| CN201347118Y (en) * | 2008-12-30 | 2009-11-18 | 好孩子儿童用品有限公司 | Brake apparatus for umbrella holder vehicle |
| CN101566463A (en) * | 2009-05-22 | 2009-10-28 | 江苏明珠试验机械有限公司 | V-belt length measuring machine |
| CN201694388U (en) * | 2010-02-08 | 2011-01-05 | 哈尔滨飞机工业集团有限责任公司 | No-power source logical-control braking system of helicopter |
| CN201971154U (en) * | 2011-02-21 | 2011-09-14 | 北京北摩高科摩擦材料有限责任公司 | Braking main wheel for airplanes |
Non-Patent Citations (2)
| Title |
|---|
| 何永乐.飞机刹车系统概论.《飞机刹车系统设计》.2007,第1-30页. * |
| 杨华保.起落架的机轮和刹车.《飞机原理与构造》.2002,第187-212页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103234500A (en) | 2013-08-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8346455B2 (en) | Method and device for communicating true runway braking performance using data from the flight data management systems of landed aircraft | |
| CN110033614A (en) | A kind of road hazard cargo transport dynamic risk early warning system based on technology of Internet of things | |
| CN102436762B (en) | Highway intelligent aided guidance system based on GPRS (General Packet Radio Service)/CDMA (Code Division Multiple Access) wireless network and control method thereof | |
| US20190220028A1 (en) | Computer-assisted (ca)/autonomous driving (ad) vehicle inference model creation | |
| CN101027576A (en) | Nonintrusive radiographic inspection method and system for vehicles using two autonimous but synchronously movable mobile units, one carring the source and the other the detector | |
| WO2021243710A1 (en) | Intelligent transportation system-based automatic driving method and device, and intelligent transportation system | |
| WO2010135727A1 (en) | Unmanned autogyro | |
| CN103630474A (en) | Multilane motor vehicle tail gas PM2.5 (Particulate Matter 2.5) telemetering device | |
| CN101680949A (en) | The radar monitoring method of wake flow | |
| CN106568441A (en) | Beidou-based electric power patrol inspection device | |
| CN103234500B (en) | Brake displacement measuring device for unmanned dynamic delta wing and calibration method thereof | |
| Niu et al. | Estimation for runway friction coefficient based on multi-sensor information fusion and model correlation | |
| CN107680320A (en) | The fire Long Range Detecting and Ranging of fire-prone area monitoring is realized based on unmanned plane | |
| CN206096930U (en) | Friehgt dolly | |
| CN202025368U (en) | System for recognizing and monitoring unsafe driving behavior | |
| CN207157525U (en) | A kind of unmanned plane propeller protection device | |
| WO2018205375A1 (en) | Vehicle control method and apparatus | |
| CN205192528U (en) | Flight data acquisition system towards light helicopter | |
| CN103217249B (en) | Device for measuring controlling torque and braking force of unmanned power delta wing and calibrating method for unmanned power delta wing | |
| CN103950548B (en) | A kind of minitype wheeled landing unmanned aerial vehicle recovery speed reduction gearing | |
| CN106128170A (en) | A kind of aircraft berth intelligent indicating system | |
| JP7104046B2 (en) | System for real-time determination of aircraft parameters | |
| CN105856239B (en) | A kind of axle caterpillar type high-speed natural gas line robot control system of three core eight | |
| CN115457757A (en) | Method and device for judging traffic behavior compliance | |
| CN210293702U (en) | Detection device of anti-collision system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150506 |