CN104122232B - ship control device based on gas analysis - Google Patents
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- CN104122232B CN104122232B CN201410362300.4A CN201410362300A CN104122232B CN 104122232 B CN104122232 B CN 104122232B CN 201410362300 A CN201410362300 A CN 201410362300A CN 104122232 B CN104122232 B CN 104122232B
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Abstract
The present invention relates to a kind of ship control device based on gas analysis, described ship control device includes scattering formula visibility visualizer, speed of the ship in metres per second measurement device, boats and ships drive equipment and main control device, described main control device respectively with described scattering formula visibility visualizer, described speed of the ship in metres per second measurement device and described boats and ships drive equipment to connect, visibility according to the output of described scattering formula visibility visualizer determines the maximum allowable travel speed of boats and ships, based on the current ship running speed that the maximum allowable travel speed of boats and ships and described speed of the ship in metres per second measurement device export, equipment is driven to carry out the control of ship running speed by described boats and ships. the present invention can pass through to check the travel speed of the visibility volitional check boats and ships of boats and ships surrounding air, can also pass through to contrast the PM2.5 concentration of ship control indoor and outdoor gas, prompting driver windows or closes window, thus ensure that the health of human body of the safety traffic of boats and ships and ship's staff.
Description
Technical field
The present invention relates to ship control field, particularly relate to a kind of ship control device based on gas analysis.
Background technology
Boats and ships, i.e. boatsandships, be the general name of various ship. Boats and ships are to navigate by water or berth to carry out in waters transporting or the vehicles of operation, have different technical performance, equipment and structural shape by different instructions for uses, are a kind of main man made transportation tools run in geographical water. It addition, inercant ships are commonly referred to as ship, naval ship is called that warship, small boat are called ship or boat, and it is generically and collectively referred to as naval vessel or ships and light boats. Internal main to include holding space, supporting construction and discharge structure, has and utilizes propulsion system that is external or that carry the energy. External form is usually and is beneficial to the cleanliness envelope overcoming fluid resistance, and material is constantly updated along with scientific and technological progress, and early stage is the nature materials such as wood, bamboo, fiber crops, is mostly steel and aluminum, glass fibre, acrylic and various composite modern age.
Since ancient times, the effect of boats and ships is mainly reflected in transport and two aspects of fighting. In transport, boats and ships are divided into passenger and freight both of which. No matter for which aspect, the cost of boats and ships is all a no small number, if it occur that collision or other accidents, due to the limitation of the particularity of water surface traffic and water surface maintenance activity, maintenance and maintenance cost are high equally. Therefore, avoiding accident is one of the main task of ship running, especially when visibility is relatively low, need to reduce the travel speed of boats and ships, observing water surface situation to provide more response time to go, it is achieved the evading of waterborne target under water, the control room position of some boats and ships is relatively low simultaneously, need the air conditions according to control room ventilate in time or close window, provide a good driving environment for driver. Prior art exists the ship control scheme of some early warning, but is based not on gas detecting to carry out ship control.
Therefore, need a kind of ship control device based on gas analysis, spot ship is overcome to control cannot adjusting the speed of a ship or plane according to state of visibility in time and the technical problem of control cannot being aerated according to control room gas station of system, by detecting the visibility of air near boats and ships in real time, the maximum allowable travel speed of boats and ships is set and carries out automatically controlling of the speed of a ship or plane, Ventilation Strategies is determined additionally by the analysis of PM2.5 concentration inside and outside control room, avoid the generation of ship accident, it is ensured that the physical and mental health of human pilot is injury-free.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of ship control device based on gas analysis, by introducing scattering formula visibility visualizer, the visibility of ship running environment is carried out available strategy, and then automatically control the travel speed of boats and ships, the contrast that equipment realizes the air ambient of ship control indoor and outdoor with outdoor PM2.5 detection equipment is detected by being simultaneously introduced indoor PM2.5, ventilation for driver provides important references, improves the automaticity that ship running controls.
According to an aspect of the present invention, provide a kind of ship control device based on gas analysis, described ship control device includes scattering formula visibility visualizer, speed of the ship in metres per second measurement device, boats and ships drive equipment and main control device, described main control device respectively with described scattering formula visibility visualizer, described speed of the ship in metres per second measurement device and described boats and ships drive equipment to connect, visibility according to the output of described scattering formula visibility visualizer determines the maximum allowable travel speed of boats and ships, based on the current ship running speed that the maximum allowable travel speed of boats and ships and described speed of the ship in metres per second measurement device export, equipment is driven to carry out the control of ship running speed by described boats and ships.
More specifically, described based in the ship control device of gas analysis, farther include: scattering formula visibility visualizer, including support, transmitter unit, receive unit and control unit, described support is fixed on Ship body top, described transmitter unit, described reception unit and described control unit are fixing on the bracket, described control unit includes micro-CPU and communication interface, described transmitter unit and described reception unit are staggered relatively, described transmitter unit adopts GaAs infrared LED to launch scattering light as light source, described reception unit adopts PIN-type photosensitive tube to receive scattering light, described control unit connects described transmitter unit and described reception unit respectively, described micro-CPU is according to launching the light intensity of scattering light and receiving the light intensity calculating visibility of scattering light, described communication interface connects described micro-CPU to export visibility, speed of the ship in metres per second measurement device, is arranged in the instrumental panel of ship control room, measures and export current ship running speed in real time, boats and ships drive equipment, it is arranged in the hold of Ship body rear end, including reversible explosive motor, the classification reducing gear train driven by reversible explosive motor, control the slip clutch that reversible explosive motor contacts with classification reducing gear train or departs from, drive the propeller shaft with fixed blades and friction brakes propeller shaft being slowed down and remaining stationary as, wherein the acceleration of boats and ships and deceleration are to be acted on by the reversible explosive motor speed to the rotation of propeller and direction and controlled, the combination of Clutch and brake or operation in succession is needed during control, indoor PM2.5 detects equipment, is arranged in control room, adopts built-in filter membrane on-line sampling device to be analyzed controlling indoor accelerated test, detects the concentration of PM2.5 fine particle therein, and as indoor PM2.5 concentration output, outdoor PM2.5 detects equipment, is arranged in Ship body, adopts built-in filter membrane on-line sampling device that the outer Atmospheric Grains of control room is analyzed, and detects the concentration of PM2.5 fine particle therein, and as outdoor PM2.5 concentration output, main control device, it is arranged in the instrumental panel of ship control room, connect described scattering formula visibility visualizer respectively, described speed of the ship in metres per second measurement device, described boats and ships drive equipment, described indoor PM2.5 detects equipment and described outdoor PM2.5 detects equipment, the maximum allowable travel speed of boats and ships is determined according to the visibility received, when current ship running speed travel speed maximum allowable beyond boats and ships, send boats and ships overspeed alarm signal, and control boats and ships driving equipment deceleration until current ship running speed is less than or equal to the maximum allowable travel speed of boats and ships, simultaneously, when indoor PM2.5 concentration is more than outdoor PM2.5 concentration, send control room to window cue, when indoor PM2.5 concentration is less than outdoor PM2.5 concentration, send control room and close window cue,Navigator, is arranged in the instrumental panel of ship control room, connects main control device so that boats and ships current location is sent to main control device; Display device, is arranged in the instrumental panel of ship control room, connects main control device to show the maximum allowable travel speed of boats and ships, current ship running speed, indoor PM2.5 concentration and outdoor PM2.5 concentration in real time; Voice playing equipment, is arranged in the instrumental panel of ship control room, connects main control device and windows with boats and ships overspeed alarm signal, control room with real-time play cue or voice prompted file corresponding to control room pass window cue; Wireless Telecom Equipment, is arranged on Ship body front end, connects main control device, for boats and ships current location, visibility and outdoor PM2.5 concentration are wirelessly transmitted to ship-handling center; Wherein, when main control device determines the maximum allowable travel speed of boats and ships according to the visibility received, visibility scale scope at the visibility received determine the maximum allowable travel speed of different boats and ships, described visibility scale scope include less than 100 meters, 100 meters to 1 kilometer, 1 kilometer to 2 kilometers, 2 kilometers to 5 kilometers, 5 kilometers to 100 kilometers and more than 100 kilometers.
More specifically, described based in the ship control device of gas analysis, the transmitter unit of described scattering formula visibility visualizer launches scattering light with 33 degree of inclination angles.
More specifically, described based in the ship control device of gas analysis, described voice playing equipment also includes built-in voice document memory element, closes, for storing window with boats and ships overspeed alarm signal, control room cue or control room, the voice prompted file that window cue is corresponding.
More specifically, described based in the ship control device of gas analysis, micro-CPU of the control unit of described scattering formula visibility visualizer and communication interface are encapsulated in a control chamber to be fixed on the support of described scattering formula visibility visualizer, and described support vertical is fixed on Ship body top.
More specifically, described based in the ship control device of gas analysis, described display device receives the control room that sends of described main control device and windows cue or control room closes window cue, and shows that on described display device dynamic analog is windowed or closes window action so that deck officer to be reminded.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the ship control device based on gas analysis illustrated according to an embodiment of the present invention.
Fig. 2 is the structural representation of the scattering formula visibility visualizer of the ship control device based on gas analysis illustrated according to an embodiment of the present invention.
Detailed description of the invention
Below with reference to accompanying drawings the embodiment based on the ship control device of gas analysis of the present invention is described in detail.
In the driving process of boats and ships, water surface visibility is a key factor determining ship's speed. The water surface that visibility is high, driver is it is observed that far distance, it is possible to keep high-speed cruising relievedly, and at the water surface of low visibility, driver must lower speed, and processes crisis retaining the enough response time.
Visibility, refers to the ultimate range that object can be seen by twenty-twenty vision, also refers to the readability that object is seen by normal eyesight when certain distance. Visibility has greatly difference in different environments. In the clean especially arctic of air or mountain area, visibility can reach 70��100km, but visibility is typically due to atmospheric pollution and dampness and decreases.Visibility can be reduced to zero by smog, and this is breakneck for sailing, the desert area that occurs in sandstorm equally and to have the place of forest fire to drive be all extremely dangerous. The heavy rain of thunderstorm weather not only makes visibility reduce, simultaneously because ground wet and slippery and can not brake hard. Weather falls within blind category. It addition, under the environment of smog, mist, haze, visibility is different. The visibility of smog being defined as less than 1km in the world, the visibility of mist is 1km��2km, and the visibility of haze is 2km��5km. The particle diameter that smog and mist are generally remembered as the important component part of water droplet, haze and cigarette is relative smaller. Low-down visibility, for instance, during insufficient visibility 100 meters, usual visibility is considered to be zero, and road, air route can be blocked in this case.
The instrument of visibility can be measured, be referred to as visibility visualizer. Visibility visualizer commonly used in the world mainly has transmission-type and scattering formula two kinds. The advantages such as wherein, transilluminator is because of needs baseline, and it is big to take up an area scope, is not suitable on the seashore station, beacon automatic weather station and boats and ships, but it has self-test capability, and under low visibility performance is good and suitable in Civil Aviation System; Scatterometer is widely used in the systems such as harbour, aviation, highway with the little and cheap price of its volume.
Except the speed of a ship or plane is brought impact by air visibility, the PM2.5 concentration in gas also can bring actual bodily harm to ship's staff, is in the situation of hull lower position particularly with control room. At this moment, it is necessary to determine the Ventilation Strategies of control room according to the contrast of PM2.5 concentration inside and outside control room.
The ship control device based on gas analysis that the present invention proposes, the speed of a ship or plane can be automatically controlled according to air visibility, ensure can driving safely when various different visibility of boats and ships, meanwhile, it is capable to the improvement for the air regime of ship control room provides important references.
Fig. 1 is the block diagram of the ship control device based on gas analysis illustrated according to an embodiment of the present invention, described ship control device includes scattering formula visibility visualizer 1, speed of the ship in metres per second measurement device 2, boats and ships drive equipment 4, main control device 3 and power supply unit 5, described main control device 3 respectively with described scattering formula visibility visualizer 1, described speed of the ship in metres per second measurement device 2 and described boats and ships drive equipment 4 to connect, visibility according to the output of described scattering formula visibility visualizer 1 determines the maximum allowable travel speed of boats and ships, based on the current ship running speed that the maximum allowable travel speed of boats and ships and described speed of the ship in metres per second measurement device 2 export, equipment 4 is driven to carry out the control of ship running speed by described boats and ships, described power supply unit 5 is that each equipment in described ship control device is powered.
The concrete structure of each equipment of described ship control device is as follows.
Structural representation referring to the scattering formula visibility visualizer that Fig. 2, Fig. 2 are the ship control device based on gas analysis illustrated according to an embodiment of the present invention. described scattering formula visibility visualizer 1 includes support 14, transmitter unit 11, receive unit 12 and control unit 13, described support 14 is fixed on Ship body top, described transmitter unit 11, described reception unit 12 and described control unit 13 are fixed on described support 14, described control unit 13 includes micro-CPU and communication interface, described transmitter unit 11 and described reception unit 12 are staggered relatively, described transmitter unit 11 adopts GaAs infrared LED to launch scattering light as light source, described reception unit 12 adopts PIN-type photosensitive tube to receive scattering light, described control unit 13 connects described transmitter unit 11 and described reception unit 12 respectively, described micro-CPU is according to launching the light intensity of scattering light and receiving the light intensity calculating visibility of scattering light, described communication interface connects described micro-CPU to export visibility.
Speed of the ship in metres per second measurement device 2, is arranged in the instrumental panel of ship control room, measures and export current ship running speed in real time.
Boats and ships drive equipment 4, it is arranged in the hold of Ship body rear end, including reversible explosive motor, the classification reducing gear train driven by reversible explosive motor, control the slip clutch that reversible explosive motor contacts with classification reducing gear train or departs from, drive the propeller shaft with fixed blades and friction brakes propeller shaft being slowed down and remaining stationary as, wherein the acceleration of boats and ships and deceleration are to be acted on by the reversible explosive motor speed to the rotation of propeller and direction and controlled, the combination of Clutch and brake or operation in succession is needed during control.
Indoor PM2.5 detects equipment, is arranged in control room, adopts built-in filter membrane on-line sampling device to be analyzed controlling indoor accelerated test, detects the concentration of PM2.5 fine particle therein, and as indoor PM2.5 concentration output.
Outdoor PM2.5 detects equipment, is arranged in Ship body, adopts built-in filter membrane on-line sampling device that the outer Atmospheric Grains of control room is analyzed, and detects the concentration of PM2.5 fine particle therein, and as outdoor PM2.5 concentration output.
Main control device 3, it is arranged in the instrumental panel of ship control room, connect described scattering formula visibility visualizer 1 respectively, described speed of the ship in metres per second measurement device 2, described boats and ships drive equipment 4, described indoor PM2.5 detects equipment and described outdoor PM2.5 detects equipment, the maximum allowable travel speed of boats and ships is determined according to the visibility received, when current ship running speed travel speed maximum allowable beyond boats and ships, send boats and ships overspeed alarm signal, and control boats and ships driving equipment 4 deceleration until current ship running speed is less than or equal to the maximum allowable travel speed of boats and ships, simultaneously, when indoor PM2.5 concentration is more than outdoor PM2.5 concentration, send control room to window cue, when indoor PM2.5 concentration is less than outdoor PM2.5 concentration, send control room and close window cue.
Navigator, is arranged in the instrumental panel of ship control room, connects main control device 3 so that boats and ships current location is sent to main control device 3.
Display device, is arranged in the instrumental panel of ship control room, connects main control device 3 to show the maximum allowable travel speed of boats and ships, current ship running speed, indoor PM2.5 concentration and outdoor PM2.5 concentration in real time.
Voice playing equipment, is arranged in the instrumental panel of ship control room, connects main control device 3 and windows with boats and ships overspeed alarm signal, control room with real-time play cue or voice prompted file corresponding to control room pass window cue.
Wireless Telecom Equipment, is arranged on Ship body front end, connects main control device 3, for boats and ships current location, visibility and outdoor PM2.5 concentration are wirelessly transmitted to ship-handling center.
Wherein, when main control device 3 determines the maximum allowable travel speed of boats and ships according to the visibility received, visibility scale scope at the visibility received determine the maximum allowable travel speed of different boats and ships, described visibility scale scope include less than 100 meters, 100 meters to 1 kilometer, 1 kilometer to 2 kilometers, 2 kilometers to 5 kilometers, 5 kilometers to 100 kilometers and more than 100 kilometers.
Wherein, the transmitter unit 11 of described scattering formula visibility visualizer 1 launches scattering light with 33 degree of inclination angles; Described voice playing equipment also includes built-in voice document memory element, closes, for storing window with boats and ships overspeed alarm signal, control room cue or control room, the voice prompted file that window cue is corresponding; Micro-CPU of the control unit 13 of described scattering formula visibility visualizer 1 and communication interface are encapsulated in a control chamber to be fixed on the support 14 of described scattering formula visibility visualizer 1, and described support 14 is perpendicularly fixed on Ship body top;Described display device receives the control room that sends of described main control device 3 and windows cue or control room closes window cue, and shows that on described display device dynamic analog is windowed or closes window action so that deck officer to be reminded.
It addition, PM2.5 fine particle is also known as particulate, fine grained. In air, particle diameter is less than the particulate matter (aerosol) of 2 ��m (sometimes with less than 2.5 ��m, i.e. PM2.5). Although fine particle is the component that in earth atmosphere composition, content is little, but air quality and visibility etc. are had important impact by it. Fine particle particle diameter is little, remote rich in substantial amounts of poisonous and harmful substances and time of staying length in an atmosphere, fed distance, thus the impact of health and atmosphere quality is bigger. In February, 2012, State Council of the People's Republic of China agrees to that " ambient air quality " of issuing new revision adds fine particle monitoring index. On February 28th, 2013, it is fine particle that whole nation scientific and technical terminology validation board of China claims PM2.5 to intend definite designation, PM2.5 detecting instrument of the present invention, there is the microcomputer laser dust monitor of the novel built-in filter membrane on-line sampling device of new century international most advanced level, while monitoring dust concentration continuously, particulate matter can be collected, in order to its composition is analyzed, and obtain mass concentration conversion coefficient K value. Can direct-reading bug dust concentration (mg/m), there is PM10, PM5, PM2.5 detection option selective.
The ship control device based on gas analysis of the present invention, by the detection to ship running environmental air visibility, automatically determine the safe velocity of boats and ships, ensure that boats and ships are safe and efficient under different visibility environments and pass through the water surface, simultaneously, thering is provided PM2.5 concentration data inside and outside control room, improving control indoor air environment for driver provides important references.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-described embodiment is not limited to the present invention. For any those of ordinary skill in the art, without departing under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above and technical solution of the present invention is made many possible variations and modification, or be revised as the Equivalent embodiments of equivalent variations. Therefore, every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention, to any simple modification made for any of the above embodiments, equivalent variations and modification, all still falls within the scope of technical solution of the present invention protection.
Claims (1)
1. the ship control device based on gas analysis, it is characterized in that, described ship control device includes scattering formula visibility visualizer, speed of the ship in metres per second measurement device, boats and ships drive equipment and main control device, described main control device respectively with described scattering formula visibility visualizer, described speed of the ship in metres per second measurement device and described boats and ships drive equipment to connect, visibility according to the output of described scattering formula visibility visualizer determines the maximum allowable travel speed of boats and ships, based on the current ship running speed that the maximum allowable travel speed of boats and ships and described speed of the ship in metres per second measurement device export, equipment is driven to carry out the control of ship running speed by described boats and ships,
Described ship control device also includes:
Scattering formula visibility visualizer, including support, transmitter unit, receive unit and control unit, described support is fixed on Ship body top, described transmitter unit, described reception unit and described control unit are fixing on the bracket, described control unit includes micro-CPU and communication interface, described transmitter unit and described reception unit are staggered relatively, described transmitter unit adopts GaAs infrared LED to launch scattering light as light source, described reception unit adopts PIN-type photosensitive tube to receive scattering light, described control unit connects described transmitter unit and described reception unit respectively, described micro-CPU is according to launching the light intensity of scattering light and receiving the light intensity calculating visibility of scattering light, described communication interface connects described micro-CPU to export visibility,
Speed of the ship in metres per second measurement device, is arranged in the instrumental panel of ship control room, measures and export current ship running speed in real time;
Boats and ships drive equipment, it is arranged in the hold of Ship body rear end, including reversible explosive motor, the classification reducing gear train driven by reversible explosive motor, control the slip clutch that reversible explosive motor contacts with classification reducing gear train or departs from, drive the propeller shaft with fixed blades and friction brakes propeller shaft being slowed down and remaining stationary as, wherein the acceleration of boats and ships and deceleration are to be acted on by the reversible explosive motor speed to the rotation of propeller and direction and controlled, the combination of Clutch and brake or operation in succession is needed during control,
Indoor PM2.5 detects equipment, is arranged in control room, adopts built-in filter membrane on-line sampling device to be analyzed controlling indoor accelerated test, detects the concentration of PM2.5 fine particle therein, and as indoor PM2.5 concentration output;
Outdoor PM2.5 detects equipment, is arranged in Ship body, adopts built-in filter membrane on-line sampling device that the outer Atmospheric Grains of control room is analyzed, and detects the concentration of PM2.5 fine particle therein, and as outdoor PM2.5 concentration output;
Main control device, it is arranged in the instrumental panel of ship control room, connect described scattering formula visibility visualizer respectively, described speed of the ship in metres per second measurement device, described boats and ships drive equipment, described indoor PM2.5 detects equipment and described outdoor PM2.5 detects equipment, the maximum allowable travel speed of boats and ships is determined according to the visibility received, when current ship running speed travel speed maximum allowable beyond boats and ships, send boats and ships overspeed alarm signal, and control boats and ships driving equipment deceleration until current ship running speed is less than or equal to the maximum allowable travel speed of boats and ships, simultaneously, when indoor PM2.5 concentration is more than outdoor PM2.5 concentration, send control room to window cue, when indoor PM2.5 concentration is less than outdoor PM2.5 concentration, send control room and close window cue,
Navigator, is arranged in the instrumental panel of ship control room, connects main control device so that boats and ships current location is sent to main control device;
Display device, is arranged in the instrumental panel of ship control room, connects main control device to show the maximum allowable travel speed of boats and ships, current ship running speed, indoor PM2.5 concentration and outdoor PM2.5 concentration in real time;
Voice playing equipment, is arranged in the instrumental panel of ship control room, connects main control device and windows with boats and ships overspeed alarm signal, control room with real-time play cue or voice prompted file corresponding to control room pass window cue;
Wireless Telecom Equipment, is arranged on Ship body front end, connects main control device, for boats and ships current location, visibility and outdoor PM2.5 concentration are wirelessly transmitted to ship-handling center;
Wherein, when main control device determines the maximum allowable travel speed of boats and ships according to the visibility received, visibility scale scope at the visibility received determine the maximum allowable travel speed of different boats and ships, described visibility scale scope include less than 100 meters, 100 meters to 1 kilometer, 1 kilometer to 2 kilometers, 2 kilometers to 5 kilometers, 5 kilometers to 100 kilometers and more than 100 kilometers;
Wherein, described indoor PM2.5 detects equipment and described outdoor PM2.5 detects equipment and adopts the microcomputer laser dust monitor of built-in filter membrane on-line sampling device, described microcomputer laser dust monitor is while monitoring dust concentration continuously, particulate matter can be collected, its composition is analyzed, and obtain bug dust concentration, there is PM2.5 detection option.
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| CN201410833927.3A Division CN104535537A (en) | 2014-07-28 | 2014-07-28 | Ship control device based on gas analysis |
| CN201510111507.9A Division CN104677861A (en) | 2014-07-28 | 2014-07-28 | Ship control device based on gas analysis |
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| CN105043401B (en) * | 2015-07-14 | 2018-04-03 | 南京理工大学 | City health trip method and system for planning based on Floating Car method |
| NL2017001B1 (en) * | 2016-06-20 | 2018-01-04 | Prodrive Tech Bv | Sensor system for sensing particle mass concentration in air, splitter unit, dual light beam unit, sensor unit and method for operating the latter |
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| JP5067318B2 (en) * | 2008-08-28 | 2012-11-07 | 株式会社デンソー | Wiper control device for vehicle |
| CN102874398A (en) * | 2012-10-16 | 2013-01-16 | 河海大学 | Intelligent early warning and braking safety system for ship |
| CN202975038U (en) * | 2012-12-10 | 2013-06-05 | 中国船舶重工集团公司第七一〇研究所 | Ship speed measuring system |
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| JP5067318B2 (en) * | 2008-08-28 | 2012-11-07 | 株式会社デンソー | Wiper control device for vehicle |
| CN102874398A (en) * | 2012-10-16 | 2013-01-16 | 河海大学 | Intelligent early warning and braking safety system for ship |
| CN202975038U (en) * | 2012-12-10 | 2013-06-05 | 中国船舶重工集团公司第七一〇研究所 | Ship speed measuring system |
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| CN104122232A (en) | 2014-10-29 |
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