CN106672724B - CAN bus based portable elevator security performance monitors system - Google Patents
CAN bus based portable elevator security performance monitors system Download PDFInfo
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- CN106672724B CN106672724B CN201611195694.4A CN201611195694A CN106672724B CN 106672724 B CN106672724 B CN 106672724B CN 201611195694 A CN201611195694 A CN 201611195694A CN 106672724 B CN106672724 B CN 106672724B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
- B66B5/0025—Devices monitoring the operating condition of the elevator system for maintenance or repair
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
- B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
- Maintenance And Inspection Apparatuses For Elevators (AREA)
Abstract
The invention discloses a kind of CAN bus based portable elevator security performances to monitor system, it is made of the part such as acceleration detection module, noise detection module, power detection module, human-computer interaction module, MCU main control module, gateway module, power module.Each functional module has CAN interface, by CAN bus configuration, on-demand configuration feature module, plug and play can be required according to on-the-spot test, so that the structure of detection device is more reliable, flexible；CAN communication agreement has been worked out, md5 encryption is carried out to testing result, guarantee the authenticity of information and can be traced；Remote server can supervise maintenance staff's stroke and real-time distribution task, be conducive to accelerate elevator testing process, improve efficiency.
Description
Technical field
The invention belongs to elevator safety detection field more particularly to a kind of CAN bus based portable elevator safeties
System can be monitored.
Background technique
According to statistics, by the end of the year 2015, China is reaching 4,000,000 with elevator ownership, and with annual 20% or so
Ratio increases, and elevator ownership, annual output, annual increment have occupied the first in the world, and China has become the maximum elevator in the whole world
Market.
And in recent years, service life is more than 10 years elevator quantity cumulative year after year, becomes security risk height, ensures that pressure is big
" old elevator ", in the flourishing city such as Beijing, Shanghai, Hangzhou, the ratio of old elevator is had reached with the 10% of elevator
More than.2014, State General Administration for Quality Supervision spot-check 2523 of drug in some provinces using 15 years or more old elevators, knot
Fruit has 7%, and there are larger security risks.Hangzhou is the Zhejiang maximum city of elevator ownership, there is more than 7.4 ten thousand platform elevators, only 2014
1 year, Hangzhou connect elevator call for help 5.6 ten thousand altogether, it is average daily will in elevator " fishing " 18 people.2015, the whole nation was sent out altogether
Raw elevator accident 58 rises, dead 46 people.It can be seen that elevator safety situation very severe.
It is " three points are leaned on product, and seven points by maintenance " that elevator industry, which has a generally acknowledged saying, and maintenance is in elevator life cycle
Key link, elevator safety is largely dependent upon maintenance quality." elevator uses management and maintenance rule (TSG
T5001-2009) " by elevator maintenance be divided into half a month, season, half a year and year 4 kinds, and list respectively different maintenance contents with
It is corresponding to require.Wherein, without exception when semimonthly daily maintenance project includes traction machine operation to shake and abnormal noise, gate
It switchs working properly 28 equal.The maintenance in season requires in addition to meeting half a month maintenance requirement, and there are also 13 specialized contents, half a year
With annual maintenance requirement and so on, content increases step by step.For different maintenance contents, the equipment for needing to carry also phase not to the utmost
Together, it needs if detecting traction machine noiseless whether without friction in daily maintenance using three axis accelerometer and sound level meter, and sedan-chair
Compartment weighing device is annual maintenance project, usually need not just carry corresponding tool.
" elevator maintenance maintenance safety management specification (DB33T 728-2016) " points out that accredited operating personnel safeguards guarantor per capita
Should not be more than by supporting elevator quantity by 30.However in practice, the case where there are company's overload operations, such maintenance staff divide
Time on to every elevator will shrink significantly, be difficult to cover maintenance program, individual persons may only with having a glance at formula
It checks, or even falsifies inspection result.It is therefore desirable to understand the stroke of maintenance staff in real time, to exercise supervision.
Currently used elevator detecting instrument has been evolved into from common single measuring tool can measure various numerical value
Electronic equipment, such as: tachymeter, sound level meter, electronic vernier caliper, clamp on amperemeter, respectively detect speed, noise, diameter
With the data such as electric current.Although these instruments can satisfy respective requirement, but using complicated, the high rapid wear of valence, the unification of performance
Also result in the common fault of detection inconvenience, inefficiency.Therefore, in order to examine elevator, project is comprehensively careful, detection data is reliable
And there is operability, exploitation novel elevator detecting instrument has been the task of top priority.
The ADIASYSTEM of German TUV company is the classical equipment in the detection of German elevator, by laptop and multiple
Sensor measurement module composition.Parameter having time, operation, the speed, acceleration, vibration, tractive force, liquid that can be measured and record
Pressure, the power of elevator door and kinetic energy of piezoelectricity ladder etc..But data record and memory space all very littles, it constrains and exists for a long time
Line observation and fault pre-alarming forecast function, user's operation, data show that on-the-spot test line is many and diverse, no dependent on external PC machine
It is suitble to long-time on-line testing, and does not have noise measuring function.
Currently, the EVA625 in the U.S. is mostly used to carry out elevator running performance test greatly in the world, EVA625 is with 8 single-chip microcontrollers
For core, 4 memory spaces of channel 700 seconds and the need that Off-line data analysis mode is unable to satisfy high efficiency, high precision measurement is analyzed
It wants.
Hangzhou MI-7004E elevator running performance analysis tester is industrial personal computer and based on 4 parameter signals of DSP and FPGA
Sampling, processing circuit are integrated in an instrument, can complete the on-line checkings such as acceleration, noise, wheel speeds and off-line analysis function
Can, portability increases.But there are opening speeds slowly, the reliability of instrument is lower, parameter can only test one by one, the testing time
The deficiencies of long and instrument cost is high.
Patent of invention " the elevator faults detection system based on wireless communication technique " (application number 201410417048.2), mentions
A kind of detection carriage pressure and the device for judging whether someone out, signal acquisition node is wireless by ZigBee technology and processor
Communication.
Patent of invention " a kind of elevator health status detection device and method " (application number 201510742969.0), proposes inspection
Data are passed to server by gateway and handled by parameters, each modules such as vibration measuring is dynamic, power, load-carrying.
Patent of invention " elevator safety performance method for testing and analyzing and its device " (application number 201610074374.7) proposes
The measurement modules such as UART connection accelerometer, noise, power with single-chip microcontroller, are shown with USB connection tablet computer.
It is above-mentioned to benefit our pursuits, propose that the UART networking included using ZigBee wireless technology or single-chip microcontroller, detection vibration are made an uproar
The parameters such as sound, power.Exploration has certain reference value, but there are still limitations for achievement.If instrumental function is incomplete, composition knot
Structure is inflexible, is unable to satisfy the requirement that distinct device is carried for different maintenance contents, aggravates maintenance staff's burden.
CAN (Control Area Network) is released by German BOSCH company earliest, is measured and is held for automotive interior
Data communication between row component is appointed as international standard by ISO International Standards Organization.Due to its brilliant performance, pole
High reliability and cheap price, CAN are widely used in automobile, aviation, Industry Control, Medical Instruments, security protection etc.
Various fields.CAN bus structure is simple, and transmission is reliable, and real-time is high；With multi-main construction, equal, the convenience of each node
Region networking, bus utilization are high；Message is short frame structure and to have hardware CRC check, and it is small to be disturbed probability, corrupt data rate pole
It is low.Therefore, with CAN bus technology, configuration has many advantages in elevator safety performance monitoring system.
Fieldbus networks Communication Model has done simplification to OSI structure, generally includes physical layer, data link layer and application
Layer.The underlying protocol of CAN bus defines physical layer and data link layer, but is not specified by application layer, to carry out efficient
Communication also needs further development and application layer protocol.Currently, CAN bus based Business agreement mainly have DeviceNet and
Two kinds of agreements of CANopen, but since both buses are developed based on versatility purpose, structure is relative complex,
CANopen needs to define device object dictionary (Object Dictionary), and DeviceNet, which must first establish connection, to be led to
Believe, it is for, the relatively simple occasion of communication process dedicated in this way for elevator detection system and improper.
Md5 encryption technology is widely used in field of digital signature, it can by entire file as a big text information,
Algorithm is converted by irreversible character string, generates a unique MD5 informative abstract.The process of this file is propagated afterwards
In, if the content of file have occurred it is any type of change (including artificially modify or downloading process in route is unstable draws
The error of transmission etc. risen), when recalculating MD5 to this file it finds that informative abstract is not identical, it is possible thereby to determine
Whether obtained file is tampered.
Summary of the invention
For situations such as existing elevator detecting instrument function is incomplete, structure is inflexible, the invention proposes one kind
CAN bus based portable elevator security performance monitors system.
The purpose of the present invention is what is be achieved through the following technical solutions: a kind of CAN bus based portable elevator safety
Performance monitoring system, comprising: acceleration detection module: the acceleration in detection running process of elevator in three mutually perpendicular directions
Degree, and the acceleration of elevator, speed, displacement, vibration parameters in prediction on such basis；Noise detection module: in detection running process of elevator
Noise；Power detection module: the power in detection running process of elevator calculates elevator balanced system in conjunction with elevator speed
Number；Human-computer interaction module: showing and records each parameter measurements；MCU main control module: the letter from each detection module is received
Breath, is sent to human-computer interaction module, and perform record after calculation processing；Gateway module: it is communicated with external system；Power supply mould
Block: power supply is provided for each module.
MCU main control module has CAN interface and blue tooth interface, for communicating with other modules.MCU main control module is certainly
It is dynamic to identify each functional module for being articulated in CAN bus, functional module can continuous hot-line insertion and extraction, plug and play, without additional setting；
Acceleration detection module, noise detection module, power detection module, gateway module have CAN interface, are used for and MCU
Main control module communication；Human-computer interaction module has blue tooth interface, for communicating with MCU main control module.
Safeguard that a CAN bus peripheral hardware table, preset content are acceleration detection module, noise measuring in MCU main control module
Filter in CAN controller is arranged in the ID and working condition of each functional module such as module, power detection module, gateway module
Screening range be all ID being stored in peripheral hardware table and from peripheral hardware request distribute ID signal.If receiving in peripheral hardware table
The information of functional module, then receive, and sets this peripheral state to online, while enabling corresponding functional module, if continuing
A period of time does not receive the information of this module, then sets its state to offline, while shielding corresponding functional module.If receiving
Distribute ID signal to request, MCU main control module first inquire in peripheral hardware table whether the equipment of existing same type, if it exists or outside
If table has been expired, then ignore this request, and no longer respond this equipment, if it does not exist, then updates peripheral hardware table, add this equipment, and give
It distributes ID, prepares to receive information.
Functional module has itself initial ID, if this ID is present in the peripheral hardware table of MCU main control module, this ID is constant,
Otherwise ID is distributed by MCU main control module.Filter in the CAN controller of functional module only screens the ID of MCU main control module, no
Respond other modules.
Power detection module is divided into power measurement portion and CAN interface part, and power measurement portion is placed on elevator
Computer room, CAN interface are partially disposed in carriage, are carried out data transmission by wireless communication between two parts.
CAN bus uses customized CAN communication agreement, i.e. CAN application layer protocol, communication only MCU main control module with
It is carried out between functional module.The reference format of data frame includes 11 identifiers and 0-64 in customized CAN communication agreement
The data field of position and other controls, check bit, identifier and data field therein are the main bodys for defining CAN application layer protocol.
This agreement provides the 1st expression function code of identifier, 2-3 expression device types, 4-7 expression device ids, remaining 4 guarantors
It stays；The function code indicates that Content of Communication is transmission data or request distribution ID；When communication equipment be measurement sensor when, it is specified that
Data field is 32, because single precision floating datum and shaping number are 32, rear 4 expression variables ID of identifier；When communication is set
It is standby when being other function module such as gateway, it is specified that data field is 64, all for transmitting information.
Human-computer interaction module has map, GPS positioning and a mobile communication function, the server of distal end can by with it is man-machine
The communication of interactive module, obtain elevator safety performance monitoring system position, and then to the position of maintenance staff, the activity duration into
Row supervision and real-time distribution task, maintenance staff can quickly position destination by map.
Measurement data is stored in human-computer interaction module, and the MD5 value of calculation document with document form, MD5 is passed through man-machine
The mobile network of interactive module uploads onto the server, and as the voucher of initial data, prevents the subsequent altered data of maintenance staff.
The beneficial effects of the present invention are: apparatus of the present invention are integrated with the functional modules such as elevator parameter detection and communication, lead to
CAN bus configuration is crossed, on-demand configuration feature module can be required according to on-the-spot test, plug and play is realized a tractor serves several purposes, reduced
O&M expense；CAN communication agreement has been worked out, communication efficiency is improved；Md5 encryption is carried out to testing result, guarantees the true of information
Reality and traceable；Remote server can supervise maintenance staff's stroke and real-time distribution task, be conducive to accelerate elevator inspection
Flow gauge improves efficiency.
Detailed description of the invention
Fig. 1 is the structural block diagram of CAN bus based portable elevator security performance monitoring system；
Fig. 2 (a) is the structural block diagram of power detection module；
Fig. 2 (b) is the circuit diagram of power detection module；
Fig. 3 is the CAN interface circuit diagram of each functional module；
Fig. 4 is the reference format of CAN data frame.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in Figure 1, a kind of CAN bus based portable elevator security performance provided by the invention monitors system, packet
It includes: acceleration detection module 100, noise detection module 200, power detection module 300, gateway module 400, human-computer interaction module
700, MCU main control module 600 and power module 500.
Acceleration detection module 300 uses 3-axis acceleration sensor AKE394B-02, range ± 2g, and output interface is
RS485 passes through assistant SCM STM32F103 and digital isolator ADUM1201, CAN transceiver with CAN controller
TJA1050 is articulated in CAN bus.Sensor is placed on lift car center when test, and Z axis is perpendicular to floor, X-axis face
Gate exports elevator in space motion in the component of acceleration of tri- axis of XYZ, and main control MCU passes through numerical differentiation, Simpson's numerical value
Integrating meter calculates acceleration, speed, displacement and vibration.
Noise detection module 200 measures noise signal, range 30-130dB, by sound level when test using sound level meter GM1356
Meter is placed on the position of car floor overcentre 1.5m.Be integrated with inside it amplification filtering etc. treatment processes, can directly by
Assistant SCM STM32F103 reads noise measurement in the form of PWM, then receives by digital isolator ADUM1201, CAN
Hair device TJA1050 is articulated in CAN bus.
Power detection module 300 consists of two parts, as shown in Fig. 2 (a), 2 (b), including ADE7758 power measurement chip
310, using the power measurement MCU 320 of STM32F103 chip, using the MCU with CAN controller of STM32F103 chip
330, TJA1050 CAN transceiver 340, the RF433 wireless communication of the RF433 wireless communication module 350 of model A05, model A05
Module 360, ADUM1201 digital isolator 370.Power measurement portion is placed on the alternating current of entire elevator device well headroom
By machine, alternating current generator active power is acquired using power measurement chip 310, and result is given using STM32F103 chip
Power measurement MCU 320；CAN interface is partially disposed in carriage, mainly by being controlled using the band CAN of STM32F103 chip
The MCU330 and digital isolator 370 of device processed, CAN transceiver 340 form.Between two single-chip microcontrollers by with higher transmission away from
From RF433 wireless module carry out data transmission.
The functional module of remaining changeable, such as gateway module have CAN interface, as shown in Figure 3.Detection module
Sensor or other function module special chip first communicated with the assistant SCM STM32F103 with CAN controller, general
Data output, then by digital isolator ADUM1201, CAN transceiver TJA1050, CAN bus is forwarded the data to, thus with
Main control MCU is communicated.MCU main control module detects automatically and identifies each functional module in CAN bus, so with it is identified
Module communication, receives detection data, in conjunction with historical data and the auxiliary parameter inputted by human-computer interaction module, application safety
Assessment algorithm carries out preliminary elevator safety assessment, finally sends human-computer interaction module for measurement data and assessment result and presents
To user.
Human-computer interaction module selects 10 inches of Android tablet computer, supports bluetooth 4.0, and network type 4G, band GPS are fixed
Bit function.Tablet computer can be communicated by bluetooth with main control MCU, shown and recorded elevator detection data.It can after insertion sim card
To communicate with remote server, the task distribution from server is received, and place is shown on map, before facilitating maintenance staff
It is past.Server end periodically receives the GPS information of tablet computer, determines maintenance staff position and activity duration with this, into
And it exercises supervision to its stroke.
Elevator safety detection parameters CAN communication agreement, i.e. CAN have been worked out in the design of elevator safety performance monitoring system
Application layer protocol, communication only carry out between MCU main control module and functional module.The reference format of CAN data frame such as Fig. 4 institute
Show, including 11 identifiers and 0-64 data fields and other controls, verification equipotential, identifier and data field therein
It is the main body for defining CAN application layer protocol.Identifier uniquely identify message and carry the meaning of data, and define static state
Message prior power, as arbitration domain major part be used for bus contention.Therefore, reality of the identifier code structure for communication
The performance indicators such as Shi Xing, reliability influence great.The 1st of this agreement regulation identifier is that function code, in particular to 0 represent this
Frame represents this frame for requesting ID for transmitting data, 1, the position the 2-3 expression device type of identifier, 4-7 expression device ids,
Remaining 4 reservations.When communication equipment is measurement sensor, it is specified that data field is 32, because of single precision floating datum and shaping number
It is 32, rear 4 expression variables ID of identifier；When communication equipment is other function module such as gateway, it is specified that data field
It is 64, all for transmitting information.Such as acceleration detection module, when sending data to main control MCU, identifier the 1st is 0
Indicate that this frame carrys out measurement sensor for transmitting data, identifier 2-3 determining data frames, 4-7 expression sensors are to add
Speedometer, 8-11 indicate that velocity amplitude is the value of X, Y or Z axis, the acceleration value of 32 expression single-precision floating point types before data field.
Measurement data is stored in human-computer interaction module in the form of database file, human-computer interaction module simultaneously calculation document
MD5 value, and uploaded onto the server by mobile network, as the voucher of initial data, recalculated after maintenance staff return
The MD5 value of raw data file, is compared with the MD5 uploaded before, prevents the subsequent altered data of maintenance staff.
Claims (5)
1. a kind of CAN bus based portable elevator security performance monitors system characterized by comprising
Acceleration detection module: the acceleration in detection running process of elevator in three mutually perpendicular directions, and it is electric in prediction on such basis
The acceleration of ladder, speed, displacement, vibration parameters；
Noise detection module: the noise in detection running process of elevator；
Power detection module: the power in detection running process of elevator calculates balance coefficient of elevator in conjunction with elevator speed；
Human-computer interaction module: showing and records each parameter measurements；
MCU main control module: the information from each detection module is received, human-computer interaction module is sent to after calculation processing, and perform
Record；
Gateway module: it is communicated with external system；
Power module: power supply is provided for each module；
The MCU main control module has CAN interface and blue tooth interface, for communicating with other modules；MCU main control module is certainly
It is dynamic to identify each functional module for being articulated in CAN bus, functional module can continuous hot-line insertion and extraction, plug and play, without additional setting；
The acceleration detection module, noise detection module, power detection module, gateway module have CAN interface, use
It is communicated in MCU main control module；
The human-computer interaction module has blue tooth interface, for communicating with MCU main control module；
A CAN bus peripheral hardware table is maintained in the MCU main control module, preset content is acceleration detection module, noise inspection
Module, power detection module, the ID of gateway module and working condition are surveyed, the screening range of filter in CAN controller is set
ID signal is distributed for all ID being stored in peripheral hardware table and from the request of peripheral hardware；It is present in function in peripheral hardware table if receiving
The information of module, then receive, and sets this peripheral state to online, while enabling corresponding functional module, if continuing one section
Time does not receive the information of this module, then sets its state to offline, while shielding corresponding functional module；It is asked if receiving
Seek distribution ID signal, MCU main control module first inquire in peripheral hardware table whether the equipment of existing same type, if it exists or peripheral hardware table
It has been expired that, then ignore this request, and no longer responded this equipment, if it does not exist, then updated peripheral hardware table, add this equipment, and to its point
With ID, prepare to receive information；
Functional module has itself initial ID, if this ID is present in the peripheral hardware table of MCU main control module, this ID is constant, otherwise
ID is distributed by MCU main control module；Filter in the CAN controller of functional module only screens the ID of MCU main control module, is not responding to
Other modules.
2. CAN bus based portable elevator security performance according to claim 1 monitors system, which is characterized in that
Power detection module is divided into power measurement portion and CAN interface part, and power measurement portion is placed on elevator(lift) machine room, CAN
Bus interface is partially disposed in carriage, is carried out data transmission by wireless communication between two parts.
3. CAN bus based portable elevator security performance according to claim 1 monitors system, which is characterized in that
The CAN bus uses customized CAN communication agreement, i.e. CAN application layer protocol, and communication is only in MCU main control module and function
It is carried out between module；In customized CAN communication agreement the reference format of data frame include 11 identifier and 0-64
Data field and other controls, check bit, identifier and data field therein are the main bodys for defining CAN application layer protocol；This association
1st expression function code of view regulation identifier, 2-3 expression device types, 4-7 expression device ids, remaining 4 reservations；
The function code indicates that Content of Communication is transmission data or request distribution ID；When communication equipment is measurement sensor, it is specified that number
It is 32, because single precision floating datum and shaping number are 32, rear 4 expression variables ID of identifier according to domain；Work as communication equipment
, it is specified that data field is 64 when for other function module, all for transmitting information.
4. CAN bus based portable elevator security performance according to claim 1 monitors system, which is characterized in that
Human-computer interaction module has map, GPS positioning and a mobile communication function, the server of distal end can by with human-computer interaction module
Communication, obtain elevator safety performance monitoring system position, and then exercise supervision to the position of maintenance staff, activity duration and
Distribution task, maintenance staff can quickly position destination by map in real time.
5. CAN bus based portable elevator security performance according to claim 1 monitors system, which is characterized in that
Measurement data is stored in human-computer interaction module, and the MD5 value of calculation document with document form, and MD5 is passed through human-computer interaction module
Mobile network upload onto the server, as the voucher of initial data, prevent the subsequent altered data of maintenance staff.
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| CN111071886A (en) * | 2018-10-22 | 2020-04-28 | 奥的斯电梯公司 | System for tracking elevator ride quality |
| CN109264519B (en) * | 2018-11-09 | 2021-02-26 | 莱茵德尔菲电梯有限公司 | Elevator vibration signal preprocessing method and elevator gateway system |
| US11795032B2 (en) * | 2018-11-13 | 2023-10-24 | Otis Elevator Company | Monitoring system |
| CN110779847A (en) * | 2019-11-12 | 2020-02-11 | 安徽碗碗豆电子商务有限公司 | Method for testing windproof performance of down garment |
| CN115643037B (en) * | 2021-07-20 | 2024-04-19 | 广州汽车集团股份有限公司 | Vehicle-mounted CAN bus communication method, device and system |
| CN114513412B (en) * | 2021-12-30 | 2023-05-16 | 电子科技大学 | Plug-and-play system for peripheral equipment of Internet of things |
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| CN201406235Y (en) * | 2009-03-27 | 2010-02-17 | 北京市朝阳区特种设备检测所 | Dynamic intelligent monitoring device for elevator |
| CN203392646U (en) * | 2013-06-25 | 2014-01-15 | 天津城市建设学院 | Field bus-based remote lift monitoring system |
| CN105293238A (en) * | 2015-11-04 | 2016-02-03 | 浙江大学 | Device and method for detecting health condition of elevator |
| CN105480804A (en) * | 2016-02-02 | 2016-04-13 | 浙江省联合特种设备研究院 | Elevator safety performance testing and analyzing method and device |
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