CN107045348A - Life detection intelligent carriage - Google Patents
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- CN107045348A CN107045348A CN201710251734.0A CN201710251734A CN107045348A CN 107045348 A CN107045348 A CN 107045348A CN 201710251734 A CN201710251734 A CN 201710251734A CN 107045348 A CN107045348 A CN 107045348A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a kind of life detection intelligent carriage.The life detection intelligent carriage of the present invention includes：One-chip computer module, motor drive module, independent current source module, infrared obstacle avoidance module, human body induction module, GPS module and gsm module.It is an advantage of the invention that the intelligent carriage with life detection function, it is contemplated that the complexity of application environment, configuring various types of sensors and communication module etc. is used to monitor car body local environment in real time, obtains effective information, very big to lift rescue efficiency；Dolly, which can enter in narrow and small complex environment, searches for survivor, it is to avoid the unnecessary injury that the non-intellectual of environment is likely to result in rescuer；Vehicle body is light simultaneously, small volume, and motion is flexible, consumes energy low, can for a long time be used in complex environment, solves the problem of mankind's activity is limited.
Description
Technical field
The present invention relates to disaster assistance apparatus field, and in particular to one kind application diffusing reflection formula infrared sensor, pyroelectricity
Infrared sensor, single-chip microcomputer, the life detection intelligent carriage of GPS and gsm module.
Background technology
Natural calamity, the generation of human-made disasters often carry destructive destructive power.House caves in, bridge breaking, for rescue
Work brings very big test.Due to the fragility of life, the very first time after disaster generation takes accurately rescue just to seem outstanding
To be important.The development of the severe often serious obstruction rescue work of environment, or even rescuer's life is constituted a threat to.By band
There is the intelligent carriage of life detection function, into narrow and small complex environment, search for survivor, it will significant increase rescue effect
Rate, while avoiding the unnecessary injury that the non-intellectual of environment may be caused to rescuer.
One-chip computer module has compact, light weight, cheap, low in energy consumption, extension flexible and easy to use excellent
Point, it is widely used in instrument and meter, can be realized to a variety of measurement physical quantitys by integrated various types of sensors
Information is changed and controlled, and is a part for realizing that automation is indispensable.
Gsm module is the terminal device after another very important gsm mobile communication system outside GSM mobile handset.It is to pass
A kind of data terminal equipment that system modem is combined with gsm wireless GSM, because gsm module is not by ground
Domain, the influence of circuit, so based on this module, using GSM network as wireless-transmission network, a variety of prospect poles can be developed
Its optimistic types of applications.The GSM message function that the present invention is used, the location information of survivor can be obtained in real time, with wide
Wealthy application prospect.
Enter today of information age in the mankind, all social activitieies of people are all to be converted to acquisition of information with information
Center, the important means that sensor is changed as acquisition of information and information, is the position of information science foremost, is real
One of existing information-based basic technology.
Life detection intelligent carriage considers the complexity of application environment, will configure various types of sensors and communication module
Deng to monitor car body local environment in real time, effective information is obtained.Vehicle body is light simultaneously, small volume, and motion is flexible, consumes energy low, can
To be used for a long time in complex environment.Rescue crisis detection or surroundings detection monitoring can act as good work
With solving the problem of mankind's activity is limited.
The content of the invention
It is simple the invention provides one kind to improve the efficiency of disaster ruins site inspection and the accuracy rate of the positioning wounded,
Efficient life detection intelligent carriage.
The present invention is to be achieved through the following technical solutions：A kind of feature of life detection intelligent carriage includes：Single-chip microcomputer
Module, motor drive module, independent current source module, infrared obstacle avoidance module, human body induction module, GPS module and gsm module.Institute
State independent current source module and dry battery power is subjected to the 3.3 volts and 5 volts stable voltages that decompression processing obtains standard for 7.2 volts, be
Other modules provide power supply；Infrared obstacle avoidance module collection roadblock information is simultaneously converted into electric signal, infrared obstacle avoidance module it is defeated
Go out and be connected with one-chip computer module, one-chip computer module controlled motor drive module avoidance under steam；The human body induction module sense
Answer the change of human body infrared temperature and produce electric signal, the output of the module connects the one-chip computer module；The GPS module
Connect the one-chip computer module；The gsm module is connected with one-chip computer module, and the positional information of people is sent into user mobile phone
End.
1) one-chip computer module uses STM32F103R8T6 chips, and the electric capacity that its circuit crystal oscillator connects 2 20pf connects
Ground, then and upper 1 1M Ω resistance connect one-chip computer module PD0-OSC_IN and PD1 pin, constitute oscillating circuit, single-chip microcomputer mould
Block uses SWD debud modes, and wherein SWD 4 pin connect 3.3v voltages, 1 pin ground connection, 2 pin SWCLK and 3 pin SWDIO difference order pieces
The PA14 mouths of machine module and PA13 mouthful, reset circuit are connect the resistance connection monolithic of 3.3v voltages by 0.1 μ f ground capacities and 10k Ω
NRST mouthfuls of compositions of machine module.
2) motor drive module, is made up of, first piece of L293D chip is responsible for drive two pieces of L293D chips and 4 motors
Left front and right front motor is moved, wherein, the left front pin of motor Enable Pin 1 connects the PB1 mouths of one-chip computer module, the preceding inlet side of left front motor
2 pin and the retrogressing pin of end 7 connect the PB2 mouths and PB12 mouthfuls, the right pin of front motor Enable Pin 9 connection single-chip microcomputer mould of one-chip computer module respectively
The PB15 mouths of block, the pin of preceding inlet side 10 and the retrogressing pin of end 15 of right front motor connect PB14 and PB13 mouthfuls of one-chip computer module respectively,
Second piece of L293D chip be responsible for driving it is left back and right after motor, wherein, the left back pin of motor Enable Pin 1 connects one-chip computer module
PA11 mouthfuls, the pin of preceding inlet side 2 of left back motor and retreat the pin of end 7 connect respectively one-chip computer module PD2 mouths and PC12 mouthful, it is electric behind the right side
The pin of machine Enable Pin 9 connects the pin of preceding inlet side 10 of motor and the retrogressing pin of end 15 behind the PA8 mouths of one-chip computer module, the right side and connects monolithic respectively
The PB3 mouths of machine module and PB4 mouthful, 2 pieces of L293D chips are all 4,5,12,13 pin ground connection, and 16 pin meet supply voltage 5v, wherein electric
Plus 0.1 μ f filter capacitor by source, 8 pin of 2 pieces of L293D chips all meet common ground terminal voltage 7.2v, 3,6,11,14
Pin as output end, the input being connected with one-chip computer module all access 5v voltages and use up symplectic input/output signal rise every
From effect, also the I/O port of one-chip computer module is shielded, prevents it to be burned.
3) the independent current source module does decompression processing by Power convert LM2576 modules, drops to supply voltage 7.2v
5v requires voltage and stabilized it, then passes through voltage needed for supply voltage is dropped into 3.3v by ASM1117 modules and stabilize it.
4) the infrared obstacle avoidance module is by the identical infrared obstacle avoidance module composition of left and right 2, the 1 of 2 pieces of infrared obstacle avoidance modules
Pin all connects 5v voltages, and 3 pin are all grounded, and the pin of output end 2 of left infrared obstacle avoidance module connects PB8 mouthfuls of one-chip computer module, right infrared obstacle avoidance
The pin of output end 2 of module connects PB7 mouthfuls of one-chip computer module.
5) human body induction module uses HC_SR501 modules, wherein 1 pin connects 5v voltages, 2 pin are used as detection output
Connect PB9 mouthfuls of one-chip computer module, 3 pin ground connection.
6) GPS module uses NEO-6M UBLOX modules, wherein 4 pin connect 3.3v voltages, 3 pin ground connection, 1 pin is used as string
Mouthful 1 data sending terminal is connected for PA2 mouthfuls with one-chip computer module, 2 pin as serial ports 1 data receiver and one-chip computer module PA3
Mouth is connected.
7) gsm module uses SIM800 modules, wherein 4 pin connect 5v voltages, 3 pin ground connection, 2 pin as serial ports 2 number
According to receiving terminal and one-chip computer module, PB11 mouthfuls are connected, 1 pin as serial ports 2 PB10 mouthfuls of phases of data sending terminal and one-chip computer module
Even.
The beneficial effects of the invention are as follows：
1) a kind of life detection intelligent carriage, ruins obstacle can be avoided using infrared obstacle avoidance module, and realization is being rescued
The live walking function freely of calamity.
2) a kind of life detection intelligent carriage, using human body induction module, realization detects that life entity stops at once,
Send a signal to one-chip computer module, real-time collection site data.
3) a kind of life detection intelligent carriage, is connected using GPS with gsm module with one-chip computer module, is realized automatic
The specific location information of indicator of trapped personnel is sent to mobile phone, rescue rate is improved, intelligence degree is high.
4) a kind of life detection intelligent carriage, using sub-module design method, wiring is uniform so that whole device is easy
In disassembly and assembly, other functions, such as transmission of video, mobile phone control etc. can also be extended.
Brief description of the drawings
Fig. 1 is the structured flowchart of life detection intelligent carriage
Fig. 2 is life detection intelligent carriage integrated circuit schematic diagram
Fig. 3 is one-chip computer module schematic diagram
Fig. 4 is motor drive module schematic diagram
Fig. 5 is independent current source module principle figure
Fig. 6 is infrared obstacle avoidance module principle figure
Fig. 7 is human body sensing module principle figure
Fig. 8 is GPS module schematic diagram
Fig. 9 is gsm module schematic diagram
Embodiment
The embodiment to the present invention is described further below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, circuit of the present invention includes：One-chip computer module, motor drive module, independent current source mould
Block, infrared obstacle avoidance module, human body induction module, GPS module and gsm module.The independent current source module is by dry battery power 7.2
Volt carries out the 3.3 volts and 5 volts stable voltages that decompression processing obtains standard, and power supply is provided for other modules；The infrared obstacle avoidance
Module gathers roadblock information and is converted into electric signal, and the output of infrared obstacle avoidance module is connected with one-chip computer module, one-chip computer module
Controlled motor drive module avoidance under steam；The human body induction module senses the change of human body infrared temperature and produces electricity
Signal, the output of the module connects the one-chip computer module；The GPS module connects the one-chip computer module；The gsm module
It is connected with one-chip computer module, the positional information of people is sent to user mobile phone end, improves the efficiency of disaster ruins site inspection
With the accuracy rate of the positioning wounded.
As shown in figure 3, the one-chip computer module, using STM32F103R8T6 chips, its circuit crystal oscillator connects 2 20pf
Electric capacity again and upper 1M Ω resistance connects PD0-OSC_IN the and PD1 pin of one-chip computer module, constitute oscillating circuit, wherein crystal oscillator
Frequency is 11.0592MHz.When adding dc source needed for work to one-chip computer module, oscillator begins to vibration.Shake
The purpose for swinging circuit is the clock pulse signal needed for providing that worked for one-chip computer module.One-chip computer module uses SWD debugging sides
4 pin of formula, wherein SWD connect 3.3v power supplys, 1 pin ground connection, and 2 pin SWCLK and 3 pin SWDIO connect the PA14 mouths of one-chip computer module respectively
With PA13 mouthfuls.The resistance that reset circuit connects 3.3v voltages by 0.1 μ f ground capacities and 10k Ω connects NRST mouthfuls of structures of one-chip computer module
Into, it is therefore an objective to when making electricity start-up operation on one-chip computer module, internal circuit is started working from original state.
As shown in figure 4, the motor drive module is made up of two pieces of L293D chips and 4 motors.4 motors are divided into a left side
Before, it is left back before the right side, behind the right side.L293D is a kind of high voltage, low current motor drive ic.The chip is encapsulated using 16 pin.It is main
Wanting feature is：Operating voltage is high, and maximum operating voltage is up to 36V；Output current is big, and instantaneous peak current continues work up to 2A
Make electric current for 1A.The high-voltage large current full-bridge type driver of two H bridges is included, can be for driving dc motor.Enable
1,2EN drivers and 3,4EN drivers.When it is high level to enable input, associated driver is activated, and output, which is in, lives
Dynamic state.When Enable Pin input is low level, these drivers are disabled, and output is closed, and locate high impedance status.Wherein,
One piece of L293D chip is responsible for the left front and right front motor of driving.The left front pin of motor Enable Pin 1 connects the PB1 mouths of one-chip computer module, when
When PB1 is output as 1, the preceding inlet side and retrogressing end of left front motor are in active state.The pin of preceding inlet side 2 of left front motor and retrogressing end
7 pin connect the PB2 mouths and PB12 mouthfuls, when PB2 is output as 1, left front motor rotating forward, when PB2 is output as 0 of one-chip computer module respectively
When, left front motor stalling；When PB12 is output as 1, left front motor reversal, when PB12 is output as 0, left front motor stalling.It is right
The pin of front motor Enable Pin 9 connects the PB15 mouths of one-chip computer module, and the pin of preceding inlet side 10 and the retrogressing pin of end 15 of right front motor connect respectively
PB14 and PB13 mouthfuls of one-chip computer module are connect, when PB15 is output as 1, the preceding inlet side and retrogressing end of right front motor are in and enliven shape
State.When PB14 is output as 1, right front motor is rotated forward, when PB14 is output as 0, right front motor stalling；When PB13 is output as 1,
Right front motor reversion, when PB13 is output as 0, right front motor stalling.Second piece of L293D chip be responsible for driving it is left back and right after it is electric
Machine.The left back pin of motor Enable Pin 1 connects the PA11 mouths of one-chip computer module, the pin of preceding inlet side 2 and the retrogressing pin of end 7 difference of left back motor
Connect one-chip computer module PD2 mouths and PC12 mouthful, when PA11 is output as 1, the preceding inlet side of left back motor and retreat end in work
Jump state.When PD2 is output as 1, left back motor is rotated forward, when PD2 is output as 0, left back motor stalling；When one-chip computer module output
When PC12 is output as 1, left back motor reversal, when PC12 is output as 0, left back motor stalling.The pin of motor Enable Pin 9 is connected behind the right side
The PA8 mouths of one-chip computer module, it is right after motor the pin of preceding inlet side 10 and retreat the pin of end 15 connect respectively PB3 mouths of one-chip computer module with
PB4 mouthfuls.When PA8 is output as 1, the preceding inlet side of motor and retrogressing end are in active state behind the right side.When PB3 is output as 1, behind the right side
Motor is rotated forward, and is stalled when PB3 is output as motor behind 0, the right side；When PB4 is output as 1, motor reversal behind the right side, when PB4 is output as 0
When, it is right after motor stall.2 pieces of L293D chips are all 4,5,12,13 pin ground connection, and 16 pin meet supply voltage 5v, wherein added by power supply
Upper 0.1 μ f filter capacitor, L293D 8 pin all meet common ground terminal voltage 7.2v, and 3,6,11,14 as output end, and
The input that one-chip computer module is connected, which all accesses 5v voltages and uses up symplectic input/output signal, plays buffer action, also to monolithic
The I/O port of machine module shields, and prevents it to be burned.
As shown in figure 5, the independent current source module, in order to produce different output voltages, generally by the negative terminal of comparator
Reference voltage is connect, resistor voltage divider network is just terminated, different resistances can be so selected according to the difference of output voltage, by output electricity
The output of pressure resistor voltage divider network is compared with internal reference voltage stabilizing value, if voltage has deviation, can use in amplifier control
The output duty cycle of portion's oscillator, so that output voltage keeps stable.Decompression processing is done by Power convert LM2576 modules,
Make supply voltage 7.2v drop to 5v to require voltage and stabilize it.Electricity needed for power supply is dropped into 3.3v by ASM1117-3.3 again
Press and stabilize it.
As shown in fig. 6, the infrared obstacle avoidance module is by the identical infrared obstacle avoidance module composition of left and right 2,2 pieces of infrared obstacle avoidances
1 pin of module all connects 5v voltages, and 3 pin are all grounded, and the pin of output end 2 of left infrared obstacle avoidance module connects PB8 mouthfuls of one-chip computer module, right red
The pin of output end 2 of outer avoidance module connects PB7 mouthfuls of one-chip computer module.The module has a pair of Infrared emitting and receiving pipes, transmitting
Pipe launches the infrared ray of certain frequency, and when detecting that direction runs into barrier (reflecting surface), infrared reflection returns to be received
Pipe is received, and after being handled by comparator circuit, green indicating lamp can be lighted, the pin of synchronous signal output interface 2 output numeral letter
Number persistently output low level signal is conveyed to PB8 mouthfuls or PB7 mouthfuls of one-chip computer module, and one-chip computer module, which receives external interrupt 0, to be believed
Number, by the program of external interrupt 0, to control the motion of dolly.When left side detects obstacle, i.e. PB8=0, during PB7=1, master control
Chip controls right wheel motor stops, and revolver is rotated, and car is turned to the right.Otherwise it is same to turn left.When left and right all detects obstacle
When, i.e. PB8=0, PB7=0, main control chip control revolver and right wheel motor reversal, car body to be turned right again after retreating 10 seconds.
As shown in fig. 7, the human body induction module uses HC_SR501 modules, pyroelectric infrared sensor is that one kind can be examined
Survey the infrared ray of human or animal's transmitting and export the sensor of electric signal, when the temperature is changed, pyroelectric effect can be in two electricity
It is extremely upper to produce charge Q, i.e., faint voltage U is produced between electrodes, impedance conversion is carried out by FET, finally
Export low and high level signal.When someone enters its induction range, 2 pin then export high level to one-chip computer module, one-chip computer module
Send command adapted thereto and produce corresponding actions.
As shown in figure 8, GPS module utilizes NEO-6M UBLOX modules, location data is sent to monolithic by UART serial ports
Machine module, sends one group of data each second.One-chip computer module is by the control signal (when detecting people) of external interrupt from GPS moulds
Block extracts parsing longitude and latitude, and user mobile phone is sent to by gsm module.
As shown in figure 9, gsm module uses SIM800 modules.2 pin as serial ports 2 data receiver and one-chip computer module
PB11 mouthfuls are connected, and 1 pin is connected for PB10 mouthfuls as the data sending terminal of serial ports 2 with one-chip computer module.One-chip computer module is to gsm module
Controlled using AT instructions, AT+CMGF=1, be set to text formatting, AT+GMGS is used to send short message.One-chip computer module passes through
The control signal (when detecting people) of external interrupt extracts parsing longitude and latitude from GPS module, and user's hand is sent to by gsm module
Machine.
Above-described embodiment is only the implementation example done for the clear explanation present invention, and is not the reality to the present invention
The restriction of mode is applied, for those of ordinary skill in the field, can also be made on the basis of the above description other
Various forms of changes or variation.
Claims (1)
1. a kind of life detection intelligent carriage, its feature includes：It is one-chip computer module, motor drive module, independent current source module, red
Outer avoidance module, human body induction module, GPS module and gsm module；The independent current source module enters dry battery power for 7.2 volts
Row decompression processing obtains 3.3 volts and 5 volts stable voltages of standard, and power supply is provided for other modules；The infrared obstacle avoidance module
Collection roadblock information is simultaneously converted into electric signal, and the output of infrared obstacle avoidance module is connected with one-chip computer module, one-chip computer module control
Motor drive module avoidance under steam；The human body induction module senses the change of human body infrared temperature and produces telecommunications
Number, the output of the module connects the one-chip computer module；The GPS module connects the one-chip computer module；The gsm module with
One-chip computer module is connected, and the positional information of people is sent into user mobile phone end；
1) one-chip computer module uses STM32F103R8T6 chips, and its circuit crystal oscillator connects 2 20pf capacity earth, then
And upper 1 1M Ω resistance connects PD0-OSC_IN the and PD1 pin of one-chip computer module, oscillating circuit is constituted, one-chip computer module is adopted
SWD debud modes are used, wherein SWD 4 pin connect 3.3v voltages, and 1 pin is grounded, and 2 pin SWCLK and 3 pin SWDIO connect single-chip microcomputer mould respectively
The PA14 mouths of block and PA13 mouthful, reset circuit are connect the resistance connection single-chip microcomputer mould of 3.3v voltages by 0.1 μ f ground capacities and 10k Ω
NRST mouthfuls of compositions of block；
2) motor drive module, is made up of two pieces of L293D chips and 4 motors, and it is left that first piece of L293D chip is responsible for driving
Preceding and right front motor, wherein, the left front pin of motor Enable Pin 1 connects the PB1 mouths of one-chip computer module, the pin of preceding inlet side 2 of left front motor
Connect the PB2 mouths and PB12 mouthfuls, the right pin of front motor Enable Pin 9 connection one-chip computer module of one-chip computer module respectively with the retrogressing pin of end 7
PB15 mouths, the pin of preceding inlet side 10 of right front motor and retreat PB14 and PB13 mouthfuls that the pin of end 15 connects one-chip computer module respectively, the
Two pieces of L293D chips be responsible for driving it is left back and right after motor, wherein, the left back pin of motor Enable Pin 1 connects one-chip computer module
PA11 mouthfuls, the pin of preceding inlet side 2 of left back motor and retreat the pin of end 7 connect respectively one-chip computer module PD2 mouths and PC12 mouthful, it is electric behind the right side
The pin of machine Enable Pin 9 connects the pin of preceding inlet side 10 of motor and the retrogressing pin of end 15 behind the PA8 mouths of one-chip computer module, the right side and connects monolithic respectively
The PB3 mouths of machine module and PB4 mouthful, 2 pieces of L293D chips are all 4,5,12,13 pin ground connection, and 16 pin meet supply voltage 5v, wherein electric
Plus 0.1 μ f filter capacitor by source, 8 pin of 2 pieces of L293D chips all meet common ground terminal voltage 7.2v, 3,6,11,14
Pin as output end, the input being connected with one-chip computer module all access 5v voltages and use up symplectic input/output signal rise every
From effect, also the I/O port of one-chip computer module is shielded, prevents it to be burned；
3) the independent current source module does decompression processing by Power convert LM2576 modules, and supply voltage 7.2v is dropped to 5v will
Seek voltage and stabilize it, then pass through voltage needed for supply voltage is dropped into 3.3v by ASM1117 modules and stabilize it；
4) the infrared obstacle avoidance module is by the identical infrared obstacle avoidance module composition of left and right 2, and 1 pin of 2 pieces of infrared obstacle avoidance modules is all
5v voltages are connect, 3 pin are all grounded, the pin of output end 2 of left infrared obstacle avoidance module connects PB8 mouthfuls of one-chip computer module, right infrared obstacle avoidance module
The pin of output end 2 connect PB7 mouthfuls of one-chip computer module；
5) human body induction module uses HC_SR501 modules, wherein 1 pin connects 5v voltages, 2 pin are used as detection output order
PB9 mouthfuls of piece machine module, 3 pin ground connection；
6) GPS module uses NEO-6M UBLOX modules, wherein 4 pin connect 3.3v voltages, 3 pin ground connection, 1 pin is used as serial ports 1
Data sending terminal be connected for PA2 mouthfuls with one-chip computer module, 2 pin as serial ports 1 PA3 mouthfuls of phases of data receiver and one-chip computer module
Even；
7) gsm module uses SIM800 modules, wherein 4 pin connect 5v voltages, 3 pin ground connection, 2 pin connect as the data of serial ports 2
Receiving end is connected for PB11 mouthfuls with one-chip computer module, and 1 pin is connected for PB10 mouthfuls as the data sending terminal of serial ports 2 with one-chip computer module.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710251734.0A CN107045348A (en) | 2017-04-18 | 2017-04-18 | Life detection intelligent carriage |
| PCT/CN2017/090278 WO2018192092A1 (en) | 2017-04-18 | 2017-06-27 | Life-detecting intelligent miniature vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710251734.0A CN107045348A (en) | 2017-04-18 | 2017-04-18 | Life detection intelligent carriage |
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| CN107045348A true CN107045348A (en) | 2017-08-15 |
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| CN201710251734.0A Pending CN107045348A (en) | 2017-04-18 | 2017-04-18 | Life detection intelligent carriage |
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| CN111061271A (en) * | 2019-12-23 | 2020-04-24 | 天行智控(成都)科技有限公司 | Side-hanging type rail transportation control system |
| CN111679711A (en) * | 2020-06-28 | 2020-09-18 | 中国兵器工业集团第二一四研究所苏州研发中心 | Hybrid integrated circuit of ultra-precise reference voltage |
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| CN110392195B (en) * | 2019-07-10 | 2021-01-08 | 浙江省邮电工程建设有限公司 | Communication machine room inspection system |
| CN113009936A (en) * | 2019-12-20 | 2021-06-22 | 杭州乐秀电子科技有限公司 | Positioning system and positioning control method of fan heater |
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| US6535116B1 (en) * | 2000-08-17 | 2003-03-18 | Joe Huayue Zhou | Wireless vehicle monitoring system |
| CN103760899A (en) * | 2013-05-30 | 2014-04-30 | 上海理工大学 | Infrared life detection robot |
| CN204076266U (en) * | 2014-08-22 | 2015-01-07 | 滨州学院 | A kind of Disaster Relief Robot and control device thereof |
| CN205247150U (en) * | 2015-12-26 | 2016-05-18 | 西安科技大学 | Wireless control probe vehicle device |
| CN105835030A (en) * | 2016-06-22 | 2016-08-10 | 江西师范大学 | Dangerous area multifunctional detection vehicle based on wireless control and video transmission |
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| CN111061271A (en) * | 2019-12-23 | 2020-04-24 | 天行智控(成都)科技有限公司 | Side-hanging type rail transportation control system |
| CN111679711A (en) * | 2020-06-28 | 2020-09-18 | 中国兵器工业集团第二一四研究所苏州研发中心 | Hybrid integrated circuit of ultra-precise reference voltage |
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| Publication number | Publication date |
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| WO2018192092A1 (en) | 2018-10-25 |
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