CN107547009A - Suspension and mobile intelligent apparatus and control method - Google Patents
Suspension and mobile intelligent apparatus and control method Download PDFInfo
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- CN107547009A CN107547009A CN201710554932.4A CN201710554932A CN107547009A CN 107547009 A CN107547009 A CN 107547009A CN 201710554932 A CN201710554932 A CN 201710554932A CN 107547009 A CN107547009 A CN 107547009A
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Abstract
The invention discloses one kind suspension and mobile intelligent apparatus and control method, including the suspended substance comprising the first magnet, display material, magnetic suspension pedestal, main body cover, the magnetic suspension agent set comprising the second magnet, master control device, mobile device, slide rail, gear bar, instruction device, 2 limit sensors and 2 blinkers, the master control device electrically connects with magnetic suspension agent set, mobile device, instruction device, 2 limit sensors and 2 blinkers respectively.The present invention has the advantages that：Master controller receives the information of limit sensors, acceleration transducer and ultrasonic distance-measuring sensor, realizes the automatic back-and-forth speed change movement of display material；Master controller control photoelectric proximity switch work, has suspended substance and falls open circuit protection.
Description
Technical field
The present invention relates to magnetic suspension mobile device technical field, more particularly, to one kind can intelligent control display material come automatically
The dynamic suspension of return and mobile intelligent apparatus and control method.
Background technology
At present, there is increasing magnetic levitation system, such as magnetic suspension wipping top, magnetic suspension display stand etc. in the market,
These magnetic levitation systems typically all include pedestal and suspended substance, and pedestal and suspended substance all include magnet, and the magnet in pedestal leads to
Crossing magnetic action can suspend suspended substance above it at preset distance, produce the magical visual effect of floating, so as to it is deep by
People's likes.But the suspended substance of these magnetic levitation systems can only relatively smooth be suspended, rises, declines or translated, it is impossible to
Realize the automatic back-and-forth movement of display material.
Chinese patent notification number is CN104901587A, in 09 month 2015 No. 09, disclose a kind of portable magnetic suspension
Device, including：Suspended substance with magnet；And magnetic suspension pedestal, wherein magnetic suspension pedestal include：Magnetic suspension mechanism, it is used for
At suspended substance preset distance hovering above；And shift mechanism, for shifting magnetic suspension mechanism so that in suspension
Corresponding displacement occurs for the suspended substance of state.By the portable magnetic levitation system of the present invention, suspended substance can be according to desired trajectory
Move in the air, the application field of magnetic levitation system can be expanded significantly.But its weak point is to be not carried out suspended substance in magnetic
Automatic back-and-forth and intelligent control movement above suspension pedestal, and do not possess and fall open circuit protection.
The content of the invention
The present invention in order to overcome in the prior art suspended substance can only relatively smooth suspend, rise, decline or translate, it is impossible to
The automatic back-and-forth movement of display material is realized, and does not possess the deficiency for falling open circuit protection, it is proposed that one kind can intelligent control displaying
Thing automatic back-and-forth moves, and has suspension and mobile intelligent apparatus and the control method for falling open circuit protection.
To achieve these goals, present invention employs following technical scheme：
One kind suspends and mobile intelligent apparatus, including the suspended substance comprising the first magnet, the exhibition on suspended substance
Show thing, magnetic suspension pedestal, the magnetic suspension pedestal includes main body cover and the magnetic for including the second magnet in main body cover
Suspension agent set, master control device, mobile device, slide rail, gear bar, instruction device, 2 limit sensors and 2 directions refer to
Show lamp, the mobile device includes mobile device shell, the motor in mobile device shell, change-speed gearing and line transfer
Device, the instruction device include power supply indicator, Mobile working lamp and magnetic suspension indicator lamp；Between first magnet and the second magnet
In the presence of the intelligent magnetic field repelled each other, the slide rail is located at the bottom of main body cover, and shift unit is located on slide rail, magnetic suspension main body dress
Setting on shift unit, the gear bar is connected parallel to slide rail and with slide rail, and 2 limit sensors are located at respectively to be leaned on
On the inner surface of the main body cover at nearly slide rail both ends, the motor is connected with change-speed gearing, the master control device respectively with magnetcisuspension
Floating agent set, motor, line converter, 2 limit sensors, 2 blinkers, power supply indicator, Mobile working lamps
Electrically connected with magnetic suspension indicator lamp.
The present invention is existing between the two by the second intelligent magnet in the first magnet and suspended substance in magnetic suspension pedestal
Repulsive force, which carrys out balancing gravity, makes suspended substance suspend, and adds 2 limit sensors, realizes the intelligence of the automatic back-and-forth movement of suspended substance
It can control, add photoelectric proximity switch, have and fall break protecting.
Preferably, also include being used to detect magnetic suspension agent set and close slide rail on magnetic suspension agent set
The ultrasonic distance-measuring sensor of the distance between the inner surface of main body cover of one end and add for detecting magnetic suspension agent set
The acceleration transducer of speed, ultrasonic distance-measuring sensor and acceleration transducer electrically connect with master control device.
Preferably, master control device includes master controller, feedback module and the circuit that is movably walking；Master controller respectively with magnetic
Suspension agent set, motor, line converter, 2 limit sensors, 2 blinkers, power supply indicator, mobile workings
Lamp, magnetic suspension indicator lamp, ultrasonic distance-measuring sensor, acceleration transducer, feedback module and the circuit that is movably walking electrical connection.
Preferably, feedback module includes being used for data acquisition chip and microprocessor；Data acquisition chip and microprocessor
Device electrically connects, and master controller electrically connects with data acquisition chip and microprocessor respectively.
Preferably, the circuit that is movably walking includes master switch K1, the 1st transformation voltage-stablizer CVT1, the 2nd transformation voltage-stablizer
CVT2, switch K4, light emitting diode D4, the 1st DC relay JK1, the 2nd DC relay JK2, the 3rd DC relay JK3,
4th DC relay JK4, resistance R1, resistance R2, light emitting diode D1, light emitting diode D2, switch K2.
Preferably, photoelectric proximity switch is additionally provided with magnetic suspension agent set, photoelectric proximity switch and master controller electricity
Connection.
A kind of to suspend and the control method of mobile intelligent apparatus, methods described includes：
(7-1)) by the energization of Control magnetic suspension agent set, magnetic suspension agent set produces to float master controller
Power, suspended substance is set to suspend；
(7-2) master controller is electrically connected by DC relay JK1 with motor, and master controller passes through DC relay JK1
Controlled motor works, and motor driven change-speed gearing rotates, and magnetic suspension agent set moves to slide rail one end, and suspended substance is with magnetcisuspension
Float the movement of agent set and move；
(7-3) master controller is electrically connected by DC relay JK2 with motor, when the limit sensors close to slide rail one end
When detecting suspended substance, master controller receives the information of limit sensors, is reversely turned by DC relay JK2 controlled motors
Dynamic, magnetic suspension agent set moves to the slide rail other end, and suspended substance moves with the movement of magnetic suspension agent set；
(7-4) master controller is electrically connected by DC relay JK3 with motor, when the spacing sensing close to the slide rail other end
When device detects suspended substance, master controller receives the information of limit sensors, is reversely turned by DC relay JK3 controlled motors
Dynamic, magnetic suspension agent set moves to the slide rail other end, and suspended substance moves with the movement of magnetic suspension agent set, so not
Stop moving back and forth.
Preferably, also include being used to detect magnetic suspension agent set and close slide rail on magnetic suspension agent set
The ultrasonic distance-measuring sensor of the distance between the inner surface of main body cover of one end and add for detecting magnetic suspension agent set
The acceleration transducer of speed, ultrasonic distance-measuring sensor and acceleration transducer electrically connect with master control device；Methods described
Also include：
(8-1) detects magnetic suspension agent set and the main body cover close to slide rail one end when ultrasonic distance-measuring sensor
When the distance between inner surface reaches the first distance threshold pre-set, master controller according to magnetic suspension agent set with it is close
The distance between inner surface of main body cover of slide rail one end calculating speed value of feedback；
(8-2) master controller gathers the acceleration of magnetic suspension agent set, master controller collection by acceleration transducer
The traveling time of magnetic suspension agent set, the acceleration moved according to magnetic suspension agent set, magnetic suspension agent set move
Time and speed feedback value determine the translational speed of magnetic suspension agent set；
(8-3) mobile magnetic suspension agent set on slide rail according to the translational speed of magnetic suspension agent set.
Preferably, feedback module includes being used for data acquisition chip and microprocessor, data acquisition chip and microprocessor
Device electrically connects, and master controller electrically connects with data acquisition chip and microprocessor respectively；The calculating process of speed feedback value is as follows：
(9-1) gathers magnetic suspension agent set by ultrasonic distance-measuring sensor and slided with close every time T, master controller
The distance between inner surface of main body cover of rail one end；
(9-2) is according to formula
Δ=p0 [e (k)-e (k-1)]+p1e (k)+F [Δ e (k)] p2 [e (k) -2e (k-1)+e (k-2)] calculating speed
Value of feedback, wherein,In formulaS represents mobile
Total length；E (k) is for the magnetic suspension agent set of kth time collection and between the inner surface of the main body cover of slide rail one end
Distance, p0, p1, p2 are regulation coefficient.
Preferably, being additionally provided with photoelectric proximity switch in magnetic suspension agent set, methods described also includes：
(10-1) master controller is electrically connected by DC relay JK4 with motor, when needing to stop mobile, master controller
Mobile magnetic suspension agent set is stopped by DC relay JK4 controlled motors；When display material falls, master controller control light
Electric proximity switch work, deenergization, stops mobile magnetic suspension agent set, protects display material.
Therefore, the present invention has the advantages that：(1) master controller receive limit sensors, acceleration transducer and
The information of ultrasonic distance-measuring sensor, realize the automatic back-and-forth speed change movement of display material；(2) master controller control photoelectricity is close opens
Work is closed, there is suspended substance and fall open circuit protection.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the present invention；
Fig. 2 is a kind of structural representation of the master control device of the present invention；
Fig. 3 is a kind of circuit diagram of the present invention；
Fig. 4 is a kind of flow chart of embodiments of the invention 1.
In figure：1. suspended substance 1, display material 2, magnetic suspension pedestal 3, the 2nd receiver 4, the 1st receiver 5, main body cover 31,
Magnetic suspension agent set 32, master control device 33, mobile device 34, slide rail 35, gear bar 36, instruction device 37, limit sensors
38th, blinker 39, photoelectric proximity switch 321, master controller 331, feedback module 332, the circuit 333 that is movably walking, movement
Crust of the device 341, motor 342, change-speed gearing 343, line converter 344, power supply indicator 371, Mobile working lamp 372, magnetic
Suspension indicator lamp 373, data acquisition chip 3321, microprocessor 3322.
Embodiment
The present invention is described further with embodiment below in conjunction with the accompanying drawings：
Embodiment 1
Embodiment as shown in Figure 1 is a kind of suspension and mobile intelligent apparatus, including includes the suspension of the first magnet
Body 1, the display material 2 on suspended substance, magnetic suspension pedestal 3, magnetic suspension pedestal include main body cover 31 and are located at main body cover
The interior magnetic suspension agent set 32 comprising the second magnet, master control device 33, mobile device 34, slide rail 35, gear bar 36, instruction
37,2 limit sensors 38 of device and 2 blinkers 39, mobile device include mobile device shell 34, filled positioned at mobile
Motor 342, change-speed gearing 343 and the line converter 344 in shell are put, instruction device includes power supply indicator 371, movement
Portable lamp 372 and magnetic suspension indicator lamp 373；The intelligent magnetic field repelled each other between first magnet and the second magnet be present, slide rail is located at
The bottom of main body cover, shift unit are located on slide rail, and magnetic suspension agent set is located on shift unit, and gear bar is parallel to cunning
Rail simultaneously connects with slide rail, and 2 limit sensors are located on the inner surface of the main body cover at slide rail both ends respectively, and motor is with becoming
The connection of fast gear, master control device respectively with magnetic suspension agent set, motor, line converter, 2 limit sensors, 2 directions
Indicator lamp, power supply indicator, Mobile working lamp and the electrical connection of magnetic suspension indicator lamp.
In addition, also include being used to detect magnetic suspension agent set and close slide rail one end on magnetic suspension agent set
The distance between the inner surface of main body cover ultrasonic distance-measuring sensor and for detecting magnetic suspension agent set acceleration
Acceleration transducer, ultrasonic distance-measuring sensor and acceleration transducer electrically connect with master control device；Magnetic suspension main body fills
Photoelectric proximity switch 321 is additionally provided with putting, photoelectric proximity switch electrically connects with master controller.
As shown in Fig. 2 master control device includes master controller 331, feedback module 332 and the circuit 333 that is movably walking；Feed back mould
Block includes being used for data acquisition chip 3321 and microprocessor 3322；Data acquisition chip and microprocessor electrical connection, master control
Device respectively with magnetic suspension agent set, motor, line converter, 2 limit sensors, 2 blinkers, power supply instructions
Lamp, Mobile working lamp, magnetic suspension indicator lamp, ultrasonic distance-measuring sensor, acceleration transducer, feedback module, be movably walking electricity
Road, data acquisition chip and microprocessor electrical connection.
As shown in figure 3, the circuit that is movably walking is included in master switch K1, master switch K1 comprising the 1st receiver 5, the 1st transformation
Voltage-stablizer CVT1, the 2nd transformation voltage-stablizer CVT2, switch K4, light emitting diode D4, the 1st DC relay JK1, the 2nd direct current relay
Device JK2, the 3rd DC relay JK3, the 4th DC relay JK4, resistance R1, resistance R2, light emitting diode D1, light-emitting diodes
The 2nd receiver 4 is included in pipe D2, switch K2, switch K2.
As shown in figure 4, the control method of a kind of suspension and mobile intelligent apparatus, methods described includes：
Step 100, magnetic suspension agent set produces buoyancy, suspended substance is suspended
Master controller is powered by Control magnetic suspension agent set, and magnetic suspension agent set produces buoyancy, makes to hang
Floating body suspends, and now power supply indicator and magnetic suspension indicator lamp are in running order, are lit；
Step 200, suspended substance moves to slide rail one end
Master controller is electrically connected by DC relay JK1 with motor, and master controller controls electricity by DC relay JK1
Machine works, and motor driven change-speed gearing rotates, and magnetic suspension agent set moves to slide rail one end, and suspended substance is with magnetic suspension main body
The movement of device and move, now Mobile working lamp and the blinker of slide rail one end are in running order, are lit；
Step 300, suspended substance moves to the slide rail other end
Master controller is electrically connected by DC relay JK2 with motor, when the limit sensors close to slide rail one end detect
During to suspended substance, master controller receives the information of limit sensors, is rotated backward by DC relay JK2 controlled motors, magnetic
Suspension agent set moves to the slide rail other end, and suspended substance moves with the movement of magnetic suspension agent set, now moves work
It is in running order to make the blinker of lamp and the slide rail other end, is lit；
Step 400, suspended substance realizes that automatic back-and-forth moves
Master controller is electrically connected by DC relay JK3 with motor, when the limit sensors inspection close to the slide rail other end
When measuring suspended substance, master controller receives the information of limit sensors, is rotated backward by DC relay JK3 controlled motors,
Magnetic suspension agent set is moved to the slide rail other end, and suspended substance is moved with the movement of magnetic suspension agent set, now moved
The blinker of portable lamp and the slide rail other end is in running order, is lit, and does not stop so to move back and forth.
Embodiment 2
Embodiment 2 includes all structure and step parts of embodiment 1, and embodiment 2 also includes filling located at magnetic suspension main body
That puts is used to detect the ultrasound of magnetic suspension agent set and the distance between the inner surface of main body cover close to slide rail one end
Ripple distance measuring sensor and the acceleration transducer for detecting magnetic suspension agent set acceleration, ultrasonic distance-measuring sensor and plus
Velocity sensor electrically connects with master control device.
Methods described also includes：
When ultrasonic distance-measuring sensor detects the interior table of magnetic suspension agent set and the main body cover close to slide rail one end
When the distance between face reaches the first distance threshold pre-set, every time T, master controller is sensed by ultrasonic ranging
Device gathers the distance between magnetic suspension agent set and the inner surface of main body cover close to slide rail one end, according to formula Δ=p0
[e (k)-e (k-1)]+p1e (k)+F [Δ e (k)] p2 [e (k) -2e (k-1)+e (k-2)] calculating speed value of feedback, wherein,In formulaS represents mobile total length；e(k)
The distance between magnetic suspension agent set for kth time collection and the inner surface of main body cover close to slide rail one end, p0, p1,
P2 is regulation coefficient；
Master controller gathers the acceleration of magnetic suspension agent set, master controller collection magnetic suspension by acceleration transducer
The traveling time of agent set, according to magnetic suspension agent set move acceleration, magnetic suspension agent set move time and
Speed feedback value determines the translational speed of magnetic suspension agent set；
Magnetic suspension agent set is moved on slide rail according to the translational speed of magnetic suspension agent set.
Embodiment 3
Embodiment 3 includes all structure and step parts of embodiment 1, and embodiment 3 also connects including photoelectricity as shown in Figure 1
Nearly switch, methods described also include：
Master controller is electrically connected by DC relay JK4 with motor, and when needing to stop mobile, master controller passes through straight
Current relay JK4 controlled motors stop mobile magnetic suspension agent set；When display material falls, master controller control photoelectricity approaches
Switch, deenergization, stop mobile magnetic suspension agent set, protect display material.
It should be understood that the present embodiment is only illustrative of the invention and is not intended to limit the scope of the invention.In addition, it is to be understood that
After having read the content of the invention lectured, those skilled in the art can make various changes or modifications to the present invention, these etc.
Valency form equally falls within the application appended claims limited range.
Claims (10)
1. one kind suspends and mobile intelligent apparatus, it is characterized in that, including the suspended substance (1) comprising the first magnet, located at outstanding
Display material (2), magnetic suspension pedestal (3) on floating body, the magnetic suspension pedestal include main body cover (31) and are located at main body cover
The interior magnetic suspension agent set (32) comprising the second magnet, master control device (33), mobile device (34), slide rail (35), gear
Bar (36), instruction device (37), 2 limit sensors (38) and 2 blinkers (39), the mobile device include movement
Crust of the device (341), the motor (342) in mobile device shell, change-speed gearing (343) and line converter (344), institute
Stating instruction device includes power supply indicator (371), Mobile working lamp (372) and magnetic suspension indicator lamp (373)；First magnet and
The intelligent magnetic field repelled each other between two magnets be present, the slide rail is located at the bottom of main body cover, and shift unit is located on slide rail, magnetic
Suspension agent set is located on shift unit, and the gear bar connects parallel to slide rail and with slide rail, 2 limit sensors
It is located at respectively on the inner surface of the main body cover at slide rail both ends, the motor is connected with change-speed gearing, the master control device
Respectively with magnetic suspension agent set, motor, line converter, 2 limit sensors, 2 blinkers, power supply indicator,
Mobile working lamp and the electrical connection of magnetic suspension indicator lamp.
2. suspension according to claim 1 and mobile intelligent apparatus, it is characterized in that, in addition to it is located at magnetic suspension main body
It is used to detect the super of the distance between magnetic suspension agent set and the inner surface of main body cover close to slide rail one end on device
Sound ranging sensor and the acceleration transducer for detecting magnetic suspension agent set acceleration, ultrasonic distance-measuring sensor and
Acceleration transducer electrically connects with master control device.
3. suspension according to claim 1 and mobile intelligent apparatus, it is characterized in that, the master control device includes master control
Device (331), feedback module (332) and the circuit that is movably walking (333) processed；The master controller respectively with magnetic suspension agent set,
Motor, line converter, 2 limit sensors, 2 blinkers, power supply indicator, Mobile working lamp, magnetic suspension instruction
Lamp, ultrasonic distance-measuring sensor, acceleration transducer, feedback module and the circuit that is movably walking electrical connection.
4. suspension according to claim 2 and mobile intelligent apparatus, it is characterized in that, the feedback module includes being used for
Data acquisition chip (3321) and microprocessor (3322)；Data acquisition chip and microprocessor electrical connection, master controller difference
Electrically connected with data acquisition chip and microprocessor.
5. suspension according to claim 2 and mobile intelligent apparatus, it is characterized in that, the circuit that is movably walking includes
Master switch K1, the 1st transformation voltage-stablizer CVT1, the 2nd transformation voltage-stablizer CVT2, switch K4, light emitting diode D4, the 1st direct current relay
Device JK1, the 2nd DC relay JK2, the 3rd DC relay JK3, the 4th DC relay JK4, resistance R1, resistance R2, luminous two
Pole pipe D1, light emitting diode D2, switch K2.
6. suspension and mobile intelligent apparatus according to claim 1 or 2 or 3 or 4 or 5, it is characterized in that, magnetic suspension master
Photoelectric proximity switch (321) is additionally provided with body device, photoelectric proximity switch electrically connects with master controller.
7. a kind of suspension based on described in claim 1 and the control method of mobile intelligent apparatus, it is characterized in that, the side
Method includes：
(7-1)) master controller by Control magnetic suspension agent set be powered, magnetic suspension agent set produce buoyancy, make
Suspended substance suspends；
(7-2) master controller is electrically connected by DC relay JK1 with motor, and master controller is controlled by DC relay JK1
Motor works, and motor driven change-speed gearing rotates, and magnetic suspension agent set moves to slide rail one end, and suspended substance is with magnetic suspension master
The movement of body device and move；
(7-3) master controller is electrically connected by DC relay JK2 with motor, when the limit sensors close to slide rail one end detect
During to suspended substance, master controller receives the information of limit sensors, is rotated backward by DC relay JK2 controlled motors, magnetic
Suspension agent set moves to the slide rail other end, and suspended substance moves with the movement of magnetic suspension agent set；
(7-4) master controller is electrically connected by DC relay JK3 with motor, when the limit sensors inspection close to the slide rail other end
When measuring suspended substance, master controller receives the information of limit sensors, is rotated backward by DC relay JK3 controlled motors,
Magnetic suspension agent set is moved to the slide rail other end, and suspended substance is moved with the movement of magnetic suspension agent set, do not stopped so
Move back and forth.
8. suspension according to claim 7 and the control method of mobile intelligent apparatus, in addition to it is located at magnetic suspension master
It is used to detect magnetic suspension agent set and the distance between the inner surface of main body cover of close slide rail one end on body device
Ultrasonic distance-measuring sensor and the acceleration transducer for detecting magnetic suspension agent set acceleration, ultrasonic distance-measuring sensor
Electrically connected with acceleration transducer with master control device；It is characterized in that methods described also includes：
(8-1) detects the interior table of magnetic suspension agent set and the main body cover close to slide rail one end when ultrasonic distance-measuring sensor
When the distance between face reaches the first distance threshold pre-set, master controller is according to magnetic suspension agent set and close slide rail
The distance between inner surface of main body cover of one end calculating speed value of feedback；
(8-2) master controller gathers the acceleration of magnetic suspension agent set, master controller collection magnetcisuspension by acceleration transducer
The traveling time of floating agent set, the time that the acceleration moved according to magnetic suspension agent set, magnetic suspension agent set move
The translational speed of magnetic suspension agent set is determined with speed feedback value；
(8-3) mobile magnetic suspension agent set on slide rail according to the translational speed of magnetic suspension agent set.
9. suspension according to claim 8 and the control method of mobile intelligent apparatus, the feedback module includes using
In data acquisition chip (3321) and microprocessor (3322), data acquisition chip and microprocessor electrical connection, master controller point
Do not electrically connected with data acquisition chip and microprocessor；It is characterized in that the calculating process of speed feedback value is as follows：
(9-1) gathers magnetic suspension agent set and close slide rail one every time T, master controller by ultrasonic distance-measuring sensor
The distance between the inner surface of main body cover at end；
(9-2) is according to formula
Δ=p0 [e (k)-e (k-1)]+p1e (k)+F [Δ e (k)] p2 [e (k) -2e (k-1)+e (k-2)] calculating speed is fed back
Value, wherein,In formulaS represents mobile overall length
Degree；The distance between the inner surfaces of main body cover of e (k) for the magnetic suspension agent set of kth time collection and close to slide rail one end,
P0, p1, p2 are regulation coefficient.
10. suspension according to claim 7 and the control method of mobile intelligent apparatus, magnetic suspension agent set are interior also
Provided with photoelectric proximity switch, it is characterized in that, methods described also includes：
(10-1) master controller is electrically connected by DC relay JK4 with motor, and when needing to stop mobile, master controller passes through
DC relay JK4 controlled motors stop mobile magnetic suspension agent set；When display material falls, master controller control photoelectricity connects
Nearly switch, deenergization, stop mobile magnetic suspension agent set, protect display material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710554932.4A CN107547009A (en) | 2017-07-07 | 2017-07-07 | Suspension and mobile intelligent apparatus and control method |
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| CN201710554932.4A CN107547009A (en) | 2017-07-07 | 2017-07-07 | Suspension and mobile intelligent apparatus and control method |
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| CN107547009A true CN107547009A (en) | 2018-01-05 |
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| CN201710554932.4A Pending CN107547009A (en) | 2017-07-07 | 2017-07-07 | Suspension and mobile intelligent apparatus and control method |
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| CN109638122A (en) * | 2018-12-20 | 2019-04-16 | 广东工业大学 | A method of using ultrasonic standing wave manipulation Micro-LED flood tide transfer |
| CN112991944A (en) * | 2021-02-19 | 2021-06-18 | 天津飞旋科技股份有限公司 | Magnetic suspension structure and display device |
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Application publication date: 20180105 |
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