CN108338441B - Wearable sound detection and sound positioning helmet - Google Patents
Wearable sound detection and sound positioning helmet Download PDFInfo
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- CN108338441B CN108338441B CN201810028461.8A CN201810028461A CN108338441B CN 108338441 B CN108338441 B CN 108338441B CN 201810028461 A CN201810028461 A CN 201810028461A CN 108338441 B CN108338441 B CN 108338441B
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- A—HUMAN NECESSITIES
- A42—HEADWEAR
- A42B—HATS; HEAD COVERINGS
- A42B3/00—Helmets; Helmet covers ; Other protective head coverings
- A42B3/04—Parts, details or accessories of helmets
- A42B3/0406—Accessories for helmets
- A42B3/0433—Detecting, signalling or lighting devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/20—Position of source determined by a plurality of spaced direction-finders
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Helmets And Other Head Coverings (AREA)
Abstract
The present disclosure provides a wearable acoustic detection and acoustic localization helmet, comprising: the hard helmet is used for being worn on the head of a human body; the system comprises at least 3 sound sensing elements, a hard helmet and a control device, wherein the sound sensing elements are arranged on the hard helmet, each sound sensing element corresponds to a sound collecting position on the hard helmet and is used for sensing sound wave signals generated by a sound source at each sound collecting position and converting the sound wave signals into optical/electrical signals, and each sound collecting position forms a planar array or a three-dimensional array together; and the signal processing chip is arranged on the hard helmet, is connected to the sound sensing element and is used for processing and calculating the optical/electric signals of the sound sensing element so as to acquire the frequency and the direction information of the sound source. According to the sound helmet, the plurality of sound sensing elements and the signal processing chip are integrated in the hard helmet, so that personal equipment which is small in size, light in weight, good in wearability and capable of enhancing human hearing is formed, and the sound helmet has a wide application prospect.
Description
Technical Field
The utility model relates to a sound detection and sound location technical field especially relate to a wearable sound detection and sound location helmet.
Background
The sound detection and sound positioning technology is an omnibearing passive detection technology, is not influenced by smoke, illumination, shielding objects and the like, has the advantages of low power consumption, safety, reliability, all-weather work and the like, and has important application in a plurality of fields of environment, medical treatment, industry, traffic, public security, military and the like, and comprises the following steps: the method comprises the following steps of environmental noise monitoring, intelligent robot hearing, laser processing process monitoring, rotating machine running state detection, underground pipeline leakage detection, detection and tracking of low and small slow targets such as helicopters/unmanned planes/artillery/bullets and the like. The sound detection and sound positioning technology relates to a plurality of subjects and a plurality of technologies such as acoustics, electronics, sensor technology, signal processing technology, computer algorithm and the like, is a typical multi-subject high-cross fusion technology, and has gained high attention at home and abroad.
The existing acoustic detection and positioning equipment at home and abroad is mainly of a bracket type structure and is formed by fixing a plurality of discrete acoustic sensor units on a special rigid bracket according to certain spatial arrangement. The support type sound detection and positioning system is large in size, high in power consumption, low in integration level, poor in concealment, single in function, not suitable for being carried by a person and not wearable, and the support type sound detection and positioning system is required to be vehicle-mounted or fixed on the ground during use.
BRIEF SUMMARY OF THE PRESENT DISCLOSURE
Technical problem to be solved
The present disclosure provides a wearable acoustic detection and localization helmet to at least partially solve the technical problems identified above.
(II) technical scheme
According to an aspect of the present disclosure, there is provided a wearable acoustic detection and localization helmet comprising: the hard helmet is used for being worn on the head of a human body; the system comprises at least 3 sound sensing elements, a hard helmet and a control device, wherein the sound sensing elements are arranged on the hard helmet, each sound sensing element corresponds to a sound collecting position on the hard helmet and is used for sensing sound wave signals generated by a sound source at each sound collecting position and converting the sound wave signals into optical/electrical signals, and each sound collecting position forms a planar array or a three-dimensional array together; and the signal processing chip is arranged on the hard helmet, is connected to the sound sensing element and is used for processing and calculating the optical/electric signals of the sound sensing element so as to acquire the frequency and the direction information of the sound source.
In some embodiments of the present disclosure, the number of the sound sensing elements is 3, and the corresponding sound collecting positions form an acute triangle; or the number of the sound sensing elements is 4, the corresponding sound collection positions form a tetrahedron, and any three sound collection positions form an acute triangle.
In some embodiments of the present disclosure, the acute triangle is an isosceles acute triangle.
In some embodiments of the present disclosure, the distance between any two sound collection locations is greater than half of the maximum diameter of the hard helmet.
In some embodiments of the present disclosure, the sound sensing element is a discrete sound sensor, which is respectively installed at the outer side or the inner side of the hard helmet, and the installation position thereof is a sound collection position; or the sound sensing elements are sound sensing array elements in a sound sensor array chip, the sound sensor array chip is arranged on the outer side or the inner side of the hard helmet, and each sound sensing array element is connected to the corresponding sound collecting position through a sound wave guide pipe.
In some embodiments of the present disclosure, when the discrete acoustic sensor or acoustic sensor array chip is mounted inside the hard helmet, several sound inlet holes are provided at the sound collection location.
In some embodiments of the present disclosure, a sound collecting structure is disposed outside the several sound inlet holes.
In some embodiments of the present disclosure, the sound collecting structure is in a horn shape, the contraction portion of the sound collecting structure is disposed around the sound inlet holes, and the expansion portion of the sound collecting structure is away from the sound inlet holes.
In some embodiments of the present disclosure, the discrete acoustic sensor is a capacitive acoustic sensor, a piezoelectric acoustic sensor, a moving coil acoustic sensor, or an optical acoustic sensor; the optical acoustic sensor is an optical fiber acoustic sensor, a grating acoustic sensor or an optical MEMS acoustic sensor.
In some embodiments of the present disclosure, the acoustic sensing array elements are capacitive acoustic sensing array elements, piezoelectric acoustic sensing array elements, or optical acoustic sensing array elements; the optical type living sensing array element is an optical fiber acoustic sensing array element, a grating acoustic sensing array element or an optical MEMS acoustic sensing array element.
In some embodiments of the present disclosure, the acoustic sensor array chip is monolithically integrated with the signal processing chip.
In some embodiments of the present disclosure, the acoustic waveguide is made of a metal material or a flexible material, wherein: the metal material comprises one of copper, aluminum and aluminum alloy; the flexible material comprises one of plastic, rubber, silicon rubber and polytetrafluoroethylene.
In some embodiments of the disclosure, the signal processing chip is further configured to: when no abnormal sound signal exists, one sound sensing element is in a working state, and the other sound sensing elements are in a standby mode; and controlling to wake up other sound sensing elements in the standby mode for sensing when the sound sensing elements detect abnormal sound signals.
(III) advantageous effects
According to the technical scheme, the wearable sound detection and sound positioning helmet disclosed by the invention at least has one of the following beneficial effects:
(1) compared with the traditional support type sound detection and sound positioning system, the sound sensing element and the signal processing chip are highly integrated in the helmet, so that personal equipment which is small in size, light in weight, good in wearability, capable of enhancing human hearing is formed, and the application prospect is wide.
(2) The sound sensing element and the signal processing chip are highly integrated in the helmet, so that the helmet is more flexible to use, can be assembled in a large number, has a wide application range, and is convenient to construct a large-area, movable and leakage-free sound detection and sound positioning network which can cover an individual team anytime and anywhere.
(3) The distance between the sound sensing elements is limited within the diameter range of the helmet, and even the sound sensing elements are integrated at one position, so that the environments of the sound sensing elements are close, the difference caused by the environmental influence is smaller, and higher positioning precision is realized.
Drawings
Fig. 1 is a schematic structural diagram of a wearable acoustic detection and localization helmet according to a first embodiment of the present disclosure.
Fig. 2 is a schematic structural diagram of a wearable acoustic detection and localization helmet in a second embodiment of the present disclosure.
Fig. 3 is a schematic structural diagram of a wearable acoustic detection and localization helmet in a third embodiment of the present disclosure.
Fig. 4 is a schematic structural diagram of a wearable acoustic detection and localization helmet in a fourth embodiment of the present disclosure.
Fig. 5 is a schematic structural diagram of a wearable acoustic detection and localization helmet in a fifth embodiment of the present disclosure.
Fig. 6 is a schematic structural diagram of a wearable acoustic detection and localization helmet in a sixth embodiment of the present disclosure.
[ description of main reference numerals in the drawings ] of the embodiments of the present disclosure
10-hard helmets;
21. 22, 23, 24-acoustic sensors;
30-a signal processing chip;
41. 42, 43, 44-signal transmission lines;
51. 52, 53, 54-sound entry holes;
61. 62, 63, 64-sound collection structures;
70-an acoustic sensor integrated structure;
81. 82, 83, 84-Acoustic waveguide.
Detailed Description
The wearable sound detection and sound positioning helmet integrates a plurality of sound sensing elements and a signal processing chip into a hard helmet, forms personal equipment which is small in size, light in weight, good in wearability, capable of enhancing human hearing, and wide in application prospect.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
The first embodiment:
in a first exemplary embodiment of the present disclosure, a wearable acoustic detection and localization helmet is provided. Fig. 1 is a schematic structural diagram of a wearable acoustic detection and localization helmet according to a first embodiment of the present disclosure. As shown in fig. 1, the disclosed wearable acoustic detection and localization helmet comprises: hard helmet 10, 3 acoustic sensors (21, 22 and 23) and signal processing chip 30.
The following describes each component of the wearable acoustic detection and localization helmet of the present embodiment in detail.
The hard helmet 10 can be worn on the head of a human body, the sound sensor 21, the sound sensor 22 and the sound sensor 23 are mounted on the outer side of the hard helmet 10, the mounting position of each sound sensor is a sound collecting position, and sound wave signals generated by a sound source are sensed and converted into light/electric signals at each sound collecting position.
The three sound collection positions form an acute triangle, and the sound source is positioned and calculated based on the sound arrival time difference principle, that is, the position of the sound source is calculated and obtained by combining the time delay difference of the sound source signals received at different sound collection positions and the three sound collection positions. Preferably, the acute-angle triangle is an isosceles acute-angle triangle to increase the distance between the sound collection positions as much as possible, so that the larger the delay difference is, the better the positioning effect is; more preferably, the acute triangle has a length on either side that is greater than half the maximum diameter of the hard helmet 10 to maximize the distance between sound collection locations.
In various embodiments, acoustic sensor 21, acoustic sensor 22, and acoustic sensor 23 may be one of a capacitive acoustic sensor, a piezoelectric acoustic sensor, a moving coil acoustic sensor, and an optical acoustic sensor. Wherein the optical acoustic sensor may be one of a fiber optic acoustic sensor, a grating acoustic sensor, and an optical MEMS acoustic sensor.
The signal processing chip 30 is mounted on the outer side of the hard helmet 10, and is connected to the acoustic sensor 21, the acoustic sensor 22, and the acoustic sensor 23 through a signal connection line 41, a signal connection line 42, and a signal connection line 43, respectively, for performing processing operation on the electric signals of the three acoustic sensors, and finally acquiring information such as the frequency and the direction of the sound source.
The signal connection lines 41, 42 and 43 are fixed to the outside of the hard helmet 1, and at least one signal connection line is provided for each acoustic sensor, and may be a wire, an optical fiber, or the like depending on the type of the acoustic sensor.
When the wearable sound detection and sound positioning helmet is used, the signal processing chip 30 is further configured to perform the following processing: when no abnormal sound signal exists, one sound sensing element is in a working state, and the other sound sensing elements are in a standby mode; and controlling to wake up other sound sensing elements in the standby mode for sensing when the sound sensing elements detect abnormal sound signals.
Thus, the wearable acoustic detection and acoustic positioning helmet of the first embodiment of the present disclosure has been introduced.
Second embodiment:
in a second exemplary embodiment of the present disclosure, a wearable acoustic detection and localization helmet is provided. Fig. 2 is a schematic structural diagram of a wearable acoustic detection and localization helmet in a second embodiment of the present disclosure. As shown in fig. 2, compared with the wearable acoustic detection and acoustic localization helmet of the first embodiment, the wearable acoustic detection and acoustic localization helmet of the present embodiment is different in that:
the acoustic sensor 21, the acoustic sensor 22 and the acoustic sensor 23 are installed inside the hard helmet 10, and the signal processing chip 30 is installed inside the hard helmet 10 and connected to the acoustic sensor 21, the acoustic sensor 22 and the acoustic sensor 23 through a signal connection line 41, a signal connection line 42 and a signal connection line 43 fixed inside the hard helmet 10, respectively. By installing the acoustic sensor and signal processing chip 30 inside the hard helmet 10, the acoustic sensor and signal processing chip can be protected by the hard helmet, and the influence of external environmental changes on the acoustic sensor and signal processing chip can be reduced.
A plurality of sound inlet holes 51, a plurality of sound inlet holes 52 and a plurality of sound inlet holes 53 are respectively formed at the installation positions of the acoustic sensor 21, the acoustic sensor 22 and the acoustic sensor 23 on the hard helmet so that the acoustic signals can be smoothly received by the acoustic sensor, and the specific number of the sound inlet holes 51, the sound inlet holes 52 and the sound inlet holes 53 is not particularly limited.
Thus, the wearable acoustic detection and acoustic positioning helmet of the second embodiment of the present disclosure has been introduced.
The third embodiment:
in a third exemplary embodiment of the present disclosure, a wearable acoustic detection and localization helmet is provided. Fig. 3 is a schematic structural diagram of a wearable acoustic detection and localization helmet in a third embodiment of the present disclosure. As shown in fig. 3, compared with the wearable acoustic detection and acoustic localization helmet of the second embodiment, the wearable acoustic detection and acoustic localization helmet of the present embodiment is different in that:
set up collection sound structure 61, collection sound structure 62 and collection sound structure 63 respectively in the outside of a plurality of sound holes 51, a plurality of sound holes 52 and a plurality of sound holes 53 of entrying, three collection sound structure is arranged in introducing the acoustic sensor with the sound wave more high-efficiently, all is tubaeform, and a plurality of sound holes that enter that correspond are located to its shrink portion enclosure, and a plurality of sound holes that enter that correspond are kept away from to the expansion portion.
Thus far, the wearable acoustic detection and acoustic positioning helmet of the third embodiment of the present disclosure has been introduced.
The fourth embodiment:
in a fourth exemplary embodiment of the present disclosure, a wearable acoustic detection and localization helmet is provided. Fig. 4 is a schematic structural diagram of a wearable acoustic detection and localization helmet in a fourth embodiment of the present disclosure. As shown in fig. 4, compared with the wearable acoustic detection and acoustic localization helmet of the first embodiment, the wearable acoustic detection and acoustic localization helmet of the present embodiment is different in that:
four acoustic sensors, namely an acoustic sensor 21, an acoustic sensor 22, an acoustic sensor 23 and an acoustic sensor 24, are distributed on the outer side of the hard helmet 10, the mounting positions of the four acoustic sensors are four sound collection positions, a tetrahedral structure is formed, any three sound collection positions form an acute triangle, the sound source is positioned and calculated based on the sound arrival time difference principle, the sound source positioning accuracy can be improved by increasing the number of the acoustic sensors, but the more acoustic sensors also mean the increase of calculation amount and cost. Preferably, the acute-angle triangle is an isosceles acute-angle triangle to increase the distance between the sound collection positions as much as possible, so that the larger the delay difference is, the better the positioning effect is; more preferably, the length of either side of the tetrahedron is greater than half the maximum diameter of the hard helmet 10 to maximize the distance between the sound collection locations.
The four acoustic sensors are connected to the signal processing chip 30 through signal transmission lines 41, 42, 43, and 44, respectively.
Thus, the wearable acoustic detection and acoustic positioning helmet of the fourth embodiment of the present disclosure has been introduced.
Fifth embodiment:
in a fifth exemplary embodiment of the present disclosure, a wearable acoustic detection and localization helmet is provided. Fig. 5 is a schematic structural diagram of a wearable acoustic detection and localization helmet in a fifth embodiment of the present disclosure. As shown in fig. 5, compared with the wearable acoustic detection and acoustic localization helmets of the first to fourth embodiments, the wearable acoustic detection and acoustic localization helmets of the present embodiment are different in that:
unlike the first to fourth embodiments in which discrete acoustic sensors are used, the present embodiment uses the acoustic sensor array elements in the acoustic sensor array chip as the acoustic sensor elements, and the acoustic sensor array chip and the signal processing chip 30 are mounted together in the acoustic sensor integrated structure 70, so that high integration is achieved, and a small and light wearable device is formed.
Specifically, the four acoustic sensing array elements are respectively connected to the corresponding four sound collection positions through the acoustic waveguide 81, the acoustic waveguide 82, the acoustic waveguide 83 and the acoustic waveguide 84, and the four sound collection positions form a tetrahedral structure as in the fourth embodiment, wherein any three sound collection positions form an acute triangle, and the sound source is located and calculated based on the arrival time difference principle. Acoustic waveguide 81, acoustic waveguide 82, acoustic waveguide 83 and acoustic waveguide 84 are all fixed inside hard helmet 10, and their first ends are all connected to the acoustic sensing array elements, and their second ends are all located at the sound collection positions, for respectively introducing the acoustic signals at the sound collection positions into the acoustic sensing array elements integrated in acoustic sensor integrated structure 70.
Similarly, the sound inlet holes 51, 52, 53 and 54 are respectively disposed at the four sound collecting positions, so that the sound signal can be smoothly received and transmitted by the sound wave guide, in this embodiment, the number of the sound inlet holes 51, 52, 53 and 54 is respectively 1, but is not limited thereto.
Thus far, the introduction of the wearable acoustic detection and acoustic positioning helmet of the fifth embodiment of the present disclosure has been completed.
Sixth embodiment:
in a sixth exemplary embodiment of the present disclosure, a wearable acoustic detection and localization helmet is provided. Fig. 6 is a schematic structural diagram of a wearable acoustic detection and localization helmet in a sixth embodiment of the present disclosure. As shown in fig. 6, compared with the wearable acoustic detection and acoustic localization helmet of the fifth embodiment, the wearable acoustic detection and acoustic localization helmet of the present embodiment is different in that:
the sound collecting structure 61, the sound collecting structure 62, the sound collecting structure 63 and the sound collecting structure 64 are respectively arranged at the sound inlet hole 51, the sound inlet hole 52, the sound inlet hole 53 and the sound inlet hole 54, the four sound collecting structures are used for more efficiently introducing sound waves into the sound wave guide pipe, the sound wave guide pipe is in a horn shape, the contraction part is arranged at the corresponding sound inlet hole in a surrounding mode, and the expansion part is far away from the corresponding sound inlet hole.
Thus far, the wearable acoustic detection and acoustic positioning helmet of the sixth embodiment of the present disclosure has been introduced.
So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Furthermore, the above definitions of the various elements and methods are not limited to the particular structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by one of ordinary skill in the art, for example:
(1) in the fourth embodiment, the sound sensor can be arranged on the inner side of the hard helmet, and a plurality of sound inlet holes and sound collecting structures are arranged at the installation position;
(2) in the fifth embodiment, the acoustic sensor array chip and the signal processing chip can be integrated in a single chip, so that miniaturization and light weight are further realized.
(3) More than four acoustic sensing elements may also be used to improve positioning accuracy.
(4) The sound sensing element and the signal processing chip can be respectively arranged on different side surfaces of the inner side and the outer side of the hard helmet so as to fully utilize the inner surface and the outer surface of the hard helmet and inhibit mutual interference possibly generated when the devices are arranged on the same side of the helmet.
In summary, the present disclosure provides a wearable sound detection and sound positioning helmet, in which sound sensing elements and a signal processing chip are highly integrated in a hard helmet, and further, the distribution form of the sound sensing elements in the hard helmet is limited, so that the positioning accuracy can be improved.
It should also be noted that throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure. And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure.
The embodiments described above may be mixed and matched with each other or with other embodiments based on design and reliability considerations, i.e., technical features in different embodiments may be freely combined to form further embodiments.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (7)
1. A wearable acoustic detection and localization helmet, comprising:
the hard helmet is used for being worn on the head of a human body;
4 sound sensing elements, which are arranged on the hard helmet, wherein each sound sensing element corresponds to a sound collection position on the hard helmet and is used for sensing sound wave signals generated by a sound source at each sound collection position and converting the sound wave signals into optical/electrical signals, each sound collection position forms a tetrahedron together, any three sound collection positions form an acute triangle, and the distance between any two sound collection positions is greater than half of the maximum diameter of the hard helmet; and
the signal processing chip is arranged on the hard helmet, is connected to the sound sensing element and is used for processing and calculating the optical/electric signals of the sound sensing element so as to acquire the frequency and the direction information of the sound source;
wherein the sound sensing elements are sound sensing array elements in a sound sensor array chip, the sound sensor array chip is mounted on the inner side of the hard helmet, the sound sensor array chip and the signal processing chip are monolithically integrated, each sound sensing array element is connected to a corresponding sound collection position through an acoustic waveguide, and the acoustic waveguide is configured to equalize the time taken for sound waves to reach the corresponding sound sensing array element from each sound collection position through the acoustic waveguide;
wherein, the signal processing chip is further used for carrying out the following processing: when no abnormal sound signal exists, one sound sensing element is in a working state, and the other sound sensing elements are in a standby mode; and controlling to wake up other sound sensing elements in the standby mode for sensing when the sound sensing elements detect abnormal sound signals.
2. The wearable acoustic detection and localization helmet of claim 1, wherein:
the acute-angle triangle is an isosceles acute-angle triangle.
3. The wearable acoustic detection and localization helmet of claim 1, wherein a number of sound entry holes are provided at the sound collection location when the acoustic sensor array chip is mounted inside a hard helmet.
4. The wearable acoustic detection and localization helmet of claim 3, wherein an acoustic collection structure is disposed outside of the number of sound entry holes.
5. The wearable acoustic detection and localization helmet of claim 4, wherein the sound collection structure is flared with a constriction surrounding the plurality of sound entry holes and an expansion away from the plurality of sound entry holes.
6. The wearable acoustic detection and localization helmet of claim 1, wherein:
the acoustic sensing array elements are capacitive acoustic sensing array elements, piezoelectric acoustic sensing array elements or optical acoustic sensing array elements;
the optical acoustic sensing array element is an optical fiber acoustic sensing array element, a grating acoustic sensing array element or an optical MEMS acoustic sensing array element.
7. The wearable acoustic detection and localization helmet of claim 1, wherein:
the sound wave guide tube is made of metal or flexible materials, wherein:
the metal material comprises one of copper, aluminum and aluminum alloy;
the flexible material comprises one of plastic, rubber, silicon rubber and polytetrafluoroethylene.
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| CN201810028461.8A CN108338441B (en) | 2018-01-11 | 2018-01-11 | Wearable sound detection and sound positioning helmet |
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| CN201810028461.8A CN108338441B (en) | 2018-01-11 | 2018-01-11 | Wearable sound detection and sound positioning helmet |
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| CN108338441B true CN108338441B (en) | 2021-03-26 |
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| CN111766549B (en) * | 2020-07-07 | 2023-03-31 | 北京卫星环境工程研究所 | Wearable magnetic field gradient detector and detection method |
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| CN201743012U (en) * | 2010-05-05 | 2011-02-16 | 深圳市讯威实业有限公司 | Helmet for blindman |
| CN202159135U (en) * | 2011-03-24 | 2012-03-07 | 左庆军 | Intelligent combined type sniping detecting system |
| CN106772244A (en) * | 2016-11-25 | 2017-05-31 | 北京明泰朗繁精密设备有限公司 | A kind of sonic location system and method |
| CN206548784U (en) * | 2016-09-30 | 2017-10-13 | 深圳市镭神智能系统有限公司 | A kind of wear-type guide equipment |
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2018
- 2018-01-11 CN CN201810028461.8A patent/CN108338441B/en active Active
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|---|---|---|---|---|
| CN201743012U (en) * | 2010-05-05 | 2011-02-16 | 深圳市讯威实业有限公司 | Helmet for blindman |
| CN202159135U (en) * | 2011-03-24 | 2012-03-07 | 左庆军 | Intelligent combined type sniping detecting system |
| CN206548784U (en) * | 2016-09-30 | 2017-10-13 | 深圳市镭神智能系统有限公司 | A kind of wear-type guide equipment |
| CN106772244A (en) * | 2016-11-25 | 2017-05-31 | 北京明泰朗繁精密设备有限公司 | A kind of sonic location system and method |
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