CN109255932B - Inclination alarm device based on pressure - Google Patents
Inclination alarm device based on pressure Download PDFInfo
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- CN109255932B CN109255932B CN201811176496.2A CN201811176496A CN109255932B CN 109255932 B CN109255932 B CN 109255932B CN 201811176496 A CN201811176496 A CN 201811176496A CN 109255932 B CN109255932 B CN 109255932B
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- pressure sensing
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/182—Level alarms, e.g. alarms responsive to variables exceeding a threshold
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- Emergency Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measuring Fluid Pressure (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a pressure-based inclination alarm device, and belongs to the technical field of monitoring. The device comprises a measuring module, a shell part, a fixing device and an adsorption device, wherein the measuring module consists of a pressure sensing device, a power supply circuit, a driving circuit, an ARM processor, a FLASH memory, an early warning circuit and a liquid crystal touch screen. The measuring module is arranged on a shell part, the shell part is provided with a fixing device and an adsorption device, the pressure sensing device is composed of a pressure sensor, a guide cylinder, a steel ball and a pressing screw, and the two sets of pressure sensing devices are arranged vertically. The invention is fixed on a mechanism to be tested, when the mechanism to be tested inclines, the pressure sensing device senses pressure change, data is transmitted to the ARM processor, the ARM processor analyzes and judges the data, and sends a judgment result to the liquid crystal touch screen, the early warning circuit and the FLASH memory for data backup. The invention can quickly monitor the inclination condition of the mechanism and has the characteristics of simple structure, high sensitivity and the like.
Description
Technical Field
The invention relates to a pressure-based inclination alarm device, and belongs to the technical field of monitoring.
Background
The transmission line needs a tower to erect, the overhead transmission line runs outdoors, mechanical forces such as dead weight, wind power, rainstorm, ice and snow and erosion of wind sand and harmful gas need to be borne, and the running condition is quite severe. Particularly, in poor areas such as goafs, mountain landslide areas, building construction areas and the like, under the action of natural environment and external conditions, the phenomena of slippage, inclination, cracking and the like of the foundation of the power transmission line tower are easy to occur, so that the tower is deformed, inclined and even falls down to cause disconnection. The tower inclination causes unbalanced stress of the tower ground wire, causes the tower stress to change, causes the electrical safety distance to be insufficient, and affects the normal operation of the line. The broken line of the inverted tower leads the power supply circuit to be paralyzed, seriously influences the production and life of people and causes great loss. In the initial stage of the inclination phenomenon of the tower, the line patrol personnel can hardly observe small changes with naked eyes. Therefore, the pole and tower inclination alarm equipment which is convenient to carry and low in cost is urgently needed, and an alarm is given when the pole and tower is inclined.
For another example, the scaffold is an indispensable tool for building construction and stage construction, and along with the continuous height, size and complexity of buildings, the scaffold is difficult to troubleshoot, and the scaffold safety accident outbreak rate is higher and higher. If there is one set of monitoring facilities, just can send out the warning when scaffold angle takes place very little slope, constructor in time checks the hidden danger, then can effectively prevent that scaffold from collapsing.
In addition, pile driving in the building construction process needs the pile to keep driving perpendicularly, in case the pile has the slope, can cause the ground unstability, and whether the pile of pile driving process needs real-time supervision stake slope, also needs the higher slope monitoring alarm equipment of a set of sensitivity.
And thus the apparatus for measuring the inclination of an object has wide applications.
Disclosure of Invention
In view of the above technical needs in the prior art, an object of the present invention is to provide a pressure-based inclination alarm device, which can measure and alarm any inclination angle of an object, and has the advantages of simple and easy measurement operation and high accuracy.
In order to achieve the purpose, the invention adopts the following technical scheme: a pressure-based inclination alarm device is characterized by comprising a measuring module, a shell component, a fixing device and an adsorption device, wherein the measuring module consists of a pressure sensing device, a power supply circuit, a driving circuit, an ARM processor, a FLASH memory, an early warning circuit and a liquid crystal touch screen;
the pressure sensing devices are arranged on the shell component, the pressure sensing devices are provided with two sets and are arranged vertically, each set of pressure sensing device consists of two pressure sensors, a guide cylinder, a steel ball and two pressing screws, wherein the steel ball can move freely in the guide cylinder, the pressing screws are arranged at two ends of the guide cylinder and used for limiting the steel ball in the guide cylinder, the two pressure sensors are respectively arranged at two ends of the guide cylinder, the sensitive pressure directions of the pressure sensors are overlapped with the axis of the guide cylinder, and when the steel ball moves to the end part of the guide cylinder, the steel ball is contacted with the pressure sensors;
the power supply circuit consists of a battery, a power supply conversion plate and a battery charging management plate, the nominal voltage of the battery is 5.5V-8.4V, the battery voltage is converted into two voltages of 5V and 3.3V by the power supply conversion plate, the battery charging management plate is externally connected with a charging port, the power supply circuit provides 3.3V voltage for the input ends of the pressure sensors, the driving circuit and the ARM processor in the two sets of pressure sensing devices, and the power supply circuit provides 5V voltage for the FLASH memory, the early warning circuit and the liquid crystal touch screen;
the driving circuit mainly comprises a voltage follower and a voltage dividing circuit, converts a measuring signal output by the pressure sensing device into a voltage signal with 0V-3.3V fluctuation, and transmits the voltage signal to the ARM processor;
the ARM processor is externally provided with a USB data transmission port, and data is read through the data transmission port;
the FLASH memory is used for storing data, adopts 1G high-capacity NANDFLASH and has the storage speed of 2 MB/s;
the early warning circuit consists of a buzzer, an indicator light and a driving circuit board, when the pressure sensing device detects an abnormal signal, the ARM processor controls the driving circuit board in the early warning circuit, the driving circuit board drives the buzzer and the indicator light, and the early warning circuit outputs sound early warning and light flickering;
the liquid crystal touch screen is used for starting or stopping monitoring activities and starting and shutting down of equipment;
the output ends of the pressure sensors in the two sets of pressure sensing devices are connected with a driving circuit, the driving circuit is connected with an ARM processor, the output end of the ARM processor is bidirectionally connected with a FLASH memory, the output end of the ARM processor is connected with a liquid crystal touch screen, and the output end of the ARM processor is connected with an early warning circuit;
the shell part comprises casing and cap for place measuring module, from taking sealed rope on the cap, and the cap is convenient for open, and the casing both sides have the handle, and fixing device fixes on the both sides handle of casing, and fixing device comprises nylon tape and thread gluing area, and the thread gluing area is pasted at the nylon tape both ends, and adsorption equipment fixes the bottom at the casing, and adsorption equipment comprises magnet or vacuum chuck, and one side of casing has charging mouth, liquid crystal touch-sensitive screen and USB data transmission mouth.
Furthermore, when the measuring module is arranged on an object to be measured at any angle, in an initial state, the driving circuit converts and amplifies level signals sensed by four pressure sensors in the two sets of pressure sensing devices and provides the level signals to the ARM processor, the ARM processor records the information as an initial value, when the object to be measured inclines, because the steel ball moves in the guide cylinder, the gravity of the steel ball always faces downwards, the component force of the steel ball pointing to the pressure sensors changes along with the inclination of the angle, the driving circuit converts and amplifies the voltage signals sensed by the four pressure sensors in the two sets of pressure sensing devices again, and the ARM processor transmits the signals to the ARM processor again, and the ARM processor can comprehensively calculate the inclination angle of the object to be measured by comparing the voltage change information of the four pressure sensors in the two pressure sensing devices with the initial value.
Further, the pressure sensor in the pressure sensing device is a piezoresistive pressure sensor.
Further, the ARM processor is provided with an inclination margin alarm value which is 1-6 degrees, and when the inclination angle reaches the margin alarm value, the early warning circuit gives an alarm.
Further, the FLASH memory stores data processed by the ARM processor after receiving the information sent by the pressure sensing device in real time.
Further, the inner wall of a guide cylinder in the pressure sensing device is smooth, the roughness is Ra0.8, and the inner surface of the guide cylinder is also coated with DJB-823 solid film protective agent. By the arrangement, the friction force of the steel ball in the guide cylinder can be obviously reduced, and the movement sensitivity of the steel ball is improved.
The working principle of the invention is as follows:
according to the structural characteristics of the object to be measured, a mode which is most convenient for fixing the invention is selected from a magnet or a vacuum chuck or a fixing device of the adsorption device, and the invention is fixed on the object to be measured. The invention can be fixed on an object to be measured with any inclination angle in the initial state.
After the system is started and self-checked through a liquid crystal touch screen, the system starts test work, in an initial state, a driving circuit converts and amplifies level signals sensed by four pressure sensors in two sets of pressure sensing devices and provides the level signals to an ARM processor, the ARM processor records the information as an initial value, when an object to be tested inclines at any angle, because a steel ball moves in a guide cylinder, the gravity of the steel ball is always downward, the component force of the steel ball pointing to the pressure sensors changes along with the inclination of the angle, the two sets of pressure sensing devices perpendicular to each other sense the change of the angle, the driving circuit converts and amplifies voltage signals sensed by the four pressure sensors in the two sets of pressure sensing devices again and transmits the signals to the ARM processor again, and the ARM processor receives the voltage change information of the four pressure sensors in the two sets of pressure sensing devices according to the ARM processor, through comparing with initial value, can synthesize the inclination of calculating the object that awaits measuring, when inclination reached the early warning value, early warning circuit work sent out sound early warning and light scintillation, reminds relevant personnel to pay attention to. And all the data processed by the ARM processor are simultaneously sent to the FLASH memory in real time for data backup.
And clicking a stop switch on the liquid crystal touch screen, and enabling the system to enter a test stop mode to stop recording and early warning actions of any data.
Due to the adoption of the technical scheme, the invention has the following beneficial technical effects:
a) the invention adopts two sets of pressure sensing devices which are vertically arranged, can sense the change of any angle of an object to be measured, has high measurement reliability, and can be arranged at any angle;
b) the invention has the accident tracing ability, and the data is stored in the FLASH memory, so that the problem tracing after the incident can be carried out;
c) according to the invention, the change of any angle of the object to be tested can be tested by comparing the pressure information change of the steel ball received by the pressure sensor with the initial value, and the internal device of the invention is not required to be adjusted;
d) the invention is provided with a battery and an external charging interface, and can work for a long time.
Drawings
FIG. 1 is a schematic diagram of the components of a measurement module of a pressure-based tilt alarm device of the present invention;
FIG. 2 is a schematic view of the overall configuration of the present invention;
fig. 3 is a schematic view of the assembly and installation structure of the pressure sensing device of the present invention.
In fig. 1 to 3: the device comprises a measuring module 1, a pressure sensing device 1-1, a pressure sensor 1-1a, a guide cylinder 1-1b, a steel ball 1-1c, a pressure screw 1-1d, a power supply circuit 1-2, a driving circuit 1-3, an ARM processor 1-4, a FLASH memory 1-5, an early warning circuit 1-6, a liquid crystal touch screen 1-7, a shell part 2, a fixing device 3 and an adsorption device 4.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention discloses a preferred embodiment of a pressure-based inclination alarm device, which comprises a measuring module 1, a shell part 2, a fixing device 3 and an adsorption device 4, wherein the measuring module 1 consists of two sets of pressure sensing devices 1-1, a power supply circuit 1-2, a driving circuit 1-3, an ARM processor 1-4, a FLASH memory 1-5, an early warning circuit 1-6 and a liquid crystal touch screen 1-7;
the pressure sensing device 1-1 is arranged on a shell part 2, the pressure sensing device 1-1 has two sets and is arranged vertically, each set of pressure sensing device 1-1 is composed of two pressure sensors 1-1a, a guide cylinder 1-1b, a steel ball 1-1c and two press screws 1-1d as shown in figure 3, wherein the steel ball 1-1c can move freely in the guide cylinder 1-1b, the press screws 1-1d are arranged at two ends of the guide cylinder 1-1b for limiting the steel ball 1-1c in the guide cylinder 1-1b, the two pressure sensors 1-1a are respectively arranged at two ends of the guide cylinder 1-1b, the sensitive pressure direction of the pressure sensors 1-1a is coincident with the axial line of the guide cylinder 1-1b, and when the steel ball 1-1c moves to the end of the guide cylinder 1-1b, the steel ball 1-1c is contacted with a pressure sensor 1-1a, further, the inner wall of a guide cylinder 1-1b in the pressure sensing device 1-1 is smooth, the roughness is Ra0.8, and the inner surface of the guide cylinder 1-1b is also coated with DJB-823 solid film protective agent, further, the pressure sensor 1-1a in the pressure sensing device 1-1 is a piezoresistive pressure sensor;
the power supply circuit 1-2 is composed of a battery, a power supply conversion board and a battery charging management board, the nominal voltage of the battery is 5.5V-8.4V, the battery voltage is converted into two voltages of 5V and 3.3V by the power supply conversion board, the battery charging management board is externally connected with a charging port, the power supply circuit 1-2 provides 3.3V voltage for the input ends of pressure sensors 1-1a, a driving circuit 1-3 and an ARM processor 1-4 in two sets of pressure sensing devices 1-1, and the power supply circuit 1-2 provides 5V voltage for a FLASH memory 1-5, an early warning circuit 1-6 and a liquid crystal touch screen 1-7;
the driving circuit 1-3 mainly comprises a voltage follower and a voltage division circuit, and realizes the driving of voltage signals between the pressure sensing device 1-1 and the ARM processor 1-4;
the ARM processor 1-4 is provided with an inclination margin alarm value which is 1-6 degrees, when the inclination angle reaches the margin alarm value, the early warning circuit 1-6 gives an alarm, preferably 3 degrees in the embodiment, the ARM processor 1-4 is externally provided with a USB data transmission port, and data is read through the data transmission port;
the FLASH memory 1-5 is used for storing data, the FLASH memory 1-5 adopts 1G high-capacity NAND FLASH and has the storage speed of 2MB/s, and the FLASH memory 1-5 stores the data processed by the ARM processor 1-4 after receiving the information sent by the pressure sensing device 1-1 in real time;
the early warning circuit 1-6 is composed of a buzzer, an indicator light and a driving circuit board, when the pressure sensing device 1-1 detects that the inclination angle signal of the object to be measured exceeds a threshold value, the ARM processor 1-4 controls the driving circuit board in the early warning circuit 1-6, the driving circuit board drives the buzzer and the indicator light, and the early warning circuit 1-6 outputs sound early warning and light flickering;
the liquid crystal touch screens 1-7 are used for starting or stopping monitoring activities and starting and shutting down of equipment;
the output ends of the pressure sensors 1-1a in the two sets of pressure sensing devices 1-1 are connected with the driving circuit 1-3, the driving circuit 1-3 is connected with the ARM processor 1-4, the output end of the ARM processor 1-4 is bidirectionally connected with the FLASH memory 1-5, the output end of the ARM processor 1-4 is connected with the liquid crystal touch screen 1-7, and the output end of the ARM processor 1-4 is connected with the early warning circuit 1-6;
the shell part 2 comprises casing and cap for placing measuring module 1, from taking sealed rope on the cap, and cap and for the casing screw connection, be convenient for open, the casing both sides have the handle, fixing device 3 fixes on the both sides handle of casing, fixing device 3 comprises nylon belt and thread gluing area, the thread gluing area is pasted at the nylon belt both ends, adsorption equipment 4 fixes the bottom at the casing, adsorption equipment 4 comprises magnet or vacuum chuck, one side of casing has the mouth that charges, liquid crystal touch screen 1-7 and USB data transmission mouth.
The working principle of the embodiment is as follows:
according to the structural characteristics of the object to be measured, a mode which is most convenient for fixing the embodiment is selected from the magnet or the vacuum chuck of the adsorption device 4 or the fixing device 3, and the embodiment is fixed on the object to be measured. The present embodiment can be fixed on an object to be measured with any inclination angle in the initial state.
After the system is started up and self-checked through the liquid crystal touch screen 1-7, the system starts testing work, in an initial state, the driving circuit 1-2 converts and amplifies level signals sensed by four pressure sensors 1-1a in the two sets of pressure sensing devices 1-1 and provides the level signals to the ARM processor 1-4, the ARM processor 1-4 records the level signals as initial values, when an object to be tested inclines at any angle, the steel ball 1-1c moves in the guide cylinder 1-1b, the gravity of the steel ball 1-1c always faces downwards, the component force of the steel ball 1-1c pointing to the pressure sensors 1-1a changes along with the inclination of the angle, the two sets of pressure sensing devices 1-1 perpendicular to each other sense the change of the angle, and the driving circuit 1-2 senses the four pressure sensors 1-1a in the two sets of pressure sensing devices 1-1 again The voltage signals are converted and amplified, the signals are transmitted to the ARM processor 1-4 again, the ARM processor 1-4 can comprehensively calculate the inclination angle of an object to be detected by comparing with an initial value according to received voltage change information of four pressure sensors 1-1a in the two pressure sensing devices 1-1, and when the inclination angle reaches a set early warning value of 3 degrees, the early warning circuit 1-6 works to give out sound early warning and light flickering to remind related personnel of paying attention. And all the data processed by the ARM processor 1-4 are simultaneously sent to the FLASH memory 1-5 in real time for data backup.
And clicking a stop switch on the liquid crystal touch screen 1-7, and enabling the system to enter a test stop mode to stop recording and early warning actions of any data.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (6)
1. A pressure-based inclination alarm device is characterized by comprising a measuring module (1), a shell part (2), a fixing device (3) and an adsorption device (4), wherein the measuring module (1) consists of a pressure sensing device (1-1), a power supply circuit (1-2), a driving circuit (1-3), an ARM processor (1-4), a FLASH memory (1-5), an early warning circuit (1-6) and a liquid crystal touch screen (1-7);
the pressure sensing devices (1-1) are arranged on the shell part (2), two sets of the pressure sensing devices (1-1) are arranged vertically, each set of the pressure sensing device (1-1) is composed of two pressure sensors (1-1a), a guide cylinder (1-1b), a steel ball (1-1c) and two pressing screws (1-1d), wherein the steel ball (1-1c) can move freely in the guide cylinder (1-1b), the pressing screws (1-1d) are arranged at two ends of the guide cylinder (1-1b) and used for limiting the steel ball (1-1c) in the guide cylinder (1-1b), the two pressure sensors (1-1a) are respectively arranged at two ends of the guide cylinder (1-1b), the sensitive pressure direction of the pressure sensors (1-1a) is coincided with the axis of the guide cylinder (1-1b), when the steel ball (1-1c) moves to the end part of the guide cylinder (1-1b), the steel ball (1-1c) is contacted with the pressure sensor (1-1 a);
the power supply circuit (1-2) is composed of a battery, a power supply conversion board and a battery charging management board, the nominal voltage of the battery is 5.5V-8.4V, the battery voltage is converted into two voltages of 5V and 3.3V by the power supply conversion board, the battery charging management board is externally connected with a charging port, the power supply circuit (1-2) provides 3.3V voltage for the input end of a pressure sensor (1-1a), a driving circuit (1-3) and an ARM processor (1-4) in two sets of pressure sensing devices (1-1), and the power supply circuit (1-2) provides 5V voltage for a FLASH memory (1-5), an early warning circuit (1-6) and a liquid crystal touch screen (1-7);
the driving circuit (1-3) mainly comprises a voltage follower and a voltage dividing circuit, converts a measurement signal output by the pressure sensing device (1-1) into a voltage signal with 0V-3.3V fluctuation, and transmits the voltage signal to the ARM processor (1-4);
the ARM processor (1-4) is externally provided with a USB data transmission port, and data is read through the data transmission port;
the FLASH memories (1-5) are used for storing data, and the FLASH memories (1-5) adopt 1G high-capacity NAND FLASH and have the storage speed of 2 MB/s;
the early warning circuit (1-6) is composed of a buzzer, an indicator light and a driving circuit board, when the pressure sensing device (1-1) detects an abnormal signal, the ARM processor (1-4) controls the driving circuit board in the early warning circuit (1-6), the driving circuit board drives the buzzer and the indicator light, and the early warning circuit (1-6) outputs sound early warning and light flickering;
the liquid crystal touch screen (1-7) is used for starting or stopping monitoring activities and starting and shutting down of equipment;
the output ends of pressure sensors (1-1a) in the two sets of pressure sensing devices (1-1) are connected with a driving circuit (1-3), the driving circuit (1-3) is connected with an ARM processor (1-4), the output end of the ARM processor (1-4) is bidirectionally connected with a FLASH memory (1-5), the output end of the ARM processor (1-4) is connected with a liquid crystal touch screen (1-7), and the output end of the ARM processor (1-4) is connected with an early warning circuit (1-6);
the shell part (2) comprises a shell and a shell cover and is used for placing the measuring module (1), a sealing rope is arranged on the shell cover, the shell cover is convenient to open, handles are arranged on two sides of the shell, the fixing device (3) is fixed on the handles on two sides of the shell and comprises a nylon belt and a fastening belt, the fastening belt is pasted at two ends of the nylon belt, the adsorption device (4) is fixed at the bottom end of the shell and comprises a magnet or a vacuum sucker, and a charging port, a liquid crystal touch screen (1-7) and a USB data transmission port are arranged on one side of the shell.
2. The pressure-based inclination alarm device according to claim 1, characterized in that when the measuring module (1) is installed on the object to be measured at any angle, in the initial state, the driving circuit (1-3) converts and amplifies the level signals sensed by the four pressure sensors (1-1a) in the two sets of pressure sensing devices (1-1) and provides the level signals to the ARM processor (1-4), the ARM processor (1-4) records the information as the initial value, when the object to be measured is inclined, because the steel ball (1-1c) moves in the guide cylinder (1-1b), the gravity of the steel ball (1-1c) is downward all the time, the component force of the steel ball (1-1c) directed to the pressure sensor (1-1a) changes along with the inclination of the angle, the driving circuit (1-3) converts and amplifies voltage signals sensed by the four pressure sensors (1-1a) in the two sets of pressure sensing devices (1-1) again, and transmits the signals to the ARM processor (1-4) again, and the ARM processor (1-4) can comprehensively calculate the inclination angle of the object to be measured by comparing with an initial value according to received voltage change information of the four pressure sensors (1-1a) in the two sets of pressure sensing devices (1-1).
3. A pressure based tilt warning device according to claim 1 or 2, wherein the pressure sensor (1-1a) in the pressure sensing means (1-1) is a piezoresistive pressure sensor.
4. A pressure based tilt alarm device according to claim 1, characterised in that the ARM processor (1-4) is provided with a tilt margin alarm value, the tilt margin alarm value being 1-6 °, and the pre-warning circuit (1-6) issues an alarm when the tilt angle reaches the margin alarm value.
5. A pressure-based tilt alarm device according to claim 1, wherein the FLASH memory (1-5) stores data processed by the ARM processor (1-4) in real time in response to the information sent from the pressure sensing device (1-1).
6. A pressure based tilt alarm device according to claim 1, wherein the guiding cylinder (1-1b) of the pressure sensing means (1-1) has a smooth inner wall with a roughness of ra0.8, and the inner surface of the guiding cylinder (1-1b) is further coated with DJB-823 solid film protecting agent.
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| CN201811176496.2A CN109255932B (en) | 2018-10-10 | 2018-10-10 | Inclination alarm device based on pressure |
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| CN201811176496.2A CN109255932B (en) | 2018-10-10 | 2018-10-10 | Inclination alarm device based on pressure |
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| CN109255932B true CN109255932B (en) | 2021-09-21 |
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| CN113482195B (en) * | 2021-07-27 | 2022-02-15 | 江苏叙施建筑科技有限公司 | Energy-saving assembled heating wall based on dynamic monitoring |
| CN113734318B (en) * | 2021-10-12 | 2022-08-05 | 南京福亿智能机器人科技有限公司 | Intelligent walking equipment and stair climbing method thereof |
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| EP2270426A1 (en) * | 2009-06-30 | 2011-01-05 | Deutsche Post AG | Device and method for monitoring the movement of an object |
| CN201463884U (en) * | 2009-07-15 | 2010-05-12 | 包顶峰 | Piezoelectric type electronic gradienter |
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