CN109298664A - Electric pushrod control device and furniture - Google Patents
Electric pushrod control device and furniture Download PDFInfo
- Publication number
- CN109298664A CN109298664A CN201811294943.4A CN201811294943A CN109298664A CN 109298664 A CN109298664 A CN 109298664A CN 201811294943 A CN201811294943 A CN 201811294943A CN 109298664 A CN109298664 A CN 109298664A
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- China
- Prior art keywords
- relay
- electric pushrod
- control
- control circuit
- resistance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25314—Modular structure, modules
Abstract
The present invention provides a kind of electric pushrod control device and furniture, comprising: AC relay control circuit (1), electric pushrod control circuit (2), electric pushrod control interface (3), laser radar signal receive decision circuitry (4)；Electric pushrod control circuit (2) controls the movement of electric pushrod according to input signal through electric pushrod control interface (3).The present invention solves the connection of normal domestic use switch and the connection of Internet of Things home switch by using the structure of AC relay circuit.The present invention adds the structure of controller by using laser radar, solves the problems, such as actively stop after such as electronic positive tilting table or rollover bed products encounter barrier (child, old man, pet).
Description
Technical field
The present invention relates to electric pushrod control fields, and in particular, to electric pushrod control device and furniture.
Background technique
Electric pushrod controller in the prior art mostly uses the mode of 433M remote control device.Although which operation tool
Have certain convenience, but shortcoming is, on the one hand can not external normal domestic use 220V switch, another party also can not be direct
The internet of things product of docking on the market.When operation, electric pushrod will not stop because of barrier, so that causing need not
The damage wanted.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of electric pushrod control devices.
A kind of electric pushrod control device provided according to the present invention, comprising: AC relay control circuit 1 electronic pushes away
Bar control circuit 2, electric pushrod control interface 3, laser radar signal receive decision circuitry 4；
The output of AC relay control circuit 1 is connected with the input of electric pushrod control circuit 2, electric pushrod control
The output of circuit 2 is connected with the input of electric pushrod control interface 3, and laser radar signal receives the defeated of decision circuitry 4
It is connected out with the input of electric pushrod control circuit 2.
Electric pushrod control circuit 2 controls electric pushrod through electric pushrod control interface 3 according to input signal
Movement.
Preferably, AC relay control circuit 1 includes: AC relay K1, AC relay K2；
AC relay K1 and AC relay K2 includes alternating current coil, single-pole double-throw switch (SPDT)；Single-pole double-throw switch (SPDT)
Including common, normally opened contact；
The common of AC relay K1, the external electric pushrod control circuit 2 of the common of AC relay K2
Signal level line；The normally opened contact of AC relay K1 is counted by rising the first of the external electric pushrod control circuit 2 of control line
Word amount input interface；The normally opened contact of AC relay K2 passes through the second of the decline external electric pushrod control circuit 2 of control line
Digital-quantity input interface；
The both ends of the alternating current coil of AC relay K1, which are separately connected, rises firewire, zero curve；The friendship of AC relay K2
The both ends of galvanic electricity coil are separately connected decline firewire, zero curve.
Preferably, it includes: laser radar, laser radar signal reception circuit that laser radar signal, which receives decision circuitry 4,；Its
In, the laser radar signal receives circuit as control loop；
The control line RXD of laser radar receives pin with the serial ports in control loop and docks；The control pin of control loop
Connect the third digital-quantity input interface of electric pushrod control circuit 2；
Control loop is obtained using laser radar as the center of circle, the position of peripheral obstacle according to the data obtained from control line RXD
Situation is set, and controls the level of the control pin according to the situation of barrier.
Preferably, electric pushrod control interface 3 includes: resistance R1, resistance R2, resistance R3, resistance R49, resistance
R10, resistance R11, triode Q1, triode Q2, relay K3, relay K4, current-limiting inductance L1, current-limiting inductance L2, interface P1；
First digital-quantity output interface of one end connection electric pushrod control circuit 2 of resistance R1, the other end of resistance R1
The base stage of connecting triode Q1, one end of the collector connection relay K3 coil of triode Q1, relay K3 coil it is another
End connection pull-up voltage end, the emitter of triode Q1 are grounded by resistance R10；The common of relay K3 passes through current limliting electricity
Feel an input pin of L1 connecting interface P1, the normally-closed contact of relay K3 is grounded by resistance R49；
Second digital-quantity output interface of one end connection electric pushrod control circuit 2 of resistance R2, the other end of resistance R2
The base stage of connecting triode Q2, one end of the collector connection relay K4 coil of triode Q2, relay K4 coil it is another
End connection pull-up voltage end, the emitter of triode Q2 are grounded by resistance R11；The common of relay K4 passes through current limliting electricity
Feel another input pin of L2 connecting interface P1, the normally-closed contact of relay K4 is grounded by resistance R49；
The normally-closed contact of relay K3, the normally-closed contact of relay K4 are all connected with the first mould of electric pushrod control circuit 2
Analog quantity input interface；
The normally opened contact of relay K3, the normally opened contact of relay K4 are separately connected driving voltage end.
Preferably, electric pushrod control circuit 2 includes: that the control logic of controller is: being connect according to the input of the first digital quantity
Mouth, the second digital-quantity input interface, third digital-quantity input interface, the first analog input interface, to handle the first digital quantity
The movement of output interface, the second digital-quantity output interface.
Preferably, when electric pushrod arbitrarily acts execution, laser radar signal receives decision circuitry 3 and constantly judges week
The case where enclosing, if the obstacle information received, outside detection range, control pin will not be drawn high；If received
Obstacle information is in detection range, then control pin can be drawn high；The current action that electric pushrod control circuit 2 controls is all
It can become halted state, be lower again until controlling pin, restore current action state；
If rising has alternating current between firewire and zero curve, declining does not have between firewire and zero curve, then AC relay K1
Closure rises control line connection signal level line, and the controller of electric pushrod control circuit 2, which has received, rises control line drawing
Height is not received by decline control line and draws high, and controller can first confirm that the control of laser radar signal reception decision circuitry 3 is drawn
Whether the level of foot is drawn high, if drawn high, relay K3 and relay K4 are closed, and common is maintained to be connected to normally closed touching
Point side；If control pin is not drawn high, control relay K3 is opened, and common connects normally opened contact and driven with connecting
Dynamic voltage end, control relay K4 closure, common maintenance are connected to normally-closed contact side；Definition is opened as relay K3,
When relay K4 is closed, electric pushrod rises.
If there is alternating current between decline firewire and zero curve, rising between firewire and zero curve does not have, then AC relay K2
Closure, declines control line connection signal level line, and the controller of electric pushrod control circuit 2 has received decline control line and draws
Height is not received by rising control line and draws high, and controller can first confirm that the control of laser radar signal reception decision circuitry 3 is drawn
Whether the level of foot is drawn high, if drawn high, control relay K3 and relay K4 is closed, and common maintenance is connected to
Normally-closed contact side；If control pin do not draw high, control relay K4 open, common connect normally opened contact with
Driving voltage end is connected to which V level is drawn high, control relay K3 closure, common maintenance is connected to normally-closed contact side electricity
It puts down constant；Definition is closed as relay K3, when relay K4 is opened, electric pushrod decline.
A kind of furniture provided according to the present invention, including electric pushrod, it is electronic including above-mentioned electric pushrod control device
Push rod moves under the control of electric pushrod control device.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, the present invention solves the connection of normal domestic use switch and Internet of Things by using the structure of AC relay circuit
The connection of net home switch.To widen the usage mode and environment of electric pushrod, such as the third-party 220V that can arrange in pairs or groups
Things internet switch and intelligent sound assistant achieve the purpose that voice control electric pushrod.
2, the present invention adds the structure of controller by using laser radar, solves such as electronic positive tilting table or rollover
Bed products encounter the problem of can not actively stopping after barrier (child, old man, pet).
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the principle schematic diagram of electric pushrod control device provided by the invention.
Fig. 2 is the structural principle signal of AC relay control circuit 1 in electric pushrod control device provided by the invention
Figure.
Fig. 3 is that the structural principle of electric pushrod control interface 3 in electric pushrod control device provided by the invention shows
It is intended to.
Fig. 4 is the structure original that laser radar signal receives decision circuitry 4 in electric pushrod control device provided by the invention
Manage schematic diagram.
It is shown in figure:
AC relay control circuit 1
Electric pushrod control circuit 2
Electric pushrod control interface 3
Laser radar signal receives decision circuitry 4
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
Multifunctional motor-driven pushrod control device, comprising: AC relay control circuit 1 and electric pushrod control circuit 2, electricity
Dynamic push rod control interface 3, laser radar signal receive decision circuitry 4.The AC relay control circuit 1 is preferably especially
It is 220V AC relay control circuit.
The output of AC relay control circuit 1 is connected with the input of electric pushrod control circuit 2, electric pushrod control
The output of circuit 2 is connected with the input of electric pushrod control interface 3, and laser radar signal receives the defeated of decision circuitry 4
It is connected out with the input of electric pushrod control circuit 2.
AC relay control circuit 1 includes: AC relay K1, AC relay K2；AC relay K1 with exchange
Relay K2 is with alternating current 220V coil and one opens a relay closed.The circuit function of this part is in order to household
220V switching value is introduced into the multi-functional circuit of entire electric pushrod, while can also be with external third-party household 220V Internet of Things
Switch.The common of AC relay K1 and the external electric pushrod control circuit 2 of the common of AC relay K2
3.3V level line, the normally opened contact of AC relay K1 are counted by rising the first of the external electric pushrod control circuit 2 of control line
The normally opened contact of word amount input interface, AC relay K2 passes through the second of the decline external electric pushrod control circuit 2 of control line
Digital-quantity input interface.
The STM32F103C8T6 controller and controller that electric pushrod control circuit 2 includes: STMicw Electronics are most
Mini system circuit.Controller draws 3 digital-quantity input interfaces, is the rising control for being connected to AC relay control circuit 1 respectively
Line processed, decline control line, are connected to the control pin that laser radar signal receives decision circuitry 4.Controller has also drawn a mould
Analog quantity input interface, the current output interface for being connected to electric pushrod control interface 3 realize current feedback.
The control logic of controller is to handle two according to three digital-quantity input interfaces and an analog input interface
The movement of a digital-quantity output interface.
Electric pushrod control interface 3 includes: resistance R1 (1K Ohmic resistance), resistance R2 (1K Ohmic resistance), resistance
R3 (1K Ohmic resistance), resistance R4, resistance R5, resistance R6, resistance R7, resistance R8, resistance R9, triode Q1 (NPN triode),
Triode Q2 (NPN triode), relay K3 (5V relay), relay K4 (5V relay), current-limiting inductance L1, current-limiting inductance
L2.Wherein resistance R1 and resistance R2 respectively as triode Q1 and triode Q2 base resistance, by relay K3, relay K4
It is connected on the collector of triode Q1, triode Q2, and pulls up 5V power supply.
Wherein, resistance R4, resistance R5, resistance R6, resistance R7, resistance R8, the resistance R9 being connected in parallel are 1 ohm of 1/4W
Power resistor.
It includes: laser radar, STM32F103C8T6 control loop that laser radar signal, which receives decision circuitry 4,；Laser radar
Control line be respectively 5V power supply line, 3.3V power supply line, ground line GND, control line RXD.Wherein control line RXD be with
Serial ports in STM32F103C8T6 control loop receives pin docking.The power requirement of 5V and 3.3V power supply line is 1A or more,
5V power supply line gives the Laser emission of laser radar and receives circuit and internal processing circuitry power supply, and 3.3V power supply line is to sharp
The motor of optical radar is powered.And STM32F103C8T6 control loop it is to be treated be exactly obtained from laser radar control line RXD
The data arrived, by this data it is recognised that using laser radar as the center of circle, the situation (distance of peripheral obstacle
0.2M----6M) (0 ° of angle --- 360 °).STM32F103C8T6 control loop can identify the case where peripheral obstacle, and
The level of output pin is controlled by analyzing these barriers, to control electronic push away by electric pushrod control circuit 2
The movement of bar.
If rising has 220V alternating current between firewire and zero curve, declining does not have between firewire and zero curve, then K1 is closed, on
It rising control line and connects 3.3V, 2 controller STM32F103C8T6 of electric pushrod control circuit has received rising control line and draws high,
It is not received by decline control line to draw high, controller can first confirm that laser radar signal receives the control pin of decision circuitry 3
Level whether draw high, if drawn high, control K3 and K4 pin will not act.If control pin is not drawn high, that
The pin level of control K3 is drawn high, and the pin level for controlling K4 is constant.When the level signal on R1, R2 is more than or equal to Q1, Q2
When conducting voltage (VBE, generally 0.7V) between base emitter-base bandgap grading, the collector voltage of Q1, Q2 can close to emitter voltage, so
Coil one end of K3, K4 are 5V, are in addition connected with the collector of Q1, Q2, voltage can be dropped to close to 0V.Such K3, K4 relay
It will open.We define when K3 is opened, and K4 is closed, and electric pushrod rises, K3 closure, when K4 is opened, electric pushrod decline.
So electric pushrod rises when the level for controlling K3 is drawn high.
If there is 220V alternating current between decline firewire and zero curve, rising between firewire and zero curve does not have, then K2 is closed, under
It dropping control line and connects 3.3V, 2 controller STM32F103C8T6 of electric pushrod control circuit has received decline control line and draws high,
It is not received by rising control line to draw high, controller can first confirm that laser radar signal receives the control pin of decision circuitry 3
Level whether draw high, if drawn high, control K3 and K4 pin will not act.If control pin is not drawn high, that
The pin level of control K4 is drawn high, and the pin level for controlling K3 is constant.When the level for controlling K4 is drawn high, under electric pushrod
Drop.
When conation in office executes, laser radar signal receives the case where decision circuitry 3 all can constantly judge surrounding, such as
The obstacle information that fruit receives (such as at 0 ° -- 180 °) (other than 1.5 meters of distance) outside detection range, then control pin
It will not draw high.If the obstacle information received is in detection range (such as at 0 ° -- 180 °) (within 1.5 meters of distance),
So control pin can be drawn high.The current action (no matter up and down, stop) of electric pushrod control circuit 2 can all become stopping
Only state.It is lower again until controlling pin, restores current action state.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (7)
1. a kind of electric pushrod control device characterized by comprising AC relay control circuit (1), electric pushrod control
Circuit (2), electric pushrod control interface (3), laser radar signal receive decision circuitry (4)；
The output of AC relay control circuit (1) is connected with the input of electric pushrod control circuit (2), electric pushrod control
The output of circuit (2) is connected with the input of electric pushrod control interface (3), and laser radar signal receives decision circuitry
(4) output is connected with the input of electric pushrod control circuit (2).
Electric pushrod control circuit (2) controls electric pushrod through electric pushrod control interface (3) according to input signal
Movement.
2. electric pushrod control device according to claim 1, which is characterized in that AC relay control circuit (1) packet
It includes: AC relay K1, AC relay K2；
AC relay K1 and AC relay K2 includes alternating current coil, single-pole double-throw switch (SPDT)；Single-pole double-throw switch (SPDT) includes
Common, normally opened contact；
The letter of the external electric pushrod control circuit (2) of common, the common of AC relay K2 of AC relay K1
Number level line；The normally opened contact of AC relay K1 is counted by rising the first of the external electric pushrod control circuit (2) of control line
Word amount input interface；The normally opened contact of AC relay K2 passes through the of the decline external electric pushrod control circuit (2) of control line
Two digital-quantity input interfaces；
The both ends of the alternating current coil of AC relay K1, which are separately connected, rises firewire, zero curve；The alternating current of AC relay K2
The both ends of coil are separately connected decline firewire, zero curve.
3. electric pushrod control device according to claim 1, which is characterized in that laser radar signal receives decision circuitry
It (4) include: laser radar, laser radar signal reception circuit；Wherein, the laser radar signal reception circuit, which is used as, controls back
Road；
The control line RXD of laser radar receives pin with the serial ports in control loop and docks；The control pin of control loop connects
The third digital-quantity input interface of electric pushrod control circuit (2)；
Control loop is obtained using laser radar as the center of circle, the position feelings of peripheral obstacle according to the data obtained from control line RXD
Condition, and the level for controlling pin is controlled according to the situation of barrier.
4. electric pushrod control device according to claim 1, which is characterized in that electric pushrod control interface (3)
Include: resistance R1, resistance R2, resistance R3, resistance R49, resistance R10, resistance R11, triode Q1, triode Q2, relay K3,
Relay K4, current-limiting inductance L1, current-limiting inductance L2, interface P1；
The other end of first digital-quantity output interface of one end connection electric pushrod control circuit (2) of resistance R1, resistance R1 connects
Connect the base stage of triode Q1, one end of the collector connection relay K3 coil of triode Q1, the other end of relay K3 coil
Connection pull-up voltage end, the emitter of triode Q1 are grounded by resistance R10；The common of relay K3 passes through current-limiting inductance
An input pin of L1 connecting interface P1, the normally-closed contact of relay K3 are grounded by resistance R49；
The other end of second digital-quantity output interface of one end connection electric pushrod control circuit (2) of resistance R2, resistance R2 connects
Connect the base stage of triode Q2, one end of the collector connection relay K4 coil of triode Q2, the other end of relay K4 coil
Connection pull-up voltage end, the emitter of triode Q2 are grounded by resistance R11；The common of relay K4 passes through current-limiting inductance
The normally-closed contact of another input pin of L2 connecting interface P1, relay K4 is grounded by resistance R49；
The normally-closed contact of relay K3, the normally-closed contact of relay K4 are all connected with the first simulation of electric pushrod control circuit (2)
Measure input interface；
The normally opened contact of relay K3, the normally opened contact of relay K4 are separately connected driving voltage end.
5. electric pushrod control device according to claim 1, which is characterized in that electric pushrod control circuit (2) includes:
The control logic of controller is: being connect according to the first digital-quantity input interface, the second digital-quantity input interface, the input of third digital quantity
Mouth, the first analog input interface, to handle the movement of the first digital-quantity output interface, the second digital-quantity output interface.
6. electric pushrod control device according to claim 1, which is characterized in that arbitrarily act execution in electric pushrod
When, laser radar signal receives the case where decision circuitry (3) constantly judge surrounding, if the obstacle information received is being examined
It surveys outside range, then control pin will not be drawn high；If the obstacle information received is in detection range, control is drawn
Foot can be drawn high；The current action of electric pushrod control circuit (2) control can all become halted state, until again control pin becomes
It is low, restore current action state；
If rising has alternating current between firewire and zero curve, declining does not have between firewire and zero curve, then AC relay K1 is closed,
Rise control line connection signal level line, the controller of electric pushrod control circuit (2) has received rising control line and draws high, do not have
It receives decline control line to draw high, controller can first confirm that laser radar signal receives the control pin of decision circuitry (3)
Level whether draw high, if drawn high, relay K3 and relay K4 are closed, and common is maintained to be connected to normally-closed contact
Side；If control pin is not drawn high, control relay K3 is opened, and common connects normally opened contact to connect driving
Voltage end, control relay K4 closure, common maintenance are connected to normally-closed contact side；Definition is opened as relay K3, after
When electric appliance K4 is closed, electric pushrod rises.
If there is alternating current between decline firewire and zero curve, rising between firewire and zero curve does not have, then AC relay K2 is closed,
Decline control line connection signal level line, the controller of electric pushrod control circuit (2) has received decline control line and draws high, do not have
It receives rising control line to draw high, controller can first confirm that laser radar signal receives the control pin of decision circuitry (3)
Level whether draw high, if drawn high, control relay K3 and relay K4 is closed, and common maintenance is connected to normal
Closed contact side；If control pin is not drawn high, control relay K4 is opened, and common connects normally opened contact to connect
Logical driving voltage end is drawn high to V level, and control relay K3 closure, common maintenance is connected to normally-closed contact side level
It is constant；Definition is closed as relay K3, when relay K4 is opened, electric pushrod decline.
7. a kind of furniture, including electric pushrod, which is characterized in that including electric pushrod described in any one of claims 1 to 6
Control device, electric pushrod move under the control of electric pushrod control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811294943.4A CN109298664B (en) | 2018-11-01 | 2018-11-01 | Electric push rod control device and furniture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811294943.4A CN109298664B (en) | 2018-11-01 | 2018-11-01 | Electric push rod control device and furniture |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109298664A true CN109298664A (en) | 2019-02-01 |
| CN109298664B CN109298664B (en) | 2020-02-11 |
Family
ID=65146209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811294943.4A Expired - Fee Related CN109298664B (en) | 2018-11-01 | 2018-11-01 | Electric push rod control device and furniture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109298664B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203691308U (en) * | 2014-01-23 | 2014-07-02 | 中山市高利锁业股份有限公司 | Motor control circuit capable of controlling opening and closing of door, window or curtain |
| CN205038518U (en) * | 2015-10-10 | 2016-02-17 | 华北电力大学（保定） | Automatic dolly of falling storehouse of barrier is kept away to intelligence |
| CN205344864U (en) * | 2016-01-22 | 2016-06-29 | 青岛港国际股份有限公司 | Openly hang intelligence brake auxiliary system that backs a car |
| CN206809015U (en) * | 2016-12-31 | 2017-12-29 | 深圳市中科智宏实业发展有限公司 | A kind of electricity-saving type Intelligent seat |
| CN108186268A (en) * | 2018-02-07 | 2018-06-22 | 成都名典匠心工业产品设计有限公司 | A kind of gynecological examination couch convenient for adjusting |
| CN108445938A (en) * | 2018-04-19 | 2018-08-24 | 浙江工业大学 | A kind of lifting gear and its control method based on multi-source perceptual signal Collaborative Control |
-
2018
- 2018-11-01 CN CN201811294943.4A patent/CN109298664B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203691308U (en) * | 2014-01-23 | 2014-07-02 | 中山市高利锁业股份有限公司 | Motor control circuit capable of controlling opening and closing of door, window or curtain |
| CN205038518U (en) * | 2015-10-10 | 2016-02-17 | 华北电力大学（保定） | Automatic dolly of falling storehouse of barrier is kept away to intelligence |
| CN205344864U (en) * | 2016-01-22 | 2016-06-29 | 青岛港国际股份有限公司 | Openly hang intelligence brake auxiliary system that backs a car |
| CN206809015U (en) * | 2016-12-31 | 2017-12-29 | 深圳市中科智宏实业发展有限公司 | A kind of electricity-saving type Intelligent seat |
| CN108186268A (en) * | 2018-02-07 | 2018-06-22 | 成都名典匠心工业产品设计有限公司 | A kind of gynecological examination couch convenient for adjusting |
| CN108445938A (en) * | 2018-04-19 | 2018-08-24 | 浙江工业大学 | A kind of lifting gear and its control method based on multi-source perceptual signal Collaborative Control |
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| Publication number | Publication date |
|---|---|
| CN109298664B (en) | 2020-02-11 |
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