CN110254556A - A kind of new-type unmanned machine people automobile - Google Patents
A kind of new-type unmanned machine people automobile Download PDFInfo
- Publication number
- CN110254556A CN110254556A CN201910375762.2A CN201910375762A CN110254556A CN 110254556 A CN110254556 A CN 110254556A CN 201910375762 A CN201910375762 A CN 201910375762A CN 110254556 A CN110254556 A CN 110254556A
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- China
- Prior art keywords
- mounting rack
- frame chassis
- wheel
- controller
- laser range
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/04—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally mechanically, e.g. having frictionally-engaging springs as damping elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/005—Arrangement or mounting of seats in vehicles, e.g. dismountable auxiliary seats
- B60N2/015—Attaching seats directly to vehicle chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
- B60K2001/0405—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion characterised by their position
- B60K2001/0438—Arrangement under the floor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention discloses a kind of new-type unmanned machine people automobiles, the seat mounting rack in its frame chassis upper surface middle position installs automotive seat, lithium battery is installed in the battery case of frame chassis following table front end, panel controller is installed, lithium battery is electrically connected by power transmission line and panel controller in the controller case of frame chassis lower surface rear end；Two front components are installed in frame chassis front end, and two wheel assemblies are installed in frame chassis rear end；The left and right end side of frame chassis is installed with the automobile driving wheel driven by drive motor respectively；Frame chassis leading edge portion installing front side laser range sensor, frame chassis back end edge edge installing rear side laser range sensor；The sensor mount of automotive seat rear end side includes mounting rack vertical bar, mounting rack cross bar, and top lasers distance measuring sensor is installed in mounting rack cross bar front end.By said structure design, the present invention has the advantages that novel in structural design, intelligence degree are high.
Description
Technical field
The present invention relates to pilotless automobile technical fields, more particularly to a kind of new-type unmanned machine people automobile.
Background technique
With the constantly progress of unmanned technology, pilotless automobile is promoted and applied in certain occasions, example
Such as airport, station.
It is noted that still remaining for existing pilotless automobile and designing unreasonable, intelligence degree
Need the defect further increased.
Summary of the invention
The purpose of the present invention is to solve the shortcomings of the prior art and a kind of new-type unmanned machine people automobile is provided, should
New-type pilotless automobile is novel in design, intelligence degree is high.
In order to achieve the above objectives, the present invention is achieved through the following technical solutions.
A kind of new-type unmanned machine people automobile, includes frame chassis, the middle position spiral shell of frame chassis upper surface
Equipped with seat mounting rack, the upper end of seat mounting rack is installed with automotive seat；
The front end of frame chassis lower surface is screwed with battery case, and the inside of battery case forms cell containing cavity, battery case
Lithium battery is embedded in cell containing cavity；The rear end of frame chassis lower surface is screwed with controller case, the inside of controller case
Controller accommodating cavity is formed, is embedded with panel controller in the controller accommodating cavity of controller case, lithium battery passes through power supply
Transmission line and panel controller are electrically connected；
In the side installing of battery case, there are two left and right face and spaced apart front components for the front end of frame chassis, before each
Wheel assembly respectively includes front-wheel mounting rack, is installed on the vehicle front of front-wheel mounting rack lower end, frame chassis by shaft
Front end be installed with front-wheel spring damper, the upper part of each front-wheel mounting rack respectively in the upper end side of each front-wheel mounting rack
It is not connect with front-wheel spring damper；The rear end of frame chassis in controller case side installing there are two left and right face and
Every the wheel assembly of arrangement, each wheel assembly has respectively included rear-wheel mounting rack, has been installed on rear-wheel mounting rack lower end by shaft
The rear end of the automobile back wheel in portion, frame chassis is installed with rear wheel spring shock absorption device in the upper end side of each rear-wheel mounting rack respectively,
The upper end of each rear-wheel mounting rack is connect with rear wheel spring shock absorption device respectively；
The left end side of frame chassis, right end side are installed with the automobile driving wheel between vehicle front and automobile back wheel respectively,
Frame chassis corresponds to each automobile driving wheel and is screwed with drive motor respectively, each drive motor respectively with the automobile driving wheel of corresponding side
It is drivingly connected, each drive motor is electrically connected with panel controller respectively；
The leading edge portion of frame chassis is installed with front side laser range sensor, after the back end edge edge of frame chassis is installed with
Side laser range sensor, front side laser range sensor, rear side laser range sensor are in diagonal distribution, front side laser ranging
Sensor, rear side laser range sensor are electrically connected with panel controller respectively；
The rear end side of automotive seat is installed with sensor mount, and sensor mount includes perpendicular in the mounting rack being vertically arranged
Bar, the lower end spiral shell of mounting rack vertical bar load the upper surface for being fixed in frame chassis, and the upper end of mounting rack vertical bar is provided with forward
The mounting rack cross bar that level protrusion extends, the front end of mounting rack cross bar is installed with top lasers distance measuring sensor, top lasers
Distance measuring sensor and panel controller are electrically connected.
Wherein, each drive motor is fitted with motor rotary speed counter respectively, each motor rotary speed counter respectively with institute
State panel controller electric connection.
Wherein, the mounting rack cross bar is installed with GPS module, GPS mould in the side of the top lasers distance measuring sensor
Block and the panel controller are electrically connected.
The invention has the benefit that the new-type unmanned machine people automobile of one kind of the present invention comprising there is vehicle
Frame chassis, the middle position of frame chassis upper surface are screwed with seat mounting rack, and the upper end of seat mounting rack is installed with automobile
Seat；The front end of frame chassis lower surface is screwed with battery case, and the inside of battery case forms cell containing cavity, battery case
Lithium battery is embedded in cell containing cavity；The rear end of frame chassis lower surface is screwed with controller case, the inside of controller case
Controller accommodating cavity is formed, is embedded with panel controller in the controller accommodating cavity of controller case, lithium battery passes through power supply
Transmission line and panel controller are electrically connected；In the side installing of battery case, there are two left and right faces for the front end of frame chassis
And spaced apart front component, each front component have respectively included front-wheel mounting rack, have been installed on front-wheel mounting rack by shaft
The front end of the vehicle front of lower end, frame chassis is installed with front-wheel spring shock absorption in the upper end side of each front-wheel mounting rack respectively
The upper end of device, each front-wheel mounting rack is connect with front-wheel spring damper respectively；The rear end of frame chassis is in controller case
There are two left and right face and spaced apart wheel assembly, each wheel assembly has respectively included rear-wheel mounting rack, has led to for side installing
The automobile back wheel that shaft is installed on rear-wheel mounting rack lower end is crossed, the rear end of frame chassis is in the upper end side of each rear-wheel mounting rack
It is installed with rear wheel spring shock absorption device respectively, the upper end of each rear-wheel mounting rack is connect with rear wheel spring shock absorption device respectively；Vehicle frame bottom
The left end side of disk, right end side are installed with the automobile driving wheel between vehicle front and automobile back wheel, frame chassis pair respectively
Each automobile driving wheel is answered to be screwed with drive motor respectively, each drive motor is drivingly connected with the automobile driving wheel of corresponding side respectively,
Each drive motor is electrically connected with panel controller respectively；The leading edge portion of frame chassis is installed with front side laser ranging and passes
Sensor, the back end edge edge of frame chassis are installed with rear side laser range sensor, front side laser range sensor, rear side laser
Distance measuring sensor in diagonal distribution, front side laser range sensor, rear side laser range sensor respectively with panel controller
It is electrically connected；The rear end side of automotive seat is installed with sensor mount, and sensor mount includes in the peace being vertically arranged
Vertical bar is shelved, the lower end spiral shell of mounting rack vertical bar loads the upper surface for being fixed in frame chassis, the upper end setting of mounting rack vertical bar
There is the mounting rack cross bar that horizontal protrusion extends forward, the front end of mounting rack cross bar is installed with top lasers distance measuring sensor, pushes up
Portion's laser range sensor and panel controller are electrically connected.By said structure design, the present invention has structure design new
The high advantage of grain husk, intelligence degree.
Detailed description of the invention
The present invention is further detailed below with attached drawing, but the embodiment in attached drawing is not constituted to this hair
Bright any restrictions.
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structural schematic diagram at another visual angle of the present invention.
Include in fig. 1 and 2:
1 --- frame chassis 21 --- seat mounting rack
22 --- automotive seat 3 --- battery cases
4 --- controller case 51 --- front-wheel mounting racks
52 --- vehicle front 53 --- front-wheel spring dampers
61 --- rear-wheel mounting rack 62 --- automobile back wheels
63 --- rear wheel spring shock absorption device 71 --- automobile driving wheels
72 --- drive motor 81 --- front side laser range sensors
82 --- rear side laser range sensor 83 --- top lasers distance measuring sensors
91 --- mounting rack vertical bar 92 --- mounting rack cross bars
100 --- GPS module.
Specific embodiment
Below with reference to specific embodiment, the present invention will be described.
As depicted in figs. 1 and 2, a kind of new-type unmanned machine people automobile comprising have frame chassis 1, frame chassis 1
The middle position of upper surface is screwed with seat mounting rack 21, and the upper end of seat mounting rack 21 is installed with automotive seat 22.
Wherein, the front end of 1 lower surface of frame chassis is screwed with battery case 3, and the inside of battery case 3 forms battery containing
Chamber, the cell containing cavity of battery case 3 is interior to be embedded with lithium battery；The rear end of 1 lower surface of frame chassis is screwed with controller case 4,
The inside of controller case 4 forms controller accommodating cavity, controls in the controller accommodating cavity of controller case 4 embedded with wiring board
Device, lithium battery are electrically connected by power transmission line and panel controller.
Further, in the side installing of battery case 3, there are two left and right face and arranged for interval for the front end of frame chassis 1
Front component, each front component respectively included front-wheel mounting rack 51, has been installed on 51 lower end of front-wheel mounting rack by shaft
Vehicle front 52, the front end of frame chassis 1 is installed with front-wheel spring shock absorption in the upper end side of each front-wheel mounting rack 51 respectively
The upper end of device 53, each front-wheel mounting rack 51 is connect with front-wheel spring damper 53 respectively；The rear end of frame chassis 1 is in control
There are two left and right face and spaced apart wheel assembly, each wheel assembly has respectively included rear-wheel peace for the side installing of device case 4
It shelves 61, be installed on the automobile back wheel 62 of 61 lower end of rear-wheel mounting rack by shaft, the rear end of frame chassis 1 is in each rear-wheel
The upper end side of mounting rack 61 is installed with rear wheel spring shock absorption device 63 respectively, the upper end of each rear-wheel mounting rack 61 respectively with rear-wheel bullet
Spring damper 63 connects.
Further, the left end side of frame chassis 1, right end side are installed with respectively positioned at vehicle front 52 and automobile back wheel
Automobile driving wheel 71 between 62, the corresponding each automobile driving wheel 71 of frame chassis 1 are screwed with drive motor 72 respectively, respectively drive horse
It is drivingly connected respectively with the automobile driving wheel of corresponding side 71 up to 72, each drive motor 72 electrically connects with panel controller respectively
It connects.
In addition, the leading edge portion of frame chassis 1 is installed with front side laser range sensor 81, the rear end of frame chassis 1
Edge part is installed with rear side laser range sensor 82, and front side laser range sensor 81, rear side laser range sensor 82 are in
Diagonal distribution, front side laser range sensor 81, rear side laser range sensor 82 are electrically connected with panel controller respectively.
There are also being exactly that the rear end side of automotive seat 22 is installed with sensor mount, sensor mount includes in perpendicular
To the mounting rack vertical bar 91 of arrangement, the lower end spiral shell of mounting rack vertical bar 91 loads the upper surface for being fixed in frame chassis 1, and mounting rack is perpendicular
The upper end of bar 91 is provided with the mounting rack cross bar 92 that horizontal protrusion extends forward, and the front end of mounting rack cross bar 92 is installed with top
Portion's laser range sensor 83, top lasers distance measuring sensor 83 and panel controller are electrically connected.
It need to explain, each drive motor 72 is fitted with motor rotary speed counter, each motor rotary speed counter difference respectively
It is electrically connected with panel controller.
It is further to be pointed out that mounting rack cross bar 92 is installed with GPS mould in the side of top lasers distance measuring sensor 83
Block 100, GPS module 100 and panel controller are electrically connected.
In walking process of the present invention, lithium battery is powered for panel controller, and panel controller control is left and right
The drive motor 72 of two sides starts, and the automobile driving wheel 71 in the driving of drive motor 72 left side in left side rotates, the driving horse on right side
Automobile driving wheel 71 up to 72 driving right sides rotates, and under the driving effect of the automobile driving wheel 71 of left and right side, automobile realizes row
Walk movement.Wherein, during walking turning, the present invention controls the revolving speed of drive motor 72 by panel controller come real
It is existing, such as: when realizing walking, the revolving speed of the drive motor 72 on right side is big compared with the revolving speed of the drive motor 72 in left side；
When realizing right-hand bend walking, the revolving speed of the drive motor 72 in left side is big compared with the revolving speed of the drive motor 72 on right side.It need to point out
It is that the present invention feeds back the rotary speed information of respective drive motor 72 by each motor rotary speed counter, to realize walking motion standard
Really control.
For front side laser range sensor 81 of the invention, rear side laser range sensor 82, front side Laser Measuring
Away from sensor 81 for detecting vehicle front barrier, rear side laser range sensor 82 is for detecting rear of vehicle barrier；
When work, when encountering barrier, front side laser range sensor 81 or rear side laser range sensor 82 are in real time by vehicle
Panel controller is fed back to the distance between barrier information, panel controller realizes barrier according to above-mentioned range information
Hinder object avoiding action.
For top lasers distance measuring sensor 83 of the invention, it is used for composition positioning, to guarantee vehicle according to pre-
If path is walked.
For GPS module 100 of the invention, the position signal of real-time collecting vehicle and in real time by the position of vehicle
Signal feeds back to panel controller, and when vehicle within the scope of large area when walking, such as very big square, monitoring personnel can
The signal fed back by panel controller accurately knows the location information of vehicle.
Based on the above situation, it may be appreciated that the present invention has novel in structural design, intelligence degree high by said structure design
The advantages of.
The above is only a preferred embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to the present invention
Limitation.
Claims (3)
1. a kind of new-type unmanned machine people automobile, it is characterised in that: include frame chassis (1), table in frame chassis (1)
The middle position in face is screwed with seat mounting rack (21), and the upper end of seat mounting rack (21) is installed with automotive seat (22)；
The front end of frame chassis (1) lower surface is screwed with battery case (3), and the inside of battery case (3) forms cell containing cavity,
Lithium battery is embedded in the cell containing cavity of battery case (3)；The rear end of frame chassis (1) lower surface is screwed with controller case
(4), the inside of controller case (4) forms controller accommodating cavity, is embedded with route in the controller accommodating cavity of controller case (4)
Plate controller, lithium battery are electrically connected by power transmission line and panel controller；
In the side installing of battery case (3), there are two left and right face and spaced apart front wheels for the front end of frame chassis (1)
Part, each front component respectively include front-wheel mounting rack (51), are installed on the vapour of front-wheel mounting rack (51) lower end by shaft
Chinese herbaceous peony wheel (52), the front end of frame chassis (1) are installed with front-wheel spring in the upper end side of each front-wheel mounting rack (51) respectively and subtract
It shakes device (53), the upper end of each front-wheel mounting rack (51) is connect with front-wheel spring damper (53) respectively；After frame chassis (1)
In the side installing of controller case (4), there are two left and right face and spaced apart wheel assembly, each wheel assembly difference for end
It include rear-wheel mounting rack (61), the automobile back wheel (62) for being installed on by shaft rear-wheel mounting rack (61) lower end, vehicle frame bottom
The rear end of disk (1) is installed with rear wheel spring shock absorption device (63) respectively in the upper end side of each rear-wheel mounting rack (61), each rear-wheel peace
The upper end for shelving (61) is connect with rear wheel spring shock absorption device (63) respectively；
The left end side of frame chassis (1), right end side are installed with respectively between vehicle front (52) and automobile back wheel (62)
Automobile driving wheel (71), the corresponding each automobile driving wheel (71) of frame chassis (1) are screwed with drive motor (72) respectively, respectively drive horse
It is drivingly connected respectively with the automobile driving wheel of corresponding side (71) up to (72), each drive motor (72) is electric with panel controller respectively
Property connection；
The leading edge portion of frame chassis (1) is installed with front side laser range sensor (81), the back edge of frame chassis (1)
Portion is installed with rear side laser range sensor (82), front side laser range sensor (81), rear side laser range sensor (82)
In diagonal distribution, front side laser range sensor (81), rear side laser range sensor (82) are electric with panel controller respectively
Property connection；
The rear end side of automotive seat (22) is installed with sensor mount, and sensor mount includes in the installation being vertically arranged
Frame vertical bar (91), the lower end spiral shell of mounting rack vertical bar (91) load the upper surface for being fixed in frame chassis (1), mounting rack vertical bar (91)
Upper end be provided with the mounting rack cross bar (92) that horizontal protrusion extends forward, the front end of mounting rack cross bar (92) is installed with top
Portion's laser range sensor (83), top lasers distance measuring sensor (83) and panel controller are electrically connected.
2. the new-type unmanned machine people automobile of one kind according to claim 1, it is characterised in that: each drive motor
(72) it is fitted with motor rotary speed counter respectively, each motor rotary speed counter is electrically connected with the panel controller respectively.
3. the new-type unmanned machine people automobile of one kind according to claim 1, it is characterised in that: the mounting rack cross bar
(92) side of Yu Suoshu top lasers distance measuring sensor (83) is installed with GPS module (100), GPS module (100) and the line
Road plate controller is electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910375762.2A CN110254556A (en) | 2019-05-07 | 2019-05-07 | A kind of new-type unmanned machine people automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910375762.2A CN110254556A (en) | 2019-05-07 | 2019-05-07 | A kind of new-type unmanned machine people automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110254556A true CN110254556A (en) | 2019-09-20 |
Family
ID=67914281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910375762.2A Pending CN110254556A (en) | 2019-05-07 | 2019-05-07 | A kind of new-type unmanned machine people automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110254556A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112124128A (en) * | 2020-09-24 | 2020-12-25 | 广东杜尼智能机器人工程技术研究中心有限公司 | Automatic alignment charging method depending on vision |
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| EP1493418A1 (en) * | 2003-06-30 | 2005-01-05 | Pride Mobility Products Corporation | Suspension system for a powered wheelchair |
| CN204192896U (en) * | 2014-11-07 | 2015-03-11 | 济宁中科先进技术研究院有限公司 | Novel intelligent wheel chair |
| CN107636546A (en) * | 2015-06-10 | 2018-01-26 | 株式会社道具 | Autonomous system |
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2019
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5904214A (en) * | 1997-07-11 | 1999-05-18 | Lin; David Jung-Ching | Power assist anti-tip wheel system for invalid carriage |
| EP1493418A1 (en) * | 2003-06-30 | 2005-01-05 | Pride Mobility Products Corporation | Suspension system for a powered wheelchair |
| CN204192896U (en) * | 2014-11-07 | 2015-03-11 | 济宁中科先进技术研究院有限公司 | Novel intelligent wheel chair |
| CN107636546A (en) * | 2015-06-10 | 2018-01-26 | 株式会社道具 | Autonomous system |
| CN207503032U (en) * | 2017-11-15 | 2018-06-15 | 深圳市博科系统科技有限公司 | A kind of laser homing guidance device |
Non-Patent Citations (1)
| Title |
|---|
| 孙逢春等: "《装甲车辆混合动力电传动技术（第2版）》", 31 December 2016, 国防工业出版社 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112124128A (en) * | 2020-09-24 | 2020-12-25 | 广东杜尼智能机器人工程技术研究中心有限公司 | Automatic alignment charging method depending on vision |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190920 |
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| RJ01 | Rejection of invention patent application after publication |