CN113009460A - Safe sonar ranging device and system for night driving - Google Patents
Safe sonar ranging device and system for night driving Download PDFInfo
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- CN113009460A CN113009460A CN202110198210.6A CN202110198210A CN113009460A CN 113009460 A CN113009460 A CN 113009460A CN 202110198210 A CN202110198210 A CN 202110198210A CN 113009460 A CN113009460 A CN 113009460A
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- 230000003321 amplification Effects 0.000 claims abstract description 22
- 238000003199 nucleic acid amplification method Methods 0.000 claims abstract description 22
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 12
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 12
- 239000000523 sample Substances 0.000 claims description 33
- 239000004020 conductor Substances 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 9
- 239000010985 leather Substances 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 230000035484 reaction time Effects 0.000 claims description 5
- 238000012806 monitoring device Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 241001272996 Polyphylla fullo Species 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000009429 distress Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
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Classifications
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A night driving safety sonar distance measuring device comprises a waistband, a lithium battery, an ultrasonic distance measuring module, an LED prompting lamp, a power amplification module, a vibration motor, a GPS positioning module and a controller system, wherein the controller system comprises a microprocessor which is electrically connected with the ultrasonic distance measuring module, the power amplification module, the vibration motor and the GPS positioning module; the waistband outside fixedly connected with waist package, waist package upper end outside fixedly connected with LED warning light, waist package outside fixedly connected with power amplifier module, power amplifier module electric connection has the circuit plate, circuit plate fixed connection is inside the waist package, the circuit plate includes lithium cell, ultrasonic ranging module, vibrating motor, GPS orientation module and controller system, the waist package outside is equipped with the warning pull ring.
Description
Technical Field
The invention relates to the field of night driving safety, in particular to a night driving safety sonar ranging device and a night driving safety sonar ranging system.
Background
Running like this night becomes your trend, but because visibility is low at night, although there is the street lamp on some road, but to the driver of driving, the sight is too much worse than daytime, and when the road was unblocked at night, the speed of a motor vehicle often is faster, the traffic accident appears easily, except that will strengthening the traffic safety consciousness, for women runner at night, the personal safety of oneself also should pay attention to when the night man is few, especially have lawless persons not prepare to initiate the attack from the rear while the people, let the people suddenly fail to guard against, when oneself improves vigilance, possess the auxiliary equipment at night that is used for warning runner at night and is especially important.
At present, the night driving safety device only has a reflective strip for reflecting light or is provided with an LED luminous strip for warning a coming vehicle and paying attention to a pedestrian, however, the reflective strip and the LED luminous strip are only used for warning the coming vehicle and have no active warning effect on a night driver.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a night driving safety sonar distance measuring device which is small and exquisite and light in waist and convenient to wear on a user, has sonar distance measuring and speed measuring functions, can measure the distance and speed of an incoming vehicle and warns the user when the incoming vehicle enters a dangerous distance.
The invention adopts the technical scheme for solving the technical problems that: the night driving safety sonar distance measuring device comprises a waistband, a lithium battery, an ultrasonic distance measuring module, an LED prompting lamp, a power amplification module, a vibration motor, a GPS positioning module and a controller system, wherein the controller system comprises a microprocessor which is electrically connected with the ultrasonic distance measuring module, the power amplification module, the vibration motor and the GPS positioning module; waistband outside fixedly connected with waist package, waist package upper end outside fixedly connected with LED warning light, waist package outside fixedly connected with power amplifier module, power amplifier module electric connection has the circuit plate, circuit plate fixed connection is inside the waist package, the circuit plate includes lithium cell, ultrasonic ranging module, vibrating motor, GPS orientation module and controller system, the waist package outside is equipped with the warning pull ring, microprocessor and other partial module electrical property link to each other, and microprocessor can send signal control to open or close vibrating motor and power amplifier module, and microprocessor can receive the position or the speed information of GPS orientation module feedback, and microprocessor can receive the information of ultrasonic ranging module feedback, and the lithium cell can be the power supply of other each partial circuit module.
In order to further improve the structure, one end of the alarm pull ring is fixedly connected with one end of a leather strip extending into the waist bag, the other end of the leather strip is fixedly connected with a pull ring, the circuit board block extends to one side of the alarm pull ring and is electrically connected with an alarm switch, the alarm switch comprises a positive end and a negative end, a conductive seat is fixedly connected to the lower side of one end of the alarm switch, one end of the conductive seat is fixedly connected with a rotating shaft, the rotating shaft is rotatably connected with the middle end of the conductor strip, a tail ring is fixedly arranged at the tail part of the right end of the conductor strip, an elastic part is fixedly connected to the upper end of the tail ring, the tail ring is fixedly connected with the lower end of the alarm switch through the elastic part, the pull ring is slidably connected to the outer side of the conductor strip at the left end of the tail ring, the diameter of the, the upper end of the conductor bar is contacted with an electrode at the upper end of the alarm switch, the electrode of the alarm switch is conducted to the microprocessor to send an alarm signal, and when a user loosens the pull ring, the conductor bar is reset by the contraction force of the spring.
Further perfect, lithium cell and LED warning light electric connection and do the power supply of LED warning light, the LED warning light can send the warning light and remind the car, and there is the pedestrian here, is equipped with anti-light strip around the LED warning light simultaneously, and when the light of coming the car shines, the certain light source of anti-light strip reflection reminds the driver of coming the car to pay attention to safety.
The ultrasonic distance measurement module comprises a transmitting probe and a receiving probe, the transmitting probe transmits ultrasonic waves outwards at a certain interval time, the receiving probe receives reflected ultrasonic distance measurement and/or speed measurement and transmits data information to the microprocessor, an early warning system is arranged in the microprocessor, the microprocessor calculates the dangerous distance according to the speed of an object, and when the object moves to the dangerous distance, the microprocessor sends a starting signal to the power amplification module and the vibration motor; the GPS positioning module positions the position information of a user through a navigation satellite, can edit the position information into real-time longitude and latitude and transmits the real-time longitude and latitude to the intelligent equipment through a network port, the ultrasonic ranging module is provided with two groups of transmitting probes and receiving probes facing to the front end and the rear end, and the two groups of probes respectively detect moving objects on two sides of the front end and the rear end.
Further perfecting, the control method of the early warning system in the microprocessor, the sound velocity V0 in the microprocessor is set to 340m/s, and the steps are as follows:
and 6, when the microprocessor judges that the object enters the dangerous distance, sending a starting signal to the power amplification module and the vibration motor, vibrating the vibration motor for 1-5s, circularly playing voice for 1-5s by the power amplification module to remind a user of coming vehicles and paying attention to avoidance, wherein the calculation formula of the dangerous distance is the average speed v x the early warning reaction time t.
Further perfection, when the speed per hour of the object received by the microprocessor is less than 11km/h, and the microprocessor judges that the object enters a dangerous distance, the microprocessor does not send an opening signal to the power amplification module and the vibration motor; the average speed is measured and calculated for 2-5 times, when the distance of the object measured each time is larger than the distance measured last time, the microprocessor judges that the object enters dangerous distance, the microprocessor does not send a starting signal to the power amplification module and the vibration motor, generally, the running speed of a person is not more than 11km/h, and no life threat is brought to a wearer when the speed of a vehicle coming in does not reach 11 km/h.
Further perfection, the intelligent equipment is loaded with software, the software of the intelligent equipment can be communicated with the microprocessor through a network port, a user can set basic parameters through the software, the basic parameters comprise early warning reaction time t and emergency contacts, and the user can check walking steps through the software.
Further perfected, the GPS positioning module can measure the driving speed and direction of the wearer according to the satellite and transmit the data to the microprocessor, the ultrasonic ranging module is provided with a receiving probe and a transmitting probe facing to the front end and the rear end, the speed of an object detected by the ultrasonic ranging module facing to the front end is Vq, the speed of an object detected by the ultrasonic ranging module facing to the rear end is Vh, when Vq + V > 11km/h and/or Vh-V > 11km/h and a dangerous distance is entered, the microprocessor sends an opening signal to the power amplifier module and the vibrating motor, the relative speed of the coming vehicle and the night traveler at the front end reaches 11km/h, but the actual speed of the coming vehicle does not reach 11km/h, so that no threat is caused to the night traveler, and the relative speed of the coming vehicle and the night traveler does not reach 11km/h, but the actual speed of the coming vehicle reaches 11km/h, so that the night traveler is threatened.
Further perfect, when the user draws the warning pull ring, alarm switch closure, microprocessor sends the positional information of GPS orientation module received to the software of smart machine through the network port, the software of smart machine is compiled the positional information received into information transmission and is sent to emergent contact, when the user meets the security threat, draws the pull ring, can let the user send alarm signal, operator simple to use convenience simultaneously covertly.
The invention has the beneficial effects that: the invention provides safety guarantee for runners or night walkers, and the night-walking safety device in the prior art only passively reminds drivers of vehicles and pedestrians through the light-reflecting strips, and has the following beneficial effects:
firstly, detecting that the speed of a target object is more than 11km/h through an ultrasonic probe, judging that the target object is a dangerous object when the target object enters a dangerous distance, and actively reminding a user of safety by starting a vibration motor and a power amplification module;
secondly, by arranging a receiving probe and a transmitting probe facing to the front end and the rear end, the phenomenon of false alarm or missing alarm is avoided through the processing of a microprocessor;
the night walk rescue system is provided with a hidden one-key alarm system, and when a night walk person receives a security threat alone, the night walk person sends a distress signal to a specific contact person through the pull ring in a hidden mode, and seeks rescue.
Drawings
FIG. 1 is a schematic diagram of the apparatus of the present invention;
FIG. 2 is a schematic diagram of the off configuration of the alarm switch of the present invention;
fig. 3 is a schematic diagram of the closing structure of the alarm switch of the present invention.
Description of reference numerals: 1. the waistband, 2, purse, 3, LED warning light, 4, warning pull ring, 5, power amplifier module, 6, circuit board piece, 7, alarm switch, 8, axis of rotation, 9, conductor strip, 10, pull ring, 11, leather strap, 12, tail ring, 13, elastic component, 14, electrically conductive seat.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
referring to figures 1-3: the night driving safety sonar distance measuring device comprises a waistband 1, a lithium battery, an ultrasonic distance measuring module, an LED (light emitting diode) prompting lamp 3, a power amplifier module 5, a vibration motor, a GPS (global positioning system) positioning module and a controller system, wherein the controller system comprises a microprocessor which is electrically connected with the ultrasonic distance measuring module, the power amplifier module 5, the vibration motor and the GPS positioning module; the utility model discloses a waistband, including waistband 1, waist package 2, power amplifier module 5 electric connection has circuit plate 6, 6 fixed connection of circuit plate are inside waist package 2, circuit plate 6 includes lithium cell, ultrasonic ranging module, vibrating motor, GPS orientation module and controller system, the 2 outsides of waist package are equipped with warning pull ring 4.
One end of the alarm pull ring 4 is fixedly connected with one end of a leather strip 11 extending into the waist bag, the other end of the leather strip 11 is fixedly connected with a pull ring 10, the circuit board block 6 extends towards one side of the alarm pull ring 4 and is electrically connected with an alarm switch 7, the alarm switch 7 comprises an anode end and a cathode end, a conductive seat 14 is fixedly connected to the lower side of one end of the alarm switch 7, one end of the conductive seat 14 is fixedly connected with a rotating shaft 8, the rotating shaft 8 is rotatably connected with the middle end of a conductor strip 9, a tail ring 12 is fixedly arranged at the tail part of the right end of the conductor strip 9, an elastic part 13 is fixedly connected to the upper end of the tail ring 12, the tail ring 12 is fixedly connected with the lower end of the alarm switch 7 through the elastic part 13, the pull ring 4 is slidably connected to the outer side of the conductor strip 9; the lithium battery is electrically connected with the LED prompting lamp 3 and supplies power to the LED prompting lamp 3.
Example 1
A system of a night driving safety sonar distance measuring device comprises the following control methods:
the ultrasonic distance measurement module comprises a transmitting probe and a receiving probe, the transmitting probe transmits ultrasonic waves outwards at a certain interval time, the receiving probe receives the reflected ultrasonic distance measurement and/or speed measurement and transmits data information to the microprocessor, an early warning system is arranged in the microprocessor, the microprocessor calculates the dangerous distance according to the speed of an object, and when the object moves to the dangerous distance, the microprocessor sends a starting signal to the power amplification module 5 and the vibration motor; the GPS positioning module positions the position information of the user through a navigation satellite, and can edit the position information into real-time longitude and latitude to be transmitted to the intelligent equipment through a network port.
In the method for controlling the early warning system in the microprocessor, the sound speed V0 in the microprocessor is set to be 340m/s, and the method comprises the following steps:
and 6, when the microprocessor judges that the object enters the dangerous distance, sending a starting signal to the power amplification module 5 and the vibration motor, vibrating the vibration motor for 1-5s, circularly playing voice for 1-5s by the power amplification module 5 to remind a user of coming vehicles and paying attention to avoidance, wherein the calculation formula of the dangerous distance is the average speed v x the early warning response time t.
When the speed per hour of the object received by the microprocessor is less than 11km/h, and the microprocessor judges that the object enters a dangerous distance, the microprocessor does not send a starting signal to the power amplification module 5 and the vibration motor; the average speed is measured and calculated for 2-5 times, when the distance of the object measured each time is larger than the distance measured in the previous time, the microprocessor judges that the object enters a dangerous distance, and the microprocessor does not send an opening signal to the power amplification module 5 and the vibration motor.
The intelligent device is loaded with software, the software of the intelligent device can be communicated with the microprocessor through a network port, and a user can set basic parameters through the software, wherein the basic parameters comprise early warning reaction time t and emergency contacts.
The GPS positioning module can measure the driving speed and direction of a wearer according to a satellite and transmits data to the microprocessor, the ultrasonic ranging module is provided with a receiving probe and a transmitting probe facing to the front end and the rear end, the object speed detected by the ultrasonic ranging module facing to the front end is Vq, the object speed detected by the ultrasonic ranging module facing to the rear end is Vh, and when Vq + V is more than 11km/h and/or Vh-V is more than 11km/h and the vehicle enters a dangerous distance, the microprocessor sends an opening signal to the power amplification module 5 and the vibration motor.
When the user pulls the alarm pull ring 4, the alarm switch 7 is closed, the microprocessor sends the received position information of the GPS positioning module to the software of the intelligent equipment through the network port, and the software of the intelligent equipment edits the received position information into information to be sent to the emergency contact.
While the invention has been shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the appended claims.
Claims (9)
1. The utility model provides a safe sonar range unit of walking at night, characterized by: the portable belt type solar energy remote monitoring device comprises a belt (1), a lithium battery, an ultrasonic ranging module, an LED (light emitting diode) prompt lamp (3), a power amplifier module (5), a vibration motor, a GPS (global positioning system) positioning module and a controller system, wherein the controller system comprises a microprocessor which is electrically connected with the ultrasonic ranging module, the power amplifier module (5), the vibration motor and the GPS positioning module; waistband (1) outside fixedly connected with waist package (2), waist package (2) upper end outside fixedly connected with LED warning light (3), waist package (2) outside fixedly connected with power amplifier module (5), power amplifier module (5) electric connection has circuit plate (6), circuit plate (6) fixed connection is inside waist package (2), circuit plate (6) include lithium cell, ultrasonic ranging module, vibrating motor, GPS orientation module and controller system, the waist package (2) outside is equipped with warning pull ring (4).
2. The night walk safety sonar distance measuring device according to claim 1, wherein: one end of the alarm pull ring (4) is fixedly connected with one end of a leather strip (11) extending into the waist bag, the other end of the leather strip (11) is fixedly connected with a pull ring (10), the circuit board block (6) extends towards one side of the alarm pull ring (4) and is electrically connected with an alarm switch (7), the alarm switch (7) comprises a positive end and a negative end, the lower side of one end of the alarm switch (7) is fixedly connected with a conductive seat (14), one end of the conductive seat (14) is fixedly connected with a rotating shaft (8), the rotating shaft (8) is rotatably connected with the middle end of a conductor strip (9), the tail part of the right end of the conductor strip (9) is fixedly provided with a tail ring (12), the upper end of the tail ring (12) is fixedly connected with an elastic part (13), the tail ring (12) is fixedly connected with the lower end of the alarm switch (7) through the elastic part (13), and the pull ring (4) is slidably connected with the, the diameter of the pull ring (4) is slightly smaller than that of the tail ring (12).
3. The night walk safety sonar distance measuring device according to claim 2, wherein: the lithium battery is electrically connected with the LED prompting lamp (3) and supplies power to the LED prompting lamp (3).
4. The system of a night walk safety sonar ranging device according to claim 3, wherein: the ultrasonic distance measurement module comprises a transmitting probe and a receiving probe, the transmitting probe transmits ultrasonic waves outwards at a certain interval time, the receiving probe receives the reflected ultrasonic distance measurement and/or speed measurement and transmits data information to the microprocessor, an early warning system is arranged in the microprocessor, the microprocessor calculates the dangerous distance according to the speed of an object, and when the object moves to the dangerous distance, the microprocessor sends a starting signal to the power amplification module (5) and the vibration motor; the GPS positioning module positions the position information of the user through a navigation satellite, and can edit the position information into real-time longitude and latitude to be transmitted to the intelligent equipment through a network port.
5. The system of a night walk safety sonar ranging device according to claim 4, wherein: in the method for controlling the early warning system in the microprocessor, the sound speed V0 in the microprocessor is set to be 340m/s, and the method comprises the following steps:
step 1, the transmitting probe sends ultrasonic waves to the periphery at intervals of t 0;
step 2, when the transmitting probe transmits ultrasonic waves, the ultrasonic ranging module transmits a transmitting signal to the microprocessor, and the microprocessor records the time value of the transmitting signal as t 1;
step 3, when the receiving probe receives the ultrasonic wave return signal, the ultrasonic distance measuring module transmits the receiving signal to the microprocessor, and the microprocessor records the time value of the receiving signal as t 2;
step 4, measuring and calculating the distance s0 of the object in the microprocessor to be the sound velocity V0 (t2-t 1)/2;
step 5, repeating the step 2-4, wherein the measured object distance is s1, and the average speed V of the object measured and calculated in the microprocessor is (s0-s1)/t 0;
and 6, when the microprocessor judges that the object enters the dangerous distance, sending a starting signal to the power amplification module (5) and the vibration motor, vibrating the vibration motor for 1-5s, circularly playing voice for 1-5s by the power amplification module (5) to remind a user of coming vehicles and attention to avoidance, wherein the calculation formula of the dangerous distance is the average speed v and the early warning reaction time t.
6. The system of a night walk safety sonar ranging device according to claim 5, wherein: when the speed per hour of the object received by the microprocessor is less than 11km/h, and the microprocessor judges that the object enters a dangerous distance, the microprocessor does not send an opening signal to the power amplification module (5) and the vibration motor; the average speed is measured and calculated for 2-5 times, when the distance of the object measured each time is larger than the distance measured in the previous time, the microprocessor judges that the object enters a dangerous distance, and the microprocessor does not send an opening signal to the power amplification module (5) and the vibration motor.
7. The system of a night walk safety sonar ranging device according to claim 6, wherein: the intelligent device is loaded with software, the software of the intelligent device can be communicated with the microprocessor through a network port, and a user can set basic parameters through the software, wherein the basic parameters comprise early warning reaction time t and emergency contacts.
8. The system of a night walk safety sonar ranging device according to claim 7, wherein: the GPS positioning module can measure the driving speed and direction of a wearer according to a satellite and transmits data to the microprocessor, the ultrasonic ranging module is provided with a receiving probe and a transmitting probe facing to the front end and the rear end, the object speed detected by the ultrasonic ranging module facing to the front end is Vq, the object speed detected by the ultrasonic ranging module facing to the rear end is Vh, and when Vq + V is more than 11km/h and/or Vh-V is more than 11km/h and the vehicle enters a dangerous distance, the microprocessor sends an opening signal to the power amplification module (5) and the vibration motor.
9. The system of a night walk safety sonar ranging device according to claim 8, wherein: when a user pulls the alarm pull ring (4), the alarm switch (7) is closed, the microprocessor sends the received position information of the GPS positioning module to the software of the intelligent equipment through the network port, and the software of the intelligent equipment edits the received position information into information to be sent to the emergency contact.
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| CN202110198210.6A CN113009460A (en) | 2021-02-22 | 2021-02-22 | Safe sonar ranging device and system for night driving |
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| CN202110198210.6A CN113009460A (en) | 2021-02-22 | 2021-02-22 | Safe sonar ranging device and system for night driving |
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