CN1554957A - Radio frequency article identifying flow tracking and positing method and its realization - Google Patents
Radio frequency article identifying flow tracking and positing method and its realization Download PDFInfo
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- CN1554957A CN1554957A CNA2003101226492A CN200310122649A CN1554957A CN 1554957 A CN1554957 A CN 1554957A CN A2003101226492 A CNA2003101226492 A CN A2003101226492A CN 200310122649 A CN200310122649 A CN 200310122649A CN 1554957 A CN1554957 A CN 1554957A
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Abstract
The present invention relates to a kind of RF identifying (RFID) method for identifying article, real-time tracking and positioning, and the vehicle positioning and traffic information collecting and processing system on the basis of RFID method. Specifically, RF inducing transceivers are installed in different cross roads, RFID units, such as non-contact IC cards, are installed in the vehicles, computers in the cross roads receive the ID codes in the vehicles and all the computers are networked for centralized analysis and processing for positioning, counting, analyzing and processing traffic amount. Compared with GPS positioning technology, the present invention is simple and low in cost.
Description
Technical field
The invention belongs to article identification, tracking, localization process system field, be specifically related to the method for a kind of Real time identification of utilizing radio-frequency (RF) identification (RFID) technology to realize article, real-time flow tracking, real-time positioning and utilize this method to realize the systems technology that vehicle location and vehicle flow information gathering are handled.
Background technology
Development along with integrated circuit technique, the particularly development of contactless ic technology, utilize radio-frequency (RF) identification (RFID) technology to come important item is discerned very ripe at present, radio-frequency (RF) identification (RFID) sign is installed in the article that need identification, by relevant detection equipment, just can discern this article easily.Radio-frequency (RF) identification (RFID) technology also has multiple application in addition, the charge automatically of not stopping of highway, rail vehicles recognition and tracking, container recognition and tracking, come in and go out entrance guard management, animal identification, tracking or the like.But still there are not application and technology that radio-frequency (RF) identification utilized (RFID) technology realizes real-time automatic article location at present, for example the locating automatically in real time of vehicle of article of particularly flowing.
What the real-time automatic positioning technology of at present mobile article was the most frequently used is global location (GPS) system.Gps system is that 20,000 kilometers satellite is formed by 24 height, they can provide high accuracy three-dimensional position, three-dimensional velocity and the precise time information of global range from arbitrary carrier between kilometer high-altitude, ground to 9000 with 6 different orbit operations.Can receive positioning signal as long as be installed in board units on the vehicle, just can make warp, Position Latitude and the temporal information of this car from three satellites.
The satellite-signal of GPS receiver to receiving decoded or adopted other technology, after the information on the carrier wave of being modulated at is removed, and just can the reinsertion of carrier.Strict, carrier phase should be called as carrier wave beat frequency phase place, and it is that the satellite signal carrier phase place and the receiver local oscillation that influenced by Doppler shift received produce the poor of signal phase.Generally measure constantly in the epoch that the receiver clock is determined, maintenance is to the tracking of satellite-signal, just can note the changing value of phase place, but the phase place initial value of receiver when beginning to observe and satellite oscillator is ignorant, the phase place integer of initial epoch also is ignorant, be integer ambiguity, can only be as parameter calculation in data processing.The precision of phase observations value is high to millimeter, but prerequisite is to solve integer ambiguity, therefore only could use the phase observations value at relative positioning and when one section continuous measurements is arranged, and also can only adopt the phase observations value and will reach the bearing accuracy that is better than meter level.
But gps system satellite-signal such as between indoor or the main housing-group in urban district is accepted bad its performance of area and availability and is all shown sharp and descend; Its locating speed is also relatively slow, is implementing to dispose also relatively costliness.Although obtained significant improvement in that GPS is technical recently, these problems still appreciable impact cost, availability and the performance of solution.
Though gps system can more accurate solution vehicle location problem, the statistics and analysis that generally can not solve vehicle flow is handled.The shortcoming of the vehicle location of GPS solution simultaneously scheme maximum is technical sophistication and cost height.
Summary of the invention
Of the present invention day is propose a kind of cheaply in real time article identification, flow and follow the tracks of and the method for real-time positioning in real time, promptly utilize radio-frequency (RF) identification (RFID) technology to reach article identification, flow and follow the tracks of and the location.Thereby can solve present radio-frequency (RF) identification (RFID) and can only solve article identification and non real-time from motion tracking and the technical sophistication cost high problem of gps system in location technology.This method can reach real-time collecting, statistics, analysis, processing automobile flow simultaneously when being used for the automobile location.
Ultimate principle of the present invention is: RFID (Radio Frequency Identification) radio-frequency (RF) identification is a kind of contactless automatic identification technology, it is by the automatic recognition objective object of radiofrequency signal and obtain related data, identification work need not manual intervention, can work in various rugged surroundings.The RFID technology can be discerned high-speed moving object and can discern a plurality of labels simultaneously, and is swift and convenient to operate.
The short-range radio frequency product is not afraid of rugged environments such as oil stain, contamination by dust, can substitute bar code in such environment, for example is used on the streamline of factory and follows the tracks of object.Length is used in the traffic apart from radio frequency products more, and decipherment distance can reach tens meters.
Radio-frequency (RF) identification (RFID) is generally noncontact mode integrated circuit (IC) card, its corresponding card reader goes out the radiofrequency signal of certain frequency by the antenna transmission of configuration, produce magnetic field, when the article that noncontact mode integrated circuit (IC) card is installed enter effective range, noncontact mode integrated circuit (IC) thus the lead winding in the card produces induction current obtains energy, and can send out information such as self coding according to the instruction of card reader, read back decoding by card reader and handle through data processing equipment, be sent to the dispatching and monitoring center by wireless channel or wire message way, according to being installed in the location and time information that the card reader of each article through the position reads, just can determine the present residing position of article.
The Real time identification article that the present invention proposes, the method that flows and follow the tracks of and locate, be by being placed on radio-frequency (RF) identification (RFID) sign 1 in the article, can discern radio-frequency receiving-transmitting and the treating apparatus 2 that (RFID) indicates 1 information by received RF with the place that is installed in the article process, finish the article Real time identification; All radio-frequency (RF) receiving/transmission device 2 were communicated with wired or wireless method constituted network, the intensive data Treatment Analysis device 4 by network center carry out flowing the in real time tracking and the real-time positioning of article.
Vehicle location and vehicle flow information gathering disposal system according to this method foundation, is made up of the data collection process that is placed on the other radio-frequency (RF) receiving/transmission device 5 of radio-frequency (RF) identification (RFID) sign 1 in the vehicle, the crossing, road that is installed in the vehicle process and road, coupling arrangement 5 and transmitting device 3, intensive data Treatment Analysis device 4, the wired or wireless mode of employing is formed network between data collection process device 3 and the intensive data Treatment Analysis device 4.The quantity of the radio-frequency (RF) identification of stating (RFID) sign 1 can be between 1000 to 100000000; The quantity of above-mentioned radio-frequency (RF) receiving/transmission device 5 and data collection process and transmitting device 3 can be between 1000 to 10000000.
In addition, this system also can be made up of the data collection process and the transmitting device 3 of the radio-frequency (RF) receiving/transmission device 5 that is installed in vehicle, coupling arrangement 5, each crossing, road that is placed on article or vehicle process or road other radio-frequency (RF) identification (RFID) sign 1, intensive data Treatment Analysis device 4, adopt wireless mode to form network between all data collection process and transmitting device 3 and the intensive data Treatment Analysis device 4, the quantity of above-mentioned radio-frequency (RF) identification (RFID) sign 1 can be between 1000 to 100000000; The quantity of above-mentioned radio-frequency (RF) receiving/transmission device 5 and data collection process and transmitting device 3 can be between 1000 to 10000000.Above-mentioned two system both can be implemented separately according to different application, and use also can mutually combine.
Above-mentioned radio-frequency (RF) identification (RFID) sign 1 is integrated circuit (IC) card 6 of noncontact mode, the built-in numerical coding corresponding with vehicle in the card.Above-mentioned radio-frequency (RF) receiving/transmission device 5 is a radio-frequency antenna 7, provides built-in digital code information in integrated circuit (IC) card working power and receiving integrate circuit (IC) card to integrated circuit (IC) the 6 card coupling energies of noncontact mode.
Above-mentioned data collection process device 3 is made up of noncontact mode integrated circuit (IC) card reader device 8, data processing equipment 9, data transmission device 10.Above-mentioned intensive data Treatment Analysis device 4 is the Computer Database analysis process system of a standard, forms networks by wired or wireless mode and the data collection process device 3 that is distributed in each crossing, road, road side or the vehicle.The network that above-mentioned each data collection process and transmitting device 3 and the wired mode of intensive data Treatment Analysis device 4 usefulness are formed can adopt Ethernet (Ethernet) mode, ATM mode, PSTN, ISDN, communication modes such as ADSL, DDN.
The network that above-mentioned each data collection process and transmitting device 3 and intensive data Treatment Analysis device 4 usefulness wireless modes are formed, can adopt the wireless system of standard to carry out one way data communication, wherein only to intensive data Treatment Analysis device 4 emission data, intensive data Treatment Analysis device 4 only receives the data of each data collection process and transmitting device 3 emissions for each data collection process and transmitting device 3.
The above-mentioned network of forming with wireless mode also can adopt the wireless system of standard to carry out bidirectional data communication communication, and wherein intensive data process points available broadcast mode is to each crossing, road emission information.Can utilize existing GSM or cdma wireless communication network to finish transmission of Information and transmitting-receiving, for example can utilize in existing GSM or the cdma wireless communication network short message mode to finish transmission of Information and transmitting-receiving.
The above-mentioned network of no matter forming with wired or wireless mode, internetwork data information transmission or exchange all can be adopted general standard agreement at present.
Though the present invention is the position of positioned vehicle between two crossings accurately, but time system in conjunction with computing machine, can estimate the position of vehicle at two crossings, the positioning requirements of common vehicle should be satisfied in such location, its outstanding advantage is can reduce cost greatly and the complexity of technology, particularly in vehicle, only need to place the extremely low contactless IC card of a cost, brought the data that to collect, add up, analyze, handle vehicle flow simultaneously, provide strong data resource for solving the urban traffic congestion.
Above-mentioned vehicle location and vehicle flow information gathering disposal system in actual motion, as the important item of placing radio-frequency (RF) identification (RFID) sign by vehicle during in transportation, the position of the important item of real-time follow-up monitoring simultaneously also.
Description of drawings
Fig. 1 is an article identification, the method schematic diagram of tracking and location flows.
Fig. 2 is vehicle location and the vehicle flow Information Collection System synoptic diagram of being made up of contactless IC card.
Fig. 3 is installed in crossing or the other data collection process device synoptic diagram of road.
Fig. 4 is an intensive data Treatment Analysis device synoptic diagram.
Fig. 5 is the workflow diagram of data collection process device.
Fig. 6 is the electrical schematic diagram of data collection process device.
Drawing reference numeral: 1 for being placed on radio-frequency (RF) identification (RFID) device for marking in the article, 2 is radio-frequency receiving-transmitting and treating apparatus, 3 is data collection process and transmitting device, 4 is intensive data Treatment Analysis device, 5 is crossing, road or the other radio-frequency (RF) receiving/transmission device of road that is installed in the vehicle process, 6 are noncontact mode integrated circuit (IC) card, 7 is radio-frequency antenna, 8 are noncontact mode integrated circuit (IC) card reader device, 9 is data processing equipment, 10 is data transmission device, 11 is network adapter, 12 is the front end data process computer, 13 is database server, 14 is data storage and back-up device, 15 is GIS information platform data sharing platform, 16 is the information of vehicles data sharing platform, 17 is that point duty dispatching center system platform 18 is for initially powering on and resetting, 19 for reading the SAM card information, 20 inquiry SAM card informations are legal not, 21 for asking card and replying, 22 are the anti-collision processing, 23 for selecting the IC-card sheet, 24 is to confirm whether choose, 25 is authentication mutually, whether 26 inquiries are legal, 27 are read-write and transmission operation, 28 is that inquiry has vehicle not, 29 store car information are to K9F2808, whether 30 inquiry transmitting times arrive, 31 for being connected to SMS MODULE, 32 for sending the information of vehicles after encrypting.
Embodiment
Employing meets the non-contact IC card of international standard, and corresponding card reader.Noncontact mode integrated circuit (IC) card 6 is installed on the windshield of vehicle or other suitable places, at the crossing, road or other suitable locations fix up an aerial wire 7, noncontact mode integrated circuit (IC) card reader 8 and data collection process transmitting device 3.Noncontact mode integrated circuit (IC) card reader is sent the radiofrequency signal of certain frequency by antenna, when the vehicle that noncontact mode integrated circuit (IC) card is installed enters effective range, noncontact mode integrated circuit (IC) thus card produces induction current obtains energy, send out that information such as built-in coding is read by reader by antenna and handle by the data collection process device back of decoding and be sent to the dispatching and monitoring center by transmitting device, by the positional information of the intensive data Treatment Analysis device 4 that is placed in the dispatching and monitoring center according to each crossing, road card reader, temporal information and other relevant informations are carried out intensive data and are handled, thereby determine the position of vehicle, add up the vehicle of each crossing, road process, just can obtain traffic flow data.
The data aggregation of crossing, road, treating apparatus block diagram are as shown in Figure 3.
In the time of outside the vehicle that non-contact IC card is installed is positioned at the card reader antenna efficient working range, chip is in electroless state on the card, can not carry out any operation; When it enters the efficient working range of card reader antenna, the IC-card electrification reset enters waiting status, can correctly receive and dispatch and respond the inquiry that card reader sends and block/reply instruction under this state, and carry out operations such as anti-collision, authentication mutually, reading and writing, transmission.
Receive the instruction of card reader when non-contact IC card after,, carry out data processing by steering logic, and return corresponding result through instruction decode.Noncontact mode integrated circuit (IC) card reader reads the data on the vehicle of the noncontact mode that is equipped with integrated circuit (IC) card that enters magnetic field range, finish collision detection and authentication mutually by card reader, high speed moving vehicle can be discerned and the multi-section vehicle can be discerned simultaneously, the data of obtaining are delivered to data processing equipment 9, by data processing equipment data are simply handled, remove some unnecessary information, and deliver to transmitting device 10 after encrypting; By wireless or wired passage data being sent to intensive data Treatment Analysis device 4 intensive data Treatment Analysis devices as shown in Figure 4 by transmitting device, is the Computer Database analysis process system of a standard, interconnects by the Local Area Network mode.Network adaptive device 10 for example can comprise router, switch, fire wall etc., and front end data process computer 11, database server 12, data storage and back-up device 13 for example can comprise hard disk array, magnetic tape station etc.
The workflow of Computer Database analysis process system is:
Native system can be connected with other related platform, and for example system of geographic location (GIS) information data shared platform, information of vehicles data sharing platform reach data sharing between a plurality of information platforms.
Realize that with the data aggregation of crossing, road, processing and transmitting device 3 network is connected by network adapter 11, the signal that receives is delivered to front end data process computer 12, the front end data process computer can carry out error correction, data decryption etc. to the received signal, can be transferred to storage and the back-up job that database server 13 is finished data simultaneously; By geographical location information, calculate the positional information of vehicle simultaneously, also provide vehicle position information for GIS information data shared platform simultaneously from GIS information platform data sharing platform 15; In addition by with being connected of information of vehicles data sharing platform 16, other that also can understand this vehicle when understanding vehicle location for information about, vehicle for example, everyone ground or the like of registering vehicle of vehicle also provides vehicle position information for the information of vehicles data sharing platform simultaneously.
Above GIS information data shared platform and information of vehicles data sharing platform can be set up in native system voluntarily, also existing similar data sharing platform can be connected by network.
More than carry out analyzing and processing by data to each crossing, road, when obtaining vehicle position information, can obtain information such as the magnitude of traffic flow, in conjunction with GIS information platform data sharing platform and information of vehicles data sharing platform, can use for point duty dispatching center system platform 17, also can offer the various platforms of relevant information that need uses, public transit vehicle management and running platform for example, taxi dispatching system, public security patrol system or the like.
The network implementation scheme:
Can utilize existing GSM or cdma wireless communication network to finish transmission of Information and transmitting-receiving, to telecommunication department application cell-phone number, for example can utilize in existing GSM or the cdma wireless communication network short message mode to finish transmission of Information and transmitting-receiving in the place of each installation data collection, processing and transmitting device and Computer Database analysis process system mounting points.Can finish transmission of Information.
In conjunction with the electrical schematic diagram of the data aggregation of crossing, road, treating apparatus as shown in Figure 6, and workflow is as shown in Figure 5, further describes the present embodiment:
Among Fig. 6, finish rectification, filtering, voltage stabilizing of power supply etc. by BR1, U10 (7805), U5 (AS1117) and resistance, electric capacity etc., the working power of circuit is provided; By the work clock pulse that system is provided by crystal oscillator (Y1), R1, R2, C1, C2 etc., crystal oscillator (Y2), U6, U7 etc. provide the work clock pulse of SAM card; U2 is a monolithic microcontroller processor (MCU), and as available 68HC98GP32, U1 (IMP706) is a watchdog circuit; U3 is FLASH RAM, mainly loads working routine and data, can select K9F2808Q0B for use; U4 is the RS232 driving circuit; SOCKET1 is SAM_CARD, and the safety certification of this device mainly is provided, and J1 is for being connected to the interface of radio-frequency (RF) identification (RFID READER MODULE) card reader, and card reader can be selected standardized product for use, for example the 915 RFID READER of optional ALIEN; J2 is for being connected to the interface of SMS transmission module (SMS MODULE), and SMS transmission module also can be selected standardized product for use, the TC35T of for example optional Siemens Company (SIEMENS);
Behind the initial electrification reset of circuit, at first read the information in the SAM card, confirm its legal identity, and then start working, the card reader interface of the radio-frequency identification card by J1, card reader connects the radio-frequency identification card of installing on antenna and the vehicle through the crossing and carries out communication, through asking card, anti-collision reads corresponding information after the authentication mutually, with the information that is read be saved to FLASH RAM (U3, K9F2808) in.
This device sends data by the mode of short message to control center, the pattern that sends can be provided with as requested, can be divided into timed sending, (say the word with time interval transmission and the passive instant transmission of setting by control center, immediate acknowledgment then) three kinds of modes, and can be provided with it by control center.
MCU detects the transmission condition of this machine, if when meeting setting value, by the serial port of J2, connects short message sending module SMS MODULE, and data are sent to control center through behind the cryptographic calculation among the FLASH RAM to being kept at.
Claims (10)
1, the method for a kind of article Real time identification, mobile tracking in real time and real-time positioning, it is characterized in that, by being placed on the radio frequency identification marker (1) in the article, with the place that is installed in the article process can received RF distinguishing mark 1 information radio-frequency receiving-transmitting and treating apparatus (2), finish article identification; All radio-frequency receiving-transmittings and treating apparatus (2) are constituted network by wired or wireless method, finish the real-time follow-up and the location of the article that flow by the intensive data Treatment Analysis device (4) of network center.
2, vehicle location that a kind of the method for claim 1 realizes and vehicle flow information gathering disposal system, it is characterized in that, this system is by the radio frequency identification marker (1) that is placed in the vehicle, be installed in each crossing, road or the other radio-frequency (RF) receiving/transmission device (5) of road of vehicle process, the data collection process of coupling arrangement (5) and transmitting device (3), intensive data Treatment Analysis device (4) is formed, adopt wired or wireless mode to form network between all data collection process devices (3) and the intensive data Treatment Analysis device 4, the quantity of above-mentioned radio frequency identification marker (1) is between 1000 to 100000000; The quantity of above-mentioned radio-frequency (RF) receiving/transmission device (5) and data collection process and transmitting device (3) is between 1000 to 10000000.
3, vehicle location that a kind of the method for claim 1 realizes and vehicle flow information gathering disposal system, it is characterized in that, this system is by the radio-frequency (RF) receiving/transmission device that is installed in vehicle (5), the data collection process of coupling arrangement (5) and transmitting device (3), be placed on each crossing, road or the other radio frequency identification marker (1) of road of vehicle process, intensive data Treatment Analysis device (4) is formed, adopt wireless mode to form network between all data collection process devices (3) and the intensive data Treatment Analysis device (4), the quantity of above-mentioned radio frequency identification marker (1) is between 1000 to 100000000; The quantity of above-mentioned radio-frequency (RF) receiving/transmission device (5) and data collection process and transmitting device (3) is between 1000 to 10000000.
According to claim 1,2,3 described method and system, it is characterized in that 4, above-mentioned radio frequency identification marker (1) is integrated circuit (IC) card (6) of noncontact mode, the built-in numerical coding corresponding with article or vehicle in the card.
5, according to claim 2,3 described vehicle locations and vehicle flow information gathering disposal system, it is characterized in that, above-mentioned radio-frequency (RF) receiving/transmission device (5) is a radio-frequency antenna (7), provides built-in digital code information in integrated circuit (IC) card working power and receiving integrate circuit (IC) card to the integrated circuit (IC) (6) of noncontact mode card coupling energy.
6, according to claim 2,3 described vehicle locations and vehicle flow information gathering disposal system, it is characterized in that above-mentioned data collection process and transmitting device (3) are made up of noncontact mode integrated circuit (IC) card reader device (8), data processing equipment (9), data transmission device (10).
7, according to claim 2,3 described vehicle locations and vehicle flow information gathering disposal system, it is characterized in that, above-mentioned intensive data Treatment Analysis device (4) is the Computer Database analysis process system of a standard, forms network by wired or wireless mode and the data aggregation and the treating apparatus (3) that are distributed in each crossing, road, road side or the vehicle.
8, according to claim 2,3,7 described vehicle locations and vehicle flow information gathering disposal system, it is characterized in that, the network that above-mentioned each data collection process device (3) and intensive data Treatment Analysis device (4) are formed with wired mode, and can adopt Ethernet mode, ATM mode, PSTN, ISDN, communication modes such as ADSL, DDN.
9, according to claim 2,3,7 described vehicle locations and vehicle flow information gathering disposal system, it is characterized in that, above-mentioned each data collection process and transmitting device 3 and the network of intensive data Treatment Analysis device (4) with the wireless mode composition, and the wireless system of the standard of employing carries out one way data communication communication, wherein only to intensive data Treatment Analysis device (4) emission data, intensive data Treatment Analysis device 4 only receives the data of each data collection process device (3) emission to each data collection process device (3);
According to claim 7,9 described vehicle locations and vehicle flow information gathering disposal system, it is characterized in that 10, the above-mentioned network of forming with wireless mode can utilize existing GSM or cdma wireless communication network to finish transmission of Information and transmitting-receiving.Can utilize in existing GSM or the cdma wireless communication network short message mode to finish transmission of Information and transmitting-receiving.
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| CN 200310122649 CN1235060C (en) | 2003-12-23 | 2003-12-23 | Radio frequency article identifying flow tracking and positing method and its realization |
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| CN 200310122649 CN1235060C (en) | 2003-12-23 | 2003-12-23 | Radio frequency article identifying flow tracking and positing method and its realization |
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| CN100401092C (en) * | 2004-12-22 | 2008-07-09 | 华为技术有限公司 | Method and system for wireless localization |
| CN1808484B (en) * | 2006-01-25 | 2010-05-12 | 郑之敏 | Electronic label based controllable bill circulation prevention and management method |
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| CN103198651A (en) * | 2013-04-03 | 2013-07-10 | 黑龙江大学 | Taxi real-time supervision and control system based on wireless radio frequency identification (RFID) |
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| US8639543B2 (en) | 2005-11-01 | 2014-01-28 | International Business Machines Corporation | Methods, systems, and media to improve employee productivity using radio frequency identification |
| CN1808484B (en) * | 2006-01-25 | 2010-05-12 | 郑之敏 | Electronic label based controllable bill circulation prevention and management method |
| CN101436287B (en) * | 2008-12-12 | 2011-06-15 | 浙江大学宁波理工学院 | Method for monitoring attention degree classification of chaussure products in sale terminal |
| CN102098619A (en) * | 2011-01-19 | 2011-06-15 | 无锡职业技术学院 | Vehicle personnel positioning system based on Internet of Things (IOT) |
| CN102426348A (en) * | 2011-08-25 | 2012-04-25 | 北京天地玛珂电液控制系统有限公司 | Device and method for detecting position of coal mining machine based on radio frequency technology |
| CN102426348B (en) * | 2011-08-25 | 2013-06-12 | 北京天地玛珂电液控制系统有限公司 | Device and method for detecting position of coal mining machine based on radio frequency technology |
| CN103366260A (en) * | 2012-03-29 | 2013-10-23 | 上海宝信软件股份有限公司 | RFID (radio frequency identification devices) monitoring scheduling system of warehouse vehicle in-out |
| CN103198651A (en) * | 2013-04-03 | 2013-07-10 | 黑龙江大学 | Taxi real-time supervision and control system based on wireless radio frequency identification (RFID) |
| CN103462315A (en) * | 2013-09-29 | 2013-12-25 | 苏州大学 | Intelligent crutch |
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| CN107766954A (en) * | 2016-08-23 | 2018-03-06 | 北京嘀嘀无限科技发展有限公司 | Interim chauffeur method and device, about car order send processing method and server |
| CN108253835A (en) * | 2016-12-28 | 2018-07-06 | 杭州三花家电热管理系统有限公司 | Plate-type heat-exchange core and with its plate heat exchanger |
| CN112330839A (en) * | 2020-09-27 | 2021-02-05 | 湖南造父驾培网络科技集团有限公司 | Intelligent online monitoring system for learning quality of driving school |
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