CN203869794U - Wheel motion state vector acquisition apparatus - Google Patents
Wheel motion state vector acquisition apparatus Download PDFInfo
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- CN203869794U CN203869794U CN201420221750.7U CN201420221750U CN203869794U CN 203869794 U CN203869794 U CN 203869794U CN 201420221750 U CN201420221750 U CN 201420221750U CN 203869794 U CN203869794 U CN 203869794U
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Abstract
The utility model discloses a wheel motion state vector acquisition apparatus comprising a force-inertia measuring group, a signal transmission group, and a connection shaft. The force-inertia measuring group and the signal transmission group are connected through the connection shaft. The signal transmission group includes a fixing plate, a bearing, a signal transmission circuit board, a photoelectric encoder, a signal transmission group housing, and a housing cover plate. The connection shaft penetrates the signal transmission group housing and the housing cover plate. The connection shaft is connected with the signal transmission group housing and the housing cover plate through the bearing. The signal transmission circuit board and the photoelectric encoder are disposed in the signal transmission group housing. The fixing plate is arranged on the signal transmission group housing and fixes the signal transmission group housing. The utility model provides a state monitoring apparatus capable of simultaneously measuring the force and the motion amount of a wheel, and detecting a twelve-dimensional wheel motion state signal in total, including six-dimensional force/moment, three-dimensional angular velocity, and the three-dimensional acceleration, of a single wheel in real time.
Description
Technical field
The utility model belongs to automotive electronics and intellectual monitoring field, relates in particular to a kind of wheel movement state vector measurement mechanism, is specifically related to structure composition and the Integrated design of wheel movement measurement mechanism; Also relate to the combination metering device of multidimensional vehicle wheel forces and inertial signal simultaneously, thereby obtain the vehicle wheel forces-motor message of 12 degree of freedom.
Background technology
Running car is the interactional result in wheel and road surface, and the force and motion of wheel is inputted by road surface, has fundamentally reflected automobile oneself state, in actual road test and intelligent transportation, has the meaning can not be substituted.
Early stage wheel detector is only measured rotating speed.From 20 century 70s, AM General company has carried out the research of vehicle wheel forces/torque sensor (Wheel Force Transducer, WFT) the earliest, at present all existing similar products of U.S., moral, day and China.But because WFT is arranged on the wheel of High Rotation Speed, vehicle moves, sensor exists and rolls and two kinds of modes of translation, thereby it is measured all the time in a sports ground.In recent years, be accompanied by the development of the motion sensor taking MEMS as representative, developed countries has been developed and has been had device and the technology that force and motion signal combination is measured concurrently, can detect simultaneously and isolate speed, acceleration and the force signal of wheel.China's technology is in this respect also in theory stage, mainly in the exploitation of WFT sensor, still blank for the Wheel-monitoring technology of while ergometry and motor message; In automotive performance test and actual road test, often adopt foreign parameter or empirical method, difficulty has equipment and the method for quantitative data analysis, and still has in practice a lot of problems:
(1) import equipment is expensive, is unfavorable for reducing costs;
(2) accepted standard difference, is not suitable for the technical standard of China;
(3) core key technology is implemented to block, and is unfavorable for the independent research of domestic testing apparatus and vehicle.
Thereby research and development have the device of autonomous property right and establish dress, to meet motor corporation and the testing field demand for the measuring technique of vehicle wheel forces-motion, the auto industry of China are had great importance.
In prior art, ZL200320110714.5 patent discloses a kind of automobile wheel multi-dimensional force measuring device, is the real-time measurement apparatus of wheel stress under a kind of automobile running working condition; ZL200320110713.0 discloses a kind of wheel multi-dimension force sensor, is the power sensor in a kind of automobile running working condition harvester; ZL201220102243.2 and ZL201210071761.7 disclose a kind of sensor of measuring wheel six-dimensional force, formed with static non-rotating part relative to vehicle itself by the rotating part along with rotating being arranged on wheel, can measure in real time the six-dimensional force signal of single wheel.But also there is very many deficiencies in practical application in above-mentioned patent:
1, only carry out the sextuple force measurement of wheel, can not very comprehensively reflect the motion state of wheel.Because above-mentioned measurement cannot be fed back for the information such as rotation status, inertia vector of wheel, in actual braking automobile and braking procedure, can only the estimating qualitatively inertia measurement of force signal, the reference providing is limited.
2, in actual automotive test; above-mentioned WFT force measurement also needs in conjunction with other external sensor conventionally as motion sensor; displacement transducer etc.; but the most integrated installation of these sensors is in positions such as vehicle body, suspension, pilothouse, wheel outsides; the effective exercise state that not only can not accurately reflect wheel, does not have integrated system equipment and method yet
Utility model content
Utility model object: the purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art, the wheel condition harvester that provides a kind of realizable force-movement combination to measure, measure in real time the suffered six-dimensional force/moment of single wheel, three dimensional angular speed and three-dimensional acceleration, totally ten two-dimentional wheel movement state vector signals.
Technical scheme: a kind of wheel movement state vector harvester of the present utility model, comprises power-inertia measurement group, signal transmission group, coupling shaft, between inertia measurement group and signal transmission group, connect by coupling shaft, described signal transmission group comprises fixed head, bearing, signal circuit plate, photoelectric encoder, signal transmission group housing, housing cover, described coupling shaft runs through signal transmission group housing and housing cover, coupling shaft is connected with signal transmission group housing and housing cover respectively by bearing, signal circuit plate and photoelectric encoder are arranged in signal transmission group housing, fixed head is arranged on signal transmission group housing, and fixes this signal transmission group housing, described power-inertia measurement group comprises elastic body, inertial sensor, structure housing, transformation of the way wheel rim in wheel, welding flange, inner flange, inertial sensor and collecting circuit board, described inertial sensor and collecting circuit board are arranged in structure housing, described elastic body is also provided with rigidity outer shroud, ring and sextuple wheel force in rigidity, in described rigidity, ring is fixed to the driving half-bridge to wheel by inner flange, described rigidity outer shroud is fixed to transformation of the way wheel rim by welding flange, described sextuple wheel force obtains sextuple vehicle wheel forces by surveying elastomeric distortion measurement, described sextuple wheel force and the signal of inertial sensor are sent to collecting circuit board, and described collecting circuit board transmits signals to signal circuit plate, and the signal of described photoelectric encoder transfers to signal circuit plate.
Described power-inertial measurement cluster is the combined measuring device that sextuple WFT sensor and inertial sensor form, and for measuring the suffered twelve-dimension force-motor message of wheel, realizes the collection of signal, conditioning and transmission.Total assembly is mainly by sextuple WFT wheel force, three-dimensional MEMS gyroscope, and three-dimensional MEMS accelerometer, collecting circuit board and built-in power composition, be fixed in a structure housing, can rotate with wheel.Wherein, WFT sensor is for measuring the suffered six-dimensional force/torque signals (F of wheel
x, F
y, F
z, M
x, M
y, M
z), in the time of running car, the power of ground-wheel is loaded on the strain beam of WFT and makes it distortion, the resistance strain gage sticking on strain beam is experienced this distortion and is produced change in resistance, changed into weak differential voltage signal by group bridge circuit again, by the signal conditioning circuit on analog input card, by this analog voltage signal filtering, amplification, and the A/D interface conversion of microcontroller (Micro Control Unit, MCU) on analog input card is digital signal buffer memory.Meanwhile, the inertial sensor that comprises MEMS gyroscope and MEMS acceleration, for detection of the sextuple motor message of wheel---three dimensional angular speed (W
x, W
y, W
z) and three-dimensional acceleration (a
x, a
y, a
z), this unit is installed on the residing core wheel of analog input card position accurately, can measure wheel movement, and the digital signal that directly output 6 DOF moves.
One of the utility model preferably in example, adopt by strain beam, the spoke symmetrical expression WFT elastic body (as Fig. 4) of ring and rigidity outer shroud composition in rigidity, the integral structure that this structure is made up of elastic alloy material, its Tensile strength is not less than 980Mpa, yield strength is not less than 840MPa, after surface heat is processed, can bear very large load again in regime of elastic deformation;
One of the utility model preferably in example,
adoptthe MPU-6050 Inertial Measurement Unit of American I nvenSense company, this unit is integrated 3 axis MEMS gyroscope, 3 axis MEMS accelerometer, and an extendible digital moving processor, chip size little (4mm × 4mm × 0.9mm) facilitates integrated, adopts without the square encapsulation of lead-in wire, can bear the impact of maximum 10000g, between register, communication adopts the I2C interface of 400kHz, and reads and interrupt the SPI of available 20MHz, with the application of the high-speed transfer of satisfying the demand.Also there is controlled measurement range in this sensor, gyroscope is ± 250, ± 500, ± 1000, ± 2000 °s/sec (dps), accelerometer is ± 2, ± 4, ± 8, ± 16g, can accurate tracking motion fast and at a slow speed, by gyroscope and accelerometer 16 ADC separately, the analog quantity of measurement can be converted into digital output, meet the accuracy compensation of wheel force signal under automobile running working condition completely.
One of the utility model preferably in example, the collecting circuit board of power-inertial measurement cluster is designed to be convenient to the loop configuration of installation, a main integrated microcontroller (single-chip microcomputer with high speed processing ability and low-power consumption requirement, MCU), an and integrated wireless digit chip for ten 2D signals are transmitted and received, bus interface by MCU realizes the driving to wireless transmission chip, and the digital signal of ten two dimensions is sent.Select the C8051F021 single-chip microcomputer of Silicon Labs company of the U.S., this single-chip microcomputer adopts instruction pipeline structure, the switching rate of 8 ADC reaches 500ksps, kernel speed reaches 25MIPS, 22 vector interrupt sources, 3.3V low voltage operating, meet the high speed processing to power-motor message, select the wireless digital transmission chip nRF2401 of Nodic company of the U.S., application (ISM) frequency is exempted from the whole world that works in 2.4GHz～2.5GHz, has 250Kbps, 1Mbps high data transfer rates.The electrical equipment of whole power-inertia measurement group is powered by one group of built-in power, is fixedly installed in acquisition module enclosure interior.
Described signal transmission group is for receiving ten two-dimensional digital signals, packing is also uploaded to host computer by bus, mainly comprise photoelectric encoder, signal circuit plate, coupling shaft and bearing composition thereof, this assembly is fixed on power-inertia measuring module structure housing by coupling shaft one end, and the other end can be through transport module inside through two pairs of bearings, whole module group is connected in the bearing on vehicle body by a fixed head, static with respect to vehicle body.Similarly, a upper also integrated MCU and the integrated wireless digit chip of signal circuit plate, by MCU, by existing programmed control with drive wireless chip to receive, and the communicating by letter of realization and host computer, returns to host computer by the digital signal of code synchronism.
One of the utility model preferably in example, adopt 12 single-ring absolute type photoelectric encoders as angle position feedback element, can be by the corner of wheel the formal output with pulse, rotating speed is proportional to pulsed frequency, corner value is proportional to pulse number, realize real-time coordinate conversion and the signal synchronous coding of twelve-dimension force-motor message, this car body-wheel coordinate transformation relation is identical with ZL201210077400; The MCU and the wireless chip that adopt match with power-inertia measurement group collecting circuit board; The electricity piece of chunk inside is powered by a built-in power equally, is fixedly installed in transmission shell inner surface, and described inertial sensor comprises MEMS three-axis gyroscope.
Further, be provided with strain beam on elastic body, described sextuple wheel force is several resistance strain gages that are arranged on strain beam, and described inertial sensor comprises MEMS three-axis gyroscope and tri-weeks acceleration transducers of MEMS.
Further, on collecting circuit board, be provided with wireless digital chip, described collecting circuit board by transmission of wireless signals to signal circuit plate; Described wheel movement state vector harvester also comprises host computer, on described signal circuit plate, is provided with wireless digital chip, signal circuit plate by transmission of wireless signals to host computer.Host computer will directly show ten two-dimensional digital signals that record.
Brief description of the drawings
Fig. 1 is wheel right hand orthogonal coordinate system of the present utility model and ten two-dimensional state polar plots;
Fig. 2 is apparatus structure composition diagram of the present utility model;
Fig. 3 is sensor elastomer structure of the present utility model and power measurement group bridge circuit;
Fig. 4 is sensing device-car body scheme of installation described in the utility model;
Fig. 5 is the circuit block diagram of power-inertia measurement group described in the utility model;
Fig. 6 is the circuit connection diagram of inertial sensor described in the utility model (MPU-60X0) and control module (MCU).
Embodiment
Below technical solutions of the utility model are elaborated, but protection domain of the present utility model is not limited to described embodiment.
Being illustrated in figure 1 the measured wheel right hand orthogonal coordinate system of the utility model device, is wheel plane perpendicular to the Plane of rotation at wheel 1 place that drives half-bridge 2, and the initial point of coordinate system is O.Ten measured two-dimentional wheel movement vectors are orthogonal force and moment vector on three change in coordinate axis direction, angular velocity vector, and linear acceleration vector: be respectively longitudinal force Fx, side force Fy, vertical force Fz, moment resulting from sidesway Mx,, driving/braking moment of torsion My, yaw moment Mz; Longitudinal angle speed Wx, lateral angle speed Wy, vertical angle speed Wz; Longitudinal acceleration ax, side acceleration ay, normal acceleration az.All vectors are taking along change in coordinate axis direction, be rotated counterclockwise as positive dirction around coordinate axis.
A kind of wheel movement state vector measurement mechanism, its equipments overall structure designs as shown in Figure 2.This device mainly comprises power-inertia measurement group 18, and three parts of signal transmission group 19 and host computer, couple together by coupling shaft 11 and external stability plate 13.
Described power-inertia measurement group 18 is the combined measuring device that sextuple WFT sensor and inertial sensor 10 form, and for measuring the suffered twelve-dimension force-motor message of wheel, realizes the collection of signal, conditioning and transmission.Total assembly is mainly by sextuple WFT wheel force, inertial sensor 10, and collecting circuit board 9 and built-in power composition, be fixed in structure 7 housings, can rotate with wheel.Wherein, WFT sensor is for measuring the suffered six-dimensional force/torque signals (F of wheel
x, F
y, F
z, M
x, M
y, M
z), in the time of running car, the power of ground-wheel is applied on the rigidity outer shroud of elastic body 5 by the welding flange 3 on transformation of the way wheel rim 4, in its rigidity, ring is connected in the driving half-bridge of automobile by inner flange 6 bolts, the resistance strain gage impression that paste on the strain beam surface of elastic body 5 is out of shape and is produced change in resistance, changed into weak differential voltage signal by group bridge circuit cards 8 again, by the signal conditioning circuit on analog input card 9 by this analog voltage signal filtering, amplify, and microcontroller (Micro Control Unit on board 9, MCU) A/D interface conversion is digital signal buffer memory.Meanwhile, the MEMS gyroscope in inertial sensor 10 and MEMS acceleration, be respectively used to detect sextuple motor message---the three dimensional angular speed (W of wheel
x, W
y, W
z) and three-dimensional acceleration (a
x, a
y, a
z), this unit is installed on the residing core wheel of analog input card position accurately, can measure wheel movement, and the digital signal that directly output 6 DOF moves.
Wherein, sextuple WFT sensor adopts by strain beam, the spoke symmetrical expression WFT elastic body of ring and rigidity outer shroud composition in rigidity, be illustrated in figure 4 elastomer structure figure and foil gauge group bridge thereof, the integral structure that this structure is made up of elastic alloy material, its Tensile strength is not less than 980Mpa, and yield strength is not less than 840MPa, after surface heat is processed, can bear very large load again in regime of elastic deformation.
Inertial sensor 10 is the MPU-6050 inertial sensor of American I nvenSense company, this unit is integrated 3 axis MEMS gyroscope, 3 axis MEMS accelerometer, an and extendible digital moving processor, chip size little (4mm × 4mm × 0.9mm) facilitates integrated, adopt without the square encapsulation of lead-in wire, can bear the impact of maximum 10000g, between register, communication adopts the I2C interface of 400kHz, and read and interrupt the SPI of available 20MHz, with the application of the high-speed transfer of satisfying the demand.Also there is controlled measurement range in this sensor, gyroscope is ± 250, ± 500, ± 1000, ± 2000 °s/sec (dps), accelerometer is ± 2, ± 4, ± 8, ± 16g, can accurate tracking motion fast and at a slow speed, by gyroscope and accelerometer 16 ADC separately, the analog quantity of measurement can be converted into digital output, meet the accuracy compensation of wheel force signal under automobile running working condition completely.
The collecting circuit board 9 of power-inertial measurement cluster is designed to be convenient to the loop configuration of installation, integrated MCU and an integrated wireless digit chip for ten 2D signals are transmitted and received with high speed processing ability and low-power consumption requirement, bus interface by MCU realizes the driving to wireless transmission chip, and the digital signal of ten two dimensions is sent.Select the C8051F021 single-chip microcomputer of Silicon Labs company of the U.S., this single-chip microcomputer adopts instruction pipeline structure, the programmable transition rate 500ksps of 8 ADC, kernel speed reaches 25MIPS, 22 vector interrupt sources, 3.3V low voltage operating, meet the high speed processing to power-motor message, select the wireless digital transmission chip nRF2401 of Nodic company of the U.S., application (ISM) frequency is exempted from the whole world that works in 2.4GHz～2.5GHz, has 250Kbps, 1Mbps high data transfer rates.The electrical equipment of whole power-inertia measurement group is powered by one group of built-in power, is fixedly installed in acquisition module enclosure interior.
Fig. 5 has provided circuit block diagram and the interface type of attachment thereof of power-inertia measurement group.Six-dimensional force signal is converted to digital signal by A/D, motor message is by the 12C interface communication of MPU6050, scrambler is inputted angle signal by serial ports, a C8051F021 communicates as controlling controller and wireless launcher, and signal is sent, motion sensor MPU-60X0 is connected as shown in Figure 6 with the pin of C8051F02, by I2C bus mode, can meet the demand of inertia measurement.
Described signal transmission group 19 is for receiving ten two-dimensional digital signals, coding, packing is also uploaded to host computer by bus, mainly comprise photoelectric encoder 15, signal circuit plate 14, built-in power, coupling shaft 11 and bearing 12 thereof, transport module housing 16 and housing vinyl cover 17 thereof form, this assembly is fixed on power-inertia measuring module structure housing 7 by coupling shaft 11 one end, the other end can be through transport module inside through two pairs of bearings 12, whole module group is encapsulated by transport module housing 16 and housing vinyl cover 17, and be connected in the bearing on vehicle body through a fixed head 13, realize static with respect to vehicle body.Similarly, signal circuit plate 14 is an also integrated MCU and integrated wireless digit chip, adopt existing algorithm control and drive wireless chip to receive by MCU, and the communicating by letter of realization and host computer, the digital signal of code synchronism is returned to host computer.Adopt 12 single-ring absolute type photoelectric encoders as angle position feedback element, can be by the corner of wheel the formal output with pulse, rotating speed is proportional to pulsed frequency, corner value is proportional to pulse number, realize real-time coordinate conversion and the signal synchronous coding of twelve-dimension force-motor message, this car body-wheel coordinate transformation relation is identical with ZL201210077400; The MCU and the wireless chip that adopt match with power-inertia measurement group collecting circuit board; The electrical equipment of chunk inside is powered by a built-in power equally, is fixedly installed in transmission shell inner surface.Host computer is used for showing ten binary digit signals.
Be illustrated in figure 4 sensing device-car body scheme of installation described in the utility model, it is indoor that host computer is placed in car steering, adopts a bar that is horizontally placed on front cover for vehicle to do auxiliary fixed support, and two suckers of underlying or supporting seat connect.Structure housing and end cap encapsulation place all adopt O-ring seal sealing.
The content not being described in detail in the utility model instructions belongs to the known prior art of professional and technical personnel in the field.
As mentioned above, although represented and explained the utility model with reference to specific preferred embodiment, it shall not be construed as the restriction to the utility model self.Not departing under the spirit and scope prerequisite of the present utility model of claims definition, can make in the form and details various variations to it.
Claims (3)
1. a wheel movement state vector harvester, is characterized in that, comprises power-inertia measurement group (18), signal transmission group (19), coupling shaft (11), between inertia measurement group (18) and signal transmission group (19), connect by coupling shaft (11), described signal transmission group (18) comprises fixed head (13), bearing (12), signal circuit plate (14), photoelectric encoder (15), signal transmission group housing (16), housing cover (17), described coupling shaft (11) runs through signal transmission group housing (16) and housing cover (17), coupling shaft (11) is connected with signal transmission group housing (16) and housing cover (17) respectively by bearing (12), signal circuit plate (14) and photoelectric encoder (15) are arranged in signal transmission group housing (16), it is upper that fixed head (13) is arranged at signal transmission group housing (16), and fix this signal transmission group housing (16), described power-inertia measurement group (18) comprises elastic body (5), inertial sensor (10), structure housing (7), transformation of the way wheel rim (4) in wheel, welding flange (3), inner flange (6), inertial sensor (10) and collecting circuit board (9), described inertial sensor and collecting circuit board (9) are arranged in structure housing (7), described elastic body (5) is also provided with rigidity outer shroud, ring and sextuple wheel force in rigidity, in described rigidity, ring is fixed to the driving half-bridge of wheel by inner flange (6), described rigidity outer shroud is fixed to transformation of the way wheel rim (4) by welding flange (3), described sextuple wheel force obtains sextuple vehicle wheel forces by surveying elastomeric distortion measurement, the signal of described sextuple wheel force and inertial sensor (10) is sent to collecting circuit board (9), described collecting circuit board (9) transmits signals to signal circuit plate (14), the signal of described photoelectric encoder (15) transfers to signal circuit plate (14), and described inertial sensor (10) comprises MEMS three-axis gyroscope.
2. wheel movement state vector harvester according to claim 1, it is characterized in that, on described elastic body (5), be provided with strain beam, described sextuple wheel force is several resistance strain gages that are arranged on strain beam, and described inertial sensor (10) comprises MEMS three-axis gyroscope and MEMS 3-axis acceleration sensor.
3. wheel movement state vector harvester according to claim 1, it is characterized in that, on described collecting circuit board (9), be provided with wireless digital chip, described collecting circuit board (9) by transmission of wireless signals to signal circuit plate (14); Described wheel movement state vector harvester also comprises host computer, and on described signal circuit plate, (14) are provided with wireless digital chip, signal circuit plate (14) by transmission of wireless signals to host computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420221750.7U CN203869794U (en) | 2014-04-30 | 2014-04-30 | Wheel motion state vector acquisition apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420221750.7U CN203869794U (en) | 2014-04-30 | 2014-04-30 | Wheel motion state vector acquisition apparatus |
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| Publication Number | Publication Date |
|---|---|
| CN203869794U true CN203869794U (en) | 2014-10-08 |
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ID=51650734
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| CN201420221750.7U Expired - Fee Related CN203869794U (en) | 2014-04-30 | 2014-04-30 | Wheel motion state vector acquisition apparatus |
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| Country | Link |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105972088A (en) * | 2016-07-19 | 2016-09-28 | 林德庆 | Intelligent bearing with MEMS sensor |
| CN109374206A (en) * | 2018-12-04 | 2019-02-22 | 常州工学院 | The method and apparatus of electric intelligent wheelchair balance are determined according to acceleration ball |
| CN111595504A (en) * | 2020-06-08 | 2020-08-28 | 奇石乐精密机械设备(上海)有限公司 | Dynamic connecting device of wheel vector sensor and wheel six-component sensor |
| WO2021248681A1 (en) * | 2020-06-12 | 2021-12-16 | 南京神源生智能科技有限公司 | Six-dimensional force sensor integrating data acquisition system and inertia force compensation system |
-
2014
- 2014-04-30 CN CN201420221750.7U patent/CN203869794U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105972088A (en) * | 2016-07-19 | 2016-09-28 | 林德庆 | Intelligent bearing with MEMS sensor |
| CN109374206A (en) * | 2018-12-04 | 2019-02-22 | 常州工学院 | The method and apparatus of electric intelligent wheelchair balance are determined according to acceleration ball |
| CN111595504A (en) * | 2020-06-08 | 2020-08-28 | 奇石乐精密机械设备(上海)有限公司 | Dynamic connecting device of wheel vector sensor and wheel six-component sensor |
| WO2021248681A1 (en) * | 2020-06-12 | 2021-12-16 | 南京神源生智能科技有限公司 | Six-dimensional force sensor integrating data acquisition system and inertia force compensation system |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141008 Termination date: 20160430 |