CN205883086U - Globular sensor and detection system - Google Patents
Globular sensor and detection system Download PDFInfo
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- CN205883086U CN205883086U CN201620407584.9U CN201620407584U CN205883086U CN 205883086 U CN205883086 U CN 205883086U CN 201620407584 U CN201620407584 U CN 201620407584U CN 205883086 U CN205883086 U CN 205883086U
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- spherical sensor
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- magnetics
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Abstract
The utility model provides a globular sensor and detection system is disclosed, globular sensor includes the electromagnetism base and sets up in the globular sensor body of electromagnetism base top, and globular sensor body is including the spherical shell who has the inner chamber, and the inner chamber is equipped with magnetic element, is equipped with in the electromagnetism base to be placed perpendicularly on the coplanar and the magnet winding that constitutes and the electric field control component that is used for controlling the electric magnetic field intensity that magnet winding formed by multiple coils, and magnet winding is connected with electric field control component is electric. The utility model provides a globular sensor and detection system has enlarged the application range who listens to the process of its use also becomes safe convenient more.
Description
Technical field
This utility model relates to detection techniques field, especially relates to a kind of spherical sensor and detection system.
Background technology
At present, existing multiple detector and detecting system are widely used in the field such as emergency rescue or detecting exploration, with
Unknown complex environment is detected.Occur in that the most now the detector that spherical sensor is this kind of, the most spherical biography
Sensor is the detecting instrument being realized detecting by photographic head is installed on a spherical shell or surface, and its volume is little, easy
Carry, it is adaptable to the detection of general geographical environment and investigation.
When but this near-spherical sensor is operated in complicated or overhead certain altitude region, such as to one
There is the oil pipeline of certain altitude a bit or transport detecting of the pipelines such as toxic gas, generally requiring and spherical sensor is sent to
Pipe interior carries out reconnoitring situation and the problem that just can analyze pipeline.But, it is the most all to need people by carrying it
Spherical sensor could be accurately sent in the region of overhead certain altitude by equipment by he, the side of the spherical sensor of this transport
Formula is the most inconvenient, and owing to needing people near the region of overhead certain altitude to deliver spherical sensor, so the most not
Safety；When additionally meeting some special situations, it is the narrowest and small at overhead certain altitude than the place if desired for exploration
Space in, such that people surveys in being difficult to spherical sensor is sent to described space, thus limit spherical
The range of sensor.
Utility model content
For the problems referred to above, the purpose of this utility model be to provide a kind of that can use easily and safely with can expand
The spherical sensor of big range and detection system.
To achieve these goals, the technical solution adopted in the utility model is: a kind of spherical sensor, including at the bottom of electromagnetism
Seat and be arranged at the spherical sensor body above described electromagnetic base, described spherical sensor body includes having inner chamber
Spherical shell, described inner chamber is provided with magnetics, is provided with and is the most vertically put by multiple coils in described electromagnetic base
The electromagnetism winding put and form and the electromagnetic field control element for controlling the electromagnetic field intensity that described electromagnetism winding is formed, described
Electromagnetism winding controls element with described electromagnetic field and electrically connects.
Preferably, the axle center that two adjacent described coils are separated by certain interval and described coil is in same level line
On.
Preferably, being additionally provided with movement control device in described electromagnetic base, described movement control device includes microprocessor
And the motor that the wheel being provided with described electromagnetic base is connected, described microprocessor controls the institute electrically connected with described motor
State the rotation of motor.
Preferably, described magnetics is permanent magnet.
Preferably, described magnetics is the solenoid having certain number of turn and Guan Bi, and the hollow of described solenoid
Part is provided with iron core along the axis direction of described solenoid.
Preferably, the magnetic pole of described magnetics is placed along vertical direction or horizontal direction.
Preferably, described spherical sensor also includes the first fixed plate and the second fixed plate, wherein said first fixed plate
It is fixed in the inner chamber of described spherical sensor body, and described magnetics is arranged in described first fixed plate；Described
Two fixed plates are fixed in described electromagnetic base, and described electromagnetism winding is arranged in described second fixed plate.
Preferably, the inner chamber of described spherical sensor body is additionally provided with at least one detector.
Preferably, the material of described spherical shell is nonferromagnetic material with the material of the shell of described electromagnetic base.
This utility model also provides for a kind of detection system, including detecting terminal and above-mentioned spherical sensor, wherein, described
Spherical sensor is connected by wireless signal with detecting terminal.
The spherical sensor of this utility model offer and detection system, can produce magnetic field by being provided with at described inner chamber
Magnetics, and in described electromagnetic base, it is provided with the electromagnetism winding being disposed vertically at grade and form by multiple coils
With the electromagnetic field control element for controlling the electromagnetic field intensity that described electromagnetism winding is formed, described electromagnetism winding and described electromagnetism
Field controls element electrical connection；Above described electromagnetic base, place described ball work as described spherical sensor body, and make described
The lower end of magnetics is corresponding with the upper end of described electromagnetism winding, when electromagnetic field controls element to the energising of described electromagnetism winding,
Described electromagnetism winding can control the mode of element energising according to described electromagnetic field produce specific electromagnetic field, such that it is able to allow institute
State spherical sensor body be suspended on certain altitude and can move, therefore, it is possible to expand described spherical sensor and detection
The range of system, and its use process also become more safe ready.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical solution of the utility model, below by embodiment required use attached
Figure is briefly described, it should be apparent that, the accompanying drawing in describing below is only embodiments more of the present utility model, for
From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the one spherical sensor construction schematic diagram that this utility model embodiment provides；
Fig. 2 is the another kind spherical sensor construction schematic diagram that this utility model embodiment provides；
Fig. 3 is the schematic diagram that in this utility model embodiment, magnetics suspends；
Fig. 4 is the schematic diagram that in this utility model embodiment, magnetics suspends and moved by masterpiece；
Wherein, 1. electromagnetic base；10. electromagnetism winding；11. electromagnetic fields control element；The most spherical sensor body；20. balls
Shape housing；21. magneticss；31. first fixed plates；32. second fixed plates.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under making creative work premise
The every other embodiment obtained, broadly falls into the scope of this utility model protection.
As the first embodiment of the present utility model:
Seeing Fig. 1, this utility model embodiment provides a kind of spherical sensor, including electromagnetic base 1 and be arranged at described
Spherical sensor body 2 above electromagnetic base 1, described spherical sensor body 2 includes the spherical shell 20 with inner chamber, institute
The material of the shell stating spherical shell 20 and described electromagnetic base 2 is nonferromagnetic material, and such electromagnetic field can pass through described ball
Shape housing 20 and described shell, and allow described magnetics 21 be interacted by electromagnetic field with described electromagnetism winding 10.
Specifically, described inner chamber is provided with magnetics 21, is provided with by multiple coils at same plane in described electromagnetic base 2
On be disposed vertically and the electromagnetism winding 10 that forms and the electromagnetic field for controlling the electromagnetic field intensity that described electromagnetism winding 10 is formed
Controlling element 11, described electromagnetism winding 10 controls element 11 with described electromagnetic field and electrically connects.
Wherein, the described magnetics 21 being located in the described inner chamber of described spherical sensor body 2 can be square block or
The permanent magnet of cylindrical shape, the magnetic pole of described permanent magnet is along vertical direction placement, and the most described spherical sensor body 2 just may be used
To produce magnetic field because of described permanent magnet.It is provided with in described electromagnetic base 2 and is had the coil of certain number of turn same flat by multiple
The electromagnetism winding 10 being disposed vertically on face and form, the material of described coil is the metal or alloy that the conductivity such as copper or aluminum is high,
It is additionally provided with the electromagnetic field for controlling the electromagnetic field intensity that described electromagnetism winding 10 is formed in described electromagnetic base 2 and controls element
11, described electromagnetic field controls element 11 for controlling size of current and the electric current of the described electromagnetism winding 10 by being connected electrically
Direction, and then control size and the direction of electromagnetic field produced by described electromagnetism winding 10.
Therefore, when described electromagnetic field control element 11 passes to certain electric current to described electromagnetism winding 10, described electromagnetism
Winding 10 will produce the electromagnetic field of some strength, is placed on described along the described magnetics 21 that vertical direction is placed by magnetic pole
The surface of electromagnetism winding 10；See Fig. 3, when described electromagnetic field winding 10 and described magnetics 21 between the two relative to side
The direction in magnetic field identical time, the magnetic pole of one end that the most described magnetics 21 is directed at described electromagnetism winding 10 is N pole, described
When electromagnetism winding 10 is directed at magnetic field produced by described magnetics 21 one end also for N pole, described magnetics 21 will be subject to
The repulsive force in magnetic field；When the repulsive force in the magnetic field that described magnetics 21 is subject to is more than the gravity of described spherical sensor body 2
Time, described spherical sensor body 2 will move upward；When the repulsive force in the magnetic field that described magnetics 21 is subject to is equal to described
During the gravity of spherical sensor body 2, described spherical sensor body 2 will aloft suspend；When described magnetics 21 is subject to
When the repulsive force in the magnetic field arrived is equal to the gravity of described spherical sensor body 2, described spherical sensor body 2 will be transported downwards
Dynamic；Therefore, control element 11 by described electromagnetic field and control the electric current by described electromagnetism winding 10, it is possible to regulation is described
The spherical required height arrived of sensor body 2.See Fig. 4, and when described electromagnetic field control element 11 to described electromagnetism around
When group 10 passes to the electric current of certain rule, size will be produced and make, with direction, the electromagnetic field that certain rule changes, described in other words
Electromagnetic field will move along specific direction, and therefore, described magnetics 21 also can be allowed by the active force of described electromagnetic field
Described spherical sensor body 2 is moved also along specific direction；Such as produce along rectilinear direction by sinusoidal rule distribution and
Along the travelling-wave electromagnetic field of rectilinear translation, so when described magnetics 21 is placed on the surface of described electromagnetism winding 10,
Described magnetics 21 will be by the magnetic force of described electromagnetic field, so that described spherical sensor body 2 is also made
Corresponding linear motion.
It should be noted that when controlling the height of described spherical sensor body 2, it is not necessary to all coil is all energized, only
The electric current that the coil being directed in the electromagnetism winding 10 of described magnetics 21 passes to some strength is the most permissible, remaining coil
Can different electricity；When controlling described spherical sensor body 2 and taking exercises, the described coil of the underface of described magnetics 21
Passing to certain electric current, remaining described coil passes to the electric current changed according to certain rules.The most described electromagnetic field controls element 11
Can be central processing unit (Central Processing Unit, CPU), microcontroller or other control devices.
In the present embodiment, the axle center that two adjacent described coils are separated by certain interval and described coil is in same water
On horizontal line, the most described coil is arranged in a line, and the described electromagnetism winding 10 that described coil is formed also can have certain
Length, when on the coil that described magnetics 21 is placed on described electromagnetism winding 10 one end, described magnetics 21 is by edge
Rectilinear direction make certain rule change described electromagnetic field active force after, can allow described spherical sensor body 2 according to
Described coil put in order successively stress and for linear motion, thus realize the movement of described spherical sensor body 2.
As further improvement of these options, it is solid that described spherical sensor also includes the first fixed plate 31 and second
Determining plate 32, wherein said first fixed plate 31 is fixed in the inner chamber of described spherical sensor body 2, and described magnetics 21
It is arranged in described first fixed plate 31；Described second fixed plate 32 is fixed in described electromagnetic base 1, and described electromagnetism winding
10 are arranged in described second fixed plate 32.So, described magnetics 21 can be significantly more efficient by the active force in magnetic field
It is assigned in described spherical sensor body 2, thus makes the suspension of described spherical sensor body 2 or movement under force more flat
Surely.Wherein, described first fixed plate 31 can be secured in described inner chamber and described magnetics 21 by threaded mode
Between, described second fixed plate 32 is threaded connection mode and is fixed between described electromagnetic base 1 and described electromagnetism winding 10.
It should be noted that in this utility model embodiment, described electromagnetic base 1 can be spherical in shape, it is possible in other shapes
Shape, this utility model is not specifically limited.
In sum, in the lump refering to Fig. 1, Fig. 3 and Fig. 4, by being provided with magnetic pole magnetic unit straight down at described inner chamber
Part 21, and it is provided with, in described electromagnetic base 2, the electromagnetism winding 10 being disposed vertically at grade and form by multiple coils
With the electromagnetic field control element 11 for controlling the electromagnetic field intensity that described electromagnetism winding 10 is formed, described electromagnetism winding 10 and institute
State electromagnetic field control element 11 to electrically connect；Above described electromagnetic base 2, place described spherical sensor body 2, and make institute
The lower end stating magnetics 21 is corresponding with the upper end of described electromagnetism winding 10, when electromagnetic field controls element 11 to described electromagnetism winding
During 10 energising, described electromagnetism winding 10 can produce specific electromagnetic field according to the mode of described electromagnetic field control element 11 energising,
When produced by described electromagnetism winding 10 and described magnetics 21 opposite side between the two, the direction in magnetic field is identical, described
Magnetics 21 can be by an active force upwards, according to the size of described active force, so that described spherical sensor
Body 2 moves upward, moves downward or suspends, thus allows described spherical sensor body 2 can move to required height；When
When described spherical sensor body 2 arrives the height needed, described electromagnetic field controls element 11 and passes to described electromagnetism winding 10
Specific electric current so that described electromagnetism winding 10 is identical with the direction in the magnetic field of described magnetics 21 opposite side between the two
Simultaneously and produce described travelling-magnetic-field, allow described spherical sensor body 2 be suspended in the place of overhead certain altitude, and make
Described magnetics 21 stress in the horizontal direction, thus allow described spherical sensor body 2 do straight line to required direction
Motion.So this utility model can allow described spherical sensor body 2 be suspended on certain altitude and can move, thus
Can allow described spherical sensor body 2 arrive overhead have the region of certain altitude in more particularly have the narrow of certain altitude
Little space, such as, can allow described spherical sensor body 2 arrive in some overhead have the pipeline of certain altitude and detect,
Therefore the present embodiment can expand described spherical sensor and the range of detection system；Need not to arrive again liftoff because behaving
Face has the place of certain altitude that described spherical sensor could be placed into the region of required detection, the most described spherical sensing
The process of the use of device also becomes more safe ready.
It should be noted that in this utility model embodiment, also gas can be arranged in described spherical sensor body 20
Detector, when described spherical sensor body 20 is moved in some toxic gas regions or pipeline, described gas
Detector can detect the concentration of the specific gas in these regions, and send alarm when concentration exceedes threshold value, thus passes through
Described spherical sensor body 20 carries out the detection of toxic gas, enters into these without artificial hand-held detector
Region, prevents intoxicating phenomenon.
It should be noted that in this utility model embodiment, described detector can be the inspection of combined type many gas
Surveying device, it can be equipped with required multiple gas detection sensors simultaneously, such that it is able to realize the display detection of many gas concentrations.
As the second embodiment of the present utility model, its with the difference of the first embodiment of this utility model in place of main
Being: see Fig. 2, the described magnetics 21 being located in the described inner chamber of described spherical sensor body 2 is for there being certain number of turn
And the solenoid of Guan Bi, when the electromagnetic field effect changed is at described solenoid, described solenoid will be by electricity
Magnetic induction produces certain electric current and produces the electromagnetic field corresponding with the electromagnetic field of described change；The hollow of described solenoid
Part is provided with iron core along the axis direction of described solenoid, so can strengthen electromagnetism produced by described solenoid
?.It should be noted that the material of described solenoid be copper, aluminum or other there is the metal or alloy material of high conductivity.
In the present embodiment, in the lump refering to Fig. 2, Fig. 3 and Fig. 4, there is certain number of turn by being provided with at described inner chamber and close
The solenoid closed, and it is provided with, in described electromagnetic base 2, the electricity being disposed vertically at grade and form by multiple coils
Magnetic winding 10 and the electromagnetic field control element 11 for controlling the electromagnetic field intensity that described electromagnetism winding 10 is formed, such that it is able to allow
Described spherical sensor body 2 is suspended on certain altitude and can move, therefore, it is possible to expand described spherical sensor and
The range of detection system；Need not to arrive because behaving again overhead has the place of certain altitude could be by described spherical sensing
Device is placed into the region of required detection, and the process of the use of the most described spherical sensor also becomes more safe ready.
In the above-described embodiment, the magnetic pole of described magnetics 21 except can be vertical direction place, it is also possible to
Place with being horizontally oriented, the specific works process that the magnetic pole horizontal direction of described magnetics 21 is placed and magnetic pole vertical direction
The work process placed is similar, is all the foundation being used as technical scheme according to magnetic field interaction and electromagnetic induction phenomenon,
These are all existing technology, do not repeat them here.
This utility model additionally provides a kind of detection system, including detecting terminal, also includes above-mentioned spherical sensor, its
In, described spherical sensor is connected by wireless signal with detecting terminal；Described spherical sensor is described detection system
Information detection end, described terminal platform is the control end of described detection system.
The described detection system that this utility model provides, by being provided with the electricity with certain number of turn and Guan Bi at described inner chamber
Magnetic coil, and it is provided with, in described electromagnetic base 2, the electromagnetism winding being disposed vertically at grade and form by multiple coils
10 with control element 11, such that it is able to allow described ball for controlling the electromagnetic field of the electromagnetic field intensity that described electromagnetism winding 10 is formed
Shape sensor body 2 is suspended on certain altitude and can move, therefore, it is possible to expand described spherical sensor and detection system
The range of system；The place of certain altitude is overhead had to be placed by described spherical sensor because behaving to need not arrive again
To the region of required detection, the process of the use of the most described spherical sensor also becomes more safe ready.
The technique scheme of this utility model embodiment, except allowing described spherical sensor arrive required detection
Region in, it is also possible to allowing described spherical sensor arrive behind described region and carry out motion detection, specific works process is: make institute
State electromagnetic base 2 to move, because described magnetics 21 is produced the active force in magnetic field by described electromagnetism winding 10, then described
Spherical sensor body 2 is also the most mobile, thus described spherical sensor can also be entered in the region of required detection
Row motion detection.Preferably, it is level or relative to ground inclination angle ratio when described spherical sensor enters into bottom surface
During less space, can by change the electric current of described electromagnetism winding 10 make the magnetic of its electromagnetic field with described in opposite side
The magnetic in the magnetic field of magnetics 21 is contrary, and the most described electromagnetic base 1 is to the direction motion needed, the most described spherical sensing
Device body 2 will be moved to identical direction by suction；Institute is changed again after described spherical sensor body 2 being drawn through
State the magnetic of electromagnetic field produced by electromagnetism winding 10 so that with the magnetic phase in the magnetic field of magnetics described in opposite side 21
With, according to magnetic field principle of same-sex repulsion so that repulsive force is equal to the gravity of described spherical sensor body 2, the most described spherical
Sensor body 2 also can continue suspension.Circulate the motor process of described spherical sensor and so forth.
Wherein, distance and the direction of desirable movement detection can according to be provided with in described electromagnetic base 1 for controlling
State the movement control device of electromagnetic base 1 direction of motion and distance, described movement control device include microprocessor and with institute
Stating the motor that the wheel that electromagnetic base 1 is provided with is connected, described microprocessor controls the rotation of the described motor being connected electrically.
The gear that the gear that the axle of described motor is provided with is provided with the axle of described wheel engages.Control mode can be described detection
System sends the dependent instruction described microprocessor to described movement control device, it is also possible to be by described spherical sensor
Directly inputting and instruct on described microprocessor, the most described microprocessor controls the rotating speed of described motor according to dependent instruction
Direction with rotating, and then controls the rotating speed of wheel and the direction of rotation by described gear drive, thus controls described ball
The direction of motion of shape sensor and distance.Even can manually drag described electromagnetic base 2 thus allow described spherical sensor also
The most mobile.Intervening it should be noted that electromagnetic field can not be produced by described region, the most described spherical sensor cannot be normal
Work.
The above, detailed description of the invention the most of the present utility model, but protection domain of the present utility model does not limit to
In this, any those skilled in the art in technical scope disclosed in this utility model, the change that can readily occur in
Change or replace, all should contain within protection domain of the present utility model.Therefore, protection domain of the present utility model should be with described
Scope of the claims is as the criterion.
Claims (10)
1. a spherical sensor, it is characterised in that: include electromagnetic base and be arranged at the spherical biography above described electromagnetic base
Sensor body, described spherical sensor body includes that the spherical shell with inner chamber, described inner chamber are provided with magnetics, described electricity
The electromagnetism winding being disposed vertically at grade and form it is provided with by multiple coils and for controlling described electromagnetism in magnetic base
The electromagnetic field of the electromagnetic field intensity that winding is formed controls element, and described electromagnetism winding controls element with described electromagnetic field and electrically connects.
Spherical sensor the most according to claim 1, it is characterised in that: two adjacent described coils are separated by certain interval
And the axle center of described coil is on same level line.
Spherical sensor the most according to claim 1, it is characterised in that: it is additionally provided with motion controller in described electromagnetic base
Part, described movement control device includes the motor that microprocessor and the wheel being provided with described electromagnetic base are connected, described
Microprocessor controls the rotation of the described motor electrically connected with described motor.
Spherical sensor the most according to claim 1, it is characterised in that: described magnetics is permanent magnet.
Spherical sensor the most according to claim 1, it is characterised in that: described magnetics is for having certain number of turn and Guan Bi
Solenoid, and the hollow space of described solenoid is provided with iron core along the axis direction of described solenoid.
Spherical sensor the most according to claim 1, it is characterised in that: the magnetic pole of described magnetics is along vertical direction
Or horizontal direction placement.
Spherical sensor the most according to claim 1, it is characterised in that: described spherical sensor also includes the first fixed plate
And second fixed plate, wherein said first fixed plate is fixed in the inner chamber of described spherical sensor body, and described magnetic unit
Part is arranged in described first fixed plate；Described second fixed plate is fixed in described electromagnetic base, and described electromagnetism winding peace
It is contained in described second fixed plate.
Spherical sensor the most according to claim 1, it is characterised in that: the inner chamber of described spherical sensor body also sets up
There is at least one detector.
Spherical sensor the most according to claim 1, it is characterised in that: at the bottom of the material of described spherical shell and described electromagnetism
The material of the shell of seat is nonferromagnetic material.
10. a detection system, including detecting terminal, it is characterised in that: also include such as any one institute in claim 1 to 9
The spherical sensor stated, wherein, described spherical sensor is connected by wireless signal with detecting terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620407584.9U CN205883086U (en) | 2016-05-06 | 2016-05-06 | Globular sensor and detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620407584.9U CN205883086U (en) | 2016-05-06 | 2016-05-06 | Globular sensor and detection system |
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| Publication Number | Publication Date |
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| CN205883086U true CN205883086U (en) | 2017-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620407584.9U Expired - Fee Related CN205883086U (en) | 2016-05-06 | 2016-05-06 | Globular sensor and detection system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107515276A (en) * | 2017-07-28 | 2017-12-26 | 广东美的制冷设备有限公司 | Air detecting device and its method |
| CN111190028A (en) * | 2020-01-09 | 2020-05-22 | 华中科技大学 | Electromagnetic balance perception sensor for self-powered head of robot |
| CN112480875A (en) * | 2020-12-14 | 2021-03-12 | 湘潭大学 | High-temperature warning phase-change ball containing irritant gas and preparation method thereof |
-
2016
- 2016-05-06 CN CN201620407584.9U patent/CN205883086U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107515276A (en) * | 2017-07-28 | 2017-12-26 | 广东美的制冷设备有限公司 | Air detecting device and its method |
| CN107515276B (en) * | 2017-07-28 | 2020-05-05 | 广东美的制冷设备有限公司 | Air detection device and method thereof |
| CN111190028A (en) * | 2020-01-09 | 2020-05-22 | 华中科技大学 | Electromagnetic balance perception sensor for self-powered head of robot |
| CN112480875A (en) * | 2020-12-14 | 2021-03-12 | 湘潭大学 | High-temperature warning phase-change ball containing irritant gas and preparation method thereof |
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