CN206115206U - Integrated form sensor system - Google Patents
Integrated form sensor system Download PDFInfo
- Publication number
- CN206115206U CN206115206U CN201621123921.8U CN201621123921U CN206115206U CN 206115206 U CN206115206 U CN 206115206U CN 201621123921 U CN201621123921 U CN 201621123921U CN 206115206 U CN206115206 U CN 206115206U
- Authority
- CN
- China
- Prior art keywords
- data
- main control
- control chip
- circuit
- chip
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The utility model discloses an integrated form sensor system, include: main control chip for carry out operation with the data message of gathering, with the data information acquisition circuit that is used for acquisition parameter information is connected to the main control chip electricity, with the data communication circuit that is used for realizing data communication is connected to the main control chip electricity, the data communication circuit includes: communication drive circuit and double - circuit buffer circuit, communication drive circuit with the main control chip electricity is connected, double - circuit buffer circuit with communication drive circuit electricity is connected, will pass through through the data message that comes from main control chip that communication drive circuit received double - circuit buffer circuit's net gape to real time system. The utility model provides an integrated form sensor system, its purpose through the improvement main control chip to prior art can be directly from the acquisition circuit direct data collection information, carry out fusion algorithm according to the data message of gathering, the collection that makes data is gone on with sending to reach in step, has improved artifical reliability and the stability of doing of machine.
Description
Technical field
This utility model is related to automation field, more particularly to a kind of integrated type sensor system.
Background technology
EtherCAT (Ethernet auto-control technology) is that the scene of an open architecture based on Ethernet is total
Linear system is united.EtherCAT is mainly used in real-time control system and high precision apparatus synchronization, servo-driver, robot parallel machine
Structure.On the control field of robot, the IMU inertial sensor units data communication of main flow is nothing but RS485 in industry,
The conventional communications mode such as RS422, RS232, CAN, USB, is limited to communications protocol, interface mode, transmission range, capacity of resisting disturbance
Etc. the sampling period that the final sensor unit communication cycle of reason is far below identification loop, 200～400Hz of communication cycle sampling weeks
2～8KHz of phase cannot play original performance of identification loop at all；And to realize many IMU inertial sensors in a system
Cell data synchronously also needs to increase IO synchronizing signals in addition.
Utility model content
It is of the present utility model there is provided a kind of integrated type sensor system, its purpose passes through improvements over the prior art master control
Chip can the direct direct gathered data information from Acquisition Circuit, blending algorithm is carried out according to the data message for collecting, make
The collection of data and transmission reach and synchronously carry out, and improve the reliability and stability of robot work.
The technical scheme that this utility model is provided is as follows：
A kind of integrated type sensor system, including：Main control chip, for the data message of collection to be carried out into calculation process；
The data information acquisition circuit for acquisition parameter information is electrically connected with the main control chip；Use is electrically connected with the main control chip
In the data communication circuit for realizing data communication.
In this utility model, directly can directly be adopted from Acquisition Circuit by improvements over the prior art main control chip
Collection data message, according to the data message for collecting blending algorithm is carried out, and the collection and transmission for making data reaches and synchronously carry out, and carries
The reliability and stability of Gao Liao robots work.
Preferably, the data communication circuit includes：Communication drive circuit and dual path isolation circuit；The communication drives electricity
Road electrically connects with the main control chip；The dual path isolation circuit is electrically connected with the communication drive circuit, will be driven by communicating
The data message for coming from main control chip of galvanic electricity road reception is by the network interface of the dual path isolation circuit to real-time system.
Preferably, the communication drive circuit includes that EtheerCAT communicates driving chip；The EtheerCAT communications are driven
The clock end of dynamic chip electrically connects with the clock receiving terminal of the first SPI port of the main control chip；The EtheerCAT communications
The piece of driving chip selects control end to select control end to electrically connect with the piece of the first SPI port of the main control chip；It is described
The information input terminal of EtheerCAT communication driving chips is electrically connected with the information output of the first SPI port of the main control chip
Connect；The information output of EtheerCAT communications driving chip is received with the information of the first SPI port of the main control chip
End electrical connection.
In this utility model, the transmission of the data message to gathering is realized based on EtherCAT industrial bus, due to
The transmission means of EtherCAT buses is real-time bus so without the need for increasing IO synchronizing signals, sampling period and communication cycle in addition
Essentially identical, the communication transfer of EtherCAT realizes real-time control system and high precision apparatus synchronization.
Preferably, the dual path isolation circuit includes that signal input port drive circuit and signal output port drive electricity
Road.
In this utility model, the input interface of the communication of setting and output interface setting isolation circuit are interference source and easily
The part of interference keeps apart, and the path of noise jamming is cut off, so as to reach the effect for suppressing noise jamming.
Preferably, the data information acquisition circuit includes：Inertial sensor, geomagnetic sensor, positioning circuit.
Preferably, the serial clock terminal of the inertial sensor connects with the clock of the second SPI port of the main control chip
Receiving end is electrically connected；The data receiver of the data output end of the inertial sensor and the second SPI port of the main control chip
Electrical connection；The data input pin of the inertial sensor is electrically connected with the data sending terminal of the second SPI port of the main control chip
Connect；The piece of the inertial sensor selects end to select control end to electrically connect with the piece of the second SPI port of the main control chip.
Preferably, the reception clock end of the serial clock terminal of the geomagnetic sensor and the I2C ports of the main control chip
Electrical connection；The serial data end of the geomagnetic sensor electrically connects with the receiving data end of the I2C ports of the main control chip；
The data of the geomagnetic sensor prepare end and electrically connect with the signal capture end of the I2C ports of the main control chip.
In the present embodiment, when carrying out communication transfer between main control chip and data information acquisition chip, directly by SPI
The modes such as bus, I2C buses and asynchronous data communication bus both can be implemented to complete, and solve in prior art and be limited to
The final sensor unit communication cycle of the reasons such as communications protocol, interface mode, transmission range, capacity of resisting disturbance is far below Inertial Mode
In the sampling period of block, data information transfer is caused to communicate nonsynchronous problem.
Preferably, electrically connect with the main control chip for realizing that parameter information updates the data update module.
Preferably, the data update module includes data conversion chip；The data sending terminal of the data conversion chip
With the electrical connection of the universal asynchronous receiving-transmitting transport module data receiver of the main control chip；The data of the data conversion chip
The electrical connection of receiving terminal and the universal asynchronous receiving-transmitting transport module data sending terminal of the main control chip.
Preferably, the expanded circuit interface for realizing multi-class data information gathering for electrically connecting with the main control chip.
In the present embodiment, data update module is provided with, facilitates maintenance of the user to system to upgrade with updating；It is simultaneously logical
Cross conversion chip carry out communicate serial ports the user that is converted to basic guarantee is provided when safeguarding to system；It is also provided with extension
Interface, the abundant design module to the New function of future robot is laid a good foundation.
Compared with prior art, this utility model provides a kind of integrated type sensor system, at least brings a kind of following skill
Art effect：
1st, main control chip interface circuit allows main control chip directly from identification loop gathered data.
2nd, interpolation data capture program and complete blending algorithm in main control chip in the control system of robot, obtain machine
The related data information of device people.
3rd, various types of communication agreement such as COE, AOE, EOE, FOE etc. can be realized, various synchronous modes are supported.
4th, increase each module interface and remove conventional communications interface, and add antistatic and isolation circuit, lead to system data
News reliability is further improved.
5th, sensor information Acquisition Circuit entirety capacity of resisting disturbance is lifted using metal shell and from waterproof connector.
Sensor information Acquisition Circuit is the trend according to robot development, integrates prior art and improves performance sensor most
Good performance, sensing data is transferred in real time control system.And reduce outside in the strong interference environment of heavy-duty motor
Line is changed to circuit board connection lifting means reliability and stability.
Description of the drawings
Below by clearly understandable mode, preferred implementation is described with reference to the drawings, to a kind of integrated type sensor system
System characteristic, technical characteristic, advantage and its implementation are further described.
Fig. 1 is a kind of structure chart of one embodiment of integrated type sensor system of this utility model；
Fig. 2 is a kind of structure chart of another embodiment of integrated type sensor system of this utility model；
Fig. 3 is the circuit diagram of this utility model main control chip embodiment；
Fig. 4 is the circuit diagram of the embodiment of this utility model communication drive circuit；
Fig. 5 is the circuit diagram of the embodiment of this utility model signal output port drive circuit；
Fig. 6 is the circuit diagram of the embodiment of this utility model signal input port drive circuit；
Fig. 7 is the circuit diagram of this utility model inertial sensor；
Fig. 8 is the circuit diagram of this utility model geomagnetic sensor；
Fig. 9 is the circuit diagram of the conversion of this utility model communication serial ports.
Specific embodiment
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, accompanying drawing will be compareed below
Illustrate specific embodiment of the present utility model.It should be evident that drawings in the following description are only of the present utility model one
A little embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with according to these
Accompanying drawing obtains other accompanying drawings, and obtains other embodiments.
To make simplified form, the part related to this utility model is only schematically show in each figure, they are not
It is represented as the practical structures of product.In addition, so that simplified form is readily appreciated, there is identical structure or work(in some figures
The part of energy, only symbolically depicts one of those, or has only marked one of those.Herein, " one " is not only
Represent " only this ", it is also possible to represent the situation of " more than one ".
This utility model provides a kind of one embodiment of integrated type sensor system, including：Main control chip 10, is used for
The data message of collection is carried out into calculation process；Electrically connect the data message for acquisition parameter information with the main control chip to adopt
Collector 30；The data communication circuit 20 for realizing data communication is electrically connected with the main control chip.
Specifically, with reference to shown in Fig. 1；The model DSP TMS320F28069PZ of main control chip 10 in the present embodiment；
In the case that performance parameters are constant, being adapted to property is adjusted to other chips；By main control chip receiving data collection electricity
The data message of the collection of road 30, main control chip 10 carries out the data message of reception after logical operation process, by data communication
Circuit 20 is sent to robot director server, i.e. real-time system, and the various working conditions of robot, position are monitored and controlled with this
Confidence breath etc..The correctness of real-time system (Real-time system, RTS) not only relies on the logical consequence of system-computed, also
Depend on the time for producing this result.Real-time system can specify or determine time in completion system function and outside
Or the internal, system that either synchronously or asynchronously time responds.Therefore real-time system should be known in the time range of predefined
Not with the ability for processing discrete event；System can process and store the mass data required for control system.
In this utility model, directly can directly be adopted from Acquisition Circuit by improvements over the prior art main control chip
Collection data message, according to the data message for collecting blending algorithm is carried out, and the collection and transmission for making data reaches and synchronously carry out, and carries
The reliability and stability of Gao Liao robots work.
Preferably, the data communication circuit 20 includes：Communication drive circuit 21 and dual path isolation circuit 22；The communication
Drive circuit 21 is electrically connected with the main control chip 10；The dual path isolation circuit 22 is electrically connected with the communication drive circuit 21
Connect, the data message for coming from main control chip 10 that will be received by communication drive circuit 21, by the dual path isolation circuit
22 network interface is to real-time system.
Preferably, the communication drive circuit includes that EtheerCAT communicates driving chip；The EtheerCAT communications are driven
The clock end of dynamic chip electrically connects with the clock receiving terminal of the first SPI port of the main control chip 10；The EtheerCAT leads to
The piece of news driving chip selects control end to select control end to electrically connect with the piece of the first SPI port of the main control chip；It is described
The information input terminal of EtheerCAT communication driving chips is electrically connected with the information output of the first SPI port of the main control chip
Connect；The information output of EtheerCAT communications driving chip is received with the information of the first SPI port of the main control chip
End electrical connection.
Specifically, the present embodiment is the another embodiment provided on the basis of a upper embodiment, with reference to the institute of Fig. 2,3,4
Show；Master control system is sent data to by communicating drive circuit, it is model to communicate the driving chip in drive circuit
ET1100BGA128, i.e. IC6A；The PDI-00 (SPI CLK) of clock end and the main control chip IC8 of communication driving chip IC6A the
The clock receiving terminal electrical connection of one SPI port；PDI-01 (SPI SEL) piece of IC6A communication driving chips selects control end and master control
The piece of the first SPI port of chip IC 8 selects control end to electrically connect；PDI-02 (SPI DI) information of IC6A communication driving chips is defeated
Enter end to electrically connect with the information output of first SPI port of main control chip IC8；The information output of communication driving chip IC6A
PDI-03 (SPI DO) is electrically connected with the information receiving end of first SPI port of main control chip IC8；In utility model, data
EtherCAT buses used in communication transfer are industrial control automation technology；EtherCAT (Ethernet auto-control skills
Art) be an open architecture based on Ethernet field bus system, the CAT in EtherCAT titles be Control
The abbreviation of Automation Technology (auto-control technology) initial.
In this utility model, the transmission of the data message to gathering is realized based on EtherCAT industrial bus, due to
The transmission means of EtherCAT buses is real-time bus, so without the need for increasing IO synchronizing signals, sampling period and communication week in addition
Phase is essentially identical, and the communication transfer of EtherCAT realizes real-time control system and high precision apparatus synchronization.
Preferably, the dual path isolation circuit includes that signal input port drive circuit and signal output port drive electricity
Road.
Specifically, in the present embodiment, with reference to shown in Fig. 5 and Fig. 6；The chip of signal input port drive circuit is
IC5 in KS8721BLI, i.e. figure；The chip of signal output port drive circuit is IC4 in KS8721BLI, i.e. figure；What is arranged is logical
The input interface of news and output interface arrange isolation circuit keeps apart the part of interference source and easily interference, noise jamming
Path cuts off, so as to reach the effect for suppressing noise jamming.
Preferably, the data information acquisition circuit includes：Inertial sensor 31, geomagnetic sensor 32, positioning circuit 33.
Preferably, the serial clock terminal of the inertial sensor connects with the clock of the second SPI port of the main control chip
Receiving end is electrically connected；The data receiver of the data output end of the inertial sensor and the 2nd SPI ports of the main control chip
Electrical connection；The data input pin of the inertial sensor is electrically connected with the data sending terminal of the second SPI port of the main control chip
Connect；The piece of the inertial sensor selects end to select control end to electrically connect with the piece of the second SPI port of the main control chip.
Preferably, the reception clock end of the serial clock terminal of the geomagnetic sensor and the I2C ports of the main control chip
Electrical connection；The serial data end of the geomagnetic sensor electrically connects with the receiving data end of the I2C ports of the main control chip；Institute
The data preparation end for stating geomagnetic sensor electrically connects with the signal capture end of the I2C ports of the main control chip.
Specifically, the present embodiment is the another embodiment provided on the basis of above example；With reference to the institute of Fig. 2,7,8
Show；Include in the new system of the present embodiment：IMU Inertial Measurement Units, the angular velocity of the axle of exportable carrier three, acceleration
Value, magnetometer, GPS etc.；The main application platforms of IMU are stable and control, navigation, robot；Inertial Measurement Unit (English：
Inertial measurement unit, abbreviation IMU) it is Measuring Object three-axis attitude angle (or angular speed) and acceleration
Device.The model of inertial sensor used：ADIS16445, i.e. J2；The model of geomagnetic sensor：HMC5883, i.e.,
IC10；Chip model described in positioning circuit is：L768；Being adapted to property of chip model in the present embodiment is replaced；It is used
3 foot serial clock terminal SPISCLKB/ of property sensor are electrically connected with the clock receiving terminal of second SPI port of main control chip IC8；
The data receiver of second SPI port of the 4 foot data output end SPISIMOB/ and main control chip IC8 of inertial sensor is electrically connected
Connect；The data sending terminal of second SPI port of the 5 data input pin SPISIMIB/ and main control chip IC8 of the inertial sensor
Electrical connection；6 foot pieces of inertial sensor select endWith the piece selected control system of second SPI port of main control chip IC8
End electrical connection；The foot of serial clock terminal 1 of geomagnetic sensor IC10 receives the foot of clock end 100 with the I2C ports of the main control chip
Electrical connection；The foot of serial data end 16 of geomagnetic sensor is electrically connected with the foot of I2C configuration receiving datas end 99 of the main control chip；
The data of the geomagnetic sensor prepare the foot of end 15 and electrically connect with the foot of I2C configuration signal captures end 1 of the main control chip.At this
In embodiment, the data message that DSP main control chips IC8 is obtained with inertial sensor by spi bus；Data message includes detection
Acceleration, inclination, shock and vibration, rotation and multifreedom motion information with robot measurement；DSP main control chips IC8 and ground
The recognition data and information of the robot that Magnetic Sensor is obtained by I2C buses；DSP main control chips IC8 passes through I2C with positioning circuit
The location information of the robot that bus is obtained；Main control chip enters the total data information for receiving by blending algorithm
After row logical process, by data such as the angular velocity of three axles for calculating, accekeration, angle, direction, positions, then pass through
EtherCAT sends data to master control system and sends the working condition that robot is controlled to master server.
In the present embodiment, when carrying out communication transfer between main control chip and data information acquisition chip, directly by SPI
The modes such as bus, I2C buses and asynchronous data communication bus both can be implemented to complete, and solve in prior art and be limited to
The final sensor unit communication cycle of the reasons such as communications protocol, interface mode, transmission range, capacity of resisting disturbance is far below Inertial Mode
In the sampling period of block, data information transfer is caused to communicate nonsynchronous problem.
Preferably, electrically connect with the main control chip for realizing that parameter information updates the data update module.
Preferably, the data update module includes data conversion chip；The data sending terminal of the data conversion chip
The electrical connection of TXD1 feet and the universal asynchronous receiving-transmitting transport module data receiver of the main control chip；The data conversion chip
Data receiver RXD and the universal asynchronous receiving-transmitting transport module data sending terminal of the main control chip electrical connection.
Preferably, the expanded circuit interface for realizing multi-class data information gathering for electrically connecting with the main control chip.
Specifically, the present embodiment is the another embodiment provided on the basis of above example；Referring to figs. 2 and 9 institute
Show；Data update module includes the change-over circuit for realizing the communication serial ports of the renewal of system data and the upgrading of system；
Data conversion chip model is FT232RL, i.e. IC11；Can also adaptability be replaced；1 foot number of data conversion chip IC 11
According to the electrical connection of transmitting terminal TXD and the data receiver of the universal asynchronous receiving-transmitting port of main control chip IC8；Data conversion chip
The electrical connection of the universal asynchronous receiving-transmitting port data transmitting terminal of 5 foot data receiver RXD and main control chip IC8.Data conversion electricity
Road realizes the translation function of communication serial ports.
In the present embodiment, data update module is provided with, facilitates the maintenance of custom system and update upgrading；Pass through simultaneously
Conversion chip carries out communicating the user that is converted to of serial ports and basic guarantee is provided when safeguarding to system；It is also provided with extension to connect
Mouthful, the abundant design module to the New function of future robot is laid a good foundation.
During the present embodiment is new, compared with prior art：
1st, changing main control chip interface circuit allows main control chip directly from identification loop gathered data.
2nd, interpolation data capture program and complete blending algorithm in main control chip in the control system of robot, obtain machine
The related data information of device people.
3rd, EtherCAT slave station functions are realized according to ETG relevant regulations, can realize various types of communication agreement such as COE, AOE,
EOE, FOE etc., support various synchronous modes.
4th, increase each module interface and remove conventional communications interface, and add antistatic and isolation circuit, lead to system data
News reliability is further improved.
5th, sensor information Acquisition Circuit entirety capacity of resisting disturbance is lifted using metal shell and from waterproof connector.
Sensor information Acquisition Circuit is the trend according to robot development, integrates prior art and improves performance sensor most
Good performance, sensing data is transferred in real time control system.And reduce outside in the strong interference environment of heavy-duty motor
Line is changed to circuit board connection lifting means reliability and stability.
It should be noted that above-described embodiment can independent assortment as needed.The above is only of the present utility model
Preferred implementation, it is noted that for those skilled in the art, without departing from this utility model principle
On the premise of, some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection domain of the present utility model.
Claims (10)
1. a kind of integrated type sensor system, it is characterised in that include：
Main control chip, for the data message of collection to be carried out into calculation process；
The data information acquisition circuit for acquisition parameter information electrically connected with the main control chip；
The data communication circuit for realizing data communication electrically connected with the main control chip.
2. integrated type sensor system according to claim 1, it is characterised in that the data communication circuit includes：
Communication drive circuit and dual path isolation circuit；
The communication drive circuit is electrically connected with the main control chip；
The dual path isolation circuit is electrically connected with the communication drive circuit, and by what is received by communication drive circuit institute is come from
The data message for stating main control chip is transmitted to real-time system by the network interface of the dual path isolation circuit.
3. integrated type sensor system according to claim 2, it is characterised in that
The communication drive circuit includes that EtheerCAT communicates driving chip；
The clock end of the EtheerCAT communications driving chip and the clock receiving terminal of the first SPI port of the main control chip
Electrical connection；
The piece of the EtheerCAT communications driving chip selects the piece selected control of control end and the first SPI port of the main control chip
End electrical connection processed；
The information input terminal of the EtheerCAT communications driving chip is defeated with the information of the first SPI port of the main control chip
Go out end electrical connection；
The information output of the EtheerCAT communications driving chip connects with the information of the first SPI port of the main control chip
Receiving end is electrically connected.
4. integrated type sensor system according to claim 2, it is characterised in that also include：
The dual path isolation circuit includes signal input port drive circuit and signal output port drive circuit.
5. integrated type sensor system according to claim 1, it is characterised in that the data information acquisition circuit includes：
Inertial sensor, geomagnetic sensor, positioning circuit.
6. integrated type sensor system according to claim 5, it is characterised in that also include：
The serial clock terminal of the inertial sensor is electrically connected with the clock receiving terminal of the second SPI port of the main control chip；
The data output end of the inertial sensor is electrically connected with the data receiver of the second SPI port of the main control chip；
The data input pin of the inertial sensor is electrically connected with the data sending terminal of the second SPI port of the main control chip；
The piece of the inertial sensor selects end to select control end to electrically connect with the piece of the second SPI port of the main control chip.
7. integrated type sensor system according to claim 5, it is characterised in that also include：
The serial clock terminal of the geomagnetic sensor is electrically connected with the reception clock end of the I2C ports of the main control chip；
The serial data end of the geomagnetic sensor electrically connects with the receiving data end of the I2C ports of the main control chip
The data of the geomagnetic sensor prepare end and electrically connect with the signal capture end of the I2C ports of the main control chip.
8. integrated type sensor system according to claim 1, it is characterised in that also include：
The data update module for realizing parameter information renewal electrically connected with the main control chip.
9. integrated type sensor system according to claim 8, it is characterised in that also include：
The data update module includes data conversion chip；
The data sending terminal of the data conversion chip connects with the data of the universal asynchronous receiving-transmitting transmission port of the main control chip
The electrical connection of receiving end；
The data receiver of the data conversion chip is sent out with the data of the universal asynchronous receiving-transmitting transmission port of the main control chip
The electrical connection of sending end.
10. integrated type sensor system according to claim 1, it is characterised in that also include：
The expanded circuit interface for realizing multi-class data information gathering electrically connected with the main control chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621123921.8U CN206115206U (en) | 2016-10-14 | 2016-10-14 | Integrated form sensor system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621123921.8U CN206115206U (en) | 2016-10-14 | 2016-10-14 | Integrated form sensor system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206115206U true CN206115206U (en) | 2017-04-19 |
Family
ID=58529649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621123921.8U Active CN206115206U (en) | 2016-10-14 | 2016-10-14 | Integrated form sensor system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206115206U (en) |
-
2016
- 2016-10-14 CN CN201621123921.8U patent/CN206115206U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103863948B (en) | A kind of crane works in coordination with the Navigation Control Unit of carrying and the method for Navigation Control | |
| CN106341179A (en) | Unmanned aerial vehicle ground monitoring system based on communication countermeasure | |
| CN105783911A (en) | Multi-sensor information acquisition navigation system and method | |
| CN106020208A (en) | Robot remote control method based on ROS operating system and remote control system thereof | |
| CN102902278B (en) | Unmanned aerial vehicle flight control system based on controller area network (CAN) bus | |
| CN102425991A (en) | Automation storage yard laser measurement device and application method thereof | |
| CN106802661A (en) | Multi-rotor unmanned aerial vehicle control system based on dual controller | |
| CN106123893A (en) | Space operation orbit generation method, device | |
| CN103428552A (en) | Remote control air mouse control system and method for achieving same | |
| CN205899390U (en) | Agriculture and forestry plant protection unmanned aerial vehicle automatic flight control system | |
| CN108282242A (en) | Space-time synchronous apparatus and system, map collecting vehicle and map Intelligent Production System | |
| CN113885351A (en) | Simulation test equipment and method for satellite simulation test | |
| CN205507073U (en) | Weather radar signal processing device based on FPGA | |
| CN206833254U (en) | Unmanned aerial vehicle station | |
| CN110502023A (en) | A kind of spacecraft attitude based on distributed intelligence sensor determines implementation method | |
| CN112947384A (en) | Multifunctional satellite simulation test system and method | |
| CN206115206U (en) | Integrated form sensor system | |
| CN109782782A (en) | Multi-rotor unmanned aerial vehicle attitude flight control system | |
| CN107454609A (en) | The device and method of telecommunication is carried out by mobile network and unmanned plane | |
| CN102508464A (en) | Building device for vehicular sensor network platform | |
| CN211904161U (en) | Portable gesture detection device | |
| CN113203428A (en) | Mileage counting device, data counting method based on same and interface | |
| CN111879320A (en) | Teaching-oriented composite inertial system | |
| CN109343713B (en) | Human body action mapping method based on inertial measurement unit | |
| CN214492786U (en) | Vehicle-mounted automatic driving hardware circuit and automatic driving automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |