CN206302499U - Based Intelligent Control dollying monitoring system - Google Patents
Based Intelligent Control dollying monitoring system Download PDFInfo
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- CN206302499U CN206302499U CN201720007123.7U CN201720007123U CN206302499U CN 206302499 U CN206302499 U CN 206302499U CN 201720007123 U CN201720007123 U CN 201720007123U CN 206302499 U CN206302499 U CN 206302499U
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Abstract
The utility model provides a kind of Based Intelligent Control dollying monitoring system, the Based Intelligent Control dollying monitoring system includes control of intelligent terminal and mobile intelligent carriage, controller module is additionally provided with the intelligent carriage, it is characterized in that the controller module sends master control borad and Arduino plate master control borads including raspberry, the raspberry is sent and is connected on master control borad for the camera module of shooting image and for providing the first power module of power supply, and is connected with control of intelligent terminal signal in Transmission Control Protocol mode by WIFI module；Second source module, motor drive module, sensor assembly and serial port module are connected on the Arduino plates master control borad；The control of intelligent terminal is provided with control module, video display module and obstacle processing module.The Based Intelligent Control dollying monitoring system of offer of the present utility model, is moved and transmission of video by control of intelligent terminal remote control intelligent carriage, realizes the effective monitoring to unknown area of space.
Description
Technical field
The utility model is related to security protection video monitoring technology field, is imaged especially by mobile terminal far distance controlled and filled
The system for carrying out video monitoring is put, specially a kind of Based Intelligent Control dollying monitoring system.
Background technology
Network to monitor specific environment region by using mobile phone and video frequency pick-up head at present in protection and monitor field
Safety, be so easy to user other places can with monitor get home in indoor various burst fortuitous events, and then take corresponding
Reply treatment measures, to reduce the harm that fortuitous event brings, but current control point is substantially and is fixed on feature position
Put, in order to realize the monitoring of more wide-range, just arrange multiple control points, therefore realize multiplexing, this causes calculation process journey
Sequence is complicated and huge；Effectively prison cannot be realized if some zone of ignorances or be not provided with are fixed with the region of control point in addition
Control, if zone of ignorance is because smog or other unsafe factors cause people to be had difficulties into the area of space, and cannot and
When understanding the regional space situation.
The content of the invention
The purpose of this utility model is directed to the deficiencies in the prior art, and provides a kind of Based Intelligent Control dollying system,
Can be moved by control of intelligent terminal remote control picture pick-up device and transmission of video, realize the effective prison to unknown area of space
Control.
To reach above-mentioned purpose, it is achieved through the following technical solutions, Based Intelligent Control dollying system includes Based Intelligent Control
Terminal and the intelligent carriage by motor driving walking structure realization walking movement, controller is additionally provided with the intelligent carriage
Module, the controller module sends master control borad and Arduino plate master control borads including raspberry, and the raspberry is sent and connect respectively on master control borad
It is connected to for the camera module of shooting image and the first power module for providing power supply, and by WIFI module with TCP
Protocol mode is connected with control of intelligent terminal signal；Second source module, electricity are connected on the Arduino plates master control borad
Machine drive module, sensor assembly and serial port module, the second source module provide electricity to the Arduino plates master control borad
Source, the motor drive module drives the motor control walking mechanism to realize walking movement, and the sensor assembly is used to visit
Obstacle distance is surveyed, the serial port module is sent the instruction of master control borad transmission and sent to described for receiving the raspberry
Arduino plate master control borads, and the motor speed that is driven the motor drive module by serial data and the sensor die
The sensing data of block feeds back to the raspberry and sends master control borad；The control of intelligent terminal is provided with control module, video display mould
Block and obstacle processing module, the control module flow to the intelligent carriage and send out with the output that Transmission Control Protocol obtains Socket offers
Action command is sent, the data that the obstacle processing module is detected according to the sensor assembly carry out processing the backward motor
Drive module sends instruction to drive corresponding motor to work, and the video display module is used for the display camera module and shoots
Image.
When using, sensor assembly detection peripheral obstacle distance, camera module shoots surrounding environment picture, sensor
Data feed back to raspberry and send master control borad by serial port module, and raspberry sends master control borad again to pass through pictorial information data and sensing data
WIFI module is transmitted to control of intelligent terminal with Transmission Control Protocol, and pictorial information data are played by after video display module treatment
Show, avoidance module forms avoidance obstacle strategy after calculation process is carried out to the sensing data for obtaining, and controller module is adopted
The controller scheme that master control borad and Arduino plate master control borads are combined is sent with raspberry, processing data speed is fast and powerful, side
Just more multi-functional extension；User watches intelligent carriage surrounding space image by video display module, so as to realize to dolly
Surrounding space environment carries out real-time monitoring, drives corresponding motor to work by control module controlled motor drive module, realizes intelligence
Can dolly mobile control, and then reach the video surveillance to zone of ignorance space, intelligent carriage in moving process, sensor
The range data that module is detected drives phase by forming control strategy controlled motor drive module after the treatment of avoidance processing module
Answer motor to work with obstacle avoidance, realize the intelligent mobile of intelligent carriage.
The Based Intelligent Control dollying system provided according to the utility model above-described embodiment also has following supplementary technology
Feature：
According to one embodiment of the present utility model, the sensor assembly at least includes being arranged on intelligent carriage being used for
Separately detect three the three of orientation ultrasonic sensors of front, left and right.In this way, it can be found that front, left and
The barrier situation of right, decision-making foundation is provided so as to change direct of travel for obstacle avoidance.
According to one embodiment of the present utility model, the camera module at least includes being arranged in an intelligent carriage front left side
Two cameras of right both sides.Realize at least observing intelligent carriage front space region, two cameras reach binocular vision
Locating effect, is easy to extraneous personnel to pass through the environment that control of intelligent terminal understands the unknown area of space residing for intelligent carriage in real time
Security situation.
According to one embodiment of the present utility model, the control of intelligent terminal is PC or smart mobile phone or laptop computer
In one kind.These control of intelligent terminal are inherently equipped with powerful CPU module, can quickly run control program, and can
To realize network remote control, more personnel are facilitated to understand field data at a distance.
According to one embodiment of the present utility model, the motor drive module includes and the Arduino plates master control borad
The dual H-bridge motor drive ic of connection.By using dual H-bridge motor drive ic to the rotating speed of the left and right motor of intelligent carriage and
Steering is controlled, and realizes turning, move ahead or retreating.
According to one embodiment of the present utility model, first power module is that can at least provide 1800mA electric currents can fill
Battery, the second source module is that the 3.7V lithium batteries that can at least provide 9V voltages are in series.Rechargeable battery can be with
Recharge is used, and can continue to send master control borad to provide the electric current more than 1800mA to raspberry, and at least 9V lithium batteries can ensure institute
The burning voltage demand of Arduino plate master control borads is stated, and avoids two master control borads using the step-down point under an electric source modes
The energy waste that complicated circuit needed for stream scheme is caused.
The control method of the Based Intelligent Control dollying system is, in the control module without extraneous artificial input control
During instruction, the motor drive module receives the control that the avoidance module forms avoidance obstacle strategy, in the control module
When having extraneous artificial input control instruction, the motor drive module does not receive the avoidance obstacle strategy that the avoidance module is formed
Control.With manual control and the effective district for automatically controlling every, it is to avoid interference, and be able to can be played by such control method
Environmental suitability feature under respective control mode.
Further, the control of intelligent terminal is configured with android system, and the avoidance module is based on Android systems
System forms the avoidance obstacle strategy, and the avoidance obstacle strategy is specially：If intelligent carriage front clear if continue before
Enter, if there is barrier, judge whether first side has barrier；Turn simultaneously to first side if the clear of first side side
Advance, if first side has barrier to judge whether dolly second side has barrier again；If judging, the side of dolly second is accessible
Thing then turns and advances to second side, if judging to be retreated if dolly second side has barrier to have.By such control strategy
When in smoky environment or in the low environment of other visibilitys, people be difficult to see intelligent carriage local environment by video and
The situation that avoid intelligent carriage from being stuck and cannot move in the case of by control module control, improves environmental suitability.
Further, the intelligent carriage persistently judges whether first side has barrier during retrogressing,
Turn and advance to first side if the clear of first side side, if first side has barrier to judge intelligent carriage second again
Whether side has barrier；Turn and advance to second side if the second side of intelligent carriage clear is judged, if judging intelligence
Dolly second side has the barrier to have, and retreats.Can so avoid intelligent carriage from persistently retreating, direction of advance can be searched out
Other circuits.
Further, the extraneous artificial input password is based on the intelligent carriage week shown by the video display module
The ambient image video for enclosing is carried out, and described image/video is gathered by camera module and sends master control borad to be processed into through the raspberry
The jpeg format picture of one frame frame is simultaneously compressed, then is transferred to the control of intelligent terminal in the form of streaming, in the video
After display module obtains picture stream, then the display that video is realized with SurfaceView drawing mechanism and multithreading.By so side
The image/video of formula treatment takes full advantage of the powerful data-handling capacity of existing control of intelligent terminal, reduces on intelligent carriage
Controller module calculation process, the performance requirement of controller module can be reduced, and then ensureing at whole system data
System cost is reduced in the case of reason ability.
Therefore, Based Intelligent Control dollying monitoring system provided by the utility model, people can be shown by video
Module watches the ambient environmental conditions in space residing for intelligent carriage, to realize the effective monitoring to the area of space, and passes through
Control module control intelligent carriage is realized being moved to certain spatial areas, reaches the mobile monitor to unknown area of space, and
In the case of video clearly can not being shot, intelligent carriage can also realize that automated intelligent is moved, and environmental suitability is strong.
Brief description of the drawings
Fig. 1 is the composition schematic diagram of Based Intelligent Control dollying system of the present utility model；
Fig. 2 is the module annexation schematic diagram of Based Intelligent Control dollying system of the present utility model.
Specific embodiment
The utility model content is further elaborated with reference to the accompanying drawings and examples, but is not to the utility model
Restriction.
Embodiment：
As shown in figure 1, Based Intelligent Control dollying system includes control of intelligent terminal 1 and drives walking structure by motor
The mobile intelligent carriage 2 of walking is realized, the intelligent carriage 2 is equipped with android system, and control of intelligent terminal 1 is small with intelligence
Car 2 is communicated to connect by WIFI,
As shown in Fig. 2 being additionally provided with controller module 20 on the intelligent carriage, the controller module 20 includes raspberry
Master control borad 21 and Arduino plates master control borad 22 are sent, it is the Model of Raspberry Pi 2 that wherein raspberry sends the model of master control borad 21
B, i.e. raspberry send 2 generation Type Bs, and using four core Cortex-A7 processors, with 1G internal memories, the raspberry is sent on master control borad 21 to be had
There is video port 36889, the model of Arduino plates master control borad 22 is Arduino Nano, and processor is ATmega168；It is described
Raspberry sends the first power supply being connected on master control borad 21 for the camera module 27 of shooting image and for providing power supply
Module 28, raspberry sends master control borad 21 to be connected with the signal of control of intelligent terminal 1 in Transmission Control Protocol mode by WIFI module 29, WIFI
Module 29 uses the wireless network card of model EDUP 802.11N；Second is connected on the Arduino plates master control borad 22
Power module 26, motor drive module 24, sensor assembly 25 and serial port module 23, the second source module 26 is to described
Arduino plates master control borad 22 provides power supply, and the motor drive module 24 drives the motor control walking mechanism to realize walking
Mobile, the sensor assembly 25 is used for detecting obstacles thing distance, and the serial port module 23 sends master control for receiving the raspberry
The instruction that plate 21 sends simultaneously sends the Arduino plates master control borad 22 to, and by serial data by the motor drive module
The sensing data of 24 motor speeds for driving and the sensor assembly 25 feeds back to the raspberry sends master control borad 21；The intelligence
Control terminal 1 is that, using Android phone 11 as intelligent mobile terminal, its built-in type is provided with control module 12, video and shows
Show module 14 and obstacle processing module 13, the control module 12 is obtained described in the output flow direction that Socket is provided with Transmission Control Protocol
The sending action of intelligent carriage 2 is instructed, and the data that the obstacle processing module 14 is detected according to the sensor assembly 25 are carried out
Instruction is sent to drive corresponding motor to work to the motor drive module 24 after treatment, and the video display module 13 is used for institute
State the image that display camera module 27 shoots.
Because described control module 13 is realized on android system platform, initial landing intelligent carriage 2 is specified
Port 36888, then by specifying the control instruction form with intelligent carriage 2, the defeated of Socket offers is obtained with based on Transmission Control Protocol
Go out flow direction and send instruction as the intelligent carriage 2 of service end so that intelligent carriage 2 makes corresponding action；Described video shows
Show that module 12 is realized on android system platform, be attached with video port 36889 first, then obtain intelligent small
The picture stream that car 2 sends, the display of video is realized with SurfaceView drawing mechanism and multithreading, and average frame per second is 25fps,
Highest frame per second can reach 30fps, effect clear and smooth.During use, because described camera module 27 is connected to raspberry
Send on master control borad 21, raspberry sends master control borad 21 from camera collection image, obtain jpeg format picture and be compressed so as to
Quick transmission；Sensor assembly 25 detects peripheral obstacle distance, and Arduino plates master control borad 22 obtains sensing data, then leads to
Cross serial port module 23 and feed back to raspberry and send master control borad 21, raspberry sends master control borad 21 again to pass through pictorial information data and sensing data
WIFI module 29 is transmitted to Android phone 11 with Transmission Control Protocol, and image information data is by after the treatment of video display module 13
It is played and shows, the sensing data of 14 pairs of acquisitions of avoidance module forms avoidance obstacle strategy, control after carrying out calculation process
Device module 20 sends the controller scheme that master control borad 21 and Arduino plates master control borad 22 are combined, processing data speed using raspberry
It is fast and powerful, convenient more multi-functional extension；User watches intelligent carriage surrounding space figure by video display module 13
Picture, so that realize carrying out real-time monitoring to the surrounding space environment of intelligent carriage 2, by the controlled motor drive module of control module 12
24 drive corresponding motor work, realize the mobile control of intelligent carriage 2, and then reach the video surveillance to zone of ignorance space,
In moving process, the range data that sensor assembly 25 is detected is by shape after the treatment of avoidance processing module 14 for intelligent carriage 2
Drive corresponding motor work with obstacle avoidance into avoidance obstacle policy control motor drive module 24, realize the intelligence of intelligent carriage
It is mobile.
The Based Intelligent Control dollying system provided according to the utility model above-described embodiment also has following supplementary technology
Feature：
According to one embodiment of the present utility model, the sensor assembly at least includes being arranged on intelligent carriage being used for
Separately detect the ultrasonic sensor and a model of three the three of orientation model HC-SR04 of front, left and right
It is the Hall sensor of A3144, three HC-SR04 ultrasonic sensors are connected with the Hall sensor of A3144, A3144's
Hall sensor is connected with Arduino plates master control borad 22.Effective detection sensor distance of the ultrasonic sensor of HC-SR04 exists
2cm--450cm, so, when the front of intelligent carriage 2 has barrier, the ultrasonic sensor for being arranged in front end can be detected
Arrive；When there is barrier left, the ultrasonic sensor for being arranged in left side can be detected；When there is barrier right, it is arranged in
The ultrasonic sensor on right side can be detected；Certainly it is the precision of lifting detection sensor barrier, can arranges on each face
More ultrasonic sensors, it is also possible to arrange ultrasonic sensor in other directions of intelligent carriage 2, naturally it is also possible to be peace
Fill the sensitive detection parts of other perceived distances.
According to one embodiment of the present utility model, before the camera module 27 at least includes being arranged in intelligent carriage 2
Side left side and two cameras of model Smart on right side.Thus intelligent carriage can be photographed by the camera of Smart
The area of space image in front, two cameras reach binocular visual positioning effect, and extraneous personnel can be in video display module
At least it was observed that the front space ambient conditions of intelligent carriage 2, is easy to understand in real time residing for intelligent carriage by control of intelligent terminal
Unknown area of space Environmental security situation；Of course for the more comprehensive ring for understanding area of space residing for intelligent carriage 2
Border situation, can be at the left of intelligent carriage 2, right, top and rear also installation settings Smart cameras.
According to one embodiment of the present utility model, Android phone 11 can be substituted with PC or laptop computer, equally
Realize long-range monitoring and treatment.Either, Android phone or PC or laptop computer, as long as loading onto corresponding control
Program, so that it may be directly controlled to intelligent carriage, it is so cost-saved without additionally buying other control ends again.
According to one embodiment of the present utility model, the motor drive module 24 includes and the Arduino plates master control
The dual H-bridge motor drive ic of the connection of plate 22, concrete model is the dual H-bridge motor drive ic of L298N, by using dual H-bridge
Motor drive ic is controlled to the rotating speed of the left and right motor of intelligent carriage 2 and steering, realizes turning, move ahead or retreating, real
It is flexibly mobile now to the Based Intelligent Control of dolly.
According to one embodiment of the present utility model, first power module 28 is rechargeable battery, and concrete model is
Millet 10000mAh portable power sources, the second source module is in series for 3 3.7V lithium batteries.Millet 10000mAh is moved
Dynamic power supply can repeatedly charge, and back and forth use, and can continue send master control borad electric current of the offer more than 1800mA to raspberry, and 3
The 9V burning voltage demands of the Arduino plates master control borad can be ensured after individual 3.7V lithium batteries series connection, and avoids Arduino
Plate master control borad and raspberry send what master control borad was caused using the step-down complicated circuit needed for shunting scheme under an electric source modes jointly
Energy waste.
The control method of above-mentioned Based Intelligent Control dollying system is, in the control module 12 without extraneous artificial input control
During system instruction, the motor drive module 24 receives the control that the avoidance module 14 forms avoidance obstacle strategy, in the control
When molding block 12 has extraneous artificial input control instruction, the motor drive module 24 does not receive the avoidance module 14 and forms control
Make the control of strategy.Can be with manual control and the effective district for automatically controlling every both in control module by such control method
When 12 nothings are artificially input into control instruction, motor drive module 24 is controlled by the Robot dodge strategy of avoidance module 14, if in control module
The input control instruction that 12 people are intervene the movement of intelligent carriage, the then instruction of the controlled module 13 of motor drive module 24
Control to be controlled without the Robot dodge strategy by avoidance module 14, it is to avoid occur interference between control instruction, and each control can be played
Environmental suitability feature under mode, in the case that both the space environment of intelligent carriage 2 is visual good pseudoinstruction's control effect more
Ideal, it is poor in visuality, moved after voluntarily controlling avoidance by barrier module 14 in the case of low visibility.
Specific embodiment, the avoidance module forms control strategy and is specially：If the front clear of intelligent carriage 2
Move on, if there is barrier, judge whether first side has barrier；To the first side if the clear of first side side
Face turns and advances, if first side has barrier to judge whether the second side of intelligent carriage 2 has barrier again；If judging, intelligence is small
The side clear of car 2 second then turns and advances to second side, after judging if the second side of intelligent carriage 2 has barrier to have
Move back.By such control strategy in smoky environment or in the low environment of other visibilitys when, people are difficult to be seen by video
Understand intelligent carriage local environment and by control module control in the case of avoid intelligent carriage from being stuck and cannot move
Situation, improves environmental suitability.
Further, the intelligent carriage 2 persistently judges whether first side has obstacle during retrogressing
Thing, turns and advances if the clear of first side side to first side, if first side has barrier to judge intelligent carriage 2 again
Whether second side has barrier；Turn and advance to second side if the side clear of intelligent carriage 2 second is judged, if judging
The second side of intelligent carriage 2 has the barrier to have, and retreats.Can so avoid intelligent carriage 2 from persistently retreating, and then can find
To direction of advance others circuit, realize that more efficient pathfinding is advanced.If during the left side of described first side intelligent carriage,
So second side is then the right side of intelligent carriage, and vice versa.
In specific embodiment, the extraneous artificial input password is based on the intelligence shown by the video display module 12
Ambient image video around energy dolly 2 is carried out, and described image/video is gathered by camera module 27 and sent through the raspberry
Master control borad 21 is processed into the jpeg format picture of a frame frame and is compressed, then is transferred to the Based Intelligent Control end in the form of streaming
End, after the video display module obtains picture stream, then realizes the aobvious of video with SurfaceView drawing mechanism and multithreading
Show.The image/video processed by such mode takes full advantage of the powerful data-handling capacity of existing control of intelligent terminal, subtracts
The calculation process of few controller module on intelligent carriage, can reduce the performance requirement of controller module, and then ensureing
System cost is reduced in the case of whole system data-handling capacity.
Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvements made etc. should be included within right of the present utility model.
Claims (6)
1. a kind of Based Intelligent Control dollying system, including control of intelligent terminal and by motor drive walking structure realize walking
Mobile intelligent carriage, controller module is additionally provided with the intelligent carriage, it is characterised in that the controller module includes
Raspberry sends master control borad and Arduino plate master control borads, and the raspberry sends the shooting being connected on master control borad for shooting image
Head module and the first power module for providing power supply, and by WIFI module with Transmission Control Protocol mode and control of intelligent terminal
Signal is connected；Second source module, motor drive module, sensor assembly are connected on the Arduino plates master control borad
And serial port module, the second source module is to Arduino plates master control borad offer power supply, the motor drive module driving
The walking mechanism realizes walking movement, and the sensor assembly is used for detecting obstacles thing distance, and the serial port module is used to connect
The raspberry is received to send the instruction of master control borad transmission and send the Arduino plates master control borad to, and will be described by serial data
The motor speed and the sensing data of the sensor assembly that motor drive module drives feed back to the raspberry and send master control borad；Institute
State control of intelligent terminal and control module, video display module and obstacle processing module are installed, the control module is with Transmission Control Protocol
The output for obtaining Socket offers flows to the intelligent carriage sending action instruction, and the obstacle processing module is according to the sensing
The data that device module is detected send instruction to drive corresponding motor to work after being processed to the motor drive module, described
Video display module is used for the image that the display camera module shoots.
2. Based Intelligent Control dollying system according to claim 1, it is characterised in that the sensor assembly is at least wrapped
Include to be arranged on intelligent carriage and be used for three the three of orientation ultrasonic sensors for separately detecting front, left and right.
3. Based Intelligent Control dollying system according to claim 1, it is characterised in that the camera module is at least wrapped
Include two cameras for being arranged in the intelligent carriage front left and right sides.
4. Based Intelligent Control dollying system according to claim 1, it is characterised in that the control of intelligent terminal is PC
One kind in machine or smart mobile phone or laptop computer.
5. Based Intelligent Control dollying system according to claim 1, it is characterised in that the motor drive module includes
The dual H-bridge motor drive ic being connected with the Arduino plates master control borad.
6. Based Intelligent Control dollying system according to claim 1, it is characterised in that first power module be to
1800mA electric current rechargeable batteries can be provided less, and the second source module is the lithium battery that can at least provide 9V voltages.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720007123.7U CN206302499U (en) | 2017-01-04 | 2017-01-04 | Based Intelligent Control dollying monitoring system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720007123.7U CN206302499U (en) | 2017-01-04 | 2017-01-04 | Based Intelligent Control dollying monitoring system |
Publications (1)
| Publication Number | Publication Date |
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| CN206302499U true CN206302499U (en) | 2017-07-04 |
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ID=59203838
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| CN201720007123.7U Expired - Fee Related CN206302499U (en) | 2017-01-04 | 2017-01-04 | Based Intelligent Control dollying monitoring system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107347141A (en) * | 2017-09-11 | 2017-11-14 | 珠海市瑞信精密科技有限公司 | A kind of camera device based on WIFI remote controls |
| CN108664611A (en) * | 2018-05-11 | 2018-10-16 | 上海理工大学 | Multifunctional mobile road-director based on touch-control and voice operating |
| CN108849810A (en) * | 2018-05-30 | 2018-11-23 | 河北农业大学 | Novel automatic field management car traveles |
| CN108902090A (en) * | 2018-05-30 | 2018-11-30 | 河北农业大学 | Automatic field management car traveles |
| CN109568093A (en) * | 2018-11-27 | 2019-04-05 | 湖北经济学院 | A kind of walking safety integrated management system and method |
-
2017
- 2017-01-04 CN CN201720007123.7U patent/CN206302499U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107347141A (en) * | 2017-09-11 | 2017-11-14 | 珠海市瑞信精密科技有限公司 | A kind of camera device based on WIFI remote controls |
| CN108664611A (en) * | 2018-05-11 | 2018-10-16 | 上海理工大学 | Multifunctional mobile road-director based on touch-control and voice operating |
| CN108664611B (en) * | 2018-05-11 | 2021-11-19 | 上海理工大学 | Multifunctional mobile road directing machine based on touch control and voice operation |
| CN108849810A (en) * | 2018-05-30 | 2018-11-23 | 河北农业大学 | Novel automatic field management car traveles |
| CN108902090A (en) * | 2018-05-30 | 2018-11-30 | 河北农业大学 | Automatic field management car traveles |
| CN109568093A (en) * | 2018-11-27 | 2019-04-05 | 湖北经济学院 | A kind of walking safety integrated management system and method |
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Granted publication date: 20170704 Termination date: 20190104 |