CN206710890U - Life detection intelligent carriage - Google Patents
Life detection intelligent carriage Download PDFInfo
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- CN206710890U CN206710890U CN201720403800.7U CN201720403800U CN206710890U CN 206710890 U CN206710890 U CN 206710890U CN 201720403800 U CN201720403800 U CN 201720403800U CN 206710890 U CN206710890 U CN 206710890U
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Abstract
The utility model provides a kind of life detection intelligent carriage.Life detection intelligent carriage of the present utility model includes：One-chip computer module, motor drive module, independent current source module, infrared obstacle avoidance module, human body induction module, GPS module and gsm module.The utility model has the advantages that the intelligent carriage with life detection function, it is contemplated that the complexity of application environment, configure various types of sensors and communication module etc. and be used to monitor car body local environment in real time, obtain effective information, it is very big to lift rescue efficiency；Dolly, which can enter in narrow and small complex environment, searches for survivor, unnecessary injury caused by avoiding the non-intellectual of environment possible to rescuer；Vehicle body is light simultaneously, small volume, and motion is flexible, and power consumption is low, can be used for a long time in complex environment, solves the problems, such as that mankind's activity is limited.
Description
Technical field
It the utility model is related to disaster assistance apparatus field, and in particular to one kind is using diffusing reflection formula infrared sensor, heat
Release the life detection intelligent carriage of electric infrared sensor, single-chip microcomputer, GPS and gsm module.
Background technology
Natural calamity, the generation of human-made disasters often carry destructive destructive power.House caves in, bridge breaking, for rescue
Work brings very big test.Due to the fragility of life, the very first time after disaster generation takes accurately rescue just to seem outstanding
To be important.The severe of environment often seriously hinders the development of rescue work, or even rescuer's life is constituted a threat to.By band
There is the intelligent carriage of life detection function, into narrow and small complex environment, search for survivor, it will significant increase rescue effect
Rate, while avoid the non-intellectual of environment may the unnecessary injury to caused by rescuer.
One-chip computer module has compact, light weight, cheap, low in energy consumption, extension is flexible and easy to use excellent
Point, it is widely used in instrument and meter, can be realized to a variety of measurement physical quantitys by integrating various types of sensors
Information is changed and control, is to realize to automate an indispensable part.
Gsm module is the terminal device after another very important gsm mobile communication system outside GSM mobile handset.It is to pass
A kind of data terminal equipment that system modem is combined with gsm wireless GSM, because gsm module is not by ground
Domain, the influence of circuit, so being based on this module, using GSM network as wireless-transmission network, a variety of prospect poles can be developed
Its optimistic types of applications.The GSM message function that the utility model uses, the location information of survivor, tool can be obtained in real time
Have broad application prospects.
Enter today of information age in the mankind, all social activitieies of people are converted to acquisition of information and information
Center, sensor is a position of information science front end, is real as acquisition of information and the important means of information conversion
One of existing information-based basic technology.
Life detection intelligent carriage considers the complexity of application environment, will configure various types of sensors and communication module
Deng to monitor car body local environment in real time, effective information is obtained.Vehicle body is light simultaneously, small volume, and motion is flexible, and power consumption is low, can
To be used for a long time in complex environment.Rescue crisis detection or surroundings detection monitoring can act as good work
With solving the problems, such as that mankind's activity is limited.
The content of the invention
To improve the accuracy rate of the efficiency of disaster ruins site inspection and the positioning wounded, the utility model provides a kind of letter
It is single, efficient life detection intelligent carriage.
The utility model is to be achieved through the following technical solutions：A kind of feature of life detection intelligent carriage includes：It is single
Piece machine module, motor drive module, independent current source module, infrared obstacle avoidance module, human body induction module, GPS module and GSM moulds
Block.7.2 volts of dry battery power is carried out decompression and handles to obtain 3.3 volts of standard and 5 volts stable electricity by the independent current source module
Pressure, power supply is provided for other modules；The infrared obstacle avoidance module gathers roadblock information and is converted into electric signal, infrared obstacle avoidance module
Output be connected with one-chip computer module, one-chip computer module controlled motor drive module avoidance under steam；The human body sensing mould
Block senses the change of human body infrared temperature and produces electric signal, and the output of the module connects the one-chip computer module；The GPS
Module connects the one-chip computer module；The gsm module is connected with one-chip computer module, and the positional information of people is sent into user
Mobile phone terminal.
1) one-chip computer module uses STM32F103R8T6 chips, and the electric capacity that its circuit crystal oscillator connects 2 20pf connects
Ground, then and upper 1 1M Ω resistance connection one-chip computer module PD0-OSC_IN and PD1 pin, form oscillating circuit, single-chip microcomputer mould
Block uses SWD debud modes, and wherein SWD 4 pin connect 3.3v voltages, 1 pin ground connection, 2 pin SWCLK and 3 pin SWDIO difference order pieces
The PA14 mouths and PA13 mouths of machine module, the resistance that reset circuit is connect 3.3v voltages by 0.1 μ f ground capacities with 10k Ω connect monolithic
Machine module NRST mouths are formed.
2) motor drive module, it is made up of two pieces of L293D chips and 4 motors, first piece of L293D chip is responsible for drive
Left front and right front motor is moved, wherein, the PB1 mouths of the left front pin of motor Enable Pin 1 connection one-chip computer module, the preceding inlet side of left front motor
2 pin and the retrogressing pin of end 7 connect the PB2 mouths and PB12 mouths of one-chip computer module respectively, and the right pin of front motor Enable Pin 9 connects single-chip microcomputer mould
The PB15 mouths of block, the pin of preceding inlet side 10 and the retrogressing pin of end 15 of right front motor connect PB14 the and PB13 mouths of one-chip computer module respectively,
Second piece of L293D chip be responsible for driving it is left back and right after motor, wherein, the left back pin of motor Enable Pin 1 connection one-chip computer module
PA11 mouths, the pin of preceding inlet side 2 and the retrogressing pin of end 7 of left back motor connect the PD2 mouths and PC12 mouths of one-chip computer module respectively, electric after right
The pin of machine Enable Pin 9 connects the PA8 mouths of one-chip computer module, it is right after motor the pin of preceding inlet side 10 and retreat the pin of end 15 and connect monolithic respectively
The PB3 mouths and PB4 mouths of machine module, 2 pieces of L293D chips are all 4,5,12,13 pin ground connection, and 16 pin meet supply voltage 5v, wherein electricity
Plus 0.1 μ f filter capacitor by source, 8 pin of 2 pieces of L293D chips all meet common ground terminal voltage 7.2v, and 3,6,11,14
Pin as output end, the input being connected with one-chip computer module all access 5v voltages and use up symplectic input/output signal rise every
From effect, also the I/O port of one-chip computer module is shielded, prevents it to be burned.
3) the independent current source module does decompression processing by Power convert LM2576 modules, drops to supply voltage 7.2v
5v requires voltage and stabilized it, then supply voltage is dropped into voltage needed for 3.3v and stabilized it by ASM1117 modules.
4) the infrared obstacle avoidance module is by the identical infrared obstacle avoidance module composition of left and right 2, and the 1 of 2 pieces of infrared obstacle avoidance modules
Pin all connects 5v voltages, and 3 pin are all grounded, and the pin of output end 2 of left infrared obstacle avoidance module connects one-chip computer module PB8 mouths, right infrared obstacle avoidance
The pin of output end 2 of module connects one-chip computer module PB7 mouths.
5) human body induction module uses HC_SR501 modules, wherein 1 pin connects 5v voltages, 2 pin are as detection output
Connect one-chip computer module PB9 mouths, 3 pin ground connection.
6) GPS module uses NEO-6M UBLOX modules, wherein 4 pin connect 3.3v voltages, 3 pin ground connection, 1 pin is as string
The data sending terminal of mouth 1 is connected with one-chip computer module PA2 mouths, data receiver and one-chip computer module PA3 of 2 pin as serial ports 1
Mouth is connected.
7) gsm module uses SIM800 modules, wherein 4 pin connect 5v voltages, 3 pin ground connection, number of 2 pin as serial ports 2
It is connected according to receiving terminal with one-chip computer module PB11 mouths, data sending terminal and one-chip computer module PB10 mouth phase of 1 pin as serial ports 2
Even.
The beneficial effects of the utility model are：
1) a kind of life detection intelligent carriage, can avoid ruins obstacle using infrared obstacle avoidance module, realize and rescuing
Calamity scene walking function freely.
2) a kind of life detection intelligent carriage, using human body induction module, realization detects that life entity stops at once,
Send a signal to one-chip computer module, real-time collection site data.
3) a kind of life detection intelligent carriage, is connected using GPS with gsm module with one-chip computer module, is realized automatic
The specific location information of indicator of trapped personnel is sent to mobile phone, improves rescue rate, intelligence degree is high.
4) a kind of life detection intelligent carriage, it is uniform using sub-module design method, wiring so that whole device is easy
In disassembly and assembly, other functions, such as transmission of video, mobile phone control etc. can also be extended.
Brief description of the drawings
Fig. 1 is the structured flowchart of life detection intelligent carriage
Fig. 2 is life detection intelligent carriage integrated circuit schematic diagram
Fig. 3 is one-chip computer module schematic diagram
Fig. 4 is motor drive module schematic diagram
Fig. 5 is independent current source module principle figure
Fig. 6 is infrared obstacle avoidance module principle figure
Fig. 7 is human body sensing module principle figure
Fig. 8 is GPS module schematic diagram
Fig. 9 is gsm module schematic diagram
Embodiment
Specific embodiment of the present utility model is described further below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, circuit described in the utility model includes：One-chip computer module, motor drive module, independent electrical
Source module, infrared obstacle avoidance module, human body induction module, GPS module and gsm module.The independent current source module is electric by dry cell
7.2 volts of source carries out decompression and handles to obtain 3.3 volts of standard and 5 volts stable voltages, and power supply is provided for other modules；It is described infrared
Obstacle avoidance module gathers roadblock information and is converted into electric signal, and the output of infrared obstacle avoidance module is connected with one-chip computer module, single-chip microcomputer
Module controlled motor drive module avoidance under steam；The human body induction module senses the change of human body infrared temperature and production
Raw electric signal, the output of the module connect the one-chip computer module；The GPS module connects the one-chip computer module；The GSM
Module is connected with one-chip computer module, and the positional information of people is sent into user mobile phone end, improves disaster ruins site inspection
Efficiency and the accuracy rate of the positioning wounded.
As shown in figure 3, the one-chip computer module, using STM32F103R8T6 chips, its circuit crystal oscillator connects 2 20pf
Electric capacity again and upper 1M Ω resistance connection one-chip computer module PD0-OSC_IN and PD1 pin, form oscillating circuit, wherein crystal oscillator
Frequency is 11.0592MHz.When adding dc source needed for work to one-chip computer module, oscillator begins to vibration.Shake
The purpose for swinging circuit is to provide required clock pulse signal for one-chip computer module work.One-chip computer module uses SWD debugging sides
4 pin of formula, wherein SWD connect 3.3v power supplys, 1 pin ground connection, and 2 pin SWCLK and 3 pin SWDIO connect the PA14 mouths of one-chip computer module respectively
With PA13 mouths.The resistance that reset circuit is connect 3.3v voltages by 0.1 μ f ground capacities with 10k Ω connects one-chip computer module NRST mouth structures
Into, it is therefore an objective to when making electricity start-up operation on one-chip computer module, internal circuit is started working from original state.
As shown in figure 4, the motor drive module is made up of two pieces of L293D chips and 4 motors.4 motors are divided into a left side
Before, it is left back before right, after right.L293D is a kind of high voltage, low current motor drive ic.The chip is encapsulated using 16 pin.It is main
Wanting feature is：Operating voltage is high, and maximum operating voltage is up to 36V；Output current is big, and instantaneous peak current continues work up to 2A
It is 1A to make electric current.The high-voltage large current full-bridge type driver of two H bridges is included, can be used for driving dc motor.Enable
1,2EN drivers and 3,4EN drivers.When enabled input is high level, associated driver is activated, and output is in work
Dynamic state.When Enable Pin input is low level, these drivers are disabled, and output is closed, and locate high impedance status.Wherein,
One piece of L293D chip is responsible for driving left front and right front motor.The PB1 mouths of the left front pin of motor Enable Pin 1 connection one-chip computer module, when
When PB1 outputs are 1, the preceding inlet side and retrogressing end of left front motor are in active state.The pin of preceding inlet side 2 of left front motor and retrogressing end
7 pin connect the PB2 mouths and PB12 mouths of one-chip computer module respectively, and when PB2 outputs are 1, left front motor rotates forward, when PB2 outputs are 0
When, left front motor stalling；When PB12 outputs are 1, left front motor reversal, when PB12 outputs are 0, left front motor stalling.It is right
The pin of front motor Enable Pin 9 connects the PB15 mouths of one-chip computer module, and the pin of preceding inlet side 10 and the retrogressing pin of end 15 of right front motor connect respectively
PB14 the and PB13 mouths of one-chip computer module are connect, when PB15 outputs are 1, the preceding inlet side and retrogressing end of right front motor are in and enliven shape
State.When PB14 outputs are 1, right front motor rotates forward, when PB14 outputs are 0, right front motor stalling；When PB13 outputs are 1,
Right front motor reversion, when PB13 outputs are 0, right front motor stalling.Second piece of L293D chip be responsible for driving it is left back and right after electricity
Machine.The PA11 mouths of the left back pin of motor Enable Pin 1 connection one-chip computer module, the pin of preceding inlet side 2 and the retrogressing pin of end 7 difference of left back motor
The PD2 mouths and PC12 mouths of one-chip computer module are connected, when PA11 outputs are 1, the preceding inlet side and retrogressing end of left back motor are in and lived
Jump state.When PD2 outputs are 1, left back motor rotates forward, and is 0 when PD2 is exported, left back motor stalling；When one-chip computer module exports
When PC12 outputs are 1, left back motor reversal, when PC12 outputs are 0, left back motor stalling.The pin of motor Enable Pin 9 connects behind the right side
The PA8 mouths of one-chip computer module, it is right after motor the pin of preceding inlet side 10 and retreat the pin of end 15 connect respectively one-chip computer module PB3 mouths and
PB4 mouths.When PA8 outputs are 1, the preceding inlet side of motor and retrogressing end are in active state behind the right side.When PB3 outputs are 1, after right
Motor rotates forward, and motor stalls after PB3 outputs are 0, are right；When PB4 outputs are 1, motor reversal behind the right side, when PB4 outputs are 0
When, it is right after motor stall.2 pieces of L293D chips are all 4,5,12,13 pin ground connection, and 16 pin meet supply voltage 5v, wherein added by power supply
Upper 0.1 μ f filter capacitor, L293D 8 pin all meet common ground terminal voltage 7.2v, and 3,6,11,14 are used as output end, and
The input that one-chip computer module is connected, which all accesses 5v voltages and uses up symplectic input/output signal, plays buffer action, also to monolithic
The I/O port of machine module shields, and prevents it to be burned.
As shown in figure 5, the independent current source module, in order to produce different output voltages, generally by the negative terminal of comparator
Reference voltage is connect, just terminates resistor voltage divider network, different resistances can be so selected according to the difference of output voltage, by output electricity
The output of pressure resistor voltage divider network is compared with internal reference voltage stabilizing value, if voltage has deviation, can use in amplifier control
The output duty cycle of portion's oscillator, so that output voltage keeps stable.Decompression processing is done by Power convert LM2576 modules,
Make supply voltage 7.2v drop to 5v to require voltage and stabilize it.Power supply is dropped into electricity needed for 3.3v by ASM1117-3.3 again
Press and stabilize it.
As shown in fig. 6, the infrared obstacle avoidance module is by the identical infrared obstacle avoidance module composition of left and right 2,2 pieces of infrared obstacle avoidances
1 pin of module all connects 5v voltages, and 3 pin are all grounded, and the pin of output end 2 of left infrared obstacle avoidance module connects one-chip computer module PB8 mouths, right red
The pin of output end 2 of outer obstacle avoidance module connects one-chip computer module PB7 mouths.The module has a pair of Infrared emitting and receiving pipes, transmitting
Pipe launches the infrared ray of certain frequency, and when detection direction runs into barrier (reflecting surface), infrared reflection returns to be received
Pipe receives, and after being handled by comparator circuit, green indicating lamp can light, the pin of synchronous signal output interface 2 output numeral letter
Number persistently output low level signal is conveyed to one-chip computer module PB8 mouths or PB7 mouths, and one-chip computer module, which receives external interrupt 0, to be believed
Number, by the program of external interrupt 0, to control the motion of dolly.When left side detects obstacle, i.e. PB8=0, during PB7=1, master control
Chip controls right wheel motor stops, and revolver rotates, and car turns to the right.Otherwise it is same to turn left.When left and right all detects obstacle
When, i.e. PB8=0, PB7=0, main control chip control revolver and right wheel motor reversal, car body are turned right again after retreating 10 seconds.
As shown in fig. 7, the human body induction module uses HC_SR501 modules, pyroelectric infrared sensor is that one kind can be examined
Survey the infrared ray of human or animal's transmitting and export the sensor of electric signal, when the temperature is changed, pyroelectric effect can be in two electricity
It is extremely upper to produce charge Q, i.e., faint voltage U is produced between electrodes, impedance conversion is carried out by FET, finally
Export low and high level signal.When someone enters its induction range, 2 pin then export high level to one-chip computer module, one-chip computer module
Send command adapted thereto and produce corresponding actions.
As shown in figure 8, GPS module utilizes NEO-6M UBLOX modules, location data is sent to monolithic by UART serial ports
Machine module, each second send one group of data.One-chip computer module is by the control signal (when detecting people) of external interrupt from GPS moulds
Block extraction parsing longitude and latitude, user mobile phone is sent to by gsm module.
As shown in figure 9, gsm module uses SIM800 modules.Data receiver and one-chip computer module of 2 pin as serial ports 2
PB11 mouths are connected, and 1 pin is connected as the data sending terminal of serial ports 2 with one-chip computer module PB10 mouths.One-chip computer module is to gsm module
Controlled using AT instructions, AT+CMGF=1, be arranged to text formatting, AT+GMGS is used to send short message.One-chip computer module passes through
The control signal (when detecting people) of external interrupt extracts parsing longitude and latitude from GPS module, and user's hand is sent to by gsm module
Machine.
Above-described is only preferred embodiment of the present utility model, and the utility model is not limited to above example.Can
With understand, those skilled in the art directly export or associate on the premise of basic conception of the present utility model is not departed from its
He improves and change, is considered as being included in the scope of protection of the utility model.
Claims (1)
1. a kind of life detection intelligent carriage, its feature include：It is one-chip computer module, motor drive module, independent current source module, red
Outer obstacle avoidance module, human body induction module, GPS module and gsm module；The independent current source module enters dry battery power for 7.2 volts
Row decompression is handled to obtain 3.3 volts of standard and 5 volts stable voltages, and power supply is provided for other modules；The infrared obstacle avoidance module
Collection roadblock information is simultaneously converted into electric signal, and the output of infrared obstacle avoidance module is connected with one-chip computer module, one-chip computer module control
Motor drive module avoidance under steam；The human body induction module senses the change of human body infrared temperature and produces telecommunications
Number, the output of the module connects the one-chip computer module；The GPS module connects the one-chip computer module；The gsm module with
One-chip computer module is connected, and the positional information of people is sent into user mobile phone end；
1) one-chip computer module uses STM32F103R8T6 chips, and its circuit crystal oscillator connects 2 20pf capacity earth, then
And PD0-OSC_IN the and PD1 pin of upper 1 1M Ω resistance connection one-chip computer module, oscillating circuit is formed, one-chip computer module is adopted
With SWD debud modes, wherein SWD 4 pin connect 3.3v voltages, and 1 pin ground connection, 2 pin SWCLK and 3 pin SWDIO connect single-chip microcomputer mould respectively
The PA14 mouths and PA13 mouths of block, the resistance that reset circuit is connect 3.3v voltages by 0.1 μ f ground capacities with 10k Ω connect single-chip microcomputer mould
Block NRST mouths are formed；
2) motor drive module, it is made up of two pieces of L293D chips and 4 motors, it is left that first piece of L293D chip is responsible for driving
Preceding and right front motor, wherein, the PB1 mouths of the left front pin of motor Enable Pin 1 connection one-chip computer module, the pin of preceding inlet side 2 of left front motor
Connect the PB2 mouths and PB12 mouths of one-chip computer module respectively with the retrogressing pin of end 7, the right pin of front motor Enable Pin 9 connects one-chip computer module
PB15 mouths, the pin of preceding inlet side 10 of right front motor and retreat PB14 the and PB13 mouths that the pin of end 15 connects one-chip computer module respectively, the
Two pieces of L293D chips be responsible for driving it is left back and right after motor, wherein, the left back pin of motor Enable Pin 1 connection one-chip computer module
PA11 mouths, the pin of preceding inlet side 2 and the retrogressing pin of end 7 of left back motor connect the PD2 mouths and PC12 mouths of one-chip computer module respectively, electric after right
The pin of machine Enable Pin 9 connects the PA8 mouths of one-chip computer module, it is right after motor the pin of preceding inlet side 10 and retreat the pin of end 15 and connect monolithic respectively
The PB3 mouths and PB4 mouths of machine module, 2 pieces of L293D chips are all 4,5,12,13 pin ground connection, and 16 pin meet supply voltage 5v, wherein electricity
Plus 0.1 μ f filter capacitor by source, 8 pin of 2 pieces of L293D chips all meet common ground terminal voltage 7.2v, and 3,6,11,14
Pin as output end, the input being connected with one-chip computer module all access 5v voltages and use up symplectic input/output signal rise every
From effect, also the I/O port of one-chip computer module is shielded, prevents it to be burned；
3) the independent current source module does decompression processing by Power convert LM2576 modules, and supply voltage 7.2v is dropped to 5v will
Seek voltage and stabilize it, then supply voltage is dropped into voltage needed for 3.3v and stabilized it by ASM1117 modules；
4) the infrared obstacle avoidance module is by the identical infrared obstacle avoidance module composition of left and right 2, and 1 pin of 2 pieces of infrared obstacle avoidance modules is all
5v voltages are connect, 3 pin are all grounded, and the pin of output end 2 of left infrared obstacle avoidance module connects one-chip computer module PB8 mouths, right infrared obstacle avoidance module
The pin of output end 2 connect one-chip computer module PB7 mouths；
5) human body induction module uses HC_SR501 modules, wherein 1 pin connects 5v voltages, 2 pin are as detection output order
Piece machine module PB9 mouths, 3 pin ground connection；
6) GPS module uses NEO-6M UBLOX modules, wherein 4 pin connect 3.3v voltages, 3 pin ground connection, 1 pin is as serial ports 1
Data sending terminal be connected with one-chip computer module PA2 mouths, data receiver and one-chip computer module PA3 mouth phase of 2 pin as serial ports 1
Even；
7) gsm module uses SIM800 modules, wherein 4 pin connect 5v voltages, 3 pin ground connection, 2 pin connect as the data of serial ports 2
Receiving end is connected with one-chip computer module PB11 mouths, and 1 pin is connected as the data sending terminal of serial ports 2 with one-chip computer module PB10 mouths.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720403800.7U CN206710890U (en) | 2017-04-18 | 2017-04-18 | Life detection intelligent carriage |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720403800.7U CN206710890U (en) | 2017-04-18 | 2017-04-18 | Life detection intelligent carriage |
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| CN206710890U true CN206710890U (en) | 2017-12-05 |
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ID=60456081
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| CN201720403800.7U Expired - Fee Related CN206710890U (en) | 2017-04-18 | 2017-04-18 | Life detection intelligent carriage |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107045348A (en) * | 2017-04-18 | 2017-08-15 | 江南大学 | Life detection intelligent carriage |
| CN109050693A (en) * | 2018-07-11 | 2018-12-21 | 济南大学 | It is a kind of with the step climbing-up device and its implementation that follow function |
| CN109782775A (en) * | 2019-03-13 | 2019-05-21 | 刘乐 | A kind of automobile obstacle avoidance system based on thermal image |
| CN113978264A (en) * | 2021-09-17 | 2022-01-28 | 应急管理部沈阳消防研究所 | Non-contact vital sign detection crawler control device |
-
2017
- 2017-04-18 CN CN201720403800.7U patent/CN206710890U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107045348A (en) * | 2017-04-18 | 2017-08-15 | 江南大学 | Life detection intelligent carriage |
| CN109050693A (en) * | 2018-07-11 | 2018-12-21 | 济南大学 | It is a kind of with the step climbing-up device and its implementation that follow function |
| CN109050693B (en) * | 2018-07-11 | 2024-02-02 | 济南大学 | Step-up device with following function and implementation method thereof |
| CN109782775A (en) * | 2019-03-13 | 2019-05-21 | 刘乐 | A kind of automobile obstacle avoidance system based on thermal image |
| CN109782775B (en) * | 2019-03-13 | 2020-04-14 | 刘乐 | Automobile obstacle avoidance system based on thermal image |
| CN113978264A (en) * | 2021-09-17 | 2022-01-28 | 应急管理部沈阳消防研究所 | Non-contact vital sign detection crawler control device |
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Granted publication date: 20171205 Termination date: 20180418 |