CN107179772A - Mainboard control device and its method - Google Patents
Mainboard control device and its method Download PDFInfo
- Publication number
- CN107179772A CN107179772A CN201710544768.9A CN201710544768A CN107179772A CN 107179772 A CN107179772 A CN 107179772A CN 201710544768 A CN201710544768 A CN 201710544768A CN 107179772 A CN107179772 A CN 107179772A
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- mainboard
- control device
- positioning module
- base
- navigation positioning
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 230000011664 signaling Effects 0.000 claims abstract description 10
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Optics & Photonics (AREA)
- Rehabilitation Tools (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of mainboard control device, including：Main body, base, main body is fixed on above base, and body interior is provided with groove, navigation positioning module and drive mechanism are provided between groove and base, body surfaces are provided with the workbench for being used for installing mainboard, working table accessory is provided with dual-mode antenna, and navigation positioning module is according to the signal generation position signalling of dual-mode antenna；Walking mechanism is provided with below base, mainboard navigates to control drive mechanism to drive walking mechanism according to position signalling.The present invention also provides the control method using above-mentioned master control control device.The present invention gets indoor environment and position signalling by navigation positioning module, sends the indoor photo and running orbit coordinate of collection to terminal generation indoor map, install and be positioned on workbench when mainboard, mainboard exact position indoors is understood by positioning regulator, carrying out navigation according to indoor map ensure that the moving direction of mainboard and stroke are more safe and accurate.
Description
Technical field
The present invention relates to Internet of Things, more particularly to a kind of mainboard control device and its method.
Background technology
Master control borad is also known as mainboard, motherboard, system board, logic card, motherboard, bottom plate etc., is the equipment for constituting electronic system,
At present, common household electrical appliances master control borad can not be moved, and function is not complete, in-convenience in use.
The content of the invention
The shortcoming of prior art in view of the above, it is an object of the invention to provide a kind of mainboard control device and its side
Method, can not be moved, inconvenient problem with use for solving master control borad in the prior art.
In order to achieve the above objects and other related objects, the present invention provides a kind of mainboard control device, including：
Main body, base, the main body are fixed on above base, and the body interior is provided with groove, the groove with
Navigation positioning module and drive mechanism are provided between base, the body surfaces are provided with the workbench for being used for installing mainboard, described
Working table accessory is provided with dual-mode antenna, and the navigation positioning module is according to the signal generation position signalling of dual-mode antenna；The bottom
Seat lower section is provided with walking mechanism, and the mainboard navigates to control the drive mechanism to drive the vehicle with walking machine according to position signalling
Structure.
Another object of the present invention is to provide a kind of control method of mainboard control device, including：
Step 1, mainboard is installed and be positioned on workbench, using positioning regulator triggering navigation positioning module work；
Step 2, camera shoots indoor photo in the navigation positioning module；Passed by radar ultrasonic wave and infrared distance measurement
Sensor measures the distance of itself and front obstacle, and with the position of disturbance in judgement thing, running orbit coordinate is recorded, and uses
Transmitting antenna is synchronized to terminal；
Step 3, terminal is according to its running orbit Coordinate generation movement locus plan, according to movement locus plan with shining
Piece synthesis, which is imported in generalized information system, generates indoor map；
Step 4, starting switch, the control signal sent according to terminal is navigated with the indoor map, drive mechanism
Walking mechanism is driven to drive mainboard movement according to navigation.
As described above, the mainboard control device and its method of the present invention, have the advantages that：
The present invention gets indoor environment and position signalling, by the indoor photo of collection and fortune by navigation positioning module
Row trajectory coordinates send to terminal and generate indoor map, install and are positioned on workbench when mainboard, are understood by positioning regulator
Mainboard carries out navigation in the indoor exact position, according to indoor map and ensure that the moving direction of mainboard is more pacified with stroke
Entirely, accurately.
Brief description of the drawings
Fig. 1 is shown as a kind of mainboard control device structural representation that the present invention is provided；
Fig. 2 is shown as a kind of control method flow chart for mainboard control device that the present invention is provided.
Embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book understands other advantages and effect of the present invention easily.
Fig. 1 is referred to Fig. 2.It should be clear that structure, ratio, size depicted in this specification institute accompanying drawings etc., is only used to
Coordinate the content disclosed in specification, so that those skilled in the art is understood with reading, being not limited to the present invention can be real
The qualifications applied, therefore do not have technical essential meaning, the tune of the modification of any structure, the change of proportionate relationship or size
It is whole, in the case where not influenceing effect of the invention that can be generated and the purpose that can reach, all should still it fall in disclosed skill
Art content is obtained in the range of covering.Meanwhile, in this specification it is cited as " on ", " under ", "left", "right", " centre " and
The term of " one " etc., is merely convenient to understanding for narration, and is not used to limit enforceable scope of the invention, its relativeness
It is altered or modified, under without essence change technology contents, when being also considered as enforceable category of the invention.
Referring to Fig. 1, the present invention provides a kind of mainboard control device structural representation, including：
Main body 1, base 2, the main body 1 are fixed on the top of base 2 (being connected by pillar 13), and the main body 1
Inside is provided with groove, navigation positioning module and drive mechanism is provided between the groove and base 2, the surface of main body 1 is set
Have for installing the workbench 5 of mainboard (workbench is provided with mounting groove 6, for laying mainboard), the annex of workbench 5
Provided with dual-mode antenna (transmitter 7 and receiver 8), the navigation positioning module is believed according to the signal generation position of dual-mode antenna
Number；The lower section of base 2 is provided with walking mechanism, and the mainboard navigates to control the drive mechanism to drive institute according to position signalling
State walking mechanism.
Wherein, the navigation positioning module includes camera, infrared distance sensor 11 and radar 15；The shooting
Head, infrared distance sensor 11 and radar 15 are connected with the mainboard installed on workbench 5.The camera is in order to shoot effect
In the settable main body 1 of fruit, similarly, infrared distance sensor 11 may also set up in main body 1 for Detection results, may also set up groove
Interior, infrared distance sensor 11 is preferred to use inexpensive 2D/3D sensors, is easy to reduce equipment cost, the radar 15 is used
Laser acquisition, can lift detection accuracy, and the front end of infrared distance sensor 11 is provided with infrared spy 12, is easy to infrared exploration, takes the photograph
As head also can be without.
The camera shoots indoor photo；Itself is measured by radar ultrasonic wave and infrared distance sensor with front to hinder
Hinder the distance of thing, with the position of disturbance in judgement thing, running orbit coordinate is recorded, terminal is synchronized to using transmitting antenna；
Terminal synthesizes importing GIS with photo according to its running orbit Coordinate generation movement locus plan according to movement locus plan
In system, indoor map is generated.
The camera can install the support (e.g., expansion link) with liftable, spinfunction, be easy to dynamic bat indoors
Outdoor scene photo is taken the photograph, to record its spacetime coordinate, terminal is sent it to；Terminal is according to photo, Yi Jiyun with spacetime coordinate
Dynamic rail mark plan imports generalized information system (GIS-Geographic Information System), and the scope of activities to mainboard control device carries out possible space survey
Measurement is calculated, and is obtained indoor profile and internal structure, is generated indoor map, so that intelligent navigation is reached, the effect of precision positioning.
The walking mechanism includes at least three foot stools 3 and three rollers 4, and three foot stools 3 are uniformly distributed in base 2
Lower section, each lower section of foot stool 3 is provided with roller 4, wherein, the roller 4 is universal wheel.The drive mechanism includes electronic
Machine and power transmission shaft, the motor drive roller 4 by power transmission shaft.Foot stool 3 is uniformly distributed sustainable base, in addition, being arranged on
Motor output end drives roller 4 by power transmission shaft, so as to realize driving mainboard control device movement.In addition, can be as needed
Foot stool 3 is set to rotatable, fixed idler whell 4, drives roller 4 to operate by foot stool 3 and (is conducive to turning, turns around etc. mobile
Action), the direction of control foot stool is the direction for controlling mainboard control device.
Mainboard control device also includes display module 9, and the display module 9 is arranged at the surface of main body 1 close to workbench 5,
Display module 9 can be display screen, for showing the position that the working condition of mainboard, the electricity of battery modules and location navigation are shown
Put.
Position in the main body 1 close to the display module 9 is provided with switch 14, and whether control mainboard control device opens
Dynamic, after startup, drive mechanism connects battery modules with walking mechanism, starts working, when not starting, mainboard control device can not
It is mobile.
Position in the main body 1 close to the display module 9 is provided with positioning regulator 10, and positioning regulator 10 is controlled
The working condition for the navigation positioning module being installed between groove and base, when triggering navigation positioning module start-up operation, no
Running orbit coordinate is only recorded, meanwhile, indoor map is being got, can navigate to control whole mainboard control dress according to the map
The moving direction put and track.
Mainboard control device also includes battery modules, and the battery modules connect navigation positioning module, mainboard, driving respectively
Mechanism, walking mechanism, dual-mode antenna and display module are powered for it, and the battery modules can be battery, and it may be provided at groove
Interior, it is the battery pack of recyclable discharge and recharge, is easy to mainboard control device to be used for a long time.
Dual-mode antenna is radio receiving transmitting module, such as WIFI, 3/4/5G communication module, and background terminal is received by network
The external control signal of (computer, server, smart mobile phone, tablet device etc.), remote controlled mainboard control device, so that
The purpose of control mainboard is realized, that is, controls the purpose such as mainboard (electric equipment) in family.
Referring to Fig. 2, another object of the present invention is to provide a kind of control method flow chart of mainboard control device, bag
Include：
Step 1, mainboard is installed and be positioned on workbench, using positioning regulator triggering navigation positioning module work；
Wherein, when mainboard installation being positioned over into workbench, it need to detect whether the connection of base and main body is fixed, predominantly detect
Its fastness.
Step 2, camera shoots indoor photo in the navigation positioning module；Passed by radar ultrasonic wave and infrared distance measurement
Sensor measures the distance of itself and front obstacle, and with the position of disturbance in judgement thing, running orbit coordinate is recorded, and uses
Transmitting antenna is synchronized to terminal；
Step 3, terminal is according to its running orbit Coordinate generation movement locus plan, according to movement locus plan with shining
Piece synthesis, which is imported in generalized information system, generates indoor map；
Step 4, starting switch, the control signal sent according to terminal is navigated with the indoor map, drive mechanism
Walking mechanism is driven to drive mainboard movement according to navigation.
When above-mentioned mainboard device (electric equipment) is positioned on workbench, mainboard can be moved to any needs indoors
The place arrived, wherein, due to there is indoor map when mobile, mainboard control device is may be such that in mobile destination, can be kept away in time
Barrier is opened, is moved by above-mentioned navigation mode, the security used and degree of convenience is not only increased.Meanwhile, it can be accurately positioned
The position of mainboard control device, beneficial to grasp control.
In summary, the present invention gets indoor environment and position signalling, the room by collection by navigation positioning module
Interior photo sends to terminal with running orbit coordinate and generates indoor map, installs and is positioned on workbench when mainboard, passes through positioning
Adjuster understands mainboard in the indoor exact position, and moving direction and row that navigation ensure that mainboard are carried out according to indoor map
Cheng Gengjia is safe and accurate.So, the present invention effectively overcomes various shortcoming of the prior art and has high industrial exploitation value
Value.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
Know the personage of this technology all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete without departing from disclosed spirit and institute under technological thought such as
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (10)
1. a kind of mainboard control device, it is characterised in that including：Main body, base, the main body are fixed on above base, and institute
Body interior is stated provided with groove, navigation positioning module and drive mechanism, the body table are provided between the groove and base
Face is provided with the workbench for being used for installing mainboard, and the working table accessory is provided with dual-mode antenna, and the navigation positioning module is according to receipts
Send out the signal generation position signalling of antenna；Be provided with walking mechanism below the base, the mainboard according to position signalling navigate with
The drive mechanism is controlled to drive the walking mechanism.
2. mainboard control device according to claim 1, it is characterised in that the walking mechanism includes at least three foot stools
With three rollers, three foot stools are uniformly distributed in below base, and roller is provided with below each foot stool.
3. mainboard control device according to claim 2, it is characterised in that the roller is universal wheel.
4. mainboard control device according to claim 1, it is characterised in that the drive mechanism includes motor and transmission
Axle, the motor drives roller by power transmission shaft.
5. mainboard control device according to claim 1, it is characterised in that the navigation positioning module include camera,
Infrared distance sensor and radar；The master of the camera, infrared distance sensor and radar with being installed on workbench
Plate is connected, wherein, the camera shoots indoor photo；Itself is measured with before by radar ultrasonic wave and infrared distance sensor
The distance of square barrier, with the position of disturbance in judgement thing, records to running orbit coordinate, end is synchronized to using transmitting antenna
End；Terminal synthesizes importing with photo according to its running orbit Coordinate generation movement locus plan according to movement locus plan
In generalized information system, indoor map is generated.
6. mainboard control device according to claim 1, it is characterised in that also including display module, the display module
Body surfaces are arranged at close to workbench.
7. mainboard control device according to claim 1, it is characterised in that close to the display module in the main body
Position is provided with switch.
8. mainboard control device according to claim 1, it is characterised in that close to the display module in the main body
Position is provided with positioning regulator.
9. mainboard control device according to claim 1, it is characterised in that also including battery modules, the battery modules
Connection navigation positioning module, mainboard, drive mechanism, walking mechanism, dual-mode antenna and display module are powered for it respectively.
10. a kind of control method of the mainboard control device in use claim 1 to 9 described in any one, including：
Step 1, mainboard is installed and be positioned on workbench, using positioning regulator triggering navigation positioning module work；
Step 2, camera shoots indoor photo in the navigation positioning module；Pass through radar ultrasonic wave and infrared distance sensor
Itself distance with front obstacle is measured, with the position of disturbance in judgement thing, running orbit coordinate is recorded, using transmitting
Antenna is synchronized to terminal；
Step 3, terminal is closed according to its running orbit Coordinate generation movement locus plan according to movement locus plan and photo
Indoor map is generated into importing in generalized information system；
Step 4, starting switch, the control signal sent according to terminal is navigated with the indoor map, drive mechanism according to
Navigation drives walking mechanism to drive mainboard movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710544768.9A CN107179772A (en) | 2017-07-06 | 2017-07-06 | Mainboard control device and its method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710544768.9A CN107179772A (en) | 2017-07-06 | 2017-07-06 | Mainboard control device and its method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107179772A true CN107179772A (en) | 2017-09-19 |
Family
ID=59844672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710544768.9A Pending CN107179772A (en) | 2017-07-06 | 2017-07-06 | Mainboard control device and its method |
Country Status (1)
| Country | Link |
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| CN (1) | CN107179772A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102830675A (en) * | 2012-08-28 | 2012-12-19 | 北京理工大学 | Intelligent home robot system based on GIS (geographic information system) |
| CN203259876U (en) * | 2013-03-01 | 2013-10-30 | 李冀 | Intelligent household control system for mobile robot |
| CN103941733A (en) * | 2014-04-24 | 2014-07-23 | 合肥安中智能科技有限公司 | Indoor and outdoor automatic guiding transportation device based on Beidou and binocular vision |
| CN105147198A (en) * | 2015-08-10 | 2015-12-16 | 深圳先进技术研究院 | Indoor mapping system and method based on sweeping robot |
| CN105204509A (en) * | 2015-10-09 | 2015-12-30 | 南京采薇且歌信息科技有限公司 | Tracked mobile robot system achieving garden polling and field reconnaissance through remote control |
| CN105628004A (en) * | 2016-01-16 | 2016-06-01 | 深圳先进技术研究院 | Barrier-free navigation airship based three-dimensional map automatic mapping system |
| CN205356565U (en) * | 2015-12-21 | 2016-06-29 | 上海酷景信息技术有限公司 | Novel panoramic video shoots dolly |
| CN206194076U (en) * | 2016-09-27 | 2017-05-24 | 国网福建省电力有限公司 | Substation equipment detecting system |
| CN207115192U (en) * | 2017-07-06 | 2018-03-16 | 重庆瑞景信息科技有限公司 | Mainboard control device |
-
2017
- 2017-07-06 CN CN201710544768.9A patent/CN107179772A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102830675A (en) * | 2012-08-28 | 2012-12-19 | 北京理工大学 | Intelligent home robot system based on GIS (geographic information system) |
| CN203259876U (en) * | 2013-03-01 | 2013-10-30 | 李冀 | Intelligent household control system for mobile robot |
| CN103941733A (en) * | 2014-04-24 | 2014-07-23 | 合肥安中智能科技有限公司 | Indoor and outdoor automatic guiding transportation device based on Beidou and binocular vision |
| CN105147198A (en) * | 2015-08-10 | 2015-12-16 | 深圳先进技术研究院 | Indoor mapping system and method based on sweeping robot |
| CN105204509A (en) * | 2015-10-09 | 2015-12-30 | 南京采薇且歌信息科技有限公司 | Tracked mobile robot system achieving garden polling and field reconnaissance through remote control |
| CN205356565U (en) * | 2015-12-21 | 2016-06-29 | 上海酷景信息技术有限公司 | Novel panoramic video shoots dolly |
| CN105628004A (en) * | 2016-01-16 | 2016-06-01 | 深圳先进技术研究院 | Barrier-free navigation airship based three-dimensional map automatic mapping system |
| CN206194076U (en) * | 2016-09-27 | 2017-05-24 | 国网福建省电力有限公司 | Substation equipment detecting system |
| CN207115192U (en) * | 2017-07-06 | 2018-03-16 | 重庆瑞景信息科技有限公司 | Mainboard control device |
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Application publication date: 20170919 |