CN105320135A - Multi-vehicle cooperation wireless remote controller of air cushion suspension transport vehicles - Google Patents
Multi-vehicle cooperation wireless remote controller of air cushion suspension transport vehicles Download PDFInfo
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- CN105320135A CN105320135A CN201510744705.9A CN201510744705A CN105320135A CN 105320135 A CN105320135 A CN 105320135A CN 201510744705 A CN201510744705 A CN 201510744705A CN 105320135 A CN105320135 A CN 105320135A
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- 239000000725 suspension Substances 0.000 title abstract description 10
- 238000004891 communication Methods 0.000 claims description 40
- 230000008859 change Effects 0.000 claims description 3
- 235000001674 Agaricus brunnescens Nutrition 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 description 3
- 230000002195 synergetic effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention relates to a multi-vehicle cooperation wireless remote controller of air cushion suspension transport vehicles, belonging to the industrial transportation vehicle automatic control field. The multi-vehicle cooperation wireless remote controller employs a ''a single control remote controller + plural auxiliary remote controllers'' mode, guarantees that operators can control an air cushion suspension transport vehicle cooperation system to enter an emergency shutdown state, and enhances air cushion suspension transport vehicle cooperative work safety. The multi-vehicle cooperation wireless remote controller can transmit cooperative work states of air cushion suspension transport vehicles, does not need an extra data transmission module, and reduces the cost of an air cushion suspension transport vehicle cooperative function. According to the invention, a plurality of sets of air cushion suspension transport vehicle cooperation systems of air cushion suspension transport vehicles can simultaneously work parallelly in a same area, thereby improving the efficiency and flexibility of air cushion suspension transport vehicle cooperative work.
Description
Technical field
The present invention relates to industrial transport vehicle automation field, wireless remote controller worked in coordination with by the many cars being specifically related to a kind of air cushion suspended transport vehicle.
Background technology
Air cushion suspended transport vehicle is a kind of novel material transportation scheme, has that load-carrying is large, efficiency is high, safe and reliable, flexible operation, an advantage such as energy-conserving and environment-protective, is widely used in field of power transformer manufacture.Along with transformer is towards UHV (ultra-high voltage) Large Copacity future development, the weight and volume of transformer sharply raises, and therefore air cushion suspended transport vehicle is proposed to the requirement of overweight load, oversize.Consider from aspects such as manufacture difficulty, service efficiency and financial cost, optimal case adopts the collaborative work of multiple stage air cushion suspended transport vehicle, realizes the transport of extra-high-voltage large-capacity transf.
Publication number is the Chinese patent application of CN104007693A, disclose a kind of air cushion suspended transport vehicle many cars Collaborative Control device, " a Digiplex+multiple data transmission module " form of employing, Digiplex is to each air cushion suspended transport vehicle sending action instruction, and data transmission module transmits the duty of different air cushion suspended transport vehicle.Mainly there is the deficiency of following three aspects in this device: the first, and multiple stage air cushion suspended transport vehicle works in coordination with the load of transportation clearance super large, and operating personnel's sight line can be blocked, and cause cannot complete observation traffic condition, and a Digiplex processing ease produces security incident; The second, can not realize air cushion suspended transport vehicle and work in coordination with grouping and work alone, same operating area can only form one group of collaborative work by multiple stage air cushion suspended transport vehicle, reduces air cushion suspended transport vehicle collaborative work efficiency and uses dirigibility; 3rd, every platform air cushion suspended transport vehicle all needs installation data transmission module, increases the cost of air cushion suspended transport vehicle synergistic function.
Summary of the invention
(1) technical matters that will solve
The technical problem to be solved in the present invention is: how to design a kind of Air Cushion Suspension and transport many cars and work in coordination with wireless remote controller, solve the safety issue of air cushion suspended transport vehicle collaborative work, improve air cushion suspended transport vehicle collaborative work efficiency and dirigibility, reduce the cost of air cushion suspended transport vehicle synergistic function, meet the demand of air cushion suspended transport vehicle many cars collaborative work.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides the many cars of a kind of air cushion suspended transport vehicle and working in coordination with wireless remote controller, comprising wireless remote control hander 1 and wireless remote-control on-vehicle device 2;
Described wireless remote control hander 1 communicates with wireless remote-control on-vehicle device 2 and uses ISM band;
Described wireless remote control hander 1 establishes a communications link with multiple wireless remote-control on-vehicle device 2, can operate the collaborative work of multiple stage air cushion suspended transport vehicle;
Described wireless remote-control on-vehicle device 2 establishes a communications link with multiple wireless remote control hander 1, wherein only there is a wireless remote control hander 1 as control telepilot, normally run for operating air cushion suspended transport vehicle, all the other wireless remote control handers 1, as sub remote controller, enter anxious stop state for operating air cushion suspended transport vehicle;
After described wireless remote control hander 1 establishes a communications link with wireless remote-control on-vehicle device 2, be sent to air cushion suspended transport vehicle as the steering order of wireless remote control hander 1 controlling telepilot by wireless remote-control on-vehicle device 2, the running status of air cushion suspended transport vehicle is sent to the wireless remote control hander 1 as controlling telepilot by wireless remote-control on-vehicle device 2; During the collaborative work of multiple stage air cushion suspended transport vehicle, duty between each air cushion suspended transport vehicle is all sent to the wireless remote control hander 1 as controlling telepilot, is sent to by the wireless remote control hander 1 controlling telepilot is unified each the air cushion suspended transport vehicle participating in collaborative work;
Described wireless remote control hander 1 comprises power switch 101, start button 102, emergency stop switch 103, mode of operation selector switch 104, vehicle selector switch 105, other feature operation elements 106, battery capacity indication lamp 107, signal lamp 108 are connected pilot lamp 109 with vehicle communication;
Described wireless remote-control on-vehicle device 2 includes line traffic control interface 201 and status indicator lamp 202;
When power switch 101 rotates to " ON ", wireless remote control hander 1 is energized; When power switch 101 rotates to " OFF ", wireless remote control hander 1 power-off;
When pressing one-shot button 102, wireless remote control hander 1 and wireless remote-control on-vehicle device 2 establish a communications link;
When pressing emergency stop switch 103, wireless remote control hander 1 enters and suddenly stops state, and wireless remote-control on-vehicle device 2 sends emergent stop signal to air cushion suspended transport vehicle; Emergency stop switch 103 resets, and presses start button 102 again, and wireless remote control hander 1 recovers normal;
Described mode of operation selector switch 104, for selecting the mode of operation of air cushion suspended transport vehicle, comprises bicycle, series and parallel connections, and wherein series and parallel connections is cooperative work mode;
The quantity of described vehicle selector switch 105 is consistent with vehicle fleet size needed for air cushion suspended transport vehicle collaborative work, the all corresponding wireless remote-control on-vehicle device 2 of each vehicle selector switch 105, when there being vehicle selector switch 105 to be allocated to "ON", wireless remote control hander 2 just can establish a communications link with corresponding wireless remote-control on-vehicle device 2; Vehicle selector switch 105 is allocated to "Off", and wireless remote control hander 1 disconnects with corresponding wireless remote-control on-vehicle device 2 and communicating to connect;
Other feature operation elements 106 described are for controlling air cushion suspended transport vehicle everything, and its pattern and quantity configure according to the concrete function of air cushion suspended transport vehicle;
Described battery capacity indication lamp 107 is for showing the battery electric quantity situation of wireless remote control hander 1;
Described signal lamp 108 is for showing the executive component state situation of change of wireless remote control hander 1;
Described vehicle communication connects pilot lamp 109 for showing wireless remote control hander 1 and wireless remote-control on-vehicle device 2 communication connection state;
Described wired control interface 201 includes power supply, communication, suddenly stops three interfaces, by power supply interface for wireless remote-control on-vehicle device 2 provides power supply, the steering order of wireless remote control hander 1 is sent to air cushion suspended transport vehicle by communication interface, communication interface receives the running status of air cushion suspended transport vehicle simultaneously, the urgency of suddenly stopping interface access air cushion suspended transport vehicle 3 stops control circuit, works in coordination with the urgency of wireless remote controller to air cushion suspended transport vehicle 3 stop controlling to realize the many cars of air cushion suspended transport vehicle;
Described status indicator lamp 202 is for showing the communication connection state of wireless remote-control on-vehicle device 2 and wireless remote control hander 1.
Preferably, described power switch 101 is key self-lock switch.
Preferably, described start button 102 is Self-resetting keyswitch.
Preferably, described emergency stop switch 103 is mushroom head switch.
Preferably, described mode of operation selector switch 104 is third gear self-lock switch.
Preferably, described vehicle selector switch 105 is two grades of self-lock switchs.
(3) beneficial effect
Wireless remote controller worked in coordination with by the many cars of air cushion suspended transport vehicle of the present invention, adopt " single control telepilot+multiple sub remote controller " control model, guarantee that several operating personnel can control air cushion suspended transport vehicle cooperative system and enter the state of stopping in emergency, strengthen the security of air cushion suspended transport vehicle collaborative work.Possessing multiple stage air cushion suspended transport vehicle collaborative work state transfer function, without the need to additionally increasing data transmission module, reducing the cost of air cushion suspended transport vehicle synergistic function.Adopt the many cars of this air cushion suspended transport vehicle to work in coordination with wireless remote controller, air cushion suspended transport vehicle can realize many cover air cushion suspended transport vehicle cooperative systems with region concurrent working simultaneously, improves air cushion suspended transport vehicle collaborative work efficiency and dirigibility.
Accompanying drawing explanation
Fig. 1 is that wireless remote controller schematic diagram worked in coordination with by the many cars of air cushion suspended transport vehicle of the embodiment of the present invention, and wherein a is wireless remote control hander, and b is wireless remote-control on-vehicle device;
Fig. 2 is three air cushion suspended transport vehicles collaborative work example in parallel adopting the device of the embodiment of the present invention to realize;
Fig. 3 is two the air cushion suspended transport vehicle series connection collaborative work examples adopting the device of the embodiment of the present invention to realize.
Wherein: 1-wireless remote control hander, 2-wireless remote-control on-vehicle device, 3-air cushion suspended transport vehicle, 101-power switch, 102-start button, 103-emergency stop switch, 104-mode of operation selector switch, 105-vehicle selector switch, 106-other feature operation elements, 107-battery capacity indication lamp, 108-signal lamp, 109-vehicle communication connects pilot lamp, 201-wired control interface, 202-status indicator lamp.
Embodiment
For making object of the present invention, content and advantage clearly, below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.
See accompanying drawing 1, wireless remote controller worked in coordination with by the many cars of air cushion suspended transport vehicle, comprises wireless remote control hander (1) and wireless remote-control on-vehicle device (2).
See accompanying drawing 2 and accompanying drawing 3, wireless remote-control on-vehicle device (2) is arranged on air cushion suspended transport vehicle (3), working power is provided by the power interface of wired control interface (201) to it by air cushion suspended transport vehicle (3), simultaneously the communication interface of wired control interface (201) is responsible for wireless remote control hander (1) steering order and is sent to air cushion suspended transport vehicle (3) and air cushion suspended transport vehicle (3) duty is fed back to wireless remote control hander (1), in addition the urgency of wired control interface (201) stop interface access air cushion suspended transport vehicle (3) urgency stop control circuit, with realize the many cars of air cushion suspended transport vehicle work in coordination with the urgency of wireless remote controller to air cushion suspended transport vehicle (3) stop control.Status indicator lamp (202) display wireless remote-control on-vehicle device (2) and wireless remote control hander (1) communication connection state.
Wireless remote control hander (1) is by operating personnel's hand-held, and be divided into and control telepilot and sub remote controller, No. 2 handers in Fig. 2 and No. 5 handers in Fig. 3 are remote controller, and all the other are sub remote controller.All wireless remote control hander (1) functions are identical, remote controller and sub remote controller only with the state of the mode of operation selector switch (104) on wireless remote control hander (1) and vehicle selector switch (105) and wireless remote control hander (1) relevant with the order that wireless remote-control on-vehicle device (2) establishes a communications link.During air cushion suspended transport vehicle collaborative work, as controlling the wireless remote control hander (1) of telepilot use to wireless remote-control on-vehicle device (2) sending controling instruction (comprising stop command), wireless remote-control on-vehicle device (2) is to the duty controlling telepilot feedback air cushion suspended transport vehicle, in Fig. 2 1., 2., 3. transmission path represents No. 2 handers and No. 1 vehicle carried device, No. 2 vehicle carried devices, the steering order transmitted between 3 vehicle carried devices and duty, in Fig. 3 6., 7. transmission path represents No. 5 handers and No. 4 vehicle carried devices, the steering order transmitted between No. 5 vehicle carried devices and duty, the wireless remote control hander (1) used as sub remote controller only sends stop command to wireless remote-control on-vehicle device (2), 4., 5. represent that No. 1 hander sends stop commands to No. 1 vehicle carried device, No. 3 handers to No. 3 vehicle carried devices respectively in Fig. 2, in Fig. 3,8. represent that No. 4 handers send stop commands to No. 4 vehicle carried devices respectively.
As the wireless remote control hander (1) controlling telepilot use, the state of mode of operation selector switch (104) and vehicle selector switch (105) is selected according to air cushion suspended transport vehicle cooperative work mode and quantity, in Fig. 2, during three air cushion suspended transport vehicle parallel connection collaborative works, mode of operation selector switch (104) is in " parallel connection " state, simultaneously 1 car of vehicle selector switch (105), 2 cars, 3 cars are in "ON", and 4 cars, 5 cars are in "Off"; In Fig. 3, during two air cushion suspended transport vehicle series connection collaborative works, mode of operation selector switch (104) is in " series connection " state, simultaneously 4 cars of vehicle selector switch (105), 5 cars are in "ON", and 1 car, 2 cars, 3 cars are in "Off".As the wireless remote control hander (1) controlling telepilot use, power switch (101) rotates to " ON ", battery capacity indication lamp (107) shows its battery electric quantity situation, before sub remote controller not yet establishes a communications link with wireless remote-control on-vehicle device (2), press one-shot button (102), establish a communications link with wireless remote-control on-vehicle device (2), vehicle communication connects pilot lamp (109) display communication connection.Operate other feature operation elements (106) as controlling the wireless remote control hander (1) that telepilot uses, the air cushion suspended transport vehicle (3) controlling collaborative work completes everything as separate unit air cushion suspended transport vehicle (3), signal lamp (108) display operational state change situation.Burst emergency condition, press emergency stop switch (103), the air cushion suspended transport vehicle (3) of collaborative work enters the state of stopping in emergency immediately simultaneously.
As the wireless remote control hander (1) that sub remote controller uses, mode of operation selector switch (104) must select " bicycle " state, vehicle selector switch (105) only has a certain car to be in "On" state, in Fig. 2, No. 1 hander mode of operation selector switch (104) is in " bicycle " state, 1 car "ON" of vehicle selector switch (105) simultaneously, No. 1 hander only establishes a communications link with No. 1 vehicle carried device, and No. 3 hander mode of operation selector switch (104) are in " bicycle " state, 3 car "ON" of vehicle selector switch (105) simultaneously, No. 3 handers only establish a communications link with No. 3 vehicle carried devices, in Fig. 3, No. 4 hander mode of operation selector switch (104) are in " bicycle " state, simultaneously 4 car "ON" of vehicle selector switch (105), and No. 4 handers only establish a communications link with No. 4 vehicle carried devices.As the wireless remote control hander (1) that sub remote controller uses, power switch (101) rotates to " ON ", battery capacity indication lamp (107) shows its battery electric quantity situation, after control telepilot and wireless remote-control on-vehicle device (2) establish a communications link, press one-shot button (102), establish a communications link with wireless remote-control on-vehicle device (2), vehicle communication connects pilot lamp (109) display communication connection.Only can operate the emergency stop switch (103) of the wireless remote control hander (1) used as sub remote controller, the air cushion suspended transport vehicle (3) controlling to establish a communications link with it enters the state of stopping in emergency immediately, wireless remote-control on-vehicle device (2) using anxious feedback of status of stopping to as the wireless remote control hander (1) controlling telepilot, can enter to other collaborative work air cushion suspended transport vehicles (3) state of stopping in emergency by the wireless remote control hander (1) controlling telepilot simultaneously.Operate other feature operation elements (106) of the wireless remote control hander (1) used as sub remote controller, the air cushion suspended transport vehicle (3) of collaborative work can not carry out any action.
The air cushion suspended transport vehicle of three collaborative works in parallel in Fig. 2 and the air cushion suspended transport vehicle of two collaborative works of connecting in Fig. 3 are in the same area work, the each MANET of wireless remote controller of each air cushion suspended transport vehicle cooperative operation system controls, wireless remote controller does not have signal not disturb each other, can ensure that many cover air cushion suspended transport vehicle cooperative systems are with region concurrent working simultaneously.The collaborative work of air cushion suspended transport vehicle many cars, be introduced as the wireless remote control hander (1) that sub remote controller uses, make several operating personnel can control air cushion suspended transport vehicle cooperative system and enter the state of stopping in emergency, strengthen the security of air cushion suspended transport vehicle collaborative work.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvement and distortion, these improve and distortion also should be considered as protection scope of the present invention.
Claims (6)
1. a wireless remote controller worked in coordination with by the many cars of air cushion suspended transport vehicle, it is characterized in that, comprises wireless remote control hander (1) and wireless remote-control on-vehicle device (2);
Described wireless remote control hander (1) communicates with wireless remote-control on-vehicle device (2) and uses ISM band;
Described wireless remote control hander (1) and multiple wireless remote-control on-vehicle device (2) establish a communications link, and can operate the collaborative work of multiple stage air cushion suspended transport vehicle;
Described wireless remote-control on-vehicle device (2) and multiple wireless remote control hander (1) establish a communications link, wherein only there is a wireless remote control hander (1) as controlling telepilot, normally run for operating air cushion suspended transport vehicle, all the other wireless remote control handers (1), as sub remote controller, enter anxious stop state for operating air cushion suspended transport vehicle;
After described wireless remote control hander (1) and wireless remote-control on-vehicle device (2) establish a communications link, be sent to air cushion suspended transport vehicle as the steering order of wireless remote control hander (1) controlling telepilot by wireless remote-control on-vehicle device (2), the running status of air cushion suspended transport vehicle is sent to the wireless remote control hander (1) as controlling telepilot by wireless remote-control on-vehicle device (2); During the collaborative work of multiple stage air cushion suspended transport vehicle, duty between each air cushion suspended transport vehicle is all sent to the wireless remote control hander (1) as controlling telepilot, is sent to by the wireless remote control hander (1) controlling telepilot is unified each the air cushion suspended transport vehicle participating in collaborative work;
Described wireless remote control hander (1) comprises power switch (101), start button (102), emergency stop switch (103), mode of operation selector switch (104), vehicle selector switch (105), other feature operation elements (106), battery capacity indication lamp (107), signal lamp (108) are connected pilot lamp (109) with vehicle communication;
Described wireless remote-control on-vehicle device (2) includes line traffic control interface (201) and status indicator lamp (202);
When power switch (101) rotates to " ON ", wireless remote control hander (1) is energized; When power switch (101) rotates to " OFF ", wireless remote control hander (1) power-off;
When pressing one-shot button (102), wireless remote control hander (1) and wireless remote-control on-vehicle device (2) establish a communications link;
When pressing emergency stop switch (103), wireless remote control hander (1) enters and suddenly stops state, and wireless remote-control on-vehicle device (2) sends emergent stop signal to air cushion suspended transport vehicle; Emergency stop switch (103) resets, and presses start button (102) again, and wireless remote control hander (1) recovers normal;
Described mode of operation selector switch (104), for selecting the mode of operation of air cushion suspended transport vehicle, comprises bicycle, series and parallel connections, and wherein series and parallel connections is cooperative work mode;
The quantity of described vehicle selector switch (105) is consistent with vehicle fleet size needed for air cushion suspended transport vehicle collaborative work, the all corresponding wireless remote-control on-vehicle device (2) of each vehicle selector switch (105), when there being vehicle selector switch (105) to be allocated to "ON", wireless remote control hander (2) just can establish a communications link with corresponding wireless remote-control on-vehicle device (2); Vehicle selector switch (105) is allocated to "Off", and wireless remote control hander (1) disconnects with corresponding wireless remote-control on-vehicle device (2) and communicating to connect;
Other feature operation elements (106) described are for controlling air cushion suspended transport vehicle everything, and its pattern and quantity configure according to the concrete function of air cushion suspended transport vehicle;
Described battery capacity indication lamp (107) is for showing the battery electric quantity situation of wireless remote control hander (1);
Described signal lamp (108) is for showing the executive component state situation of change of wireless remote control hander (1);
Described vehicle communication connects pilot lamp (109) for showing wireless remote control hander (1) and wireless remote-control on-vehicle device (2) communication connection state;
Described wired control interface (201) includes power supply, communication, suddenly stops three interfaces, be that wireless remote-control on-vehicle device (2) provides power supply by power supply interface, the steering order of wireless remote control hander (1) is sent to air cushion suspended transport vehicle by communication interface, communication interface receives the running status of air cushion suspended transport vehicle simultaneously, the urgency of suddenly stopping interface access air cushion suspended transport vehicle (3) stops control circuit, works in coordination with the urgency of wireless remote controller to air cushion suspended transport vehicle (3) stop controlling to realize the many cars of air cushion suspended transport vehicle;
Described status indicator lamp (202) is for showing the communication connection state of wireless remote-control on-vehicle device (2) and wireless remote control hander (1).
2. wireless remote controller worked in coordination with by many cars as claimed in claim 1, it is characterized in that, described power switch (101) is key self-lock switch.
3. wireless remote controller worked in coordination with by many cars as claimed in claim 1, it is characterized in that, described start button (102) is Self-resetting keyswitch.
4. wireless remote controller worked in coordination with by many cars as claimed in claim 1, it is characterized in that, described emergency stop switch (103) is mushroom head switch.
5. wireless remote controller worked in coordination with by many cars as claimed in claim 1, it is characterized in that, described mode of operation selector switch (104) is third gear self-lock switch.
6. wireless remote controller worked in coordination with by the many cars according to any one of Claims 1 to 5, it is characterized in that, described vehicle selector switch (105) is two grades of self-lock switchs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510744705.9A CN105320135B (en) | 2015-11-05 | 2015-11-05 | A kind of more vehicles collaboration wireless remote controllers of air cushion suspended transport vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510744705.9A CN105320135B (en) | 2015-11-05 | 2015-11-05 | A kind of more vehicles collaboration wireless remote controllers of air cushion suspended transport vehicle |
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| Publication Number | Publication Date |
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| CN105320135A true CN105320135A (en) | 2016-02-10 |
| CN105320135B CN105320135B (en) | 2018-10-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510744705.9A Active CN105320135B (en) | 2015-11-05 | 2015-11-05 | A kind of more vehicles collaboration wireless remote controllers of air cushion suspended transport vehicle |
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| CN105869379A (en) * | 2016-06-20 | 2016-08-17 | 南京百邻悦科技服务有限公司 | Group control device and group control device method |
| CN109100965A (en) * | 2018-07-10 | 2018-12-28 | 山东师范大学 | A kind of AGV vehicle control syetem that supporting various communications protocols and control network |
| CN109109853A (en) * | 2018-08-22 | 2019-01-01 | 北京卫星环境工程研究所 | Modularization tandem type multifunctional space device air-flotation type transferring platform |
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| CN109109853A (en) * | 2018-08-22 | 2019-01-01 | 北京卫星环境工程研究所 | Modularization tandem type multifunctional space device air-flotation type transferring platform |
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| Publication number | Publication date |
|---|---|
| CN105320135B (en) | 2018-10-02 |
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