CN101221440A - Intelligent container system and control method thereof - Google Patents
Intelligent container system and control method thereof Download PDFInfo
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- CN101221440A CN101221440A CNA2008100650305A CN200810065030A CN101221440A CN 101221440 A CN101221440 A CN 101221440A CN A2008100650305 A CNA2008100650305 A CN A2008100650305A CN 200810065030 A CN200810065030 A CN 200810065030A CN 101221440 A CN101221440 A CN 101221440A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to an intelligent container system and a control method thereof, wherein the system comprises an intelligent terminal arranged on a container and carrying out realtime status monitoring and recording of the container, a read-write device carrying out data communication with the intelligent terminal and a background monitoring system receiving the data uploaded by the read-write device. The invention can meet the increasing safety requirements of container during transportation, and realizes overall-process tracking and monitoring of the container within a global entire supply chain; moreover, the invention can realize overall-process monitoring of the container from joint sealing for shipment to unpacking for delivery at the destination, thereby ensuring overall safety of container freight transportation process and preventing any illegal opening during an entire supply chain.
Description
Technical field
The present invention relates to be applied to the communication system of container, more particularly, relate to a kind of intelligent container system and control method thereof.
Background technology
Along with the continuous development and the expansion of international trade, encased conveying because of its have advantages such as freight-transport capacity is big, transportation cost is low become countries in the world the important shipping means that extensively adopt.But in recent years,, take precautions against the awareness of safety of terrorist activity because countries in the world have generally been improved and averted risks.Various countries are more and more higher for the safety requirements of container in transportation, but now can't to container in the world the full supply chain process carry out omnidistance tracking supervision, realize the overall process supervision that container is unpacked from the delivery joint sealing to destination payment on earth, guarantee the full safety of containerized shipment transportation, prevent any illegal unlatching in the full supply chain process.
Summary of the invention
The technical problem to be solved in the present invention is that the above-mentioned defective at prior art provides a kind of intelligent container system and control method thereof.
The technical solution adopted for the present invention to solve the technical problems is: construct a kind of intelligent container system, comprising: be arranged on the container, and container carried out the intelligent terminal of real-time state monitoring and record; Carry out the read-write equipment of data communication with described intelligent terminal; Receive the background monitoring system of the data that described read-write equipment uploads.
In intelligent container system of the present invention, described intelligent terminal comprises: cold machine equipment monitoring modular on internal container environment monitoring module, container switch door state monitoring module, container shell integrality monitoring modular and the container.
In intelligent container system of the present invention, described intelligent terminal further comprises: be used for the storer that the storage container chamber door is executed envelope logout, activation logout, query event record, deblocking logout, Logout Events record and illegal switch chamber door logout.
According to another aspect of the present invention, provide a kind of control method of intelligent container system, comprise the steps:
A, read-write equipment with wired or wireless transmission mode to intelligent terminal transmit operation order;
B, according to described operational order, described intelligent terminal carries out respective handling, and sends the corresponding response data with wired or wireless transmission mode to described intelligent terminal;
C, described read-write equipment send to described background monitoring system with described response data with wired or wireless transmission mode.
In the control method of intelligent container system of the present invention, described step b also comprises: cold machine equipment on described intelligent terminal monitoring containers internal environment, switch door state, container shell integrality and the container.
In the control method of intelligent container system of the present invention, described step b further comprises: described intelligent terminal record set vanning chamber door is executed envelope incident, activation incident, query event, deblocking incident, Logout Events and illegal switch chamber door incident.
In the control method of intelligent container system of the present invention, described operational order comprises: querying command and control command; Described response data comprises: inquiry response data and control response data.
In the control method of intelligent container system of the present invention, described querying command comprises: query set vanning door switch state, described intelligent terminal physical I D number, container ID are good, packing list number, mechanical plumbous title, described intelligent terminal alarm condition and state of activation, described intelligent terminal are executed envelope, activation, deblocking, Logout Events information and historical query operation event information; Described inquiry response data comprise: container door opening and closing state, described intelligent terminal physical I D number, container ID are good, packing list number, mechanical plumbous title, described intelligent terminal alarm condition and state of activation, described intelligent terminal are executed envelope, activation, deblocking, Logout Events information and historical query operation event information.
In the control method of intelligent container system of the present invention, described control command comprises: execute envelope order, the order of activation/preactivate, deblocking order, nullify order; According to described control command, described intelligent terminal is handled accordingly, and sends corresponding response data to described read-write equipment.
In the control method of intelligent container system of the present invention, described operational order and described response data are clear data or enciphered data, and transmit with ASCII character.
In the control method of intelligent container system of the present invention, described operational order and response data are the messages of packing through the PPP-HDLC agreement of simplifying.
In the control method of intelligent container system of the present invention, industrial bus mode with TTL, RS232, RS485, I2C-bus, CAN-bus or TCP/IP between described intelligent terminal and the described read-write equipment is carried out data communication, perhaps carries out wireless data communications with the frequency range of 125KHZ, 433MHZ, 915MHZ, 2.4GHZ.
Implement intelligent container system of the present invention and control method thereof, have following beneficial effect: it is more and more higher to satisfy the safety requirements of container in transportation, and realize to container in the world the full supply chain process carry out omnidistance tracking supervision, and the overall process that container is unpacked to destination payment on earth from the delivery joint sealing is supervised, guarantee the full safety of containerized shipment transportation, prevent any illegal unlatching in the full supply chain process.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples, in the accompanying drawing:
Fig. 1 is the structured flowchart of intelligent container system of the present invention.
Embodiment
As shown in Figure 1, in intelligent container system of the present invention, comprise the intelligent terminal 1 that is used for the monitoring containers state and carry out the read-write equipment 2 of data communication and background monitoring system 3 with intelligent terminal 1.By 2 pairs of intelligent terminals 1 of read-write equipment read and write data, data acquisition and control realizes the monitoring to container, upload the data to background monitoring system 3 by read-write equipment 2, from the position and the state of background monitoring system 3 remote monitoring containers.Intelligent terminal 1 comprises the internal container environment monitoring module, container door on off state monitoring modular, container shell integrality monitoring modular, cold machine equipment monitoring modular on the container.Intelligent terminal 1 is the central monitoring unit of intelligent container, be responsible for intelligent container in the dialogue and the communication of other monitoring terminal, and data session and communication between intelligent container and the exterior read-write equipment 2.
This container intelligent terminal 1 is executed envelope incident, activation incident, query event, deblocking incident, Logout Events and illegal switch chamber door incident by container chamber door status real time monitor, real time record container chamber door, thereby judge that by judgement container door on off state and authorization conditions whether safe container is in whole logistics chain process, thereby differentiate the degree of risk of container.Various data are utilized TCP/IP by read-write equipment in the intelligent terminal 1, RS232, wired mode such as RS485 or GPRS, CDMA, wireless modes such as 3G send to background monitoring system 3 with data, be implemented in the interior identity of full supply chain scope to monitoring containers, the delivery packing list number, consignment shipping corporation, the chamber door status information, different user is to the container door switch, execute envelope, activate, inquiry, deblocking, the automatic record of Action Events such as cancellation, identification and illegal unlatching chamber door incident write down and report to the police, and close the full-automatic green clearance that occasion such as management can realize container in the turnover of customs and stockyard, realize container cargo distribution and safety state information transparence that the full supply chain scope is interior, guarantee the convenient management of containerized shipment safety and assets.
Utilize the two-way data communication between communications protocol realization intelligent terminal 1 and the read-write equipment 2 in the intelligent container system of the present invention between container intelligent terminal 1 and fixing or the mobile read-write equipment 2.This agreement has special data protocol form, can carry out safe and reliable data transmission accurately with the assurance system under bad working environments, has made things convenient for the communication apparatus both sides to carry out packing data and parsing simultaneously.What described agreement comprised that read-write equipment is issued to the container intelligent terminal executes operational orders such as envelope, activation/preactivate, inquiry, deblocking, cancellation, comprise the variety of event data that are used for the inquiry terminal equipment records, comprise the alert data whether the container chamber door illegally opened, the event data that different user carries out various operations to terminal device, and the intelligent terminal on the container is executed envelope, activation/preactivate, inquiry, deblocking, cancellation operation; Intelligent terminal response read-write equipment is executed operational orders such as envelope, activation/preactivate, inquiry, deblocking, cancellation, and alert data, various different user that whether report set vanning chamber door is illegally opened adopt handheld terminal or fixed terminal equipment that it is carried out the event data of various operations; After read-write equipment issued to all orders of intelligent terminal in the described agreement, intelligent terminal all had the corresponding response data; Communication data comprises clear data or enciphered data in the described agreement; When adopting encrypted data transmission, all communication datas all are to carry out data encryption by DES/3-DES or other cryptographic algorithm in transmission course, to guarantee the security and the confidentiality of data transmission procedure.It also comprises the two major types empowerment management patterns that are used for common authorized user, particular authorized user (as government department of customs), intelligent terminal is carried out the operational administrative pattern of different rights by read-write equipment.
The data of all transmission all adopt ASCII character to realize; Each director data form comprises the total data of this instruction in the communications protocol, for example executes envelope order data form and comprises data and have: command type code, destination address, source address, operation user type, operation user name, intelligent terminal physical I D number, container ID number, read-write equipment are subordinate to company, date of operation time, container odd numbers, mechanical plumbous title, activation marker.Packet adopted the PPP-HDLC agreement of simplifying to be packaged into a message before issuing PORT COM such as serial ports.Header adds 3 territories, is respectively start bit (0x7e), and marker bit (0x41) and sequence number (increase one certainly after whenever sending a message, circulate between 0～0xFF) all account for a word.Being the content of packet afterwards, adding 2 territories at the end of packet at last, is respectively that two byte check bit sums are by position (0x7e).As follows.In the process of forming packet, command type correspondence type wherein, and command context all is placed in the data array.All are low bytes of low order address store data in the data structure that multibyte is represented, high byte is deposited in the high address.
The destination address that comprises the data layout message in the form of packet, the source address of message, instruction type, reservation group sign, command context length, command context.The message destination address destination address that sends to of message for this reason, source address sends the address number of the equipment of this message for this reason.Command type is the type of interactive command between terminal device and the read-write equipment, adopts two hexadecimal characters to indicate.Command context length is the length of interactive command content, does not comprise the length of this variable itself.The check word of check bit adopts the XOR (XOR) of the alphabet in the packet of the character that does not comprise check bit itself to calculate, and the character of check bit adopts the ASCII of 16 systems to export.In the data packet format, marker bit keeps sign in advance.In the described data packet format, sequence number from increasing one, circulates between 0～0xFF after whenever sending a message.For avoiding occurring the character identical in the message with start bit, must before the message packing, the character identical with start bit be replaced, otherwise the mark message start stop bit that the take over party can not be correct.Concrete method be with in the message except that start bit and by the position the 0x7e character replacement be 0x7d and two characters of 0x5e, simultaneously 0x7d is replaced with two characters of 0x7d and 0x5d.When receiving message, remove substitute character reduction message content earlier, remove the additional initial bit field of header and afterbody, marker bit then and end the position, obtain the content of packet and check bit.
Read-write equipment is issued to the querying command of intelligent terminal: comprise that inquiry intelligent terminal container door on off state, intelligent terminal physical I D number, container ID number, packing list number, mechanical plumbous title, intelligent terminal alarm condition and state of activation, intelligent terminal execute envelope, activation, deblocking, Logout Events information and historical query operation event information.All intelligent terminals in the inquiry read-write equipment communication context, the utility command word is " 65 " in the transmission, and the querying command destination address is a broadcast address, and source address is the physical I D numbering of read-write equipment own.As the cimc of company under cimc user's operating equipment, search purposes address: 0x0D00000003CD3927, query source address: 0x0CD00000004CD2827, the instruction hexadecimal data of transmission is: " 570D00000003CD39270CD00000004CD2827cimccimc ".Intelligent terminal uploads to the inquiry response data of read-write equipment: comprise that container door opening and closing state, intelligent terminal physical I D number, container ID number, packing list number, mechanical plumbous title, attitude intelligent terminal alarm condition and state of activation, intelligent terminal execute envelope, activation, deblocking, Logout Events information and query manipulation event information before.The container door opening and closing state, monitors chamber door as 0 expression and closes with its numeric representation user type with a byte data (8bit) or a position (1bit) expression, and 1 expression monitors chamber door and opens.Intelligent terminal physical I D number, container ID number, packing list number, mechanical plumbous title are respectively by 8,11,12,8 byte representations, as intelligent terminal physical I D number: 0D00000003CD3927, container ID number: TESU0472633, packing list number: 235000200678, the plumbous title of machinery: 22038699, wherein, packing list number and mechanical plumbous title such as deficiency are set position number of characters, then high-order zero padding.Alarm condition is with byte (8bit) data or a position (1bit) expression, and with its numeric representation alarm condition, as 0 expression alarm free, 1 expression has monitored alert event.Monitor whole state of activation with a byte (8bit) data representation, with its numeric representation state of activation, as 0 expression un-activation, 1 expression activates, 2 expression preactivates, and other numerical value keep.Intelligent terminal is executed envelope, activation, deblocking, Logout Events information and historical query operation event information, and with unified event data format record and upload, data are formed and comprised: the logout sequence number, intelligent terminal physical I D number, container ID number, packing list number, mechanical plumbous title, action type (referring to execute envelope, activation, deblocking, cancellation, query manipulation), the operation user name, company under the read-write equipment, date of operation time, door switch state, alarm condition and time.As executing envelope operation user name: cimc, company: cimc under the read-write equipment executes the envelope time: 2007-7-2 10:17:30; Read-write equipment is issued to the control command of intelligent terminal: what comprise that read-write equipment issues intelligent terminal executes envelope, activation, deblocking, cancellation control command.Executing envelope instruction comprises data and has: company, date of operation time, container odd numbers, mechanical plumbous title, activation marker under command type, destination address, raw address, operation user type, operation user name, intelligent terminal physical I D, container ID, the operating equipment.Executing envelope operation makes the intelligent terminal that is in factory state or exit state close at the container chamber door to enter the envelope state of executing under the condition, the beginning monitoring.The utility command word is " 53 " in the transmission.The deblocking instruction comprises data to be had: company under command type, destination address, source address, operation user type, operation user name, the operating equipment.Wherein destination address is indicated intelligent terminal physical I D number that needs operation.Deblocking is in the intelligent terminal of executing the envelope state, makes it stop monitoring.The utility command word is " 55 " in this agreement.As the cimc of company under cimc user's operating equipment, deblocking destination address: 0x0D00000003CD3927, deblocking source address: 0x0CD00000004CD2827, user's action type is the user of customs, the instruction hexadecimal data that sends is: " 550D00000003CD39270CD00000004CD282701cimccimc ", wherein operate user type " 01 " expression customs user type.Cancellation comprises data with the instruction of activation/preactivate to be had: company under command type, destination address, source address, operation user type, operation user name, the operating equipment.Activation/preactivate refers to activate/the preactivate operation being in the intelligent terminal of executing envelope or executing in advance under the envelope state; In the time of activation manipulation, the data relevant with this activation incident are uploaded to that data server authenticates and record.When the intelligent terminal of preactivate is scanned and activates under network environment is arranged, this preactivate incident and activate event data and be uploaded in the lump that data server authenticates and record.Monitor whole state of activation with a byte data (8bit) expression, with its numeric representation state of activation, as 0 expression un-activation, 1 expression activates, 2 expression preactivates, and other numerical value keep.The intelligent terminal that the cancellation operation is in the deblocking state is set to exit state, and uploads the Monitoring Data center, indicates the terminal point of this intelligent terminal stroke.Intelligent terminal uploads to the control response data of read-write equipment: what comprise that intelligent terminal response read-write equipment issues executes envelope, activation, deblocking, cancellation control command.The intelligent terminal response is executed the envelope director data and comprised: command type, destination address, seedbed refer to, Returning mark.Execute envelope response utility command word in this agreement and be " 54 ".As the envelope of enumerating in the patent specification 8 of executing is instructed, intelligent terminal is executed and is sealed successfully, return and execute envelope commanded response data and be: " 540CD00000004CD28270D00000003CD392701 ", wherein, envelope response Returning mark " 0x01 " expression of executing of last byte is executed and is sealed successfully.Intelligent terminal response deblocking, cancellation, activation instruction data comprise: command type, destination address, seedbed refer to, Returning mark.The encryption of communication data: for guaranteeing intelligent terminal and hand-held, vehicle-mounted, boat-carrying or fixed terminal reliability of data transmission and security, transmission again after all data sending terminal data can be encrypted, adopt DES, 3-DES or other cryptographic algorithm, encryption key can be revised.After taking inverse conversion with data decryption, does data receiver dissection process again.
Described intelligent terminal also comprises microprocessor core core module, intelligent terminal communication module (wireless or wired), door switch detecting module and other peripheral circuits, and be installed on the container chamber door, the real-time monitoring containers door switch of its door switch detecting module state is according to communications protocol work.Read-write equipment also comprises microprocessor core core module, terminal called module (wireless or wired), GPRS/CDMA/TCP/IP communication module and other peripheral circuits, and the communications protocol of foundation and intelligent terminal communication, and with the communication of Monitoring Data center.
Intelligent terminal is cast before dispatching from the factory, and is in running order always afterwards, carries out communication according to communications protocol and read-write equipment.Be in to execute and seal and the intelligent terminal monitoring in real time of state of activation and the container door opening and closing state of its binding, the various inquiry control commands that the response read-write equipment issues, and record is executed envelope to it, activate, deblocking, nullify, the event data of inquiry, thereby realize identity in the world to monitoring containers, the delivery packing list number, consignment shipping corporation, the chamber door status information, different user is to the container door switch, execute envelope, activate, inquiry, deblocking, the automatic record of Action Events such as cancellation, identification and illegal unlatching chamber door incident write down and report to the police, and close the full-automatic green clearance that occasion such as management can realize container in the turnover of customs and stockyard, realize container cargo distribution and safety state information transparence that global range is interior, guarantee the convenient management of containerized shipment safety and assets.
Claims (10)
1. an intelligent container system is characterized in that, comprising: be arranged on the container, and container carried out the intelligent terminal of real-time state monitoring and record; Carry out the read-write equipment of data communication with described intelligent terminal; Receive the background monitoring system of the data that described read-write equipment uploads.
2. intelligent container system according to claim 1, it is characterized in that described intelligent terminal comprises: cold machine equipment monitoring modular on internal container environment monitoring module, container switch door state monitoring module, container shell integrality monitoring modular and the container.
3. intelligent container system according to claim 1, it is characterized in that described intelligent terminal further comprises: be used for the storer that the storage container chamber door is executed envelope logout, activation logout, query event record, deblocking logout, Logout Events record and illegal switch chamber door logout.
4. the control method of an intelligent container system is characterized in that, comprises the steps:
A, read-write equipment with wired or wireless transmission mode to intelligent terminal transmit operation order;
B, according to described operational order, described intelligent terminal carries out respective handling, and sends the corresponding response data with wired or wireless transmission mode to described intelligent terminal;
C, described read-write equipment send to described background monitoring system with described response data with wired or wireless transmission mode.
5. the control method of intelligent container system according to claim 4 is characterized in that, described step b also comprises: cold machine equipment on described intelligent terminal monitoring containers internal environment, switch door state, container shell integrality and the container.
6. the control method of intelligent container system according to claim 5, it is characterized in that described step b further comprises: described intelligent terminal record set vanning chamber door is executed envelope incident, activation incident, query event, deblocking incident, Logout Events and illegal switch chamber door incident.
7. according to the control method of any described intelligent container system of claim 4 to 6, it is characterized in that described operational order comprises: querying command and control command; Described response data comprises: inquiry response data and control response data; Described querying command comprises: query set vanning door switch state, described intelligent terminal physical I D number, container ID are good, packing list number, mechanical plumbous title, described intelligent terminal alarm condition and state of activation, described intelligent terminal are executed envelope, activation, deblocking, Logout Events information and historical query operation event information; Described inquiry response data comprise: container door opening and closing state, described intelligent terminal physical I D number, container ID are good, packing list number, mechanical plumbous title, described intelligent terminal alarm condition and state of activation, described intelligent terminal are executed envelope, activation, deblocking, Logout Events information and historical query operation event information; Described control command comprises: execute envelope order, the order of activation/preactivate, deblocking order, nullify order; According to described control command, described intelligent terminal is handled accordingly, and sends corresponding response data to described read-write equipment.
8. according to the control method of any described intelligent container system of claim 4 to 6, it is characterized in that described operational order and described response data are clear data or enciphered data, and transmit with ASCII character.
9. the control method of intelligent container system according to claim 8 is characterized in that, described operational order and response data are the messages of packing through the PPP-HDLC agreement of simplifying.
10. according to the control method of any described intelligent container system of claim 4 to 6, it is characterized in that, industrial bus mode with TTL, RS232, RS485, I2C-bus, CAN-bus or TCP/IP between described intelligent terminal and the described read-write equipment is carried out data communication, perhaps carries out wireless data communications with the frequency range of 125KHZ, 433MHZ, 915MHZ, 2.4GHZ.
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| CNA2008100650305A CN101221440A (en) | 2008-01-09 | 2008-01-09 | Intelligent container system and control method thereof |
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| CNA2008100650305A CN101221440A (en) | 2008-01-09 | 2008-01-09 | Intelligent container system and control method thereof |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102592340A (en) * | 2012-02-29 | 2012-07-18 | 深圳市赛格导航科技股份有限公司 | Emergency unlocking method and system for engineering vehicles |
| CN102616507A (en) * | 2012-02-28 | 2012-08-01 | 江阴市富仁高科股份有限公司 | Electronic anti-theft device of storage tank truck and monitoring method thereof |
| WO2013071518A1 (en) * | 2011-11-18 | 2013-05-23 | 上海雷波信息技术有限公司 | Laboratory instrument linking system and method based on handheld intelligent terminal |
| CN103312452A (en) * | 2012-12-21 | 2013-09-18 | 深圳市富晶科技有限公司 | Communication method between automatic selling terminal and upper computer of automatic selling terminal |
| CN109472886A (en) * | 2018-10-17 | 2019-03-15 | 眉山德鑫航空设备股份有限公司 | A kind of airport based on technology of Internet of things is unpowered equipment monitor system |
| CN109564649A (en) * | 2016-07-22 | 2019-04-02 | 开利公司 | Multi items fleet Cold-chain management hardware module system |
| CN111438690A (en) * | 2020-04-03 | 2020-07-24 | 北京海益同展信息科技有限公司 | Distribution robot, method and device for controlling distribution robot, and storage medium |
| CN113065410A (en) * | 2021-03-10 | 2021-07-02 | 广州云从鼎望科技有限公司 | Intelligent control method, system, medium and device for container drawing process |
| CN113065410B (en) * | 2021-03-10 | 2024-06-04 | 广州云从鼎望科技有限公司 | Intelligent control method, system, medium and device for container picking process |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2013071518A1 (en) * | 2011-11-18 | 2013-05-23 | 上海雷波信息技术有限公司 | Laboratory instrument linking system and method based on handheld intelligent terminal |
| CN102616507A (en) * | 2012-02-28 | 2012-08-01 | 江阴市富仁高科股份有限公司 | Electronic anti-theft device of storage tank truck and monitoring method thereof |
| CN102592340A (en) * | 2012-02-29 | 2012-07-18 | 深圳市赛格导航科技股份有限公司 | Emergency unlocking method and system for engineering vehicles |
| CN103312452A (en) * | 2012-12-21 | 2013-09-18 | 深圳市富晶科技有限公司 | Communication method between automatic selling terminal and upper computer of automatic selling terminal |
| CN109564649A (en) * | 2016-07-22 | 2019-04-02 | 开利公司 | Multi items fleet Cold-chain management hardware module system |
| CN109472886A (en) * | 2018-10-17 | 2019-03-15 | 眉山德鑫航空设备股份有限公司 | A kind of airport based on technology of Internet of things is unpowered equipment monitor system |
| CN111438690A (en) * | 2020-04-03 | 2020-07-24 | 北京海益同展信息科技有限公司 | Distribution robot, method and device for controlling distribution robot, and storage medium |
| CN113065410A (en) * | 2021-03-10 | 2021-07-02 | 广州云从鼎望科技有限公司 | Intelligent control method, system, medium and device for container drawing process |
| CN113065410B (en) * | 2021-03-10 | 2024-06-04 | 广州云从鼎望科技有限公司 | Intelligent control method, system, medium and device for container picking process |
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