CN101894491A - Training system for concrete pump truck - Google Patents
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- CN101894491A CN101894491A CN 201010235546 CN201010235546A CN101894491A CN 101894491 A CN101894491 A CN 101894491A CN 201010235546 CN201010235546 CN 201010235546 CN 201010235546 A CN201010235546 A CN 201010235546A CN 101894491 A CN101894491 A CN 101894491A
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Abstract
The invention discloses a training system for a concrete pump truck. The training system comprises an operating device, a virtual reality device and a display device, wherein the operating device is an operating device really applied by a predetermined concrete pump truck and comprises a turntable rocker and a plurality of arm rockers; the turntable rocker controls a turntable of the predetermined concrete pump truck; the arm rockers control arms of the predetermined concrete pump truck; the operating device outputs a control signal according to the states of the turntable rocker and the arm rockers; the virtual reality device forms a virtual concrete pump truck according to the predetermined concrete pump truck and changes the state of the virtual concrete pump truck according to the control signal; and the display device outputs the state of the virtual concrete pump truck. As the operating device is the operating device really applied by the predetermined concrete pump truck, the training system for the concrete pump truck has an operating environment more similar to that of the operation of a real concrete pump truck by the really applied operating device.
Description
Technical field
The present invention relates to a kind of technology of concrete construction field, particularly a kind of training system for concrete pump truck.
Background technology
The accelerated development of Developing country cities process is for engineering machinery provides the huge market opportunity.Wherein, the develop rapidly of construction industry such as real estate, high speed railway construction heightens to the demand of concrete mixer; When the demand of concrete mixer heightens, also more and more higher to concrete mixer operating personnel's construction technical ability, technical requirement.How to train the concrete mixer operating personnel, how to guarantee that operating personnel have the major issue that higher practical operation technical ability is current concrete construction field.
At present, the process of training the operating personnel of common engineering machinery generally is: carry out the training of Theory Course journey earlier, behind theoretical End-of-Course, carry out the real vehicle operation training, the operative skill and the skill of study respective work machine.Long-time real vehicle training just can be on top of because constructing operation technical ability and skill are needs; And the real vehicle training has cost height, the high deficiency of consumptive material, and the student also is subjected to restrictions such as time, economic condition in training process.For this reason, currently developed multiple simulation operation training system; As: excavator, crane, motorized grader, shovel loader, fork truck, dozer, the existing relevant simulation operation training system of street roller.
Simulation operation training system mainly comprises simulation operation apparatus, controller, virtual reality device and display device; Simulation operation apparatus has the functional unit similar with respective work machine, and the student can obtain the simulated operation action of real vehicle training by the functional unit on the control simulation operation apparatus; Simultaneously, simulation operation apparatus produces corresponding operation signal, sends this operation signal to controller; Controller is used for operation signal is changed, and forms dummy instruction, and dummy instruction is sent to the virtual reality device, drives the running of virtual reality device, and exports the virtual reality scenario of engineering machinery by display device.In general, the virtual reality device can be realized by known virtual reality software.
Though existing simulation operation training system can the enhancement training effect by simulation real vehicle operation, can allow the student understand interaction relation between functional unit and the virtual reality; But, be difficult to obtain the operation feeling of vertical cut because simulation operation apparatus can not allow the student obtain real operating experience.Because the concrete mixer operating process is very complicated, and variation pattern is varied, utilizes existing simulation operation training system that the student is giveed training, is difficult to reach the purpose of training.Therefore, how existing simulation operation training system is transformed, to obtain operating more approaching operating environment with real vehicle, the enhancement training effect is an important technological problems of this technical field.
Summary of the invention
, the objective of the invention is to for this reason, a kind of training system for concrete pump truck is provided, this system has and the more approaching operating environment of real vehicle operation.
To achieve these goals, training system for concrete pump truck provided by the invention comprises operating control, virtual reality device and display device; Described operating control is the operating control of predetermined concrete mixer practical application, and comprises turntable rocking bar and a plurality of joint arm rocking bar, and described turntable rocking bar is used to control the turntable of described predetermined concrete mixer; A plurality of joint arm rocking bars are respectively applied for each joint arm of the described predetermined concrete mixer of control; Described operating control can be according to the state output control signal of turntable rocking bar and joint arm rocking bar; Described virtual reality device can form virtual concrete mixer according to described predetermined concrete mixer, and changes the state of described virtual concrete mixer according to control signal; Described display device is used for virtual concrete mixer output.
Optionally, described training system for concrete pump truck also comprises controller, and described controller is the controller of the described predetermined concrete mixer of control, and described operating control output control signal can be converted into action command; Described virtual reality device can change the state of described virtual concrete mixer according to action command.
Optionally, described training system for concrete pump truck also comprises wireless communication apparatus, described wireless communication apparatus comprises wireless telecommunications transmitter and wireless communication receiver, described wireless telecommunications transmitter is used for the control signal of described operating control output is launched with wireless control signal, described wireless communication receiver links to each other with controller, and can receive the wireless control signal that described wireless telecommunications transmitter is launched, and the wireless control signal that will receive is converted to wired control signal, sends to described controller again.
Optionally, described operating control also comprises the engine kill switch, described operating control can be according to the state of engine kill switch, to described controller output engine control signal, described controller can start or flame-out instruction according to this engine control signal output by described wireless communication apparatus; Described virtual reality device can be according to starting or flame-out instruction changes the state of the engine of described virtual concrete mixer; Described virtual reality device can judge whether to change according to other instructions of described controller output the state of described virtual concrete mixer according to the state of described virtual concrete pump car engine.
Optionally, described operating control also comprises velocity selector, described operating control can be according to the state of velocity selector, and to described controller output speed control signal, described controller can instruct according to speed control signal output speed gear by described wireless communication apparatus; Described virtual reality device can make the joint arm of described virtual concrete mixer or turntable change with predetermined speed according to described speed threshold instruction.
Optionally, described operating control also comprises the pumping mode selector, described operating control can be according to the state of pumping mode selector, to described controller output mode control signal, described controller can be according to described mode control signal output mode selection instruction by described wireless communication apparatus; Described virtual reality device can make described virtual concrete mixer turn round with preassigned pattern according to described model selection instruction.
Optionally, described operating control also comprises the discharge capacity regulator, described operating control can be according to the state of discharge capacity regulator, and to described controller output discharge capacity control signal, described controller can be according to the regulating command of discharge capacity control signal output discharge capacity by described wireless communication apparatus; Described virtual reality device can make described virtual concrete mixer carry out pumping with predetermined discharge capacity according to the discharge capacity regulating command.
Optionally, described training system for concrete pump truck also comprises voice output, described operating control also comprises horn switch, described operating control can be according to the state of horn switch, export the signal of ringing by described wireless communication apparatus to described controller, described controller can be exported the instruction of ringing according to the signal of ringing; Described voice output can be according to the instruction of ringing, and generation is rung.
Optionally, described operating control also comprises emergency stop switch, described operating control can be according to the state of emergency stop switch, and to described controller output washout, described controller can be exported urgent halt instruction according to washout by described wireless communication apparatus; Described virtual reality device can shut down described virtual concrete mixer according to urgent halt instruction.
Optionally, described training system for concrete pump truck also comprises DC power supplier and starting switch, and described DC power supplier links to each other with controller with described wireless communication receiver respectively by starting switch.
Compared with prior art, in the training system for concrete pump truck provided by the invention, its operating control is the operating control that is used to control predetermined concrete mixer, and the virtual reality device can form virtual concrete mixer; Like this, the virtual reality device can change virtual concrete state according to the control signal of operating control output, exports the state of virtual concrete mixer more in real time by display device.Because operating control is the operating control of predetermined concrete mixer practical application, the operating control of practical application is complementary with the virtual reality device that is fit to, on the one hand, the operating control of practical application can be given manipulating objects identical with practical application of student, on the other hand, the operating control of practical application can make this training system have the operating pattern identical with practical application, control action and manipulation process; This just makes the training system of concrete mixer have and the more approaching operating environment of real vehicle operation, and then the enhancement training effect.
In further technical scheme, training system for concrete pump truck also comprises controller.By controller the control signal of operating control is changed, by controller is implanted different programs, again by changing corresponding operating control, can make training system for concrete pump truck can simulate the action of more kinds of concrete mixers, and then can realize training that a plurality of concrete mixers are handled by a training system.
In further technical scheme, training system for concrete pump truck also comprises wireless communication apparatus, and this wireless communication apparatus comprises wireless telecommunications transmitter and wireless communication receiver; The wireless telecommunications transmitter links to each other with operating control, and wireless communication receiver links to each other with controller.This training system can make the scene and the real vehicle manipulation that provide more approaching on the one hand, can facilitate for the student gives operation training on the other hand.
In further technical scheme, the operating control of training system for concrete pump truck has also increased correlation control unit, with corresponding with corresponding actual concrete mixer, can make this training system that the training contents of more concrete mixers is provided like this.
Description of drawings
Fig. 1 is the structured flowchart of a kind of training system for concrete pump truck of providing of the embodiment of the invention;
Fig. 2 is that the structured flowchart of operating control shows the annexation between operating control and the wireless telecommunications transmitter simultaneously in the training system for concrete pump truck that provides of embodiment.
Embodiment
Describe the present invention below in conjunction with accompanying drawing, the description of this part only is exemplary and explanatory, should any restriction not arranged to protection scope of the present invention.
When utilizing concrete mixer to carry out the transmission and concrete transmission operation, generally in distance job position position far away jib, turntable or other parts are controlled by corresponding operating control; Its operating control has gently little, portable characteristics.Core of the present invention is: gently little, the portable characteristics of utilizing operating control, operating control practical application, the control concrete mixer combined with the virtual reality device forms a kind of training system for concrete pump truck that is different from Other Engineering machinery training system, so that it has and real vehicle is operated more approaching operating environment.
Please refer to Fig. 1 and Fig. 2, Fig. 1 is the structured flowchart of a kind of training system for concrete pump truck of providing of the embodiment of the invention, Fig. 2 is that the structured flowchart of operating control shows the annexation between operating control and the wireless telecommunications transmitter simultaneously in the training system for concrete pump truck that provides of embodiment.
This training system for concrete pump truck comprises operating control 100, wireless communication apparatus 200, controller 300, virtual reality device 400, display device 500 and DC power supplier 600.Below respectively each several part is described respectively.
Identical with the concrete mixer real vehicle, in order to guarantee the reliability of concrete pump vehicle control, also be provided with the DC power supplier 600 that power supply is provided for wireless communication receiver 220 and controller 300 separately, output terminal in DC power supplier 600 can also be provided with suitable starting switch, so that DC power supplier 600 links to each other with controller 300 with wireless communication receiver 220 respectively by starting switch.Closed starting switch can make wireless communication receiver 220 and controller 300 power on; Disconnect starting switch, can make wireless communication receiver 220 and controller 300 outages.
In the training system for concrete pump truck that present embodiment provides, because operating control 100 is for being used to control the operating control of actual concrete mixer; By controller 300, virtual reality device 400 can change virtual concrete state according to the control signal of operating control 100 outputs, exports the state of virtual concrete mixer more in real time by display device 500.Because operating control 100 is the operating control of predetermined concrete mixer practical application, the operating control 100 of practical application is complementary with the virtual reality device 400 that is fit to, on the one hand, operating control 100 by practical application can be given manipulating objects identical with practical application of student, on the other hand, the operating control 100 of practical application can make this training system have the operating pattern identical with practical application, control action and manipulation process; This just makes this training system for concrete pump truck have and the more approaching operating environment of real vehicle operation, and then the enhancement training effect.
In addition, when operating control 100 and virtual reality device 400 are complementary, be that virtual reality device 400 can the Direct Recognition operating control under the situation of 100 control signals that produce, also can make operating control 100 directly by wired or pass through wireless communication apparatus 200 and link to each other with virtual reality device 400, save controller 300, simplify the structure of training system for concrete pump truck.
Because in the embodiment of the invention, operating control 100 is identical with the manipulation of the concrete mixer of practical application, therefore, operating control 100 is except comprising joint arm rocking bar 110 and turntable rocking bar 120 parts, also comprise multiple other control assembly, below respectively each control assembly function and principle of work are described.
Concrete mixer for reality, its power resources are generally engine, whether the whether running decision concrete mixer of engine can carry out normal pumping work, therefore, in the concrete mixer of reality, operating control 100 also comprises engine kill switch 130, with the running by the actual concrete pump car engine of operating control 100 controls.For the training system for concrete pump truck that the embodiment of the invention provides, operating control 100 can be exported engine control signals by wireless communication apparatus 200 to controller 300 according to the state of engine kill switch 130; Controller 300 can start or flame-out instruction according to engine control signal output; Virtual reality device 400 can change the state of the engine of virtual concrete mixer according to startup or flame-out instruction, and can virtual concrete mixer be illustrated by display device 500.When controller 300 output enabled instructions, virtual reality device 400 makes the engine start and the running of virtual concrete mixer, and when the flame-out instruction of controller 300 outputs, virtual reality device 400 makes the engine kill of virtual concrete mixer, shuts down.And, virtual reality device 400 can also be according to the difference of the state of virtual concrete pump engine, the signal that other functional unit actions are produced carries out different reactions, promptly, judge whether that the instruction according to described controller 300 outputs changes the state of described virtual concrete mixer according to the state of described virtual concrete pump car engine.When the engine of virtual concrete mixer was flameout state, virtual reality device 400 can make the state of virtual concrete mixer remain unchanged; Under this state, even change the state of other control assemblies on the operating control 100, virtual reality device 400 also no longer reacts; Only when the engine of virtual concrete mixer is operating condition, in the change of the state of other control assemblies, controller 300 is during based on the command adapted thereto of this output, and virtual reality device 400 just changes the state of virtual concrete mixer according to corresponding instruction.
In order to tackle different operating mode needs, actual concrete mixer joint arm or turntable are moved with different speed, operating control 100 also comprises velocity selector 140, velocity selector 140 has fast shelves state and slow shelves state, difference according to the state of velocity selector 140, operating control 100 can be by described wireless communication apparatus 200 to controller 300 output speed control signals, and controller 300 can instruct according to speed control signal output speed gear.In the training system for concrete pump truck that the embodiment of the invention provides, virtual reality device 400 can make the joint arm of virtual concrete mixer or turntable change with predetermined speed according to above-mentioned speed threshold instruction.Velocity selector 140 can be provided with fast shelves and slow shelves, so that the joint arm of virtual concrete mixer launches with different speed or draws in, makes turntable with different speed rotations.Be appreciated that velocity selector 140 functions will just can be embodied in the state variation of virtual concrete mixer in conjunction with joint arm rocking bar 110 or in conjunction with the action of turntable rocking bar 120.
Actual concrete mixer has multiple pumping pattern, and therefore, the pumping mode selector 160 of operating control 100 has three kinds of states, represents that respectively concrete mixer carries out forward pumping, reverse pumping and stops three kinds of patterns of pumping.According to the difference of the state of pumping mode selector 160, to the corresponding mode control signal of controller 300 outputs, controller 300 is according to corresponding mode control signal output mode selection instruction by wireless communication apparatus 200 for described operating control 100.Virtual reality device 400 is according to the pumping of model selection Instruction Selection forward, reverse pumping and stop one of three kinds of patterns of pumping, and makes virtual concrete mixer with selected mode operation.When pumping mode selector 160 is selected forward pumping pattern, make the terminal sight that shows deposit concrete of virtual concrete mixer delivery pipe; When pumping mode selector 160 is selected reverse pumping pattern, make the terminal oppositely suction of virtual concrete mixer delivery pipe, delivery pipe is cleaned; When pumping mode selector 160 is selected to stop the pumping pattern, make virtual concrete mixer stop pumping.
Identical with practical operation, export concrete flow in order to regulate concrete pump, operating control 100 also comprises discharge capacity regulator 180, discharge capacity regulator 180 is with respect to the position difference of manoeuvring platform, expression proposes different discharge capacity demands to concrete mixer, and at this moment, operating control 100 is according to the state of discharge capacity regulator 180, to controller 300 output discharge capacity control signals, controller 300 can be according to the instruction of discharge capacity control signal output discharge capacity by wireless communication apparatus 200.At this moment, virtual reality device 400 can instruct according to discharge capacity, the concrete cylinder that makes virtual concrete mixer with different speed or/and the frequency action, so that the predetermined discharge capacity of virtual concrete pump is carried out pumping.
In the operation of the concrete pump of reality, concrete mixer also can voice output mechanism, to produce and to export corresponding sound; For this reason, training system for concrete pump truck can also have suitable voice output (not shown), in order to obtain good actual operating condition, voice output can be installed in place according to the position of display device 500, so that sound that voice output produces and the virtual concrete mixer in the display device 500 have good coupling.In this example, operating control 100 also comprises horn switch, and operating control 100 can be exported the signal of ringing by described wireless communication apparatus 200 to controller 300 according to the state of horn switch, and controller 300 is exported the instruction of ringing according to the signal of ringing; Corresponding voice output is according to ringing instruction, and generation is rung.
In practice, operating control 100 also comprises emergency stop switch, with under the emergency circumstance, actual concrete mixer is shut down.In this example, also has emergency stop switch 160 on the operating control 100, and operating control 100 can be according to the state of emergency stop switch 160, and to controller 300 output washouts, controller 300 is exported urgent halt instruction according to washout by described wireless communication apparatus 200.At this moment, virtual reality device 400 can shut down described virtual concrete mixer according to urgent halt instruction.Identical with the manipulation of actual concrete mixer, only after promptly stopping shape 160 and resetting, virtual reality device 400 just changes the state of virtual concrete mixer according to the command adapted thereto of controller 300 outputs.
Since the embodiment of the invention can the simulation concrete pump truck various construction operation operating modes, environment and the task in the real work, can increase operating personnel's training time significantly, and then can reduce financial cost significantly; When 45 meters concrete mixers of training, the training cost of real vehicle training is about 1000 yuan/hour, and the training system for concrete pump truck that adopts the embodiment of the invention to provide, its training cost can be reduced to 2.5 yuan/hour.
The above only is a preferred implementation of the present invention, should be understood that, for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also make some improvements and modifications, such as, for the speed that improves data transmission and the reliability of transmission, can wireless communication receiver 220 be linked to each other with controller 300 by the CAN bus, can pass through the RS232 data line and link to each other with computer by serial as virtual reality device 400; Saving controller 300, when wireless communication receiver 220 was directly linked to each other with virtual reality device 400, the mode that also can adopt CAN to change serial ports or CAN commentaries on classics USB was carried out data transmission; Can also be according to actual needs, utilize that virtual reality device 400 is provided with other sound, image, construct in each scene, examination points-scoring system and interactive what comes into a driver's equipment, or the like.These improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. a training system for concrete pump truck is characterized in that, comprises operating control (100), virtual reality device (400) and display device (500);
Described operating control (100) is the operating control of predetermined concrete mixer practical application, and comprises turntable rocking bar (120) and a plurality of joint arm rocking bars (110), and described turntable rocking bar (120) is used to control the turntable of described predetermined concrete mixer; A plurality of joint arm rocking bars (110) are respectively applied for each joint arm of the described predetermined concrete mixer of control; Described operating control (100) can be according to the state output control signal of turntable rocking bar (120) and joint arm rocking bar (110);
Described virtual reality device (400) can form virtual concrete mixer according to described predetermined concrete mixer, and changes the state of described virtual concrete mixer according to control signal;
Described display device (500) is used for virtual concrete mixer output.
2. training system for concrete pump truck according to claim 1, it is characterized in that, also comprise controller (300), described controller (300) is the controller of the described predetermined concrete mixer of control, and described operating control (100) output control signal can be converted into action command; Described virtual reality device (400) can change the state of described virtual concrete mixer according to action command.
3. training system for concrete pump truck according to claim 2, it is characterized in that, also comprise wireless communication apparatus (200), described wireless communication apparatus (200) comprises wireless telecommunications transmitter (210) and wireless communication receiver (220), described wireless telecommunications transmitter (210) is used for the control signal of described operating control (100) output is launched with wireless control signal, described wireless communication receiver (220) links to each other with controller (300), and can receive the wireless control signal that described wireless telecommunications transmitter (210) is launched, and the wireless control signal that will receive is converted to wired control signal, sends to described controller (300) again.
4. training system for concrete pump truck according to claim 3, it is characterized in that, described operating control (100) also comprises engine kill switch (130), described operating control (100) can be according to the state of engine kill switch (130), to described controller (300) output engine control signal, described controller (300) can start or flame-out instruction according to this engine control signal output by described wireless communication apparatus (200); Described virtual reality device (400) can be according to starting or flame-out instruction changes the state of the engine of described virtual concrete mixer; Described virtual reality device (400) can judge whether to change according to other instructions of described controller (300) output the state of described virtual concrete mixer according to the state of described virtual concrete pump car engine.
5. training system for concrete pump truck according to claim 3, it is characterized in that, described operating control (100) also comprises velocity selector (140), described operating control (100) can be according to the state of velocity selector (140), to described controller (300) output speed control signal, described controller (300) can instruct according to speed control signal output speed gear by described wireless communication apparatus (200); Described virtual reality device can make the joint arm of described virtual concrete mixer or turntable change with predetermined speed according to described speed threshold instruction.
6. training system for concrete pump truck according to claim 3, it is characterized in that, described operating control (100) also comprises pumping mode selector (150), described operating control (100) can be according to the state of pumping mode selector (150), to described controller (300) output mode control signal, described controller (300) can be according to described mode control signal output mode selection instruction by described wireless communication apparatus (200); Described virtual reality device (400) can make described virtual concrete mixer turn round with preassigned pattern according to described model selection instruction.
7. training system for concrete pump truck according to claim 3, it is characterized in that, described operating control (100) also comprises discharge capacity regulator (180), described operating control can be according to the state of discharge capacity regulator (180), to described controller (300) output discharge capacity control signal, described controller (300) can be according to the regulating command of discharge capacity control signal output discharge capacity by described wireless communication apparatus (200); Described virtual reality device (400) can make described virtual concrete mixer carry out pumping with predetermined discharge capacity according to the discharge capacity regulating command.
8. training system for concrete pump truck according to claim 3, it is characterized in that, also comprise voice output, described operating control (100) also comprises horn switch (170), described operating control (100) can be according to the state of horn switch (170), export the signal of ringing by described wireless communication apparatus (200) to described controller (300), described controller (300) can be exported the instruction of ringing according to the signal of ringing; Described voice output can be according to the instruction of ringing, and generation is rung.
9. training system for concrete pump truck according to claim 3, it is characterized in that, described operating control (100) also comprises emergency stop switch (160), described operating control (100) can be according to the state of emergency stop switch, to described controller (300) output washout, described controller (300) can be exported urgent halt instruction according to washout by described wireless communication apparatus (200); Described virtual reality device (400) can shut down described virtual concrete mixer according to urgent halt instruction.
10. according to each described training system for concrete pump truck of claim 3-9, it is characterized in that, also comprise DC power supplier (600) and starting switch, described DC power supplier (600) links to each other with controller (300) with described wireless communication receiver (220) respectively by starting switch.
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| CN2010102355467A CN101894491B (en) | 2010-07-22 | 2010-07-22 | Training system for concrete pump truck |
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| CN2010102355467A CN101894491B (en) | 2010-07-22 | 2010-07-22 | Training system for concrete pump truck |
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| CN101894491A true CN101894491A (en) | 2010-11-24 |
| CN101894491B CN101894491B (en) | 2012-05-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102810268A (en) * | 2011-05-30 | 2012-12-05 | 同济大学 | Automobile turning blind area demonstration system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1645433A (en) * | 2005-01-19 | 2005-07-27 | 三一重工股份有限公司 | Signal collecting controller of pumping vehicle arm rack |
| CN201716883U (en) * | 2010-07-22 | 2011-01-19 | 三一重工股份有限公司 | Concrete pump truck training system |
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2010
- 2010-07-22 CN CN2010102355467A patent/CN101894491B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1645433A (en) * | 2005-01-19 | 2005-07-27 | 三一重工股份有限公司 | Signal collecting controller of pumping vehicle arm rack |
| CN201716883U (en) * | 2010-07-22 | 2011-01-19 | 三一重工股份有限公司 | Concrete pump truck training system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102810268A (en) * | 2011-05-30 | 2012-12-05 | 同济大学 | Automobile turning blind area demonstration system |
| CN102810268B (en) * | 2011-05-30 | 2014-09-17 | 同济大学 | Automobile turning blind area demonstration system |
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| CN101894491B (en) | 2012-05-23 |
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