CN102514618A - Track-span self-propelled chassis and automatic steering control method thereof - Google Patents
Track-span self-propelled chassis and automatic steering control method thereof Download PDFInfo
- Publication number
- CN102514618A CN102514618A CN2011104358055A CN201110435805A CN102514618A CN 102514618 A CN102514618 A CN 102514618A CN 2011104358055 A CN2011104358055 A CN 2011104358055A CN 201110435805 A CN201110435805 A CN 201110435805A CN 102514618 A CN102514618 A CN 102514618A
- Authority
- CN
- China
- Prior art keywords
- wheel
- track
- distance
- left rear
- hind
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention provides an automatic steering control system and an automatic steering control method of a track-span self-propelled chassis. The automatic steering control system comprises a controller, a left front ranging sensor, a right front ranging sensor, a left rear ranging sensor and a right rear ranging sensor. The left front ranging sensor is used for detecting the distance between a left front wheel and a track in real time, the right front ranging sensor is used for detecting the distance between a right front wheel and the track in real time, the left rear ranging sensor is used detecting the distance between a left rear wheel and the track in real time, and the right rear ranging sensor is used detecting the distance between a right rear wheel of the track-span self-propelled chassis and the track in real time. The controller receives detecting results sent by all the sensors and controls walking of the chassis according to the detecting results. By means of the automatic steering control system and the automatic steering control method of the track-span self-propelled chassis, the chassis can be automatically guided to walk, the control method is simple, a small number of the ranging sensors are adopted, and roadbed and device damage caused by false operation due to sensor breakdown is not apt to happen. In addition, control methods of advancing and retreating are the same, so that steering parameters are not needed to be readjusted after reversing of advancing and retreating, and operation is facilitated.
Description
Technical field
The present invention relates to engineering machinery field, be meant a kind of track chassis and automatic steering control method thereof voluntarily of striding especially.
Background technology
At present, but the cross-track mortar car of automatic steering generally is to measure wheel and the interorbital distance in both sides through ultrasonic transduter; And will apart from the absolute value and the setting value of difference relatively realize automatic steering, but because front-wheel is different with the rear-axle steering control principle, after forward/backward commutates; Need readjust turn around parameters; Parameter is provided with complicacy, and operating difficulties needs the special professional of training.
Summary of the invention
The present invention proposes a kind of track chassis automatic steering control system and method voluntarily of striding, and native system can turn to by full automaticity, is not easy to bump against track, and parameter is provided with simply, and is easy to operate.
On the one hand, the present invention proposes a kind of track chassis voluntarily of striding, and comprises the near front wheel, off front wheel, left rear wheel, off hind wheel, and said left and right front-wheel installed in front has distance measuring sensor; Said left and right trailing wheel rear side is equipped with distance measuring sensor; Said left rear wheel and/or off hind wheel are equipped with middle level sensor; But the controller of setup parameter is used for receiving the range finding result of above-mentioned each sensor, and controls above-mentioned each wheel according to the result after said result and the parameter preset contrast and move.
Further, said distance measuring sensor is a ultrasonic transduter.
Further, said the near front wheel and/or off front wheel are equipped with middle level sensor.。
Further, said the near front wheel, off front wheel, left rear wheel, off hind wheel include two wheels, and the vehicle bridge through the belt wheel frame between said two wheels connects.
Further, on the wheel wheel carrier in the front of said left and right front-wheel support is installed all, said distance measuring sensor is installed on the said support; On the wheel wheel carrier in the back of said left and right trailing wheel support is installed all, said distance measuring sensor is installed on the said support.
Further, the combination in any between said the near front wheel, off front wheel, left rear wheel, the off hind wheel is equipped with limit switch, and said controller is controlled said maximum rotation angle of taking turns through the testing result of said limit switch.
Further, said limit switch is installed on the said vehicle bridge; Level sensor is installed on the said vehicle bridge in said.
On the other hand; The present invention also proposes a kind of track chassis automatic steering control method voluntarily of striding, and comprises the steps: that the near front wheel turns to controlled step, when left front distance measuring sensor detects the near front wheel and interorbital distance less than preset value a; Controller control front-wheel turns left; When detecting the near front wheel and interorbital distance greater than preset value b, controller control front-wheel stops to turn left, and wherein b is greater than a; Off front wheel turns to controlled step; When right front distance measuring sensor detected distance between off front wheel and track inwall less than preset value c, controller control off front wheel was turned right, up to when off front wheel and interorbital distance during greater than preset value d; Controller control off front wheel stops to turn right, and wherein d is greater than c; Left rear wheel turns to controlled step; When left back distance measuring sensor detected left rear wheel and interorbital distance less than preset value e, controller control left rear wheel turned left, when detecting distance between left rear wheel and track inwall less than preset value f when the left rear wheel distance measuring sensor; Controller control left rear wheel stops to turn left; Wherein f is less than e, and when the distance between left rear wheel and track inwall during greater than certain preset value j, controller control left rear wheel is turned right; When trailing wheel is returned to the meta position, stop to turn to, wherein j is greater than f and less than e; Off hind wheel turns to controlled step, and when right back distance measuring sensor detected distance between off hind wheel and track inwall less than preset value g, controller control off hind wheel was turned right; Up to when the distance between off hind wheel and track inwall during less than preset value h, controller control off hind wheel stops to turn left, and wherein h is less than g; Distance when between off hind wheel and track inwall is greater than preset value i; Off hind wheel turns left, and when off hind wheel is returned to the meta position, stops to turn to, and i is greater than h and less than g.
Further, when the negative line feed of chassis, former the near front wheel becomes off hind wheel, and former off front wheel becomes left rear wheel, and former off hind wheel becomes the near front wheel, and former left rear wheel becomes off front wheel, and the controlled step of said each wheel is corresponding to be changed.
The present invention realizes that through the controller guiding chassis full automaticity turns to, and control method is simple, and distance measuring sensor is few, is not easy to damage roadbed and equipment because of sensor fault produces misoperation; Because the control method that the present invention moves forward and backward is identical, after the forward/backward switching-over, need not readjust turn around parameters in addition, easy to operate, do not need the special training operating personal.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work property, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 strides the track right elevation on chassis voluntarily for the present invention;
Fig. 2 strides the track front elevation on chassis voluntarily for the present invention;
Fig. 3 strides the track back view on chassis voluntarily for the present invention;
Fig. 4 is the scheme of installation of sensor among the present invention;
Fig. 5 strides track chassis automatic steering control method diagram of circuit voluntarily for the present invention;
Fig. 6 is a front-wheel steering control method diagram of circuit of the present invention;
Fig. 7 is a rear-axle steering control method diagram of circuit of the present invention.
The specific embodiment
To combine the accompanying drawing in the embodiment of the invention below, the technical scheme in the embodiment of the invention is carried out clear, intactly description, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the present invention's protection.
Stride track chassis embodiment voluntarily:
Present embodiment is referring to Fig. 1-Fig. 4, and Fig. 1 strides the track right elevation on chassis voluntarily.
With reference to Fig. 1-Fig. 3, present embodiment is striden track chassis voluntarily, but comprises the controller 11 of the near front wheel 20, off front wheel 19, left rear wheel 18, off hind wheel 17 and setup parameter.Wherein the installed in front of the near front wheel 20 has distance measuring sensor 10, and the installed in front of off front wheel 19 has distance measuring sensor 9, and left rear wheel 18 rear sides are equipped with distance measuring sensor 2, and off hind wheel 17 rear sides are equipped with distance measuring sensor 1.A left side and/or off front wheel, a left side and/or off hind wheel are equipped with middle level sensor, are used to detect meta position, chassis.But the controller 11 of setup parameter is used for receiving the range finding result of above-mentioned each sensor, and controls above-mentioned each wheel motion according to the result after range finding result and the parameter preset contrast.
Preferably; The near front wheel, off front wheel, left rear wheel, off hind wheel include two wheels; Vehicle bridge 14 through belt wheel frame 16 between two wheels is connected; On the near front wheel 20 and wheel wheel carrier of off front wheel 19 fwds support 15 is installed all, distance measuring sensor 11 is installed in respectively on the support 15 of the near front wheel and off front wheel with distance measuring sensor 9.On the wheel wheel carrier of left rear wheel 18 and off hind wheel 17 back support 15 is installed all, distance measuring sensor 2 is installed in respectively on the support 15 of left rear wheel and off hind wheel, like Fig. 1, shown in Figure 4 with distance measuring sensor 1.
During practical implementation, limit switch can also be set, limit switch is used to control the hard-over of wheel, and middle level sensor is used to detect the midway location that track is positioned at the chassis.In level sensor realize through a switch, comprise in bit switch 7 in the front-wheel, the middle wheel bit switch 3 in the bit switch 5 and trailing wheel, can be installed on the vehicle bridge of wheel, off front wheel or off hind wheel in the near front wheel or left rear wheel, left center or the right side.Limit switch can comprise front-wheel limit switch 8, middle wheel limit switch 6 and trailing wheel limit switch 4, is installed on the vehicle bridge of wheel, off hind wheel and off hind wheel in the near front wheel, off front wheel, left center, the right side.When wheel in certain angle touches when bit switch or limit switch, middle bit switch or limit switch are to controller 11 fire switch amount signals, controller 11 control wheels stop operating.
Preferably, the controller in the present embodiment also comprises a parameter setup unit, and the benefit handled easily personnel that this unit is set revise the preset value of each parameter at any time.
During practical implementation, controller 11 is connected with the oil cylinder that turns to of each wheel, turns to oil cylinder to control each wheel through manipulation.Distance measuring sensor needs only the energy measurement wheel to the distance between the track, and selection mode is various, and wherein ultrasonic transduter is preferred.
Controller can be the PLC controller, also can be the controller of other types, and the present invention does not do any qualification at this to it.
Among the present invention, controller compares the distance that distance measuring sensor detects with predeterminable range, and walks automatically along track according to comparative result guiding chassis.
Control method embodiment:
Stride track chassis voluntarily based on what the foregoing description proposed, present embodiment proposes its automatic steering control method.
Referring to Fig. 5-Fig. 7, Fig. 5 is for striding track chassis automatic steering control method diagram of circuit voluntarily, and Fig. 6 is a front-wheel steering control method diagram of circuit of the present invention, and Fig. 7 is a rear-axle steering control method diagram of circuit of the present invention.
As shown in Figure 5, this method comprises front-wheel steering control method and rear-axle steering control method.Wherein the front-wheel steering control method is controlled the near front wheel and off front wheel respectively, and control method is identical.The rear-axle steering control method is controlled left rear wheel and off hind wheel respectively, and control method is identical, below in conjunction with accompanying drawing it is elaborated.
The near front wheel turns to controlled step; The distance that detects 12 on the near front wheel and track when the distance measuring sensor 10 of the near front wheel is during less than preset value a; Controller control front-wheel turns left; During greater than preset value b, controller control front-wheel stops to turn left up to the distance that detects 12 on the near front wheel 20 and track, and wherein b is greater than a; Off front wheel turns to controlled step; When off front wheel distance measuring sensor 9 detects distance between off front wheel 19 and track 12 inwalls less than preset value c; Controller control off front wheel 19 is turned right; Up to when the distance of 12 on off front wheel 19 and track during greater than preset value d, controller control off front wheel 19 stops to turn right, and wherein d is greater than c; Left rear wheel turns to controlled step; When the distance measuring sensor 2 of left rear wheel detected left rear wheel and interorbital distance less than preset value e, controller control left rear wheel 18 turned left, when detecting distance between left rear wheel 18 and track inwall less than preset value f when left rear wheel distance measuring sensor 2; Controller control left rear wheel 18 stops to turn left; Wherein f is less than e, and when the distance between left rear wheel 18 and track inwall during greater than certain preset value j, wherein j is greater than f and less than e; Controller control left rear wheel 19 is turned right, and is returned to the meta position up to trailing wheel; Off hind wheel turns to controlled step; When off hind wheel distance measuring sensor 1 detects distance between off hind wheel 17 and track inwall less than preset value g; Controller control off hind wheel 17 is turned right; Up to when the distance between off hind wheel 17 and track inwall during less than preset value h, controller control off hind wheel 17 stops to turn right, and wherein h is less than g; Distance when between off hind wheel 17 and track inwall is greater than preset value i, and wherein i is greater than h and less than g, and off hind wheel 17 turns left, and when making trailing wheel be returned to the meta position switch, stops to turn to.
Further, when the negative line feed of chassis, former the near front wheel becomes off hind wheel; Former off front wheel becomes left rear wheel, and former off hind wheel becomes the near front wheel, and former left rear wheel becomes off front wheel; The corresponding change of controlled step of each wheel comprises the steps: that specifically the near front wheel turns to controlled step, when the near front wheel distance measuring sensor 10 detects distance between the near front wheel 20 and track inwall less than preset value g; Controller 11 control the near front wheels 20 are turned right; Up to when the distance between the near front wheel 20 and track inwall during less than preset value h, controller control the near front wheel 20 stops to turn right, and wherein h is less than g; Distance when between the near front wheel 20 and track inwall is greater than preset value i, and wherein i is greater than h and less than g, and the near front wheel 20 turns left, and when making front-wheel be returned to meta position switch 3, stops to turn to.Off front wheel turns to controlled step; When off front wheel distance measuring sensor 9 detects off front wheel 19 with interorbital distance during less than preset value e; Controller 11 control off front wheel turn left; Up to when the distance between off front wheel 19 and track inwall during less than preset value f, controller control back front-wheel stops to turn left, and wherein f is less than e; Distance when between off front wheel 19 and track inwall is greater than certain preset value j, and wherein j is greater than f and less than e, and off front wheel is turned right, and when making front-wheel be returned to meta position switch 3, stops to turn to.Left rear wheel turns to controlled step; When left rear wheel distance measuring sensor 2 detects distance between left rear wheel 18 and track inwall less than preset value c; Controller 11 control left rear wheels 18 are turned right; Up to when left rear wheel 18 with interorbital distance during greater than preset value d, controller control left rear wheel 18 stops to turn right, wherein d is greater than c; Off hind wheel turns to controlled step; When off hind wheel distance measuring sensor 1 detects off hind wheel 17 with interorbital distance during less than preset value a; Controller 11 control off hind wheels turn left; When detecting off hind wheel and interorbital distance greater than preset value b, controller 11 control front-wheels stop to turn left, and wherein b is greater than a.
When the chassis needs negative line feed, promptly change into when retreating, through the change-over swith of controller 11 by advancing; Automatically former the near front wheel is become existing off hind wheel, former off front wheel becomes existing left rear wheel, and former left rear wheel becomes existing off front wheel; Former off hind wheel becomes existing the near front wheel; Turn around parameters after the switching-over of chassis, need not be readjusted turn around parameters also along with automatic conversion.
Need to prove: left-hand rotation among the present invention and right-hand rotation are left-hand rotation and the right-hand rotations on the direct of travel of chassis, left-hand rotation the when chassis is retreated and right-hand rotation, and left-hand rotation when advancing with the chassis and right-hand rotation are opposite.
During practical implementation; Operating personal can be confirmed each preset value according to the distance between track and the chassis; And each preset value can be provided with through the parameter setup unit, and the benefit of doing like this is that operating personal can be adjusted preset value at any time, satisfies the needs of different situations.
In the practical operation, can be earlier with construction machinery and equipment under manual mode, according to three middle bit switches with the chassis before, during and after three bridge wheels be in the meta position, change switching under the automatic mode then, walk automatically in controller guiding chassis.
The present invention has following advantage in terms of existing technologies:
1) control method that moves forward and backward of chassis is identical, thus after the switching-over that moves forward and backward, need not readjust turn around parameters, easy to operate, do not need the special training operating personal.
2) because the control method that moves forward and backward is identical, so only need arrange that distance measuring sensor gets final product in the front side of front-wheel or the rear side of trailing wheel, number of sensors is few, is not easy to damage roadbed and equipment because of sensor fault produces misoperation.
3) the present invention realizes that through the controller guiding chassis full automaticity turns to, and control method is simple, and labour intensity is little, and moving velocity is fast, and efficient is high, is not easy to bump against track.
The above is merely preferred embodiment of the present invention, and is in order to restriction the present invention, not all within spirit of the present invention and principle, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. stride track chassis voluntarily for one kind, comprise the near front wheel, off front wheel, left rear wheel, off hind wheel, it is characterized in that:
Said left and right front-wheel installed in front has distance measuring sensor;
Said left and right trailing wheel rear side is equipped with distance measuring sensor;
Said left rear wheel and/or off hind wheel are equipped with middle level sensor;
But the controller of setup parameter is used for receiving the range finding result of above-mentioned each sensor, and controls above-mentioned each wheel according to the result after said result and the parameter preset contrast and move.
2. the track chassis voluntarily of striding according to claim 1, it is characterized in that: said distance measuring sensor is a ultrasonic transduter.
3. the track chassis voluntarily of striding according to claim 1, it is characterized in that: a said left side, front-wheel and/or off front wheel are equipped with middle level sensor.
4. according to the arbitrary described track chassis voluntarily of striding of claim 1～3, it is characterized in that: said the near front wheel, off front wheel, left rear wheel, off hind wheel include two wheels, and the vehicle bridge through the belt wheel frame between said two wheels connects.
5. the track chassis voluntarily of striding according to claim 4 is characterized in that:
On the wheel wheel carrier in the front of said left and right front-wheel support is installed all, said distance measuring sensor is installed on the said support;
On the wheel wheel carrier in the back of said left and right trailing wheel support is installed all, said distance measuring sensor is installed on the said support.
6. according to the arbitrary described track chassis voluntarily of striding of claim 1～3, it is characterized in that:
Combination in any between said the near front wheel, off front wheel, left rear wheel, the off hind wheel is equipped with limit switch, and said controller is controlled said maximum rotation angle of taking turns through the testing result of said limit switch.
7. the track chassis voluntarily of striding according to claim 5 is characterized in that:
Combination in any between said the near front wheel, off front wheel, left rear wheel, the off hind wheel is equipped with limit switch, and said controller is controlled said maximum rotation angle of taking turns through the testing result of said limit switch.
8. the track chassis voluntarily of striding according to claim 7 is characterized in that:
Said limit switch is installed on the said vehicle bridge;
Level sensor is installed on the said vehicle bridge in said.
9. stride track chassis automatic steering control method voluntarily for one kind, it is characterized in that, comprise the steps:
The near front wheel turns to controlled step; When left front distance measuring sensor (10) detects the near front wheel and interorbital distance less than preset value a; Controller (11) control front-wheel turns left; When detecting the near front wheel and interorbital distance greater than preset value b, controller (11) control front-wheel stops to turn left, and wherein b is greater than a;
Off front wheel turns to controlled step; When right front distance measuring sensor (9) detects distance between off front wheel and track inwall less than preset value c; Controller (11) control off front wheel is turned right; Up to when off front wheel and interorbital distance during greater than preset value d, controller control off front wheel stops to turn right, and wherein d is greater than c;
Left rear wheel turns to controlled step; When left back distance measuring sensor (2) detected left rear wheel and interorbital distance less than preset value e, controller (11) control left rear wheel turned left, when detecting distance between left rear wheel and track inwall less than preset value f when left rear wheel distance measuring sensor (2); Controller control left rear wheel stops to turn left; Wherein f is less than e, and when the distance between left rear wheel and track inwall during greater than certain preset value j, controller control left rear wheel is turned right; When trailing wheel is returned to the meta position, stop to turn to, wherein j is greater than f and less than e;
Off hind wheel turns to controlled step, and when right back distance measuring sensor (1) detected distance between off hind wheel and track inwall less than preset value g, controller (11) control off hind wheel was turned right; Up to when the distance between off hind wheel and track inwall during less than preset value h, controller control off hind wheel stops to turn left, and wherein h is less than g; Distance when between off hind wheel and track inwall is greater than preset value i; Off hind wheel turns left, and when off hind wheel is returned to the meta position, stops to turn to, and i is greater than h and less than g.
10. the track chassis automatic steering control method voluntarily of striding according to claim 9; It is characterized in that: when the negative line feed of chassis; Former the near front wheel becomes off hind wheel, and former off front wheel becomes left rear wheel, and former off hind wheel becomes the near front wheel; Former left rear wheel becomes off front wheel, and the controlled step of said each wheel is corresponding to be changed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110435805 CN102514618B (en) | 2011-12-23 | 2011-12-23 | Track-span self-propelled chassis and automatic steering control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110435805 CN102514618B (en) | 2011-12-23 | 2011-12-23 | Track-span self-propelled chassis and automatic steering control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102514618A true CN102514618A (en) | 2012-06-27 |
| CN102514618B CN102514618B (en) | 2013-12-18 |
Family
ID=46285788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110435805 Expired - Fee Related CN102514618B (en) | 2011-12-23 | 2011-12-23 | Track-span self-propelled chassis and automatic steering control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102514618B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101246089A (en) * | 2008-01-14 | 2008-08-20 | 深圳市元征科技股份有限公司 | Four-wheel position finder and method for four-wheel locating detection |
| CN101879754A (en) * | 2010-07-16 | 2010-11-10 | 三一重工股份有限公司 | Automatically steering cross-track mortar vehicle chassis and mortar vehicle |
| CN101890983A (en) * | 2010-07-16 | 2010-11-24 | 三一重工股份有限公司 | Mortar trolley provided with automatic travelling hydraulic chassis |
-
2011
- 2011-12-23 CN CN 201110435805 patent/CN102514618B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101246089A (en) * | 2008-01-14 | 2008-08-20 | 深圳市元征科技股份有限公司 | Four-wheel position finder and method for four-wheel locating detection |
| CN101879754A (en) * | 2010-07-16 | 2010-11-10 | 三一重工股份有限公司 | Automatically steering cross-track mortar vehicle chassis and mortar vehicle |
| CN101890983A (en) * | 2010-07-16 | 2010-11-24 | 三一重工股份有限公司 | Mortar trolley provided with automatic travelling hydraulic chassis |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102514618B (en) | 2013-12-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103392157B (en) | Object tracking methods and Vehicular turn Correction Strategies for materials handling vehicle | |
| CN102725704B (en) | Vehicular driving system and driving method thereof | |
| CA2435293C (en) | Anti-rut system for autonomous-vehicle guidance | |
| CN101472776B (en) | Branch device for tracked traffic system | |
| RU2013129958A (en) | TRAIN FROM THE TRUCK AND TRAILER | |
| CN204241966U (en) | A kind of visually oriented floor truck voluntarily | |
| CN112572397B (en) | Automatic parking control method, device and controller | |
| CN103135548A (en) | Unmanned carrying trolley and drive control system thereof | |
| CN105386395A (en) | Automotive milling machine, as well as method for discharging milled material | |
| CN103246285A (en) | Guidance apparatus of unmanned autonomous operating vehicle | |
| CA2855782A1 (en) | Method and system for driving a mining and/or construction machine in a safe manner without the risk of collision | |
| CN103707949A (en) | Crawler-type travelling vehicle | |
| CN103963783A (en) | Steering system for an autonomously driven vehicle and methods of steering the same | |
| CN102452400A (en) | Method for controlling automatic carrier | |
| CN108614567A (en) | Intelligent environmental protection working vehicle control system | |
| RU2018120304A (en) | DEVELOPMENT ASSISTANCE AT PLAYMANE ATTACHING MANEUVERS | |
| CN102700947A (en) | Simple earth dumping machine | |
| JPH1051960A (en) | Automatic battery charger for moving vehicle | |
| CN110482446A (en) | A kind of fork truck | |
| CN110901814A (en) | Configurable transport structure | |
| CN105239810A (en) | Piggy-back intelligent vehicle carrier and intelligent vehicle carrying system employing the same | |
| JP7297762B2 (en) | Asphalt finisher and monitoring system for asphalt finisher | |
| CN202694147U (en) | Automatic guided vehicle and driving control system of automatic guided vehicle | |
| CN108027614A (en) | Method and apparatus for operating in the motor vehicle travelled in parking lot non-driver | |
| CN102514618A (en) | Track-span self-propelled chassis and automatic steering control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131218 Termination date: 20181223 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |