CN102555807A - Engineering vehicle, vehicle speed control system of engineering vehicle and vehicle speed control method - Google Patents
Engineering vehicle, vehicle speed control system of engineering vehicle and vehicle speed control method Download PDFInfo
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Abstract
The invention relates to an engineering vehicle, a vehicle speed control system of the engineering vehicle and a vehicle speed control method of the engineering vehicle, wherein the vehicle speed control system of the engineering vehicle comprises a vehicle speed sensor, at least one second sensor, a running controller and a speed limit controller; the vehicle speed sensor senses a vehicle speed signal of the engineering vehicle; the at least one second sensor senses the load magnitude of the working accessory carried by the engineering vehicle; the driving controller is respectively electrically connected with the vehicle speed sensor, the second sensor and the speed limit controller, and determines whether a vehicle speed limit signal of the engineering vehicle is generated according to sensing results of the vehicle speed sensor and the second sensor; and the speed limit controller sets the highest safe running speed of the engineering vehicle according to the vehicle speed limit signal. The invention generates the speed limit signal of the engineering vehicle by introducing the sensing results of the speed sensor and the second sensor to set the highest safe running speed of the engineering vehicle, thereby improving the running reliability and safety of the engineering vehicle.
Description
Technical field
The present invention relates to vehicle control technology field, particularly the vehicle speed control system of engineering truck, engineering truck and method for controlling driving speed.
Background technology
Along with engineering truck, for example car hosit develops towards the maximization direction, and the weight of himself is increasing.During cruising, the part working accessory that the engineering truck of then must dismantling carries reaches the purpose of loss of weight on highway.Be on the one hand because will adapt to of the requirement of China's road driving rules about load limit; Be because the propulsive effort that engineering vehicle power system provides is limited, in order to guarantee the certain speed of operation of engineering truck self, climbable gradient, control alerting ability, riding stability and driving safety that the engineering truck own wt can not be too big on the other hand.And working accessory is because complex structure, and dismounting is wasted time and energy very much.Engineering truck is done short range on-site and is cut to when going, and needn't observe the road driving rules, is being with the working accessory overload to go in order to save time with manpower and materials simultaneously.In order to guarantee driving safety, just must the speed that the engineering truck overload is gone be limited.
The speed that overload is gone to engineering truck is at present carried out limiting method and mainly taked two kinds: first method is that no any device limits the engineering truck moving velocity; Just writing clearly in the engineering truck service instructions under which type of load, how many engineering truck Maximum speed limits that goes is; Or under bright which type of load of decals indicating in the construction-vehicle cab, how many Maximum speed limits that goes is.Second kind of way is when engineering truck erection work annex; After installing each working accessory, just send the travel controller of a signal to engineering truck through the sensor that is arranged on the working accessory; After travel controller is analyzed the signal of variety classes and quantity; Send to gearbox control to the gear control command signal again; Gearbox control limits the high workload gear of change speed gear box in the vehicle ' process again according to the gear control command, thereby realizes limiting the purpose of the highest safety traffic speed of engineering truck, also is that the dominant project vehicle operation is at the speed limit motoring condition.The working accessory total weight is big more, and the highest safety traffic speed of the engineering truck of qualification is more little.During the dismantlement work annex, also carry out in the same way, till engineering truck returns to the cruising state.
No any device limits the overload of vehicle moving velocity on the engineering truck of first method; Maximum travel speed when only depending on the consciousness of operating personal to realize overload of vehicle; Not only increase the working strength of operating personal; And the as easy as rolling off a log people of appearance is for driving over the speed limit, thus the potential safety hazard of bringing.There is the shortcoming of poor reliability in the method for second method access electric signal after engineering truck increases working accessory.The working accessory overwhelming majority of engineering truck increase at present all is installed on the turntable; When installing additional working accessory, need artificially the signal wire (SW) on the working accessory effectively is connected with signal wire (SW) on the turntable, make the slip ring conduction of rotary flange the inside of engineering truck turntable could the signal of working accessory loading be delivered to the travel controller in the construction-vehicle cab; The position of present engineering truck slip ring is provided with ubiquity can't excellent waterproof prevent silt; Cause slip ring to get rusty easily, wear and tear, make the component reliability variation, simultaneously because the prerequisite of the signal transmission that working accessory loads is effective grafting of signal wire (SW); And this mode is very easily cracked by the user; In case when the user to think the overload hypervelocity in order making up for lost time, just can to pull out or the short circuit signal wire (SW), thereby bring very big potential safety hazard.
Summary of the invention
Therefore, the present invention provides the vehicle speed control system and the method for controlling driving speed of engineering truck, engineering truck, with the problem that exists in the speed of a motor vehicle control technology that overcomes existing engineering truck.
Particularly, the vehicle speed control system of a kind of engineering truck that the embodiment of the invention proposes comprises car speed sensor, at least one second sensor, travel controller and Control for Speed Limitation device; The GES of car speed sensor sensing engineering truck; The magnitude of load of the working accessory that at least one second sensor sensing engineering truck carries; Travel controller respectively with car speed sensor, second sensor, and the Control for Speed Limitation device electrically connect, determine whether to produce the speed limit signal of engineering truck according to the sensing result of car speed sensor and second sensor; The Control for Speed Limitation device is according to the highest safety traffic speed of speed limit signal sets engineering truck.
In addition; A kind of engineering truck that the embodiment of the invention proposes; The vehicle speed control system that comprises the above-mentioned working accessory of detouchable, change speed gear box, oil gas suspended device and above-mentioned engineering truck, the high workload gear that the Control for Speed Limitation device in the vehicle speed control system is set change speed gear box through control is set the highest safety traffic speed of engineering truck.
In addition, the method for controlling driving speed of a kind of engineering truck that the embodiment of the invention proposes may further comprise the steps: the GES of sensing engineering truck; The magnitude of load of the working accessory that the sensing engineering truck carries is to produce at least one sensing signal of representing magnitude of load; Optionally produce the speed limit signal of engineering truck according to GES and sensing signal; And according to the highest safety traffic speed of speed limit signal sets engineering truck.
Moreover the method for controlling driving speed of a kind of engineering truck that another embodiment of the present invention proposes may further comprise the steps: the GES of sensing engineering truck; The magnitude of load of the working accessory that the sensing engineering truck carries is to produce at least one sensing signal of representing magnitude of load; And according to GES and sensing signal optionally the dominant project vehicle operation at cruising state or speed limit motoring condition.
The above embodiment of the present invention according to car speed sensor and at least one second sensor for example the sensing result of the pressure sensor of the hydraulic system pressure of sensing oil gas suspended device optionally produce the speed limit signal of engineering truck; With the highest safety traffic speed definite and the restriction engineering truck, thereby improved the safety that engineering truck goes.In addition, the engineering truck of the embodiment of the invention does not adopt conducting slip ring, the factor of therefore having avoided engineering truck conducting slip ring easy abrasion in the prior art or having got rusty.In addition; Travel controller receiving that current vehicle speed is that the stablizing of hydraulic efficiency pressure system of zero signal and oil gas suspended device, continuous pressure signal are only the condition precedent that engineering truck can get into motoring condition, avoided people in the prior art to pull out or the factor of short circuit signal wire (SW).
Above-mentioned explanation only is the general introduction of technical scheme of the present invention; Understand technological means of the present invention in order can more to know; And can implement according to the content of specification sheets, and for let of the present invention above-mentioned with other purposes, feature and advantage can be more obviously understandable, below special act preferred embodiment; And conjunction with figs., specify as follows.
Description of drawings
Fig. 1 is the integral structure scheme drawing
of the engineering truck of embodiment of the invention proposition.
Fig. 2 is the main framework diagram of block
of the vehicle speed control system of the engineering truck that proposes of the embodiment of the invention.
Fig. 3 is the flow chart of steps of the method for controlling driving speed of the engineering truck that proposes of the embodiment of the invention.
The specific embodiment
Reach technological means and the effect that predetermined goal of the invention is taked for further setting forth the present invention; Below in conjunction with accompanying drawing and preferred embodiment; To the engineering truck that proposes according to the present invention, vehicle speed control system and its specific embodiment of method for controlling driving speed, structure, characteristic and the effect of engineering truck, specify as after.
Relevant aforementioned and other technology contents, characteristics and effect of the present invention can clearly appear in following the cooperation in the graphic preferred embodiment detailed description of reference.Through the explanation of the specific embodiment, when can being to reach technological means and the effect that predetermined purpose takes to be able to more deeply and concrete understanding to the present invention, yet the appended graphic usefulness that only provides reference and explanation be not to be used for the present invention is limited.
The following embodiment of the present invention mainly be according to car speed sensor and at least one second sensor for example the sensing result of the pressure sensor of the hydraulic system pressure of the sensing oil gas suspended device speed limit signal that optionally produces engineering truck to confirm and the highest safety traffic speed of restriction engineering truck; In other words; According to sensing result optionally the dominant project vehicle operation at cruising state or speed limit motoring condition, thereby improved the safety that engineering truck goes.In addition, the engineering truck of the embodiment of the invention does not adopt conducting slip ring, the factor of therefore having avoided engineering truck conducting slip ring easy abrasion in the prior art or having got rusty.In addition; Travel controller receiving that current vehicle speed is that the stablizing of hydraulic efficiency pressure system of zero signal and oil gas suspended device, continuous pressure signal are only the condition precedent that engineering truck can get into motoring condition, avoided people in the prior art to pull out or the factor of short circuit signal wire (SW).So, below will be elaborated, but the present invention is not as limit with instantiation.
Fig. 1 is the integral structure scheme drawing
of the engineering truck of embodiment of the invention proposition.Fig. 2 is the main framework diagram of block of the vehicle speed control system of the engineering truck that proposes of the embodiment of the invention
Please common reference Fig. 1 and Fig. 2, the engineering truck 3 of present embodiment comprises working accessory 5, change speed gear box 7, operator's compartment 8, a plurality of vehicle bridge 9, organizes the vehicle speed control system 10 of oil gas suspended device 6 and engineering truck 3 etc. more.
Working accessory 5 comprises arm etc., and it is removably mounted on the turntable of engineering truck 3 usually.Change speed gear box 7 for example can be arranged on the vehicle frame 4, sets the work gear of engineering truck 3 in order to control.Each is organized between the vehicle bridge 9 and vehicle frame 4 that oil gas suspended device 6 is arranged at engineering truck 3.At this, each organizes oil gas suspended device 6 can a shared hydraulic efficiency pressure system perhaps be equipped with an independent hydraulic efficiency pressure system respectively.
The vehicle speed control system 10 of the engineering truck of present embodiment comprises car speed sensor 13, at least one pressure sensor 18 (or being called second sensor), travel controller 15 and Control for Speed Limitation device 16.At this, travel controller 15 electrically connects respectively with car speed sensor 13, Control for Speed Limitation device 16, pressure sensor 18.
The GES of car speed sensor 13 sensing engineering trucks 3, it for example is the speed sensor of the rotating speed of sensing vehicle bridge 9.
The magnitude of load of the working accessory 5 that pressure sensor 18 sensing engineering trucks 3 carry, it for example is a plurality of.And a plurality of pressure sensors 18 for example can be installed on respectively organizing on the oil gas suspended device 6 of engineering truck 3 respectively; The pressure of hydraulic efficiency pressure system with each group oil gas suspended device 6 of sensing changes the magnitude of load that obtains working accessory 5, and the pressure signal that senses is real-time transmitted to travel controller 15.
Whether travel controller 15 produces the speed limit signal of engineering truck 3 according to the car speed sensor 13 and the sensing result decision of pressure sensor 18.
Particularly; Preestablished the speed limit condition in the travel controller 15; The speed limit condition can be the corresponding relation of pressure (magnitude of load in other words) with engineering truck 3 the highest safety traffic speed; For example corresponding relation can be 20MPa for pressure, and the cooresponding engineering truck 3 the highest safety traffic speed of this pressure are 50 kilometers/hour.Travel controller 15 judges whether the GES indication current vehicle speed of receiving is zero or does not receive stable, continuous pressure signal; Because the working accessory 5 of engineering truck 3 must be under the situation that engineering truck 3 stops to go, to carry out installation or removal, this moment, oil gas suspended device 6 did not vibrate.After-applied to give the pressure of the hydraulic efficiency pressure system of oil gas suspension gear 6 be stable to working accessory 5 with dismounting before dismounting with back and working accessory 5 are installed before installation, therefore at this moment the pressure signal that senses of pressure sensor 18 be stablize, continuous pressure signal.After working accessory 5 Assembly &Disassembly of engineering truck 3 are accomplished and before engineering truck 3 goes; Travel controller 15 will judge whether engineering truck 3 need carry out speed limit for the sake of security; The controller 15 of promptly going is judged if the GES of receiving indication current vehicle speed is zero or when receiving stable, continuous pressure signal; Then all pressure signals and the predefined speed limit condition with pressure sensor 18 outputs compares, also also with the speed of a motor vehicle of the engineering truck 3 the highest safety traffic speed minimum value in the cooresponding speed limit condition of pressure of all pressure signals indications as the speed limit signal indication of engineering truck 3.The pressure of the pressure signal of the hydraulic efficiency pressure system of any one group of oil gas suspended device 6 that promptly senses indication is when the engineering truck 3 the highest safety traffic velocity composition in the cooresponding predefined speed limit condition all satisfy predefined speed limit condition together with it; 15 of travel controllers will satisfy the speed of a motor vehicle that the engineering truck 3 the highest safety traffic speed minimum value in the speed limit condition are indicated as the speed limit signal of engineering truck 3, and the speed limit signal is sent to Control for Speed Limitation device 16.For example if engineering truck 3 is provided with two groups of oil gas suspended devices 6 altogether, but corresponding two groups of oil gas suspended devices 6 and two pressure sensors 18 of relative set.The pressure of pressure signal indication of supposing the hydraulic efficiency pressure system of one group of oil gas suspended device 6 that a pressure sensor 18 senses is 20MPa; Engineering truck 3 the highest safety traffic speed in the cooresponding predefined speed limit condition of this pressure are 50 kilometers/hour; The pressure of the pressure signal indication of the hydraulic efficiency pressure system of another group oil gas suspended device 6 that another pressure sensor 18 senses is 18MPa; Engineering truck 3 the highest safety traffic speed in the cooresponding predefined speed limit condition of this pressure are 52 kilometers/hour; Then the pressure the highest safety traffic speed that the engineering truck 3 the highest safety traffic velocity composition in the cooresponding predefined speed limit condition all satisfy in the speed limit condition together with it of the pressure signal of the hydraulic efficiency pressure system of two oil gas suspended devices 6 indication is 50 kilometers/hour; Then travel controller 15 will be with 50 kilometers/hour the speed of a motor vehicle speed of a motor vehicle as the speed limit signal indication of engineering truck 3, and the speed limit signal is sent to Control for Speed Limitation device 16 is in the speed limit motoring condition with dominant project vehicle 3.
When working accessory 5 after dismounting, then travel controller 15 can corresponding releasing to the setting of the highest safety traffic speed of engineering truck 3, promptly dominant project vehicle 3 is in the cruising state.Releasing also is under the situation that engineering truck 3 stops, to carry out to the condition of the setting of the highest safety traffic speed of engineering truck 3.Particularly; Travel controller 15 judges whether the GES indication current vehicle speed of receiving is zero; If; Then can a plurality of pressure signals (being sensing signal) and predefined speed limit condition be compared; Judge that whether engineering truck 3 the highest safety traffic speed in the cooresponding speed limit condition of pressure of a plurality of pressure signals indication are all less than the engineering truck 3 the highest safety traffic speed in the speed limit condition of setting; If the engineering truck 3 the highest safety traffic speed in the cooresponding speed limit condition of pressure of a plurality of pressure signal indications are then removed the setting to the highest safety traffic speed of engineering truck 3 all less than the engineering truck 3 the highest safety traffic speed in the speed limit condition of setting, and send releasing and give Control for Speed Limitation device 16 instruction of the setting of the highest safety traffic speed of engineering truck 3.
Control for Speed Limitation device 16 for example can be arranged on the change speed gear box 7.Control for Speed Limitation device 16 is according to the highest safety traffic speed of speed limit signal sets engineering truck 3.Control for Speed Limitation device 16 can be set the current high workload gear of change speed gear box 7 through control, thereby engineering truck 3 is limited under the highest different safety traffic speed.In addition, Control for Speed Limitation device 16 is then removed the setting to the highest safety traffic speed of engineering truck 3 when receiving releasing to the instruction of the setting of the highest safety traffic speed of engineering truck 3.Control for Speed Limitation device 16 for example can be through not setting change speed gear box 7 current high workload gear to remove setting to the highest safety traffic speed of engineering truck 3.
Fig. 3 is the flow chart of steps of the method for controlling driving speed of the engineering truck that proposes of the embodiment of the invention; Please in the lump with reference to figure 3 and Fig. 1, Fig. 2; The method for controlling driving speed of said engineering truck is applied to the vehicle speed control system 10 of described engineering truck, and the method for controlling driving speed of the engineering truck that the embodiment of the invention proposes mainly may further comprise the steps S301 ~ S312.
Step S301, the GES of car speed sensor 13 sensing engineering trucks 3, the hydraulic system pressure of a plurality of pressure sensor 18 sensing engineering trucks 3 each group oil gas suspended device 6 is to obtain the magnitude of load of the working accessory 5 that carries on the engineering truck 3.At this, a plurality of pressure signals of hydraulic efficiency pressure system that a plurality of pressure sensors 18 sense engineering truck 3 each group oil gas suspended device 6 are a plurality of sensing signals of representing magnitude of load.
Step S302; Travel controller 15 judges whether the GES indication current vehicle speed of receiving is zero or does not receive stable, continuous pressure signal; If judging the GES indication current vehicle speed receive is zero or when receiving stable, continuous pressure signal; Then carry out step S303,, then carry out step S301 if when judging that the GES indication current vehicle speed receive is non-vanishing or not receiving stable, continuous pressure signal.
Step S303; Travel controller 15 compares all pressure signals and the predefined speed limit condition of a plurality of pressure sensor 18 outputs; Judge promptly whether pressure signal satisfies predefined speed limit condition,, then carry out step S306 if when pressure signal satisfies predefined speed limit condition; If when pressure signal does not satisfy predefined speed limit condition, then carry out step S308.Particularly, travel controller 15 compares the pressure and the predefined speed limit condition of all pressure signals (being sensing signal) indication.If the engineering truck 3 the highest safety traffic speed that the engineering truck 3 the highest safety traffic speed in the cooresponding speed limit condition of pressure of all pressure signals indication meet in the speed limit condition of setting represent that then pressure signal satisfies predefined speed limit condition.If the engineering truck 3 the highest safety traffic speed in the cooresponding speed limit condition of pressure of all pressure signal indications all represent then that less than the 3 the highest safety traffic speed of the engineering truck in the predefined speed limit condition pressure signal does not satisfy predefined speed limit condition.
Step S306, travel controller 15 is indicated the engineering truck 3 the highest safety traffic speed minimum value in the cooresponding speed limit condition of pressure of all pressure signal indications as the speed limit signal of engineering truck 3 the speed of a motor vehicle is operated in the speed limit motoring condition with dominant project vehicle 3.
Step S308, the setting that travel controller 15 is removed the highest safety traffic speed of engineering truck 3, promptly dominant project vehicle 3 is in the cruising state.
Step S310, Control for Speed Limitation device 16 is according to the highest safety traffic speed of speed limit signal sets engineering truck 3.Restriction controller 16 for example can be set the current high workload gear of change speed gear box 7 through control, thereby engineering truck 3 is limited under the highest safety traffic speed.
Step S312, Control for Speed Limitation device 16 do not set the current high workload gear of change speed gear box 7 to remove the setting to the highest safety traffic speed of engineering truck 3.
In other embodiments, do not set under the situation of the setting of engineering truck 3 being removed the highest safety traffic speed, correspondingly can save step S308 and S312 when the vehicle speed control system 10 of the engineering truck of the embodiment of the invention.
The above only is preferred embodiment of the present invention, is not the present invention is done any pro forma restriction; Though the present invention discloses as above with preferred embodiment; Yet be not in order to limiting the present invention, anyly be familiar with the professional and technical personnel, in not breaking away from technical scheme scope of the present invention; When the technology contents of above-mentioned announcement capable of using is made a little change or is modified to the equivalent embodiment of equivalent variations; In every case be not break away from technical scheme content of the present invention, to any simple modification, equivalent variations and modification that above embodiment did, all still belong in the scope of technical scheme of the present invention according to technical spirit of the present invention.
Claims (10)
1. the vehicle speed control system of an engineering truck is characterized in that: comprising:
Car speed sensor, the GES of the said engineering truck of sensing;
At least one second sensor, the magnitude of load of the working accessory that the said engineering truck of sensing carries;
Travel controller electrically is connected with said car speed sensor and said second sensor, whether produces the speed limit signal of said engineering truck according to the sensing result decision of said car speed sensor and said second sensor; And
The Control for Speed Limitation device electrically connects with said travel controller, according to the highest safety traffic speed of the said engineering truck of said speed limit signal sets.
2. the vehicle speed control system of engineering truck according to claim 1; It is characterized in that: said second sensor is the pressure sensor that is installed at least one oil gas suspended device of said engineering truck, obtains said magnitude of load with the variation of the hydraulic system pressure of the said oil gas suspended device of sensing.
3. the vehicle speed control system of engineering truck according to claim 1, it is characterized in that: said travel controller is configured to:
When judging that said GES indication current vehicle speed is zero; At least one sensing signal and the predefined speed limit condition of the representative magnitude of load of said second sensor output are compared, and when said sensing signal satisfies said predefined speed limit condition, produce said speed limit signal.
4. engineering truck; It comprises the said working accessory of detouchable, change speed gear box and oil gas suspended device; It is characterized in that; This project vehicle further comprises the vehicle speed control system like any described engineering truck of claim 1 to 3, and the high workload gear that the said Control for Speed Limitation device in the said vehicle speed control system is set said change speed gear box through control is set the highest safety traffic speed of said engineering truck.
5. the method for controlling driving speed of an engineering truck is characterized in that: may further comprise the steps:
The GES of the said engineering truck of sensing;
The magnitude of load of the working accessory that the said engineering truck of sensing carries is to produce at least one sensing signal of the said magnitude of load of representative;
Optionally produce the speed limit signal of said engineering truck according to said GES and said sensing signal; And
The highest safety traffic speed according to the said engineering truck of said speed limit signal sets.
6. the method for controlling driving speed of engineering truck according to claim 5 is characterized in that: the step that optionally produces the speed limit signal of said engineering truck according to said GES and said sensing signal comprises:
Judge whether said GES indication current vehicle speed is zero, if then said sensing signal and predefined speed limit condition are compared, and when said sensing signal satisfies said predefined speed limit condition, produce said speed limit signal.
7. the method for controlling driving speed of engineering truck according to claim 6 is characterized in that: more comprise step:
When said GES indication current vehicle speed be zero and said sensing signal do not satisfy predefined speed limit condition, remove setting to the highest safety traffic speed of said engineering truck.
8. the method for controlling driving speed of an engineering truck is characterized in that: may further comprise the steps:
The GES of the said engineering truck of sensing;
The magnitude of load of the working accessory that the said engineering truck of sensing carries is to produce at least one sensing signal of the said magnitude of load of representative; And
Optionally control said engineering truck according to said GES and said sensing signal and be operated in cruising state or speed limit motoring condition.
9. the method for controlling driving speed of engineering truck according to claim 8, optionally control the step that said engineering truck is operated in cruising state or speed limit motoring condition according to said GES and said sensing signal and comprise:
Judge whether said GES indication current vehicle speed is zero; If; Then said sensing signal and predefined speed limit condition are compared; And when said sensing signal satisfies said predefined speed limit condition, control said engineering truck and be operated in said speed limit motoring condition, and when said sensing signal does not satisfy said predefined speed limit condition, control said engineering truck and be operated in said cruising state.
10. the method for controlling driving speed of engineering truck according to claim 9 is characterized in that: more comprise step:
When said GES indication current vehicle speed be zero and said sensing signal do not satisfy predefined speed limit condition, control said engineering truck and return to said cruising state from said speed limit motoring condition.
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| CN201210082127.3A CN102555807B (en) | 2012-03-26 | 2012-03-26 | Engineering vehicle, vehicle speed control system of engineering vehicle and vehicle speed control method |
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| CN201210082127.3A CN102555807B (en) | 2012-03-26 | 2012-03-26 | Engineering vehicle, vehicle speed control system of engineering vehicle and vehicle speed control method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108215795A (en) * | 2017-12-25 | 2018-06-29 | 长沙中联消防机械有限公司 | Varying load method for limiting speed, system and track fire fighting truck |
| CN108248385A (en) * | 2017-12-25 | 2018-07-06 | 长沙中联消防机械有限公司 | Adaptive method for limiting speed, system and track fire fighting truck under complex environment |
| CN109515182A (en) * | 2018-12-07 | 2019-03-26 | 大连奥雷科技有限公司 | Engineering truck running safety monitoring method |
| CN113274227A (en) * | 2021-04-07 | 2021-08-20 | 上海联影医疗科技股份有限公司 | Examination bed power assisting system and control method thereof |
| CN114212082A (en) * | 2021-12-22 | 2022-03-22 | 三一汽车起重机械有限公司 | Engineering vehicle and running speed control method and device thereof |
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| CN109515182A (en) * | 2018-12-07 | 2019-03-26 | 大连奥雷科技有限公司 | Engineering truck running safety monitoring method |
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| CN114212082A (en) * | 2021-12-22 | 2022-03-22 | 三一汽车起重机械有限公司 | Engineering vehicle and running speed control method and device thereof |
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|---|---|
| CN102555807B (en) | 2014-09-03 |
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