CN104715331B - A kind of stone digging forklift truck remote maintenance plan dynamic debugging system and method - Google Patents
A kind of stone digging forklift truck remote maintenance plan dynamic debugging system and method Download PDFInfo
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- CN104715331B CN104715331B CN201510107546.1A CN201510107546A CN104715331B CN 104715331 B CN104715331 B CN 104715331B CN 201510107546 A CN201510107546 A CN 201510107546A CN 104715331 B CN104715331 B CN 104715331B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention provides a kind of stone digging forklift truck remote maintenance plan dynamic debugging system and method based on networking vehicle mounted terminal, cell phone application and service centre of producer, the loading capacity of car-mounted terminal detection forklift truck and the cumulative time of work, the next maintenance dates of each critical piece of forklift truck are adjusted with this dynamic；After the completion of Maintenance Significant Items, user submits repair then to update car-mounted terminal to server and treat Maintenance Significant Items list in cell phone application.Adjustment foundation of the loading capacity and cumulative operation time of the invention can more weigh stone digging forklift truck operating mode as maintenance time interval；What guarantee car-mounted terminal was shown treats that Maintenance Significant Items list is consistent with the attended operation actually performed, ensures that this safeguards the validity and availability of prompting message.
Description
Technical field
The present invention relates to engineering machinery maintenance and fault diagnosis technology field, more particularly to a kind of stone digging forklift truck are remote
Journey maintenance plan dynamic debugging system and method.
Background technology
One arm product of stone digging forklift truck engineering machinery, it is exclusively used in required for the waste material exploitation of stone digging
Forklift truck, possess sled stone, feeding, carrying, stacking, five basic functions such as handling, due to the usual bad environments of stone digging,
Hill path is rugged, and rainy day miriness road is slided.Therefore forklift truck must be maintained in time, vehicle is in good working order,
Avoid that various accidents occur.
At present, a considerable amount of stone digging forklift truck users are the private enterprises for possessing several or tens forklift trucks,
Maintenance management to forklift truck lacks system and the plan of specification, and therefore, it is difficult to accomplish in time to maintain forklift truck, this can
Vehicle part can be caused normal work or even security incident can not to occur.Further, since forklift truck existed in actual use
The situation of load and long time continuous working, and the maintenance of the maintenance instruction manual of producer requirement is based on user's normal use fork dress
Car, therefore, even if forklift truck user can be safeguarded according to maintenance instruction manual predetermined time interval, as vehicle
Excessively use and occur safeguarding situation not in time.
Zhong Lianchong sections [the patent No.：CN201110371715.4] remote maintenance and decision-making technique of engineering machinery are proposed,
It uses the characteristic parameter of on-vehicle information acquisition terminal collection vehicle critical piece, is sentenced after being sent to server using life cycle
Disconnected module, the residual life of predicting residual useful life module prediction unit, and fault diagnosis is carried out by fault diagnosis module.This scheme
The subject matter of solution is that Fault diagnosis and forecast component life is carried out after vehicle part breaks down to change part in time.
Patent [the patent No.：CN201320635919.9] a kind of fork truck remote monitoring maintenance device is proposed, by vehicle-mounted
PLC connects the oil temperature and displacement of sensor collection vehicle, and database server, producer are sent to by GPRS network
And user can carry out efficient maintenance management by computer or mobile phone terminal to fork truck.This patent only proposes fork truck monitoring information
Transmission mechanism, be not directed to the specific implementation of fork truck maintenance mechanism.
Document (tall state's spring automobile intelligent electronics early warning maintenance system design [D] Jilin University, 2011) proposes one kind
Automobile intelligent electronics early warning maintenance system, record this self-diagnostic function of failure in operation using automobile electrically-controlled engine,
And the Change of Data Stream scope codomain that is provided by computer diagnostic instrument for fault of motorcycle determines the maintainance prewarning of automobile, and by early warning
Presentation of information is in vehicle-mounted computer display screen.Simultaneously network savvy is not implemented in this system, and vehicle operating information can not be sent to producer
Server.
Document (Study of Locomotive Preventive Maintenance System [D] University Of Tianjin of the Shao Lei based on status monitoring, 2003) proposes
A kind of Locomotive Preventive Maintenance system based on status monitoring, by the transient speed to diesel locomotive and the detection of instantaneous oil consumption,
Using them as operating mode residing for two input information computer cars of preventive maintenance system.Where the current locomotive gone out by inference
Operating mode, the working time under current working is intelligently converted to the working time under nominal situation.When nominal situation is arrived in conversion
When the lower working time will have reached maintenance time setting value, locomotive is prompted to need to carry out preventive maintenance.In addition, system also has
The function of wireless data transmission is carried out based on GPRS network and remote monitoring center, during solving diesel locomotive remote-control romote-sensing
The transmission problem of various data.However, for stone digging forklift truck, most important working index is loading capacity, uses wink
When rotating speed and instantaneous oil consumption can not accurately weigh the loading capacity of forklift truck, because even it is unloaded may also have it is very big instantaneous
Rotating speed and instantaneous oil consumption.Therefore, the method is not appropriate for the preventive maintenance system design of stone digging forklift truck.
Work loading capacity be weigh stone digging forklift truck operating mode most important index, but existing scheme not as
The foundation of adjustment and maintenance plan, cause the adjustment of maintenance plan unreasonable；Vehicle user will can not perform after performing attended operation
Situation is entered into maintaining-managing system, and this causes to safeguard that warning function handles difficulty for maintenance item out of date, because its
It can not judge whether user has performed these and safeguarded item, therefore can not decide whether to continue to remind user.
The content of the invention
To solve the above problems, the invention provides one kind to be based on networking vehicle mounted terminal, cell phone application and service centre of producer
Stone digging forklift truck remote maintenance plan dynamic debugging system and method, car-mounted terminal detect forklift truck loading capacity and work
The cumulative time of work, the next maintenance dates of each critical piece of forklift truck are adjusted with this dynamic；After the completion of Maintenance Significant Items, Yong Hu
Repair is submitted then to update car-mounted terminal to server and treat Maintenance Significant Items list in cell phone application.
To achieve the above object the technical scheme is that：
A kind of stone digging forklift truck remote maintenance plan dynamic adjusting method, comprises the following steps：
Step 1：History floor data uploads：Car-mounted terminal will upload history floor data to server when starting, in work
The date was searched in condition log file earlier than the same day and the working state recording entry that not yet uploads, if being uploaded onto the server in the presence of if, on
Pass in data and include car-mounted terminal sequence number, delete the project uploaded from car-mounted terminal working state recording file after uploading successfully
Remove；
Step 2：Monitoring of working condition：Car-mounted terminal, which has been handled after history floor data uploads, enters monitoring of working condition state, passes through
Car-mounted terminal is equipped with weighing sensor record working state recording and by the working state recording entry of working state recording generating structure, the work
Condition record entry is combined to form working state recording file, and working state recording file then is sent into producer's server；
Step 3：Calculate the Dynamic Maintenance date：Producer's server receives the working state recording file of car-mounted terminal, calculates simultaneously
Dynamic adjusts the next maintenance dates of each critical piece of corresponding forklift truck, then feeds back to car-mounted terminal；
Step 4：Maintenance Significant Items list display is treated in car-mounted terminal renewal：Car-mounted terminal receives dimension next time of each critical piece
After protecting the date, Maintenance Significant Items list and the display on the display screen of car-mounted terminal are treated in renewal；
Step 5：Server notice needs Maintenance Significant Items to cell phone application：Producer's server is in database to each forklift truck
Component maintenance state scans for, if the project of domestic demand maintenance in one week be present or have expired the project do not safeguarded in certain forklift truck,
Announcement information is sent to the cell phone application of association user；
Step 6：Cell phone application typing maintenance condition：After user receives APP notification messages, start cell phone application, for it
In completed to safeguard but still appear as project to be safeguarded, typing maintenance dates are simultaneously submitted to producer's server；
Step 7：Producer's server receives the maintenance condition of cell phone application upload, updates the last maintenance day of associated components
Phase, and the next maintenance dates of this part are adjusted with the method for step 3, and adjustment result is sent to car-mounted terminal；
Step 8：The display of the next maintenance dates of car-mounted terminal renewal associated components.
Further technical scheme, in the step 2, working state recording entry structure is：Date, the unladen weight cumulative time,
The underloading cumulative time, the heavily loaded cumulative time, overload the cumulative time, wherein unladen weight refers to actual load-carrying≤specified maximum load
5%, underloading refers to the 5% of the actual specified maximum loads of load-carrying ＞ and the specified maximum load of actual load-carrying≤70%, heavy duty refer to reality
70% and≤specified maximum load of the specified maximum loads of load-carrying ＞, overload refer to the actual specified maximum loads of load-carrying ＞.
Further technical scheme, in the step 3, the method for calculating the Dynamic Maintenance date is：
The weighted cumulative working time of calculating unit, the calculation formula of the weighted cumulative working time are：Weighting is tired
Count working time=unladen weight cumulative time+underloading cumulative time+1.2 × heavily loaded cumulative time+4 × overload cumulative time；
The method of adjustment on the Dynamic Maintenance date is：Association forklift truck is found according to car-mounted terminal sequence number, fork is filled
The part that each needs of car are safeguarded, if the next maintenance dates in its maintenance plan do not process earlier than today；Otherwise,
To each date of yesterday since the part last maintenance implementation date, the corresponding working state recording of preservation is retrieved, is then pressed such as
Lower rule calculates weighted cumulative working time sum, and the weighted cumulative working time sum is designated as S, initial value 0：
If 1) it is not detected by the working state recording on the date, S=S+8；
If 2) the weighted cumulative working time of the working state recording on the date is less than or equal to 8, S=S+8；
If 3) the weighted cumulative working time of the working state recording on the date is more than the weighting of this day working state recording of 8, S=S+
Cumulative operation time；
Then the next maintenance dates of this part are：
During the standard care that the last maintenance date of next maintenance dates=this part of this part+this part is counted with day
Between interval-(number of days that this part last maintenance of S/8- is passed through up to now)；
If the next maintenance dates for this part being this time calculated than original plan next maintenance dates earlier, write down
Its difference, and this difference is subtracted with all not out of date part maintenance dates next time of association forklift truck, its is safeguarded into day next time
Phase shifts to an earlier date；If the next maintenance dates of forklift truck part have adjustment, adjustment result is sent to car-mounted terminal.
Advantages of the present invention：
1) loading capacity and cumulative operation time can more weigh stone digging forklift truck operating mode are used as maintenance time interval
Adjustment foundation；
2) what guarantee car-mounted terminal was shown treats that Maintenance Significant Items list is consistent with the attended operation actually performed, ensures this
Safeguard the validity and availability of prompting message.
Brief description of the drawings
When considered in conjunction with the accompanying drawings, by referring to following detailed description, can more completely more fully understand the present invention with
And easily learn many of which with the advantages of, but accompanying drawing described herein be used for a further understanding of the present invention is provided,
The part of the present invention is formed, schematic description and description of the invention is used to explain the present invention, do not formed to this hair
Bright improper restriction, wherein：
Fig. 1 is stone digging forklift truck remote maintenance plan dynamic debugging system schematic diagram；
Fig. 2 is stone digging forklift truck remote maintenance plan dynamic adjusting method schematic diagram；
Fig. 3 is that history floor data uploads schematic flow sheet
Fig. 4 is that forklift truck maintenance plan adjusts process.
Embodiment：
In order to facilitate the understanding of the purposes, features and advantages of the present invention, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is further detailed explanation.
A kind of stone digging forklift truck remote maintenance plan dynamic debugging system of the embodiment of the present invention as shown in Figure 1, bag
Car-mounted terminal is included, in addition to the cell phone application applied to the system is installed, the car-mounted terminal is integrated with GPS and gsm module；
4 car-mounted terminals of work loading capacity of the car-mounted terminal with measuring stone digging forklift truck are equipped with weighing sensor and are connected；
The car-mounted terminal is equipped with weighing sensor and the data measured is passed into car-mounted terminal by analog port, and the data are through vehicle-mounted
It is shown in after terminal analog/digital conversion on the vehicle-carrying display screen being connected with car-mounted terminal, car-mounted terminal provides through the gsm module
GPRS network accesses service and led to by GPRS network and internet with producer's server progress data exchange, producer's server
Cross internet and GPRS network and interacted with the cell phone application being provided with applied to the system.The car-mounted terminal is embedded in based on ARM9
Formula Linux system is built.
A kind of stone digging forklift truck remote maintenance plan dynamic adjusting method and step as shown in Figure 2 is as follows：
Step 1：History floor data uploads：As shown in figure 3, car-mounted terminal will upload history floor data to clothes when starting
It is engaged in device, the date is searched in working state recording file earlier than on the day of and the working state recording entry that not yet uploads, if is uploaded in the presence of if
Server, upload in data and include car-mounted terminal sequence number, remember the project uploaded from car-mounted terminal operating mode after uploading successfully
Deleted in record file；
Step 2：Monitoring of working condition：Car-mounted terminal, which has been handled after history floor data uploads, enters monitoring of working condition state, passes through
Car-mounted terminal is equipped with weighing sensor record working state recording and by the working state recording entry of working state recording generating structure, the work
Condition record entry is combined to form working state recording file, and working state recording file then is sent into producer's server；Working state recording bar
Mesh structure is：Date, the unladen weight cumulative time, the underloading cumulative time, the heavily loaded cumulative time, overload the cumulative time, wherein without
Load-carrying refers to the 5% of actual load-carrying≤specified maximum load, and underloading refers to the 5% of the actual specified maximum loads of load-carrying ＞ and actual load
The specified maximum load of weight≤70%, heavy duty refer to the 70% of the actual specified maximum loads of load-carrying ＞ and≤specified maximum load, overload
Refer to the actual specified maximum loads of load-carrying ＞.
Step 3：Calculate the Dynamic Maintenance date：As shown in figure 4, producer's server receives the working state recording text of car-mounted terminal
Part, is calculated and dynamic adjusts the next maintenance dates for corresponding to each critical piece of forklift truck, then feeds back to car-mounted terminal；Calculate dynamic
The method of state maintenance dates is：
The weighted cumulative working time of calculating unit, the calculation formula of the weighted cumulative working time are：Weighting is tired
Count working time=unladen weight cumulative time+underloading cumulative time+1.2 × heavily loaded cumulative time+4 × overload cumulative time；
The method of adjustment on the Dynamic Maintenance date is：Association forklift truck is found according to car-mounted terminal sequence number, fork is filled
The part that each needs of car are safeguarded, if the next maintenance dates in its maintenance plan do not process earlier than today；Otherwise,
To each date of yesterday since the part last maintenance implementation date, the corresponding working state recording of preservation is retrieved, is then pressed such as
Lower rule calculates weighted cumulative working time sum and then calculates weighted cumulative working time sum, the weighting according to the following rules
Cumulative operation time sum is designated as S, initial value 0：
If 4) it is not detected by the working state recording on the date, S=S+8；
If 5) the weighted cumulative working time of the working state recording on the date is less than or equal to 8, S=S+8；
If 6) the weighted cumulative working time of the working state recording on the date is more than the weighting of this day working state recording of 8, S=S+
Cumulative operation time；
Then the next maintenance dates of this part are：
During the standard care that the last maintenance date of next maintenance dates=this part of this part+this part is counted with day
Between interval-(number of days that this part last maintenance of S/8- is passed through up to now)；
If the next maintenance dates for this part being this time calculated than original plan next maintenance dates earlier, write down
Its difference, and this difference is subtracted with all not out of date part maintenance dates next time of association forklift truck, its is safeguarded into day next time
Phase shifts to an earlier date；If the next maintenance dates of forklift truck part have adjustment, adjustment result is sent to car-mounted terminal.
Step 4：Maintenance Significant Items list display is treated in car-mounted terminal renewal：Car-mounted terminal receives dimension next time of each critical piece
After protecting the date, Maintenance Significant Items list and the display on the display screen of car-mounted terminal are treated in renewal；
Step 5：Server notice needs Maintenance Significant Items to cell phone application：Producer's server is in database to each forklift truck
Component maintenance state scans for, if the project of domestic demand maintenance in one week be present or have expired the project do not safeguarded in certain forklift truck,
Announcement information is sent to the cell phone application of association user；
Step 6：Cell phone application typing maintenance condition：After user receives APP notification messages, start cell phone application, for it
In completed to safeguard but still appear as project to be safeguarded, typing maintenance dates are simultaneously submitted to producer's server；
Step 7：Producer's server receives the maintenance condition of cell phone application upload, updates the last maintenance day of associated components
Phase, and the next maintenance dates of this part are adjusted with the method for step 3, and adjustment result is sent to car-mounted terminal；
Step 8：The display of the next maintenance dates of car-mounted terminal renewal associated components.
Embodiment described above is only that the preferred embodiment of the present invention is described, and not the scope of the present invention is entered
Row limits, and on the premise of design spirit of the present invention is not departed from, those of ordinary skill in the art make to technical scheme
The various modifications gone out and improvement, it all should fall into the protection domain of claims of the present invention determination.
Claims (3)
1. a kind of stone digging forklift truck remote maintenance plan dynamic adjusting method, it is characterised in that comprise the following steps：
Step 1：History floor data uploads：Car-mounted terminal will upload history floor data to server when starting, remember in operating mode
The working state recording entry that the date was searched in record file earlier than the same day and is not yet uploaded, if being uploaded onto the server in the presence of if, uploads number
Car-mounted terminal sequence number is included in, deletes the project uploaded from car-mounted terminal working state recording file after uploading successfully；
Step 2：Monitoring of working condition：Car-mounted terminal, which has been handled after history floor data uploads, enters monitoring of working condition state, by vehicle-mounted
Terminal is equipped with weighing sensor record working state recording and remembers the working state recording entry of working state recording generating structure, the operating mode
Record entry is combined to form working state recording file, and working state recording file then is sent into producer's server；
Step 3：Calculate the Dynamic Maintenance date：Producer's server receives the working state recording file of car-mounted terminal, calculates simultaneously dynamic
The next maintenance dates of each critical piece of the corresponding forklift truck of adjustment, then feed back to car-mounted terminal；
Step 4：Maintenance Significant Items list display is treated in car-mounted terminal renewal：The next time that car-mounted terminal receives each critical piece safeguards day
After phase, renewal treats Maintenance Significant Items list and in the display screen display of car-mounted terminal；
Step 5：Server notice needs Maintenance Significant Items to cell phone application：Producer's server is in database to the part of each forklift truck
Maintenance state scans for, if certain forklift truck has the project of domestic demand maintenance in one week or has expired the project do not safeguarded, sends
Cell phone application of the announcement information to association user；
Step 6：Cell phone application typing maintenance condition：After user receives APP notification messages, start cell phone application, for wherein
Through completing to safeguard but still appearing as project to be safeguarded, typing maintenance dates are simultaneously submitted to producer's server；
Step 7：Producer's server receives the maintenance condition of cell phone application upload, updates the last maintenance date of associated components, and
The next maintenance dates of this part are adjusted with the method for step 3, and adjustment result is sent to car-mounted terminal；
Step 8：The display of the next maintenance dates of car-mounted terminal renewal associated components.
2. stone digging forklift truck remote maintenance plan dynamic adjusting method as claimed in claim 1, it is characterised in that described
In step 2, working state recording entry structure is：{ on the date, the unladen weight cumulative time, the underloading cumulative time, the heavily loaded cumulative time, surpass
Carry the cumulative time }, wherein unladen weight refers to the 5% of actual load-carrying≤specified maximum load, and underloading refers to the actual specified maximums of load-carrying ＞
5% and the specified maximum load of actual load-carrying≤70% of load-carrying, heavy duty refer to the actual specified maximum loads of load-carrying ＞ 70% and≤
Specified maximum load, overload refer to the actual specified maximum loads of load-carrying ＞.
3. stone digging forklift truck remote maintenance plan dynamic adjusting method as claimed in claim 2, it is characterised in that described
In step 3, the method for calculating the Dynamic Maintenance date is：
The weighted cumulative working time of calculating unit, the calculation formula of the weighted cumulative working time are：Weighted cumulative work
Make time=unladen weight cumulative time+underloading cumulative time+1.2 × heavily loaded cumulative time+4 × overload cumulative time；
The method of adjustment on the Dynamic Maintenance date is：Association forklift truck is found according to car-mounted terminal sequence number, to forklift truck
The part safeguarded each is needed, if the next maintenance dates in its maintenance plan do not process earlier than today；Otherwise, from this
Part last maintenance implementation date starts each date to yesterday, retrieves the corresponding working state recording of preservation, then by following rule
Weighted cumulative working time sum is then calculated, the weighted cumulative working time sum is designated as S, initial value 0：
If 1) it is not detected by the working state recording on the date, S=S+8；
If 2) the weighted cumulative working time of the working state recording on the date is less than or equal to 8, S=S+8；
If 3) the weighted cumulative working time of the working state recording on the date is more than the weighted cumulative of this day working state recording of 8, S=S+
Working time；
Then the next maintenance dates of this part are：
Between the standard care time that the last maintenance date of next maintenance dates=this part of this part+this part is counted with day
Every-(number of days that this part last maintenance of S/8- is passed through up to now)
If the next maintenance dates for this part being this time calculated than original plan next maintenance dates earlier, it is poor to write down it
Value, and this difference is subtracted with all not out of date part maintenance dates next time of association forklift truck, its next maintenance dates is carried
Before；If the next maintenance dates of forklift truck part have adjustment, adjustment result is sent to car-mounted terminal.
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| CN201510107546.1A CN104715331B (en) | 2015-03-12 | 2015-03-12 | A kind of stone digging forklift truck remote maintenance plan dynamic debugging system and method |
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| CN201510107546.1A CN104715331B (en) | 2015-03-12 | 2015-03-12 | A kind of stone digging forklift truck remote maintenance plan dynamic debugging system and method |
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| CN104715331B true CN104715331B (en) | 2018-03-09 |
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| CN111461358B (en) * | 2020-03-17 | 2024-03-29 | 中国第一汽车股份有限公司 | Vehicle maintenance reminding method and device, vehicle-mounted terminal equipment and medium |
| CN111483900B (en) * | 2020-04-21 | 2020-12-08 | 蚌埠高灵传感系统工程有限公司 | Construction elevator overload protection system based on big data |
| CN114590668B (en) * | 2022-05-10 | 2022-08-12 | 大汉科技股份有限公司 | Operation management system for unmanned elevator based on big data |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102564537A (en) * | 2011-12-19 | 2012-07-11 | 广东步步高电子工业有限公司 | Method for weighing object by using mobile terminal device |
| CN103279913A (en) * | 2013-05-28 | 2013-09-04 | 黑龙江中科瑞合固体废弃物资源化技术研发有限公司 | Internet of Things technology-based kitchen waste collection and transportation system and collection and transportation platform equipment |
| CN103854477A (en) * | 2012-11-28 | 2014-06-11 | 西安正昌电子有限责任公司 | Automobile loading capacity remote monitoring system based on Internet of Things |
| CN204480306U (en) * | 2015-03-12 | 2015-07-15 | 福建工程学院 | A kind of stone digging forklift truck remote maintenance plan dynamic debugging system |
-
2015
- 2015-03-12 CN CN201510107546.1A patent/CN104715331B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102564537A (en) * | 2011-12-19 | 2012-07-11 | 广东步步高电子工业有限公司 | Method for weighing object by using mobile terminal device |
| CN103854477A (en) * | 2012-11-28 | 2014-06-11 | 西安正昌电子有限责任公司 | Automobile loading capacity remote monitoring system based on Internet of Things |
| CN103279913A (en) * | 2013-05-28 | 2013-09-04 | 黑龙江中科瑞合固体废弃物资源化技术研发有限公司 | Internet of Things technology-based kitchen waste collection and transportation system and collection and transportation platform equipment |
| CN204480306U (en) * | 2015-03-12 | 2015-07-15 | 福建工程学院 | A kind of stone digging forklift truck remote maintenance plan dynamic debugging system |
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