CN104816729B - A kind of cable car crane automation control method - Google Patents
A kind of cable car crane automation control method Download PDFInfo
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- CN104816729B CN104816729B CN201510158350.5A CN201510158350A CN104816729B CN 104816729 B CN104816729 B CN 104816729B CN 201510158350 A CN201510158350 A CN 201510158350A CN 104816729 B CN104816729 B CN 104816729B
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- 238000004891 communication Methods 0.000 claims description 17
- 238000009423 ventilation Methods 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B7/00—Rope railway systems with suspended flexible tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B12/00—Component parts, details or accessories not provided for in groups B61B7/00 - B61B11/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D27/00—Heating, cooling, ventilating, or air-conditioning
- B61D27/009—Means for ventilating only
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Abstract
The present invention relates to a kind of cable car crane automation control method, the method comprises: 1) provide the cable car crane automation control system be arranged on each cable car crane, and 2) use described system to control, described system comprises crane load-carrying check implement, temperature testing equipment, crane balancing subsystem, air port regulates subsystem and master controller, described master controller and described crane load-carrying check implement, described temperature testing equipment, described crane balancing subsystem and described air port regulate subsystem to be connected respectively, load-carrying testing result based on described crane load-carrying check implement controls described crane balancing subsystem to balance cable car crane, and control described air port adjustment subsystem to regulate the air port wind direction of cable car crane based on the temperature detection result of described temperature testing equipment.
Description
The divisional application of the patent of " a kind of cable car crane automation control method " that the present invention is application number is 201410709753X, the applying date, to be November 27, denomination of invention in 2014 be.
Technical field
The present invention relates to cable car control field, particularly relate to a kind of cable car crane automation control method.
Background technology
Along with the raising of expanding economy and people's living standard, people start to have had more idle vacation, and start to be not content with and spend a holiday in locality, and are more ready to spend more expense and energy to remove the landscape view of appreciation elsewhere, strange land, wherein, sight spot, mountain area is topmost one of place of spending a holiday.
For sight spot, mountain area, although exist to climb the mountain as the visitor crowd of enjoyment, but most of visitor concern is local view and the visual field when mountain peak, is more ready by time flower on appreciation scenery, instead of busy in mountain-climbing itself.Therefore, use cable car as the vehicle that visitor is gone down the hill, visitor is helped to arrive at the destination fast, thus save time carry out other tourism affairs, run cable car simultaneously and can also bring extra income to local supervisory management zone, thus, cable car project is one of the project that sight spot, a lot of mountain area is ready to manage.
But, cable car crane of the prior art only controls in the plant maintenance of crane itself, lack the care to visitor's ride quality, thus visitor often can run into following two problems in operation: (1) visitor hangs occupant's skewness and personnel walk up and down at cable car, cable car can be caused to tilt to rock largely, bring discomfort to visitor; (2) require different with winter to blowing direction in cable car car summer, level is needed summer to dry, be convenient to visitor's direct feeling, winter more needs vertical blowing, while ventilative, ensure that visitor can not catch a cold, and in prior art, lack shift of wind mechanism, cause visitor only to experience a kind of wind direction summer in winter, thus bring discomfort.
Therefore, need a kind of cable car crane automation control method, can self-equalizing cable car crane both sides weight, ensure that cable car crane can not acutely rock, simultaneously can automatic regulating tuyere wind direction, thus improve the comfort level that visitor takes cable car.
Summary of the invention
In order to solve the problem, the invention provides a kind of cable car crane automation control method, transform the existing master mode too paying close attention to cable car equipment itself, and more pay close attention to the personal feeling of visitor, by weight detecting and balancing technique self-equalizing cable car crane, automatically the air port wind direction of cable car crane is regulated by temperature detection and wind direction control technology, further increase carrier cable stress mornitoring equipment to monitor in real time cable wire, thus while ensureing that tourist security is taken, avoid as visitor brings discomfort.
According to an aspect of the present invention, provide a kind of cable car crane automation control method, the method comprises: 1) provide the cable car crane automation control system be arranged on each cable car crane, and 2) use described system to control, described system comprises crane load-carrying check implement, temperature testing equipment, crane balancing subsystem, air port regulates subsystem and master controller, described master controller and described crane load-carrying check implement, described temperature testing equipment, described crane balancing subsystem and described air port regulate subsystem to be connected respectively, load-carrying testing result based on described crane load-carrying check implement controls described crane balancing subsystem to balance cable car crane, and control described air port adjustment subsystem to regulate the air port wind direction of cable car crane based on the temperature detection result of described temperature testing equipment.
More specifically, in described cable car crane automation control system, also comprise: user input device, be arranged on the inner side of car body near car door one end of cable car crane, according to the operation of user, input is preset minimum temperature, is preset two ends maximum gross difference and default minimum tension threshold value, memory device, the car body being arranged on cable car crane, near the inner side of car door one end, is connected with described user input device, for receiving and storing described default minimum temperature, described default two ends maximum gross difference and described default minimum tension threshold value, wireless communication interface, is connected with described master controller, the tension force of carrier cable, maximum gross value, load-carrying difference and vehicle interior temperature real-time radio to be sent to the cable car control and management platform of far-end, hawser tension detector, is arranged on the cable wire of fixing cable car crane, for detecting in real time and exporting the tension force of carrier cable, track brake, is connected with cable car crane and cable car rail, holds tightly at cable car rail for controlling cable car crane according to the cable car speed-slackening signal received, described crane load-carrying check implement, is arranged on the vehicle bottom of cable car crane, comprising left side load-carrying detector, being arranged on the left side of cable car crane, for detecting the load value on the left of cable car crane in real time, described crane load-carrying check implement also comprises right side load-carrying detector, is arranged on the right side of cable car crane, for detecting the load value on the right side of cable car crane in real time, described crane load-carrying check implement also comprises comparator, be connected respectively with described left side load-carrying detector and described right side load-carrying detector, export the maximum gross value in described left side load value and described right side load value, and export the load-carrying difference between described left side load value and described right side load value, described crane load-carrying check implement also comprises RS-232 serial ports, is connected to export described maximum gross value and described load-carrying difference with described comparator, described temperature testing equipment, is arranged on the car body top of cable car crane, for detecting in real time and exporting the vehicle interior temperature of cable car crane, described crane balancing subsystem, is arranged on the below of the vehicle bottom of cable car crane, described crane load-carrying check implement, comprises balance slide block, slidably reciprocate for the vehicle bottom both sides at cable car crane under the driving of slider-actuated mechanism, described crane balancing subsystem also comprises slider-actuated mechanism, when receiving right side slip control signal, described balance slide block is driven to slide on the right side of the vehicle bottom of cable car crane, when receiving left slide control signal, drive described balance slide block to the vehicle bottom left slide of cable car crane, described air port regulates subsystem to comprise air port, and both sides before and after the car body being arranged on cable car crane, for cable car crane inner ventilation, described air port regulates subsystem also to comprise baffle mechanism, be arranged on below air port, when receiving vertically-supplying air to control signal, baffle mechanism pushes away, air port wind direction is changed into vertical direction from horizontal direction, when receiving horizontal wind direction control signal, pushing away under baffle mechanism, changing air port wind direction into horizontal direction from vertical direction, described master controller is arranged on the inner side of car body near car door one end of cable car crane, with described memory device, described hawser tension detector, described track brake, described RS-232 serial ports, described temperature testing equipment, described slider-actuated mechanism is connected respectively with described baffle mechanism, when the tension force of described carrier cable is less than or equal to described default minimum tension threshold value, cable car speed-slackening signal is sent to described track brake, when the load-carrying difference received is more than or equal to described default two ends maximum gross difference and the maximum gross value received is left side load value, send right side slip control signal, when the load-carrying difference received is more than or equal to described default two ends maximum gross difference and the maximum gross value received is right side load value, send left slide control signal, when the vehicle interior temperature received is less than or equal to described default minimum temperature, send vertically-supplying air to control signal, when the vehicle interior temperature received is greater than described default minimum temperature, send horizontal wind direction control signal.
More specifically, in described cable car crane automation control system, described slider-actuated mechanism is mechanical arm form or form of springs.
More specifically, in described cable car crane automation control system, described air port be arranged on cable car crane car body before and after two levels flutings of lower end, both sides.
More specifically, in described cable car crane automation control system, described user input device is touch-screen or keyboard.
More specifically, in described cable car crane automation control system, also comprise camera, be arranged on the car body top of cable car crane, for the visitor's image in captured in real-time cable car crane.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the cable car crane automation control system illustrated according to an embodiment of the present invention.
Fig. 2 is the block diagram of the crane load-carrying check implement of the cable car crane automation control system illustrated according to an embodiment of the present invention.
Detailed description of the invention
Below with reference to accompanying drawings the embodiment of cable car crane automation control system of the present invention is described in detail.
Cable car, is also called aerial rope way, is to drive steel rope by driving machine, and traction compartment is along being laid on earth's surface and having cable car on the track of certain slope to run, in order to promote or to transfer the Transport Machinery of personnel and goods.He is multiplex makes the vehicle of industrial district, city or landscape excursion district.
Cable car utilizes wire rope traction, realizes the general designation of the equipment of personnel or goods conveying object or general appellation.The route choosing of cable car should avoid ramp fluctuations excessive, to save capital expenditure.Track grade is generally advisable with 15 °-25 °.According to conditions such as transportation volume, landform, haul distances, circuit can be designed to add the various ways such as passing bay or transfer stop in the middle of single track, double track, single track.The running velocity in cable car compartment is generally not more than 13 kilometers per hour.
For adapting to topographic condition and the ride comfort of circuit, the seat of passenger-carrying coach should be also staged with plane-parallel, so that personnel are upper and lower and cargo handing.Exceed the speed limit when compartment is in operation, transship, offside, have a power failure, the accident such as disconnected rope time, corresponding safety measure guarantee passenger safety be had.Because the comformability of cable car to landform is poor, construction cost is high, and long-distance transportation efficiency is low, and therefore his application and development has certain particularity.
Visitor can find when taking cable car, existing cable car control system have ignored the related facility construction to visitor's personal feeling, such as, lacks weight balancing equipment, such as lack wind direction control convenience again, the shortage of these equipment all can be brought to visitor and poor take environment.
Cable car crane automation control system of the present invention, not only on safety performance, corresponding detection is carried out to cable car itself, more focus on and the sense of equilibrium of visitor and weather side are considered, built more perfect more intelligentized cable car control system by relevant automotive electronics.
Fig. 1 is the block diagram of the cable car crane automation control system illustrated according to an embodiment of the present invention, described system comprises: crane load-carrying check implement 1, temperature testing equipment 2, crane balancing subsystem 4, air port regulates subsystem 5 and master controller 3, described master controller 3 and described crane load-carrying check implement 4, described temperature testing equipment 2, described crane balancing subsystem 4 and described air port regulate subsystem 5 to be connected respectively, load-carrying testing result based on described crane load-carrying check implement 1 controls described crane balancing subsystem 4 to balance cable car crane, and control described air port adjustment subsystem 5 to regulate the air port wind direction of cable car crane based on the temperature detection result of described temperature testing equipment 2.
Then, continue to be further detailed the concrete structure of cable car crane automation control system of the present invention.
Described cable car crane automation control system also comprises: user input device, and the car body being arranged on cable car crane is near the inner side of car door one end, and according to the operation of user, input is preset minimum temperature, preset two ends maximum gross difference and default minimum tension threshold value.
Described cable car crane automation control system also comprises: memory device, be arranged on the inner side of car body near car door one end of cable car crane, be connected with described user input device, for receiving and storing described default minimum temperature, described default two ends maximum gross difference and described default minimum tension threshold value.
Described cable car crane automation control system also comprises: wireless communication interface, is connected with described master controller 3, the tension force of carrier cable, maximum gross value, load-carrying difference and vehicle interior temperature real-time radio to be sent to the cable car control and management platform of far-end.
Described cable car crane automation control system also comprises: hawser tension detector, is arranged on the cable wire of fixing cable car crane, for detecting in real time and exporting the tension force of carrier cable; Track brake, is connected with cable car crane and cable car rail, holds tightly at cable car rail for controlling cable car crane according to the cable car speed-slackening signal received.
As shown in Figure 2, described crane load-carrying check implement 1, is arranged on the vehicle bottom of cable car crane, comprising left side load-carrying detector 11, being arranged on the left side of cable car crane, for detecting the load value on the left of cable car crane in real time; Described crane load-carrying check implement 1 also comprises right side load-carrying detector 12, is arranged on the right side of cable car crane, for detecting the load value on the right side of cable car crane in real time; Described crane load-carrying check implement 1 also comprises comparator 13, be connected respectively with described left side load-carrying detector 11 and described right side load-carrying detector 12, export the maximum gross value in described left side load value and described right side load value, and export the load-carrying difference between described left side load value and described right side load value; Described crane load-carrying check implement 1 also comprises RS-232 serial ports 14, is connected to export described maximum gross value and described load-carrying difference with described comparator 13.
Described temperature testing equipment 2, is arranged on the car body top of cable car crane, for detecting in real time and exporting the vehicle interior temperature of cable car crane.
Described crane balancing subsystem 4, is arranged on the below of the vehicle bottom of cable car crane, described crane load-carrying check implement 1, comprises balance slide block, slidably reciprocate for the vehicle bottom both sides at cable car crane under the driving of slider-actuated mechanism; Described crane balancing subsystem 4 also comprises slider-actuated mechanism, when receiving right side slip control signal, described balance slide block is driven to slide on the right side of the vehicle bottom of cable car crane, when receiving left slide control signal, drive described balance slide block to the vehicle bottom left slide of cable car crane.
Described air port regulates subsystem 5 to comprise air port, and both sides before and after the car body being arranged on cable car crane, for cable car crane inner ventilation; Described air port regulates subsystem 5 also to comprise baffle mechanism, be arranged on below air port, when receiving vertically-supplying air to control signal, baffle mechanism pushes away, air port wind direction is changed into vertical direction from horizontal direction, when receiving horizontal wind direction control signal, pushing away under baffle mechanism, changing air port wind direction into horizontal direction from vertical direction.
Described master controller 3 is arranged on the car body of cable car crane near the inner side of car door one end, is connected respectively with described memory device, described hawser tension detector, described track brake, described RS-232 serial ports 14, described temperature testing equipment 2, described slider-actuated mechanism and described baffle mechanism.
Described master controller 3 realizes following manipulation: when the tension force of described carrier cable is less than or equal to described default minimum tension threshold value, cable car speed-slackening signal is sent to described track brake, when the load-carrying difference received is more than or equal to described default two ends maximum gross difference and the maximum gross value received is left side load value, send right side slip control signal, when the load-carrying difference received is more than or equal to described default two ends maximum gross difference and the maximum gross value received is right side load value, send left slide control signal, when the vehicle interior temperature received is less than or equal to described default minimum temperature, send vertically-supplying air to control signal, when the vehicle interior temperature received is greater than described default minimum temperature, send horizontal wind direction control signal.
Wherein, in described cable car crane automation control system, described slider-actuated mechanism is chosen as mechanical arm form or form of springs, described air port be chosen as be arranged on cable car crane car body before and after two levels fluting of lower end, both sides, described user input device is chosen as touch-screen or keyboard, described cable car crane automation control system can also comprise camera, is arranged on the car body top of cable car crane, for the visitor's image in captured in real-time cable car crane.
In addition, RS-232 serial ports is one of communication interface on Personal Computer, the asynchronous transmission standard interface formulated by Electronic Industries Association USA (ElectronicIndustriesAssociation, EIA).Usual RS-232 interface occurs with 9 pins (DB-9) or the kenel of 25 pins (DB-25), general Personal Computer has two groups of RS-232 interface, is called COM1 and COM2.
RS-232-C is a kind of serial physical interface standards that EIA EIA (ElectronicIndustryAssociation) formulates.RS is the abbreviation of English " proposed standard ", and 232 is identification number, and C represents amendment number of times.RS-232-C bus standard is provided with 25 signal line, comprises a main channel and an accessory channel.Mainly use main channel as a rule, for general duplex communication, only need a few signal line just can realize, as one sends line, a reception line and a ground wire.The data transmission rate that RS-232-C standard specifies is 50,75,100,150,300,600,1200,2400,4800,9600,19200,38400 bauds.
RS-232-C standard specifies, actuator allows the capacitance loading of 2500pF, and communication distance will limit by this electric capacity, and such as, when adopting the communication cable of 150pF/m, maximum communication distance is 15m; If the capacitance of every meter of cable reduces, communication distance can increase.Short another reason of transmission distance is that RS-232 belongs to single-ended signal transmission, there is Earth noise and can not suppress the problems such as common mode interference altogether, is therefore generally used for the communication within 20m.
Serial communication interface standard, through using and developing, has had several at present.But be all formed through improving on the basis of rs-232 standard.So, take RS-232C as main discussion.RS-232C standard is the communication protocol that U.S. EIA (Electronic Industries Association) develops together with the companies such as BELL.He is suitable for the communication of data transmission rate within the scope of 0-20000b/s.This standard to the relevant issues of serial communication interface, as signal wire (SW) function, electrical specification all make explicit provisions.Because communications equipment vendor produces the communication facilities with RS-232C multiple display modes compatible, therefore, he, as a kind of standard, extensively adopts at present in microcomputer communication interface.
Adopt cable car crane automation control system of the present invention, the technical matters considering visitor's comfort level is lacked for existing cable car control system, cable car crane balance is realized by automatically detecting the two ends load-bearing of cable car crane, by oneself detecting cable car crane vehicle interior temperature to determine the control of crane air port wind direction, the use of tension detect equipment simultaneously also helps cable car to improve safety factor further, the present invention more comfortable takes environment for cable car visitor has built one effectively, perfect further cable car control system.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (1)
1. a cable car crane automation control method, the method comprises:
1) the cable car crane automation control system be arranged on each cable car crane is provided, and
2) described automation control system is used to control, it is characterized in that, described automation control system comprises crane load-carrying check implement, temperature testing equipment, crane balancing subsystem, air port regulates subsystem and master controller, described master controller and described crane load-carrying check implement, described temperature testing equipment, described crane balancing subsystem and described air port regulate subsystem to be connected respectively, load-carrying testing result based on described crane load-carrying check implement controls described crane balancing subsystem to balance cable car crane, and control described air port adjustment subsystem to regulate the air port wind direction of cable car crane based on the temperature detection result of described temperature testing equipment,
Described automation control system also comprises:
User input device, the car body being arranged on cable car crane is near the inner side of car door one end, and according to the operation of user, input is preset minimum temperature, preset two ends maximum gross difference and default minimum tension threshold value;
Memory device, the car body being arranged on cable car crane, near the inner side of car door one end, is connected with described user input device, for receiving and storing described default minimum temperature, described default two ends maximum gross difference and described default minimum tension threshold value;
Wireless communication interface, is connected with described master controller, the tension force of carrier cable, maximum gross value, load-carrying difference and vehicle interior temperature real-time radio to be sent to the cable car control and management platform of far-end;
Hawser tension detector, is arranged on the cable wire of fixing cable car crane, for detecting in real time and exporting the tension force of carrier cable;
Track brake, is connected with cable car crane and cable car rail, holds tightly at cable car rail for controlling cable car crane according to the cable car speed-slackening signal received;
Described crane load-carrying check implement, is arranged on the vehicle bottom of cable car crane, comprises
Left side load-carrying detector, is arranged on the left side of cable car crane, for detecting the load value on the left of cable car crane in real time;
Right side load-carrying detector, is arranged on the right side of cable car crane, for detecting the load value on the right side of cable car crane in real time;
Comparator, is connected respectively with described left side load-carrying detector and described right side load-carrying detector, exports the maximum gross value in described left side load value and described right side load value, and exports the load-carrying difference between described left side load value and described right side load value;
RS-232 serial ports, is connected with described comparator to export described maximum gross value and described load-carrying difference;
Described temperature testing equipment, is arranged on the car body top of cable car crane, for detecting in real time and exporting the vehicle interior temperature of cable car crane;
Described crane balancing subsystem, is arranged on the below of the vehicle bottom of cable car crane, described crane load-carrying check implement, comprises
Balance slide block, slidably reciprocates for the vehicle bottom both sides at cable car crane under the driving of slider-actuated mechanism;
Slider-actuated mechanism, when receiving right side slip control signal, driving described balance slide block to slide on the right side of the vehicle bottom of cable car crane, when receiving left slide control signal, driving described balance slide block to the vehicle bottom left slide of cable car crane;
Described air port regulates subsystem to comprise
Air port, both sides before and after the car body being arranged on cable car crane, for cable car crane inner ventilation;
Baffle mechanism, is arranged on below air port, when receiving vertically-supplying air to control signal, baffle mechanism pushes away, changes air port wind direction into vertical direction from horizontal direction, when receiving horizontal wind direction control signal, push away under baffle mechanism, change air port wind direction into horizontal direction from vertical direction;
Described master controller is arranged on the inner side of car body near car door one end of cable car crane, with described memory device, described hawser tension detector, described track brake, described RS-232 serial ports, described temperature testing equipment, described slider-actuated mechanism is connected respectively with described baffle mechanism, when the tension force of described carrier cable is less than or equal to described default minimum tension threshold value, cable car speed-slackening signal is sent to described track brake, when the load-carrying difference received is more than or equal to described default two ends maximum gross difference and the maximum gross value received is left side load value, send right side slip control signal, when the load-carrying difference received is more than or equal to described default two ends maximum gross difference and the maximum gross value received is right side load value, send left slide control signal, when the vehicle interior temperature received is less than or equal to described default minimum temperature, send vertically-supplying air to control signal, when the vehicle interior temperature received is greater than described default minimum temperature, send horizontal wind direction control signal,
Described slider-actuated mechanism is mechanical arm form or form of springs,
Described user input device is touch-screen or keyboard.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410709753.XA CN104442837B (en) | 2014-11-27 | 2014-11-27 | A kind of cable car crane automation control method |
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| CN201410709753.XA Division CN104442837B (en) | 2014-11-27 | 2014-11-27 | A kind of cable car crane automation control method |
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| CN104816729A CN104816729A (en) | 2015-08-05 |
| CN104816729B true CN104816729B (en) | 2016-01-20 |
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| CN201510158350.5A Active CN104816729B (en) | 2014-11-27 | 2014-11-27 | A kind of cable car crane automation control method |
| CN201410709753.XA Active CN104442837B (en) | 2014-11-27 | 2014-11-27 | A kind of cable car crane automation control method |
| CN201510158063.4A Expired - Fee Related CN104787050B (en) | 2014-11-27 | 2014-11-27 | A kind of cable car crane automation control method |
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| CN201510158063.4A Expired - Fee Related CN104787050B (en) | 2014-11-27 | 2014-11-27 | A kind of cable car crane automation control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3505759B2 (en) * | 1993-12-13 | 2004-03-15 | 石川島播磨重工業株式会社 | Damping device |
| IT1316130B1 (en) * | 2000-05-18 | 2003-03-28 | High Technology Investiments B | MOTOR SYSTEM WITH APPARATUS FOR DISCONNECTING AND REGULATED AND / OR MODULATED DISCONNECTION OF A CABLEWAY. |
| CN2918176Y (en) * | 2006-06-29 | 2007-07-04 | 黄文良 | Suspended railcar |
| CN101318510A (en) * | 2007-06-04 | 2008-12-10 | 贵州云马飞机制造厂 | Antiswing device for overhead cableway compartment body |
| KR101202324B1 (en) * | 2007-06-19 | 2012-11-16 | 삼성전자주식회사 | An air conditioner and control method thereof |
| ATE518714T1 (en) * | 2008-07-24 | 2011-08-15 | Innova Patent Gmbh | CABLE CAR SYSTEM |
| JP5590422B2 (en) * | 2012-06-13 | 2014-09-17 | 株式会社ダイフク | Goods transport equipment |
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2014
- 2014-11-27 CN CN201510158350.5A patent/CN104816729B/en active Active
- 2014-11-27 CN CN201410709753.XA patent/CN104442837B/en active Active
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| Publication number | Publication date |
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| CN104816729A (en) | 2015-08-05 |
| CN104442837B (en) | 2016-07-06 |
| CN104442837A (en) | 2015-03-25 |
| CN104787050B (en) | 2015-11-18 |
| CN104787050A (en) | 2015-07-22 |
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