CN109760574A - It is a kind of based on the transport vehicle intelligently carried and its working method - Google Patents
It is a kind of based on the transport vehicle intelligently carried and its working method Download PDFInfo
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- CN109760574A CN109760574A CN201910076089.2A CN201910076089A CN109760574A CN 109760574 A CN109760574 A CN 109760574A CN 201910076089 A CN201910076089 A CN 201910076089A CN 109760574 A CN109760574 A CN 109760574A
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Abstract
The invention discloses a kind of based on the transport vehicle intelligently carried and its working method, including car body, carrying mechanism and control mechanism, and control mechanism includes processor, driving device and storage device；Car body includes the first photographic device and the second photographic device, and the first photographic device is used to obtain the environment at car body rear, and the second photographic device is used to obtain the environment of vehicle body；Carrying mechanism includes goods loading device and handling device, goods loading device includes first straight line track, first electronic sliding block, rotating device and transmission device, first straight line track is attached at the lower section of car body, first electronic sliding block is embedded in first straight line track, first electronic sliding block is connected with rotating device, transmission device is placed in again before two rotating devices, handling device includes second straight line track, second electronic sliding block and clamping limb, second straight line track is attached on the medial surface of left and right two of car body, second electronic sliding block is embedded in second straight line track, second electronic sliding block is connected with clamping limb.
Description
Technical field
It is the present invention relates to Intelligent logistics field, in particular to a kind of based on the transport vehicle intelligently carried and its working method.
Background technique
Before transporting cargo using transport vehicle, need that first cargo is carried to inside transport vehicle, this need of work first has
People enters interior and scoops out, then passs cargo to the people in compartment by external people, then by people's arrangement of goods in compartment, step
It is cumbersome, and one it is next upload pass cargo during, be likely to result in dropping for cargo and damage, in addition, in compartment
People when scooping out cargo, may gravity center instability and fall and get off, cause injury.
Summary of the invention
Goal of the invention: in order to overcome the disadvantage in background technique, the embodiment of the invention provides one kind to be carried based on intelligence
Transport vehicle and its working method, the problem of can effectively solve the problem that involved in above-mentioned background technique.
Technical solution: it is a kind of based on the transport vehicle intelligently carried, including car body, carrying mechanism and control mechanism, it is described
Control mechanism includes processor, driving device and storage device, the processor respectively with the driving device and described
Storage device connection, the storage device are used to record the cargo that the transport vehicle loads；
The car body includes the first photographic device and the second photographic device, and first photographic device and described second image
Device is connected to the processor respectively, and first photographic device is used to obtain the environment at car body rear and first count is photographed
As being sent to the processor, second photographic device is used to obtain the environment of the vehicle body and by the second filmed image
It is sent to the processor；
The carrying mechanism includes goods loading device and handling device, and the goods loading device includes first straight line track, the first electricity
Movable slider, rotating device and transmission device, the first straight line track are attached at the lower section of the car body, and described first is electronic
Sliding block is embedded in the first straight line track, and the first electronic sliding block is connected with the rotating device, and the transmission device is again
Be placed in front of two rotating devices, the first electronic sliding block, the rotating device and the transmission device respectively with the drive
Dynamic device connection, the first electronic sliding block is for skidding off the transmission device, and the rotating device is for transferring the transmission
Device, the transmission device are used to for cargo being transferred to vehicle body, and the handling device includes second straight line track, the second electricity
Movable slider and clamping limb, the second straight line track are attached on the medial surface of left and right two of the car body, second electricity
Movable slider is embedded in the second straight line track, and the second electronic sliding block is connected with the clamping limb, second electric sliding
Block and the clamping limb are connect with the driving device respectively, and the second electronic sliding block is used to adjust the position of the clamping limb
It sets, the clamping limb is for transporting goods.
As a kind of preferred embodiment of the invention, the handling device further includes fixing belt and draw off gear, the receipts
It puts device to be set on the inner top surface of the car body, the fixing belt is set as flexible telescopic rope, the both ends point of the fixing belt
It is not connected with two shafts of the draw off gear, the draw off gear is connect with the driving device, solid for controlling folding and unfolding
Determine the length of band.
As a kind of preferred embodiment of the invention, the transmission device includes pressure sensor, the pressure sensor with
The processor connection, for detecting the stress value of the transmission device and the stress value being sent to the processor.
As a kind of preferred embodiment of the invention, the clamping limb includes hook, and the hook takes the fixation for hooking
Band.
As a kind of preferred embodiment of the invention, the goods loading device further includes hydraulic elevator, the hydraulic elevator
It is set to the lower section of the transmission device, and is connect with the driving device, for overturning the transmission device.
As a kind of preferred embodiment of the invention, including following work step:
A) first photographic device obtains the environment at car body rear and the first filmed image is sent to the processor；
B) it is to be handled according to first filmed image to judge whether there is cargo for the processor；
C) if so, the processor exports the first slip signals to driving device, the driving device driving described first is electronic
Sliding block slides the first pre-determined distance along the first straight line track；
D) processor exports the first rotating signal to the driving device, the driving device drive the rotating device to
Lower rotation predetermined angle；
E) processor exports transmission signal to the driving device, and the driving device drives the transmission device starting；
F) second photographic device obtains the environment of the vehicle body and the second filmed image is sent to the processor；
G) processor extracts the position of storage cargo according to second filmed image, and edits second electric sliding
The sliding trace of block and the carrying track of clamping limb；
H) processor exports the second slip signals to the driving device, and the driving device drives second electric sliding
Block is moved according to the sliding trace, and the processor is exported to the driving device carries signal, the driving device driving
The clamping limb is moved according to the carrying track.
As a kind of preferred embodiment of the invention, further includes:
The processor exports release signal to the driving device, and the driving device drives described in the draw off gear release
Fixing belt；
Clamping limb described in the processor editor operates the motion track of the fixing belt, and hooks and take to driving device output
Signal, the driving device drives the clamping limb that the hook hook is driven to take the fixing belt, then the fixing belt is placed on
On cargo；
The processor exports recycling signal to the driving device, and the driving device drives described in the draw off gear recycling
Fixing belt.
As a kind of preferred embodiment of the invention, further includes:
The pressure sensor detects the stress value of the transmission device and the stress value is sent to the processor；
The processor judges whether the stress value is greater than or equal to default stress value；
If so, discharging the hydraulic elevator, the both ends of the hydraulic elevator are connected with ground and transmission device respectively；
The processor exports the second rotating signal to the driving device, and the driving device drives the rotating device upward
Rotation；
The processor exports rising signals to the driving device, and the driving device drives the hydraulic elevator to rise institute
State transmission device.
The present invention realize it is following the utility model has the advantages that
It is provided by the invention it is a kind of automation can be realized based on the transport vehicle intelligently carried cargo is carried on freight, lead to
It crosses the first photographic device and detects cargo to be handled automatically, transmission device, rotating device and the first electronic sliding block cooperating,
Transfer pipe is established between freight and ground, cargo is transferred to vehicle body from the transmission device；Clamping limb and second
The cargo for entering car body is placed in suitable position by electronic sliding block cooperating；Fixing belt and draw off gear cooperating, can
Auxiliary transmission device transports goods, and the fixing belt can balance the stress condition of cargo；The hydraulic elevator can be promoted described
Transmission device load-carrying.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and consistent with the instructions for explaining the principles of this disclosure.
Fig. 1 is provided by the invention a kind of based on the transport vehicle structural schematic diagram intelligently carried；
Fig. 2 is transmission device operation schematic diagram provided by the invention；
Fig. 3 is hydraulic elevator operation schematic diagram provided by the invention；
Fig. 4 is clamping limb structural schematic diagram provided by the invention；
Fig. 5 is control mechanism structural block diagram provided by the invention；
Fig. 6 is provided by the invention a kind of based on the transport vehicle flow chart of work methods intelligently carried；
Fig. 7 is fixing belt provided by the invention and draw off gear flow chart of work methods；
Fig. 8 is hydraulic elevator flow chart of work methods provided by the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Embodiment one
As shown in Figs. 1-5, the present embodiment provides a kind of based on the transport vehicle intelligently carried, including car body 1, carrying mechanism and control
Mechanism processed, the control mechanism include processor 2, driving device 3 and storage device 4, the processor 2 respectively with the drive
Dynamic device 3 and the storage device 4 connect, and the storage device 4 is used to record the cargo that the transport vehicle loads；
The car body 1 includes the first photographic device 5 and the second photographic device 6, first photographic device 5 and described second
Photographic device 6 is connect with the processor 2 respectively, and first photographic device 5 is used to obtain the environment at 1 rear of car body and by the
One filmed image is sent to the processor 2, and second photographic device 6 is used to obtain the environment inside the car body 1 and will
Second filmed image is sent to the processor 2；
The carrying mechanism includes goods loading device and handling device, and the goods loading device includes the 7, first electricity of first straight line track
Movable slider 8, rotating device 9 and transmission device 10, the first straight line track 7 are attached at the lower section of the car body 1, and described
One electronic sliding block 8 is embedded in the first straight line track 7, and the first electronic sliding block 8 is connected with the rotating device 9, described
Transmission device 10 is placed in again before two rotating devices 9, the first electronic sliding block 8, the rotating device 9 and transmission dress
It sets 10 to connect with the driving device 3 respectively, the first electronic sliding block 8 is for skidding off the transmission device 10, the rotation
Device 9 is for transferring the transmission device 10, and the transmission device 10 is for cargo to be transferred to inside car body 1, the carrying
Device includes that second straight line track 11, the second electronic sliding block 12 and clamping limb 13, the second straight line track 11 are attached at institute
It states on the medial surface of left and right two of car body 1, the second electronic sliding block 12 is embedded in the second straight line track 11, and described second
Electronic sliding block 12 is connected with the clamping limb 13, the second electronic sliding block 12 and the clamping limb 13 respectively with the driving
Device 3 connects, and the second electronic sliding block 12 is used to adjust the position of the clamping limb 13, and the clamping limb 13 is for carrying goods
Object.
The handling device further includes fixing belt 14 and draw off gear 15, and the draw off gear 15 is set to the car body
On 1 inner top surface, the fixing belt 14 is set as flexible telescopic rope, the both ends of the fixing belt 14 respectively with the draw off gear
15 two shafts are connected, and the draw off gear 15 is connect with the driving device 3, for controlling the length of folding and unfolding fixing belt 14
Degree.
The transmission device 10 includes pressure sensor 16, and the pressure sensor 16 connect with the processor 2, is used for
It detects the stress value of the transmission device 10 and the stress value is sent to the processor 2.
The clamping limb 13 includes hook 17, and the hook 17 takes the fixing belt 14 for hooking.
The goods loading device further includes hydraulic elevator 18, and the hydraulic elevator 18 is set to the transmission device 10
Lower section, and connect with the driving device 3, for overturning the transmission device 10.
Specifically, it is provided by the invention it is a kind of based on the transport vehicle intelligently carried include car body 1, carrying mechanism and control
Mechanism, the control mechanism include processor 2, driving device 3 and storage device 4, and the car body 1 includes the first photographic device
5 and second photographic device 6, the carrying mechanism include goods loading device and handling device, the goods loading device includes first
Rectilinear orbit 7, the first electronic sliding block 8, rotating device 9, transmission device 10 and hydraulic elevator 18, the transmission device 10 wrap
Pressure sensor 16 is included, the handling device includes second straight line track 11, the second electronic sliding block 12, clamping limb 13, fixing belt
14 and draw off gear 15, the clamping limb 13 includes hook 17.
Wherein, the car body 1 includes a compartment, and for loading cargo, the bottom in the compartment is provided with one in the compartment
Interlayer, the interlayer rear portion opening, the goods loading device are set in the interlayer, and the rear upper of the interlayer is provided with one
The arc gradient prevents card resistance cargo from entering compartment.
First photographic device 5 is set to the top of 1 rear cargo door of car body, and second photographic device 6 is set to
Inside the car body 1.
The first straight line track 7 divides the left and right sides of column Yu 1 bottom of car body, two first straight line tracks, 7 keeping parallelism, and
One electronic sliding block 8 is embedded in the first straight line track 7, and the medial surface of the first electronic sliding block 8 is provided with a groove, institute
The one end for stating rotating device 9 is built in the groove, and the side of transmission device 10 described in the other end is connected, two rotating devices 9 folder
One transmission device 10, the length of the transmission device 10 are less than the length of the first straight line track 7, in the initial state, institute
The inner terminal that the first electronic sliding block 8 is located at the first straight line track 7 is stated, the transmission device 10 is accommodated in the interlayer completely
Interior, when transporting goods, the first electronic sliding block 8 is moved to the outermost end of the first straight line track 7, at this point, the biography
Device 10 is sent to stretch out the interlayer, the rotating device 9 drives the transmission device 10 to be located under one end outside the interlayer
Rotation, the transmission device 10 can be connected to ground and car body 1.
The handling device is set to the inside of the car body 1, and the second straight line track 11 is set to 1 liang of lateral deviation of car body
Upper position, and the one end of second straight line track 11 outside car body 1 is provided with opening, i.e., the second electronic sliding block 12 can be from described
Opening skids off, that is, separates the second straight line track 11 and the second electronic sliding block 12, can be by second after cargo is carried
Electronic sliding block 12 and clamping limb 13 disassemble, and reduce compartment occupied space.
The draw off gear 15 is fixed on the inner top surface of the car body 1, and the draw off gear 15 includes two shafts, institute
The both ends for stating fixing belt 14 are wound in the shaft respectively, when shaft rotation, can releasably recycle fixing belt 14.
The hydraulic elevator 18 is set to the lower section of the transmission device 10, when in use, the hydraulic elevator 18
It is detached from the transmission device 10, is placed on ground, the hydraulic stem of the hydraulic elevator 18 and 10 phase of transmission device
Even, when hydraulic stem elongation, the transmission device 10 is overturn to the inside of the car body 1, the goods on transmission device 10
Object slides into car body 1, then shortens the hydraulic stem, and transmission device 10 is overturn again on meeting ground.
Embodiment two
As shown in fig. 6, the present embodiment provides a kind of working method based on the transport vehicle intelligently carried, including following job step
It is rapid:
A) first photographic device 5 obtains the environment at 1 rear of car body and the first filmed image is sent to the processor 2；
B) it is to be handled according to first filmed image to judge whether there is cargo for the processor 2；
C) if so, the processor 2 exports the first slip signals to driving device 3, the driving device 3 drives first electricity
Movable slider 8 slides the first pre-determined distance along the first straight line track 7；
D) processor 2 exports the first rotating signal to the driving device 3, and the driving device 3 drives the rotating dress
It sets 9 and is rotated down predetermined angle；
E) processor 2 exports transmission signal to the driving device 3, and the driving device 3 drives the transmission device 10
Starting；
F) second photographic device 6 obtains the environment inside the car body 1 and the second filmed image is sent to the processing
Device 2；
G) processor 2 extracts the position of storage cargo according to second filmed image, and it is electronic to edit described second
The sliding trace of sliding block 12 and the carrying track of clamping limb 13；
H) processor 2 exports the second slip signals to the driving device 3, and the driving device 3 drives second electricity
Movable slider 12 is moved according to the sliding trace, and the processor 2 exports to the driving device 3 and carries signal, the driving
Device 3 drives the clamping limb 13 to move according to the carrying track.
As shown in fig. 7, the processor 2 exports release signal to the driving device 3, the driving device 3 drives institute
It states draw off gear 15 and discharges the fixing belt 14；
The processor 2 edits the motion track that the clamping limb 13 operates the fixing belt 14, and defeated to the driving device 3
Hook the number of winning the confidence out, the driving device 3 drives the clamping limb 13 that the hook 17 hook is driven to take the fixing belt 14, then by institute
Fixing belt 14 is stated to be placed on cargo；
The processor 2 exports recycling signal to the driving device 3, and the driving device 3 drives the draw off gear 15 to return
Receive the fixing belt 14.
Specifically, when transporting goods into transport vehicle, cargo need to be only stacked to 1 rear portion of car body, first camera shooting
When device 5 detects the cargo at 1 rear portion of car body, the transmission device 10,9 backspin predetermined angle of rotating device, until institute are skidded off
It states the outer one end of transmission device 10 to contact to earth, next step includes two kinds of operating modes, first, by cargo is manually brought up to transmission
Device 10, second, cargo is brought up into transmission device 10 by clamping limb 13, after cargo brings up to transmission device 10, draw off gear 15
Fixing belt 14 is first discharged, the hook of clamping limb 13 takes the fixing belt 14 and is placed on cargo, starts transmission device 10, folding and unfolding dress
It sets 15 while recycling fixing belt 14, the recovery rate of the draw off gear 15 is identical as the transfer rate of transmission device 10, transmission
Device 10 and fixing belt 14 are together by cargo to 1 interior shifting of car body, and when cargo enters 1 inside of car body, fixing belt 14 is automatic
It is detached from the cargo, the processor 2 finds the cargo according to the second filmed image that second photographic device 6 is sent
Placement location, further according to the placement location and cargo position edit the described second electronic sliding block 12 sliding trace and
The carrying track of clamping limb 13 controls the described second electronic sliding block 12 with the clamping limb 13 according to the sliding trace and institute
It states and carries track work, complete the carrying of cargo.
Embodiment three
As shown in figure 8, the pressure sensor 16 detects the stress value of the transmission device 10 and is sent to the stress value
The processor 2；
The processor 2 judges whether the stress value is greater than or equal to default stress value；
If so, discharge the hydraulic elevator 18, the both ends of the hydraulic elevator 18 respectively with ground and transmission device 10
It is connected；
The processor 2 exports the second rotating signal to the driving device 3, and the driving device 3 drives the rotating device 9
Rotation upwards；
The processor 2 exports rising signals to the driving device 3, and the driving device 3 drives the hydraulic elevator 18
Rise the transmission device 10.
Specifically, it when carrying heavy goods, only is difficult to overcome the gravity of cargo by transmission device 10, the present invention mentions
For hydraulic lift auxiliary transmission device 10 complete heavy goods carrying, by hydraulic elevator 18 be placed in transmission device 10 with
Between ground, when cargo is placed on transmission device 10, the hydraulic stem of hydraulic elevator 18 is extended, hydraulic stem is by transmission device 10
It boosts upwards, until the cargo on transmission device 10 enters inside car body 1, then shortens the hydraulic stem.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow the skill for being familiar with the technical field
Art personnel can understand the content of the present invention and implement it accordingly, and can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of based on the transport vehicle intelligently carried, including car body, carrying mechanism and control mechanism, which is characterized in that described
Control mechanism includes processor, driving device and storage device, the processor respectively with the driving device and described
Storage device connection, the storage device are used to record the cargo that the transport vehicle loads；
The car body includes the first photographic device and the second photographic device, and first photographic device and described second image
Device is connected to the processor respectively, and first photographic device is used to obtain the environment at car body rear and first count is photographed
As being sent to the processor, second photographic device is used to obtain the environment of the vehicle body and by the second filmed image
It is sent to the processor；
The carrying mechanism includes goods loading device and handling device, and the goods loading device includes first straight line track, the first electricity
Movable slider, rotating device and transmission device, the first straight line track are attached at the lower section of the car body, and described first is electronic
Sliding block is embedded in the first straight line track, and the first electronic sliding block is connected with the rotating device, and the transmission device is again
Be placed in front of two rotating devices, the first electronic sliding block, the rotating device and the transmission device respectively with the drive
Dynamic device connection, the first electronic sliding block is for skidding off the transmission device, and the rotating device is for transferring the transmission
Device, the transmission device are used to for cargo being transferred to vehicle body, and the handling device includes second straight line track, the second electricity
Movable slider and clamping limb, the second straight line track are attached on the medial surface of left and right two of the car body, second electricity
Movable slider is embedded in the second straight line track, and the second electronic sliding block is connected with the clamping limb, second electric sliding
Block and the clamping limb are connect with the driving device respectively, and the second electronic sliding block is used to adjust the position of the clamping limb
It sets, the clamping limb is for transporting goods.
2. according to claim 1 a kind of based on the transport vehicle intelligently carried, it is characterised in that: the handling device also wraps
Fixing belt and draw off gear are included, the draw off gear is set on the inner top surface of the car body, and the fixing belt is set as bullet
Property flexible rope, the both ends of the fixing belt are connected with two shafts of the draw off gear respectively, the draw off gear with it is described
Driving device connection, for controlling the length of folding and unfolding fixing belt.
3. according to claim 1 a kind of based on the transport vehicle intelligently carried, it is characterised in that: the transmission device includes
Pressure sensor, the pressure sensor are connected to the processor, for detecting the stress value of the transmission device and by institute
It states stress value and is sent to the processor.
4. according to claim 2 a kind of based on the transport vehicle intelligently carried, it is characterised in that: the clamping limb includes hook
Pawl, the hook take the fixing belt for hooking.
5. according to claim 3 a kind of based on the transport vehicle intelligently carried, it is characterised in that: the goods loading device also wraps
Hydraulic elevator is included, the hydraulic elevator is set to the lower section of the transmission device, and connect with the driving device, is used for
Overturn the transmission device.
6. a kind of working method based on the transport vehicle intelligently carried according to claim 1-5, feature exist
In: including following work step:
A) first photographic device obtains the environment at car body rear and the first filmed image is sent to the processor；
B) it is to be handled according to first filmed image to judge whether there is cargo for the processor；
C) if so, the processor exports the first slip signals to driving device, the driving device driving described first is electronic
Sliding block slides the first pre-determined distance along the first straight line track；
D) processor exports the first rotating signal to the driving device, the driving device drive the rotating device to
Lower rotation predetermined angle；
E) processor exports transmission signal to the driving device, and the driving device drives the transmission device starting；
F) second photographic device obtains the environment of the vehicle body and the second filmed image is sent to the processor；
G) processor extracts the position of storage cargo according to second filmed image, and edits second electric sliding
The sliding trace of block and the carrying track of clamping limb；
H) processor exports the second slip signals to the driving device, and the driving device drives second electric sliding
Block is moved according to the sliding trace, and the processor is exported to the driving device carries signal, the driving device driving
The clamping limb is moved according to the carrying track.
7. a kind of working method based on the transport vehicle intelligently carried according to claim 6, it is characterised in that: also wrap
It includes:
The processor exports release signal to the driving device, and the driving device drives described in the draw off gear release
Fixing belt；
Clamping limb described in the processor editor operates the motion track of the fixing belt, and hooks and take to driving device output
Signal, the driving device drives the clamping limb that the hook hook is driven to take the fixing belt, then the fixing belt is placed on
On cargo；
The processor exports recycling signal to the driving device, and the driving device drives described in the draw off gear recycling
Fixing belt.
8. a kind of working method based on the transport vehicle intelligently carried according to claim 6, it is characterised in that: also wrap
It includes:
The pressure sensor detects the stress value of the transmission device and the stress value is sent to the processor；
The processor judges whether the stress value is greater than or equal to default stress value；
If so, discharging the hydraulic elevator, the both ends of the hydraulic elevator are connected with ground and transmission device respectively；
The processor exports the second rotating signal to the driving device, and the driving device drives the rotating device upward
Rotation；
The processor exports rising signals to the driving device, and the driving device drives the hydraulic elevator to rise institute
State transmission device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910076089.2A CN109760574B (en) | 2019-01-26 | 2019-01-26 | Transport vehicle based on intelligent transportation and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910076089.2A CN109760574B (en) | 2019-01-26 | 2019-01-26 | Transport vehicle based on intelligent transportation and working method thereof |
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| CN112193135A (en) * | 2020-09-30 | 2021-01-08 | 江苏省建筑工程集团有限公司 | Cement mould shell transport vechicle of conveniently unloading |
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| CN113370865A (en) * | 2021-06-21 | 2021-09-10 | 大连东软信息学院 | A supplementary handling system in car for financial transportation |
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| CN112977580A (en) * | 2021-02-26 | 2021-06-18 | 马鞍山量子线自动化科技有限公司 | Equipment for conveying materials in construction machinery |
| CN113370865A (en) * | 2021-06-21 | 2021-09-10 | 大连东软信息学院 | A supplementary handling system in car for financial transportation |
| CN113370865B (en) * | 2021-06-21 | 2022-11-01 | 大连东软信息学院 | A supplementary handling system in car for finance transportation |
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| CN109760574B (en) | 2021-04-02 |
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