CN202083384U - System for positioning and ranging vehicle for automatic coal sample acquiring system - Google Patents
System for positioning and ranging vehicle for automatic coal sample acquiring system Download PDFInfo
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- CN202083384U CN202083384U CN2011200738525U CN201120073852U CN202083384U CN 202083384 U CN202083384 U CN 202083384U CN 2011200738525 U CN2011200738525 U CN 2011200738525U CN 201120073852 U CN201120073852 U CN 201120073852U CN 202083384 U CN202083384 U CN 202083384U
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Abstract
The utility model provides a system for positioning and ranging a vehicle for an automatic coal sample acquiring system, comprising a first ultrasound or laser ranging device disposed right ahead the vehicle, a plurality of infrared or laser bijection devices disposed at two sides of a vehicle parking position, and a second ultrasound or laser ranging device disposed at the side surface of the vehicle body; and the exact position of the vehicle can be obtained due to an automatic detector of the ultrasound or laser ranging device, so that the ranging invalidation can be effectively avoided, and the sampler can be guaranteed to work within a safe work region.
Description
Technical field
The utility model relates to a kind of automatic employing system, especially a kind of vehicle location range measurement system that is used for the coal sample automated collection systems.
Background technology
Coal is the main fuel source of Power Plant in China always, the quality of Coal Quality directly influences the safe operation of boiler of power plant, the economic benefit that is related to power plant, especially under the soaring year by year overall background of energy prices, the fuel cost of fuel-burning power plant has occupied more than 70% of total cost.Therefore strengthen the Coal Quality management, three links of adopting, make, change in the fuel mass course of receiving are carried out the most important thing that fine-grained management becomes the modern fuels management.Sampling is that first link of gathering and processing is the important foundation of next two links.
The purpose of power plant's coal samling is that sample can reflect the total quality of the coal of gathering for the feasible sample of being gathered has certain representativeness, and the sample system error of being gathered is in the tolerable scope.Hand sampling or mechanical sampling are mostly adopted in China's sampling at present, and the collection of the intact ground of coal sample sample is chosen in hand sampling from the vehicle of going into factory with spade by the sampling work personnel; Mechanical sampling is finished sampling by the sample devices of manual control special use; No matter being artificial sample or mechanical sampling, all is manual storing containers of specifying coal sample after vehicle sampling is finished, and, and the increment of being gathered is delivered between sample making apparatus container number by the field staff.
Mainly there is following problem at present in the sampling process of fuel-burning power plant:
Sampling point position and sampling depth randomness are relatively poor
Hand sampling or mechanical sampling all need manually to specify sampling location and sampling depth in sampling process, the sample collector carries out determining of sampled point not according to GB, randomness is bigger, and the not enough 0.4m of sampling depth, especially hand sampling, owing to sampling instrument or a lot of personnel of labour intensity reason only adopt surperficial coal seam, gather less than bottom, compartment coal sample, cause institute's collected specimens can not represent the ature of coal of institute's collection vehicle fully.On the other hand, on-the-spot illegal supplier often is positioned over colm, gangue, coal slime the most of zone in bottom, compartment or compartment, collude from both within and without with the spot sampling personnel, only gather the good zone of ature of coal in the compartment during sampling, cause great economic loss to power plant, make the economic dispute of both sides of supply and demand.
Therefore in order to add the sampling management of trunk offering factory coal, alleviate sampling work personnel burden, reduce the interference from human factor in the sampling process, strengthen the transparency of sampling process, the utility model is used laser ranging technique, supersonic sounding technology, infrared correlation technology, traffic lights, road gate, led screen, voice suggestion, RFID technical design unmanned automated intelligent sampling system, this system mainly comprises the vehicle location range measurement system, vehicle management system, intelligent coal sample acquisition system.
At present common Sampling Machine is mainly two kinds of cantilevered Sampling Machine and bridge-type Sampling Machine in the scene, but cantilevered Sampling Machine sample area is less, sample range is the cover tape vehicle of pulling fully, sampling to vehicle need make two bites at a cherry, realize front compartment sampling for the first time to vehicle, realize for the second time trunk sampling, need vehicle to move the sampling that just can finish the vehicle trunk after having adopted front compartment vehicle; The sample range of bridge-type Sampling Machine depends primarily on the length of Sampling Machine cart running rail, if the sampling track is longer, the sampling that pull the front and back of vehicle is finished in the position of moving cart by track, if orbital distance can not the cover tape tractor-trailer than weak point before and after the car scope, equally also need moving vehicle to finish sampling to pulling before and after the vehicle.Therefore in realizing coal sample automated collection systems process, how to determine vehicle location, but the assurance Sampling Machine is carried out operation in the territory, exploiting field, is the gordian technique that realizes that coal sample is gathered automatically, and in the prior art, correlative study and disclosed documents and materials is not arranged.In addition,,, usually can cause measuring and lose efficacy, and make Sampling Machine work, cause the damage of Sampling Machine or vehicle in non-operating area owing to there is potential equipment failure if only adopt general distance-measuring equipment directly to measure.
Summary of the invention
In order to overcome deficiency of the prior art, avoid measuring and lost efficacy, guarantee Sampling Machine in the work of the operating area of safety, the utility model provides a kind of vehicle location range measurement system that is used for the coal sample automated collection systems.
The technical solution of the utility model is: a kind of vehicle location range measurement system that is used for the coal sample automated collection systems is provided, it comprises the first ultrasonic or Laser Distance Measuring Equipment that is installed on the vehicle dead ahead, and the some infrared or laser that is installed on both sides, vehicle parking position is to jet device and the second ultrasonic or Laser Distance Measuring Equipment that is installed on the automobile body side; Wherein:
Measure first distance D 1 between the headstock and the first ultrasonic or Laser Distance Measuring Equipment by the first ultrasonic or Laser Distance Measuring Equipment, and determine that thus headstock is to the initial point distance H on the X-direction of measurement coordinate system
DA
When vehicle entered parking area, some infrared or laser can be blocked by vehicle the infrared of jet device or laser correlation, come estimating vehicle on the X-direction of positioning distance measuring system coordinate system by the number of light beams that calculating is blocked, and headstock is to the checking distance H of initial point
DB
The second ultrasonic or Laser Distance Measuring Equipment is installed in the automobile body side, be used to measure the distance between the vehicle body and the second ultrasonic or Laser Distance Measuring Equipment, and determine on the Y direction of coordinate system the position of a sidecar in coordinate system of the parallel and close X-axis of vehicle thus;
After control device reads the RFID label of vehicle, drive peripherals and carry out associative operation, comprise the prompting of LED screen, the road gate bar that falls, the voice suggestion of audio amplifier equipment; Open the distance-measuring equipment port and carry out data read, comprising the first ultrasonic or Laser Distance Measuring Equipment, laser or infrared to jet device, the second ultrasonic or Laser Distance Measuring Equipment, calculate after data read is finished and judge, if obtained data are legal, just from background data base, read the relevant information of vehicle, then to the vehicle location analysis.
In addition, be used for the vehicle location range measurement system of coal sample automated collection systems, it is characterized in that, the described first ultrasonic or Laser Distance Measuring Equipment is set to removable mode, when needs are found range, carry out lifting or translation by drive unit, thereby make it be in the dead ahead of headstock.
Further, be used for the vehicle location range measurement system of coal sample automated collection systems, it is characterized in that, peripherals has been installed traffic lights, road gate, audio amplifier equipment.
The beneficial effects of the utility model: by the automatic detection of ultrasonic or Laser Distance Measuring Equipment, obtain the accurate position of vehicle, effectively avoid measuring and lost efficacy, guarantee that Sampling Machine is in the work of the operating area of safety.
Description of drawings
Below in conjunction with drawings and Examples the utility model is described further.
Fig. 1-the 1st, vehicle location range measurement system synoptic diagram;
Fig. 2-1 is the tabulation of vehicle essential information;
Fig. 2-2 adds the interface for information of vehicles;
Fig. 2-the 3rd, rfid card writes synoptic diagram;
Fig. 2-the 4th, rfid card administration interface synoptic diagram;
Fig. 2-the 5th, vehicle query interface synoptic diagram;
Fig. 2-the 6th, vehicle is revised the interface synoptic diagram;
Fig. 3-1 is a vehicle location distance measuring method synoptic diagram;
Fig. 3-2 (a) is not with tractor-trailer sampling synoptic diagram;
Fig. 3-2 (b) band tractor-trailer sampling synoptic diagram;
Fig. 3-3 secondary vehicle location distance measuring method synoptic diagram;
Hang before Fig. 3-4 (a) band tractor-trailer and gather synoptic diagram;
Hang after Fig. 3-4 (b) band tractor-trailer and gather synoptic diagram;
Fig. 3-5 (a) is not with the anterior sampling in tractor-trailer compartment synoptic diagram;
Fig. 3-5 (b) is not with rear portion, tractor-trailer compartment sampling synoptic diagram;
Wherein: the 1-frame of broken lines is represented the Sampling Machine sample range; Ultrasonic or the Laser Distance Measuring Equipment of 2-; Infrared or the laser of 3-is to jet device; 4-RFID card reader antenna; The 5-traffic lights; 6-audio amplifier equipment; The 7-vehicle; 8-road gate; Infrared or the laser correlation support of 9-; The 10-automatic control equipment, the 11-headstock.
Embodiment
The utility model will mainly comprise the vehicle location range measurement system, auto model administration module, intelligent coal sample acquisition module.
1, vehicle location range measurement system
(1) on the X-direction of measurement coordinate system, headstock is to the initial point distance
As Figure 1-1, in the vehicle dead ahead ultrasonic or Laser Distance Measuring Equipment 2 is installed, by the distance D of this device measuring headstock and ultrasonic or Laser Distance Measuring Equipment
1Thereby, calculate the distance of headstock and initial point, by formula calculate (1):
H
DA＝X
1+D
1 (1)
In the formula: H
DAOn the X-direction of-coordinate system, headstock is to the distance of initial point;
D
1On-the X-direction, ultrasonic or Laser Distance Measuring Equipment and headstock distance;
X
1-the ultrasonic or installation site of Laser Distance Measuring Equipment on X-axis;
(2) on the X-direction of measurement coordinate system, headstock is to the initial point checking distance
Install infrared in the vehicle both sides or laser to jet device 3, infrared or the laser of multi beam is installed to jet device in the position of vehicle parking, infrared or laser correlation can be blocked by vehicle when vehicle enters this zone, calculate vehicle in the distance of X-direction by the number of light beams that calculating is blocked, and calculate by formula (2)-(4) apart from initial point:
D
4＝(n-(m+1))×d (2)
D
3＝(n-m)×d (3)
X
2+(n-m-1)×d＜H
DB＜X
2+(n-m)×d (4)
In the formula: H
DBOn the X-direction of-coordinate system, headstock is to the checking distance of initial point, and this distance is a distance range;
Infrared correlation that n-system one side is installed or laser are to the number of jet device 3;
Infrared or the laser that m-system one side is blocked is to the number of jet device 3;
D
4On the X-direction of-coordinate system, infrared or laser to jet device 3 in the initial installation site on the X-axis and apart from headstock recently but the distance between the infrared or laser beam of not blocked by headstock;
D
3On the X-direction of-coordinate system, infrared or laser is to the distance of jet device 3 between the initial installation site on the X-axis and last a branch of infrared or laser beam that is blocked;
X
2On the X-direction of-coordinate system, infrared or laser is to the initial installation site of jet device 3;
(3) on the Y direction of coordinate system, the position of a sidecar in coordinate system of the parallel and close X-axis of measuring vehicle
One side of parallel and close X-axis is installed ultrasonic or Laser Distance Measuring Equipment 2 at vehicle, and this equipment can be measured the distance between vehicle body and ultrasonic or the Laser Distance Measuring Equipment 2, and formula calculates by (5)
V
D＝Y
2+D
2 (5)
In the formula: V
DOn the Y direction of-coordinate system, the position of a sidecar in coordinate system of the parallel and close X-axis of vehicle;
Y
2--on the Y direction of coordinate system, the initial installation site of ultrasonic or Laser Distance Measuring Equipment 2;
D
2On the Y direction of-coordinate system, ultrasonic or Laser Distance Measuring Equipment 2 is measured parallel and near the distance of a sidecar body of X-axis apart from vehicle;
(4) on the X-direction of coordinate system, headstock coordinate points H
DDetermine
To the distance H of being surveyed
DBAnd H
DACompare, when big deviation occurring, system prompt is proofreaied and correct, and prevents from error to occur because damage ultrasonic or Laser Distance Measuring Equipment 2 causes in the X-direction location, works as H
DBAnd H
DARange data in error range the time, just with H
DBPerhaps H
DAAs the coordinate H of vehicle in X-direction
D, formula calculates by (6)-(7) and judges, (this moment H
DBBe a scope, how it be defined as occurrence H
D)
ΔH＝|H
DB-H
DA| (6)
ΔH＜d (7)
In the formula: H
DB-X-direction headstock is to the checking distance of initial point, and this distance is a distance range;
H
DAOn the X-direction of-coordinate system, headstock is to the distance of initial point;
The difference of Δ H-distance and checking distance;
Infrared or the laser of d-is to distance between the jet device;
H
DOn the X-direction of-coordinate system, the coordinate position of headstock;
(5) but the determining of territory, vehicle car exploiting field
After determining the vehicle headstock position, according to the information of vehicles that prestores in the database, according to car length, width, lacing wire (steel wire) and can not the exploiting field domain information, and vehicle car headstock be apart from the range information of compartment front end, thereby but calculates the position of territory, vehicle car exploiting field in coordinate system.
2, vehicle management system
In order to realize automatic sampling to roping coal vehicle, need but the territory, exploiting field of roping vehicle be defined, in the system to dissimilar vehicle modelings, determine the length of vehicle by modeling, vehicle bottom height overhead, (steel wire) position of lacing wire in the compartment or other Sampling Machine can not the territories, exploiting field, and system is by intellectual analysis and judgement to auto model information, but determine territory, vehicle exploiting field, but and sample in position of territory, exploiting field random choose.Vehicle management system mainly comprises two parts: vehicle essential information Registration Module, vehicle basic information management module, vehicle rfid card administration module and vehicle administration module.
2.1 vehicle essential information Registration Module and vehicle basic information management module
Shown in Fig. 2-1, vehicle essential information Registration Module is realized the relevant information management to vehicle, mainly comprise license number, vehicle, name driver, whether special car, standard tare weight, tare weight float, dead weight, whether effective, and information such as material name.Vehicle basic information management module mainly realizes inquiry, interpolation, deletion, the modify feature to information of vehicles.The information of vehicles query interface is shown in Fig. 2-1, and information of vehicles adds the interface shown in Fig. 2-2.
2.2 vehicle rfid card administration module
The vehicle rfid card is similar to personnel's I.D., write down the relevant information of vehicle identification, between vehicle and the card is one-to-one relationship, i.e. corresponding car of rfid card, this rfid card is passive, a frangible label, after vehicle number information writes rfid card, sticks on the vehicle front side windshield, vehicle is gone in the factory inspection receipts process, and card reader can realize reading automatically and discerning the rfid card sheet.In order to realize management to rfid card, two functions are provided in the system,
(1) rfid card is provided function
This function realizes vehicle number information is write in the rfid card, needs to install a read write line in the system, and after the write operation of rfid card sheet was finished, whether system's automatic diagnosis write success, and the write-in functions of rfid card is shown in Fig. 2-3.
(2) rfid card management function
The management of the rfid card that realization has been provided, this function can realize having provided inquiry, deletion, the modify feature of rfid card, whether this label can be set available by revising tag state, only allows a car to have a label effective at one time, shown in Fig. 2-4.
2.3 vehicle administration module
Type to on-the-spot roping vehicle defines, the content of definition mainly comprises contents such as vehicle title, vehicle coding, producer's title, specifications and models, axletree number, lacing wire position, steel wire position, headstock length, car length, the number of various vehicle lacing wires is all different, for lacing wire and steel wire position with all vehicles all define, and leave certain amount of redundancy, can be in the system at preceding extension 4 lacing wires of definition and 4 steel wires of trailer, after hang also 4 lacing wires of definable and 4 steel wires, only need fill in the maintenance process according to the actual conditions order.Vehicle list information query interface is shown in Fig. 2-5, and vehicle information correction interface is shown in Fig. 2-6.In the automatic gatherer process of coal sample, when described vehicle management system passes through the identification of on-the-spot vehicle, transfer the accurate information of vehicle, thus the zone of calculating and determining to sample automatically.
3, the on-the-spot localization method of vehicle location range measurement system
Whether be with according to on-the-spot roping vehicle and pull or vehicle body overlength whether, also can cover the sample range of vehicle simultaneously, designed two kinds of dissimilar vehicle location range measurement system mounting meanss according to the Sampling Machine sample range.
(1) vehicle location distance measuring method
This locator meams is installed a cover positioning equipment at the scene, the sample range that this mounting means is primarily aimed at sample devices can cover whole vehicle (comprise the band tractor-trailer and be not with tractor-trailer), after the one-time positioning of vehicle finished, Sampling Machine can be finished sampling to whole vehicle according to locating information, and the equipment scheme of installation is shown in Fig. 3-1.Be not with tractor-trailer sampling synoptic diagram shown in Fig. 3-2 (a), band tractor-trailer sampling synoptic diagram is shown in Fig. 3-2 (b);
In the installed in front of vehicle parking position rfid card card reader antenna 4, road gate 8, audio amplifier equipment 6, ultrasonic or Laser Distance Measuring Equipment 2, LED screen, the effect of each equipment is as follows: rfid card card reader antenna 4 is used for receiving the rfid card information on the vehicle front windshield; Road gate 8 is used for limiting line position before the vehicle, guarantees in the finding range of vehicle institute stand or laser correlation support 9 infrared in both sides; How audio amplifier equipment 6 usefulness auditory tone cues roping vehicle drivers stop and current sample states; Ultrasonic or Laser Distance Measuring Equipment 2 is used for the measuring vehicle parking spot; The LED screen puts in place with the status information in the literal demonstration sampling process, prompting roping vehicle parking.
Installed infrared in the both sides of vehicle parking position or laser correlation support 9, infrared or the laser of many groups is installed to jet device 3 on the infrared or laser correlation support 9, vehicle ' is to correlation when zone, can shelter from jet device, the infrared or laser that is blocked by collection calculates the parking spot of vehicle in X-direction to jet device 3 numbers.One side has been installed ultrasonic or Laser Distance Measuring Equipment in the vehicle parking position, and this equipment is used for the position of measuring vehicle in Y-axis.
In vehicle rear-side traffic lights 5 have been installed, when sample area has vehicle to wait for sampling, have been shown as red light, prompting back vehicle is waited for, is shown as green light when sample area does not have vehicle, and prompting back vehicle can enter sample area and sample.
Automatic control cabinet is used for the reading of the information of carrying out, and comprises RFID information, locating information; Control peripheral devices comprises traffic lights 5, road gate 8, audio amplifier equipment 6; The sampling of driving Sampling Machine; Communicate by letter with central database correlated sampling information is saved in the database.
(2) secondary vehicle location distance measuring method
This vehicle location range measurement system is primarily aimed at long vertical, the length that is vehicle surpasses sample range, sampling process can not be finished the sampling to whole vehicle, at this situation, the paired vehicle of system design carries out double sampling, collection vehicle front portion for the first time, collection vehicle rear portion for the second time, because each sampling all needs the position that vehicle is parked is positioned, so two cover vehicle positioning distance measuring systems have been installed at the scene, shown in Fig. 3-3, the installation site of every cover vehicle positioning distance measuring system peripherals equipment and effect are as previously mentioned.
The vehicle sampling process that band is pulled is divided into twice, as Fig. 3-4 (a, b) shown in, vehicle is parked in the first cover positioning system position when sampling for the first time, the back vehicle location range measurement system of stopping is carried out stand to vehicle and is calculated, after finished the location, automatic control equipment drove Sampling Machine the preceding semi-mounted of vehicle is sampled, shown in Fig. 3-4 (a); After sampling is finished for the first time, the banister of the first cover steady arm lifts, vehicle ' to the second cover vehicle positioning distance measuring alliance, the back vehicle location range measurement system of stopping is carried out stand to vehicle and is calculated, automatic control equipment drove the back semi-mounted sampling of Sampling Machine sampling to vehicle after finished the location, shown in Fig. 3-4 (b).Finish sampling by twice location and sampling to whole vehicle.
It is similar not pull the long vertical sampling process with the long vertical sampling process of pulling and band, sampling process also is divided into twice, as Fig. 3-5 (a, b) shown in, vehicle is parked in the first cover vehicle positioning distance measuring alliance when sampling for the first time, and the back vehicle location range measurement system of stopping is carried out stand calculating to vehicle, after finish the location, drive Sampling Machine the first half of vehicle is sampled, shown in Fig. 3-5 (a); After sampling is finished for the first time, the banister of the first cover steady arm lifts, vehicle ' to the second cover vehicle positioning distance measuring alliance, the back vehicle location range measurement system of stopping is carried out stand to vehicle and is calculated, after finish the location, drive the latter half sampling of Sampling Machine, shown in Fig. 3-5 (b) to vehicle.Finish sampling by twice location and sampling to whole vehicle.
4 coal sample intelligent acquisition systems
The coal sample intelligent acquisition system is collection vehicle license plate number information at first, from database, retrieve the vehicle information of vehicle according to the license plate number information that is collected, using the vehicle location range measurement system positions vehicle, after finish the location, but the coal sample intelligent acquisition system is according to the territory, exploiting field of vehicle information and vehicle parking position analysis vehicle, but generate sampled point at random in the territory, exploiting field, drive Sampling Machine and sample.According to two kinds of mounting meanss of on-the-spot steady arm, at each steady arm characteristic and requirement, system design corresponding coal sample intelligent acquisition system automatically.
Claims (4)
1. vehicle location range measurement system that is used for the coal sample automated collection systems, it comprises the first ultrasonic or Laser Distance Measuring Equipment that is installed on the vehicle dead ahead, and the some infrared or laser that is installed on both sides, vehicle parking position is to jet device (3) and be installed on the second ultrasonic or Laser Distance Measuring Equipment of automobile body side; It is characterized in that:
Measure first distance D 1 between the headstock (11) and the first ultrasonic or Laser Distance Measuring Equipment by the first ultrasonic or Laser Distance Measuring Equipment, and determine that thus headstock is to the initial point distance H on the X-direction of measurement coordinate system
DA
When vehicle enters parking area, some infrared or laser can be blocked by vehicle the infrared or laser correlation of jet device (3), come estimating vehicle on the X-direction of positioning distance measuring system coordinate system by the number of light beams that calculating is blocked, headstock is to the checking distance H of initial point
DB
The second ultrasonic or Laser Distance Measuring Equipment is installed in the automobile body side, be used to measure the distance between the vehicle body and the second ultrasonic or Laser Distance Measuring Equipment, and determine on the Y direction of coordinate system the position of a sidecar in coordinate system of the parallel and close X-axis of vehicle thus;
After control device reads the RFID label of vehicle, drive peripherals and carry out associative operation, comprise the prompting of LED screen, road gate (8) bar that falls, the voice suggestion of audio amplifier equipment (6); Open the distance-measuring equipment port and carry out data read, comprising the first ultrasonic or Laser Distance Measuring Equipment, laser or infrared to jet device (3), the second ultrasonic or Laser Distance Measuring Equipment, calculate after data read is finished and judge, if obtained data are legal, just from background data base, read the relevant information of vehicle, then to the vehicle location analysis.
2. the vehicle location range measurement system that is used for the coal sample automated collection systems according to claim 1 is characterized in that, the described first ultrasonic or Laser Distance Measuring Equipment is installed on the gate lifting lever.
3. the vehicle location range measurement system that is used for the coal sample automated collection systems according to claim 1, it is characterized in that the described first ultrasonic or Laser Distance Measuring Equipment is set to removable mode, when needs are found range, carry out lifting or translation by drive unit, thereby make it be in the dead ahead of headstock.
4. the vehicle location range measurement system that is used for the coal sample automated collection systems according to claim 1 is characterized in that, peripherals has been installed traffic lights (5), road gate (8), audio amplifier equipment (6).
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| CN2011200738525U CN202083384U (en) | 2011-03-21 | 2011-03-21 | System for positioning and ranging vehicle for automatic coal sample acquiring system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102661886A (en) * | 2012-05-23 | 2012-09-12 | 郝敬亚 | Automatic sampling device and control method thereof |
| CN103185675A (en) * | 2011-12-30 | 2013-07-03 | 北京冶联科技有限公司 | Intelligent sampling system and control method thereof |
| CN104091461A (en) * | 2014-07-09 | 2014-10-08 | 远光智和卓源(北京)科技有限公司 | Positioning system and method used for coal sample collecting vehicle |
| CN104198215A (en) * | 2014-09-12 | 2014-12-10 | 淮南市产品质量监督检验所 | Device for rapidly selecting train coal sampling point |
| CN109444910A (en) * | 2018-12-26 | 2019-03-08 | 合肥泰禾光电科技股份有限公司 | Vehicle parking positioning device and vehicle parking bootstrap technique |
-
2011
- 2011-03-21 CN CN2011200738525U patent/CN202083384U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103185675A (en) * | 2011-12-30 | 2013-07-03 | 北京冶联科技有限公司 | Intelligent sampling system and control method thereof |
| CN102661886A (en) * | 2012-05-23 | 2012-09-12 | 郝敬亚 | Automatic sampling device and control method thereof |
| CN102661886B (en) * | 2012-05-23 | 2016-06-22 | 郝敬亚 | Unmanned automatic sample preparing device and control method thereof |
| CN104091461A (en) * | 2014-07-09 | 2014-10-08 | 远光智和卓源(北京)科技有限公司 | Positioning system and method used for coal sample collecting vehicle |
| CN104198215A (en) * | 2014-09-12 | 2014-12-10 | 淮南市产品质量监督检验所 | Device for rapidly selecting train coal sampling point |
| CN109444910A (en) * | 2018-12-26 | 2019-03-08 | 合肥泰禾光电科技股份有限公司 | Vehicle parking positioning device and vehicle parking bootstrap technique |
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Effective date of registration: 20120118 Address after: 102206 School of economics and management, North China Electric Power University, 2 North Agricultural Road, Beijing, Changping District Co-patentee after: Hao Jingya Patentee after: Wang Hui Address before: 100085, Beijing Road, Haidian District, No. 28, building B, block 6, block A-1 Co-patentee before: Hao Jingya Patentee before: Wang Hui Co-patentee before: Beijing Zongheng Xingye Technology Co., Ltd. |
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