CN208596299U - A kind of slag-soil truck remotely manages vehicle-mounted intelligent control system - Google Patents
A kind of slag-soil truck remotely manages vehicle-mounted intelligent control system Download PDFInfo
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- CN208596299U CN208596299U CN201821422716.0U CN201821422716U CN208596299U CN 208596299 U CN208596299 U CN 208596299U CN 201821422716 U CN201821422716 U CN 201821422716U CN 208596299 U CN208596299 U CN 208596299U
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Abstract
The utility model discloses a kind of slag-soil trucks remotely to manage vehicle-mounted intelligent control system, central control system, carriage lifting monitor, inclination angle detector is each attached on the fixed bracket of system, monitoring camera is fixed on the fixed bracket of system by camera fixing support, carriage lifting monitor, inclination angle detector, monitoring camera, compartment bare weight monitor is connected with central control system, central control system, carriage lifting monitor, inclination angle detector, monitoring camera is fixed below the wagon box the brim of a hat by the fixed bracket of system, central control system is connect with the transport certificate of authorized LED display for showing that speed and platform issue, LED display is connect with Beidou terminal, Beidou terminal and each state for being used to show a whole set of monitoring system, the information of vehicles display screen of digital map navigation connects, LED display, Beidou terminal, vehicle Information display screen is installed in driver's cabin, and LED display is connect with the tarpaulin controller for controlling platform tent opening and closing.
Description
Technical field
The utility model relates to dregs transportation technical fields more particularly to a kind of slag-soil truck remotely to manage vehicle intelligent control
System.
Background technique
In recent years, the infrastructure construction of China large- and-medium size cities, City Real Estate Projects were growing on and on, and urbanization carries out
Constantly accelerate, provides the huge market space for city slag vehicles.But city slag vehicles are mostly to the impression of most people
It is extremely negative；Therefore, many local governments are trying to explore to administer city using " internet+" intelligent monitoring technology at present
City's slag-soil truck confusion, a series of provincial standards in relation to city intelligent environmental protection dump truck technical specification and specifically for city slag
Navy barrow and the long-distance management system developed just comes into being.
Various violation condition monitorings, long-range car locking and limiting vehicle speed function provided by slag-soil truck long-distance management system are both needed to
Other electronic control unit are wanted on vehicle to cooperate realization with it.However, the provincial standard of different cities and different third party producers provide
Car-mounted terminal control unit interface be all not quite similar, while vehicle factor is in order to guarantee that the driving safety of its vehicle can not be completely public
Its relevant communication protocol is opened, therefore its versatility is not strong；How to allow vehicle being capable of more flexible adaptation each department regulation mark
It is quasi- and with minimum change amount come to match various slag-soil truck long-distance management systems be current problem to be solved.
Utility model content
The utility model proposes a kind of slag-soil trucks remotely to manage vehicle-mounted intelligent control system.
To achieve the goals above, the utility model adopts the technical scheme that
A kind of slag-soil truck remotely manages vehicle-mounted intelligent control system, including central control system, for detecting automobile-bucket lifting inclination angle
Carriage lifting monitor, the monitoring camera for capturing compartment photo, the compartment for detecting wagon box sky heavy condition it is empty
Weight monitor, LED display, the Beidou terminal for being got in touch with platform and information of vehicles display screen, the central control system, compartment
Lifting monitor, inclination angle detector are each attached on the fixed bracket of system, and the monitoring camera passes through camera fixing support
It is fixed on the fixed bracket of system, the carriage lifting monitor, inclination angle detector, monitoring camera, compartment bare weight monitor
It is connected with central control system, the central control system, carriage lifting monitor, inclination angle detector, monitoring camera, which pass through, is
Fixed bracket of uniting is fixed below the wagon box the brim of a hat, the central control system with for showing the transport certificate of authorized that speed and platform issue
LED display connection, the LED display connect with Beidou terminal, the Beidou terminal and is used to show a whole set of monitoring system
Each state, digital map navigation information of vehicles display screen connection, the LED display, Beidou terminal, information of vehicles display screen
It is installed in driver's cabin, the LED display is connect with the tarpaulin controller for controlling platform tent opening and closing.
Further, the central control system passes through RS485 bus and carriage lifting monitor, inclination angle detector, monitoring
Camera, compartment bare weight monitor are connected.
Further, the central control system passes through RS485 bus respectively and LED display, Beidou terminal and vehicle are believed
Breath display screen is connected.
Further, the information of vehicles display screen is used to show the open/close states and vehicle of the lifting state of wagon box, top cover
The state that the bare weight that struggles against carries.
Further, the Beidou terminal is connect by BEI-DOU position system with control platform.
Further, the control platform is used to monitor carriage status and monitor the operation conditions of vehicle.
Further, the tarpaulin controller includes box body and is placed in the intracorporal circuit part of box, the circuit portion subpackage
Include microprocessor, driving unit, voltage sampling circuit, current sampling circuit, anti-cheating unit, the input terminal of the microprocessor
It is connected with top cover and opens switch and top cover closure switch；Microprocessor is by voltage sampling circuit and current sampling circuit, respectively
The input voltage of acquisition controller and the electric current for flowing through motor, the positive and negative rotation of the driving unit control motor, the anti-cheating
Unit is for preventing driver from running vehicle in the case where not closing top cover, when the microprocessor passes through the operation of detection motor
Between and judge by the electric current of motor the position of tarpaulin.
Further, the driving unit drives motor positive and inverse to be transported by four power switch tubes T1, T2, T3 and T4
Dynamic, power switch tube T1, T2, T3 and T4 form H-shaped bridge arm, and the both ends of power of motor is connected on H-shaped bridge arm, power switch tube
The control terminal of T1, T2, T3 and T4 are connected with the output end of driving circuit.
Further, the anti-cheating unit includes generating for detecting the electric current of control motor movement current time length
Duration time detection unit generates duration time detection unit detection data and the inspection of extrusion time detection unit for remembering electric current
The time memory unit of measured data.
Further, the tarpaulin controller include communication and warning output end unit, communication and alarm output unit with
Microprocessor is connected；The communication and alarm output unit carry out the communication electricity of data transmit-receive by that can pass through big-dipper satellite network
Road and warning circuit composition.
Further, the microprocessor is also connected with remote control receiver unit, and remote control receiver unit is for receiving remote controler
The top cover of sending is opened and the control signal of closure；The output end of microprocessor is also connected with status indicator lamp.
Further, the cassette upper end is equipped with box cover, and the top cover is opened switch, top cover closure switch and state and referred to
Show that lamp is all set on box cover, described box body one end is equipped with incoming line, is additionally provided with connecting terminal on box body；The connecting terminal
It is connected respectively with the anode of power supply, cathode and with two input terminals of motor, is arranged on the box body for being transmitted with Beidou
The Beidou signal transmission end of information.
The control method of the tarpaulin controller, includes the following steps
Step 1: issuing the order for closing top cover by signal designation unit, and microprocessor, which receives, orders and control driving
Unit controls motor and rotates forward, and tarpaulin is run to the direction Guan Gai；
Step 2: microprocessor is always monitored the position of top cover；
Step 3: when microprocessor detects top cover signal in place, microprocessor is anti-by driving unit control motor
Turn the time of 30-50ms；
Step 4: the position of top cover carries out processing judgement by microprocessor, and after top cover completely closes, while anti-cheating is single
The electric current and time data of member detection, communication and alarm output unit transfer data to slag-soil truck pipe by big-dipper satellite network
Platform, to audit.
Further, the microprocessor in the step 2 detects that the position of top cover does not completely close and the position of top cover
It sets when can not move, microcontroller control at this time increases by the magnitude of current of motor.
Further, the microcontroller control makes the starting electricity of motor by the magnitude of current of motor by driving unit
Stream increases to 2-3 times of original electric current.
Further, the microprocessor, which is always monitored the position of top cover, shows through microprocessor by detecting electricity
The runing time of machine and judge by the electric current of motor.
Further, the signal designation unit is issued by remote controler, and the remote controler is equipped with A key, B key and C key,
A key is to wake up key.
Further, the B key and C key are respectively that electric current increases key and electric current reduction key.
Further, the B key and C key are respectively time increasing key and time reducing key.
The utility model is realized by carriage lifting monitor, compartment bare weight monitor, monitoring camera to slag-soil truck
The long-range monitoring of wagon box state, and realized by Beidou terminal monitoring control central control system and tarpaulin controller to slag-soil truck
Long-distance monitor and control.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model the utility model.
In figure: 1, carriage lifting monitor, 2, compartment bare weight monitor, 3, central control system, 4, monitoring camera, 5, LED
Display screen, 6, Beidou terminal, 7, information of vehicles display screen, 8, the fixed bracket of system, 9, camera fixing support, 10, tarpaulin control
Device processed.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.
In the description of the present invention, it should be understood that term " on ", "lower", "front", "rear", "left", "right",
The orientation or positional relationship of the instructions such as "top", "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
As shown in connection with fig. 1, a kind of slag-soil truck remotely manages vehicle-mounted intelligent control system, including central control system 3, for detecting
The carriage lifting monitor 1 at automobile-bucket lifting inclination angle, the monitoring camera 4 for capturing compartment photo, for detecting wagon box bare weight
Compartment bare weight monitor 2, LED display 5, the Beidou terminal 6 for being got in touch with platform and the information of vehicles display screen of load state
7, the central control system 3, carriage lifting monitor 1, inclination angle detector are each attached on the fixed bracket 8 of system, and the monitoring is taken the photograph
Be fixed on the fixed bracket 8 of system by camera fixing support 9 as first 4, the carriage lifting monitor 1, inclination angle detector,
Monitoring camera 4, compartment bare weight monitor 2 are connected with central control system 3, the central control system 3, carriage lifting monitor 1,
Inclination angle detector, monitoring camera 4 are fixed below the wagon box the brim of a hat by the fixed bracket 8 of system, the central control system 3 and use
It being connected in the transport certificate of authorized LED display 5 that display speed and platform issue, the LED display 5 is connect with Beidou terminal 6,
The Beidou terminal 6 is connect with the information of vehicles display screen 7 of each state, digital map navigation for showing a whole set of monitoring system,
The LED display 5, Beidou terminal 6, information of vehicles display screen 7 are installed in driver's cabin, the LED display 5 and use
It is connected in the tarpaulin controller 10 of control platform tent opening and closing.The central control system 3 is supervised by RS485 bus and carriage lifting
Instrument 1, inclination angle detector, monitoring camera 4, compartment bare weight monitor 2 is surveyed to be connected.The central control system 3 passes through respectively
RS485 bus is connected with LED display 5, Beidou terminal 6 and information of vehicles display screen 7.The information of vehicles display screen 7 is used
In the state that the lifting state of display wagon box, the open/close states of top cover and wagon box bare weight carry.The Beidou terminal 6 is fixed by Beidou
Position system is connect with control platform.The control platform is used to monitor carriage status and monitor the operation conditions of vehicle.
Control platform carries out operation authorization to vehicle, and selects the transportation route of vehicle, while control platform is sent out
Send initialization directive to information of vehicles display screen 7, information of vehicles display screen 7 sends init state information to control platform；In
Control system 3 can normally receive the control command that information of vehicles display screen 7 sends over；And display " is examined on LED display 5
Core passes through " printed words, information of vehicles display screen 7 send initialization directive activate 3 control function of central control system, vehicle intelligent control
Device sends init state information to information of vehicles display screen 7；Information of vehicles display screen 7 sends starting control instruction to middle control
System 3,3 period of central control system send starting control instruction to Beidou terminal 6, to realize engine start control；Central control system
3 collecting vehicle bucket carriage lifting monitors 1, inclination angle detector, monitoring camera 4 and 2 status information of compartment bare weight monitor are simultaneously anti-
It feeds information of vehicles display screen 7, and on the display screen of information of vehicles display screen 7 two, the lifting of wagon box is shown on display screen two
The state that state, the open/close states of top cover and wagon box bare weight carry；Central control system 3 acquires the environmental protection that environmental protection lid opening and closing sensor is sent
The empty heavy condition letter that the current vehicle speed signal and compartment bare weight monitor 2 that lid status signal, LED display 5 are sent are sent
Number, when meeting regulation, then central control system 3 issues signal driving and executes lifting movement, if central control system 3 is sentenced according to above-mentioned signal
Break and lift in violation of rules and regulations at this time, then central control system 3 not drives execution lifting to act and issue feedback signal and gives information of vehicles display screen
7。
This central control system 3 has triple channel RS485 bus transmission-receiving function: the first via is connected with vehicle power RS485 bus,
It is communicated for the former vehicle controller such as same LED display 5 and Beidou terminal 6；The dregs that second tunnel and third party producer provide
Information of vehicles display screen 7RS485 bus in vehicle long-distance management system is connected, and is communicated for same information of vehicles display screen 7；
Third road is reserved or is connected with vehicle diagnosis RS485 bus, for it is necessary to when by the diagnostic device of vehicle to being controlled in sheet
System 3 carries out fault diagnosis.
The carriage lifting monitor 1, inclination angle detector, monitoring camera 4, compartment bare weight monitor 2 are with middle control
System 3 is connected；So that realization remotely manages slag-soil truck some original Che Changyong switching values and needle required for being monitored in real time
To city slag vehicles, additionally the switching values such as increased carriage lifting, case lid opening and closing, empty heavy condition are measured in real time, and are passed through
Switch state is sent to by information of vehicles display screen 7 by RS485 bus after filtering processing.
Central control system 3 supports vehicle remote Control for Speed Limitation: when the speed limit instruction for receiving the transmission of information of vehicles display screen 7
Or when detecting that the switching values such as carriage lifting, case lid opening and closing, empty heavy condition operate violation there are abnormal signal and logic judgment,
This central control system 3 can send restricted speed to Beidou terminal 6 under the premise of guaranteeing traffic safety according to real-time vehicle-state
Command request；So that this central control system 3 can be by the various operating statuses of real-time detection vehicle, and increase pre- speed limit
Protection abilities when vehicle executes long-range speed limit are improved with pre- solution speed limit mode.
The tarpaulin controller 10 includes and is placed in interior circuit part, and the circuit part includes microprocessor, driving
Unit, voltage sampling circuit, current sampling circuit, anti-cheating unit, the input terminal of the microprocessor are connected with top cover unlatching
Switch and top cover closure switch；Microprocessor is by voltage sampling circuit and current sampling circuit, and acquisition controller is defeated respectively
Enter voltage and flow through the electric current of motor, the positive and negative rotation of the driving unit control motor, the anti-cheating unit is for preventing from taking charge of
Machine runs vehicle in the case where not closing top cover, and the microprocessor is by the runing time of detection motor and by motor
Electric current judges the position of tarpaulin.The driving unit drives motor positive and inverse by four power switch tubes T1, T2, T3 and T4
Movement, power switch tube T1, T2, T3 and T4 form H-shaped bridge arm, and the both ends of power of motor is connected on H-shaped bridge arm, power switch tube
The control terminal of T1, T2, T3 and T4 are connected with the output end of driving circuit, and the anti-cheating unit includes for detecting control electricity
The electric current of machine flow currents length of time generates duration time detection unit, generates duration time detection unit for remembering electric current
The time memory unit of detection data and extrusion time detection unit detection data.Including communication and warning output end unit, lead to
News and alarm output unit are connected with the microprocessor；It is described communication and alarm output unit by can pass through big-dipper satellite network into
The communicating circuit and warning circuit of row data transmit-receive form.The microprocessor is also connected with remote control receiver unit, and remote control connects
It receives unit and is used to receive the control signal that the top cover of remote controler sending is opened and is closed；The output end of microprocessor is also connected with shape
State indicator light.
The cassette upper end is equipped with box cover, and the top cover is opened switch, top cover closure switch and status indicator lamp and is all provided with
It is placed on box cover, described box body one end is equipped with incoming line, is additionally provided with stringing terminal on box body；The connecting terminal respectively with electricity
The anode in source, cathode and it is connected with two input terminals of motor, is arranged on the box body for the north with Beidou transmission information
Struggle against signal transmission end.
A kind of dregs transportation vehicle roof sealing control method, which is characterized in that include the following steps
Step 1: issuing the order for closing top cover by signal designation unit, and microprocessor, which receives, orders and control driving
Unit controls motor and rotates forward, and tarpaulin is run to the direction Guan Gai；
Step 2: microprocessor is always monitored the position of top cover；
Step 3: when microprocessor detects top cover signal in place, microprocessor is anti-by driving unit control motor
Turn the time of 30-50ms；
Step 4: the position of top cover carries out processing judgement by microprocessor, and after top cover completely closes, while anti-cheating is single
The electric current and time data of member detection, communication and alarm output unit transfer data to slag-soil truck pipe by big-dipper satellite network
Platform, to audit.
The microprocessor when in step 2 detects that the position of top cover does not completely close and the position of top cover can not be moved
When dynamic, microcontroller control at this time increases by the magnitude of current of motor.The microcontroller control is logical by the magnitude of current of motor
Over-drive unit make the starting current of motor increase to original electric current-times.The microprocessor is always to the position of top cover
It is monitored and shows through microprocessor by detecting the runing time of motor and judging by the electric current of motor.Work as microprocessor
Detect top cover in place signal when, i.e., when microprocessor detect do not occur by the electric current of motor multiple increase in the case where,
The time of motor operation reaches the generalized time value of setting.
The signal designation unit is issued by remote controler, and the remote controler is equipped with A key, B key and C key, and A key is to call out
Awake key.The B key and C key are respectively that electric current increases key and electric current reduction key.The B key and C key be respectively time increasing key and
Time reducing key.
When needing the electric current for proceeding through motor to tarpaulin controller to be adjusted, adjusted by following steps: the
One step；It is powered to tarpaulin controller；Step 2: A key is pinned, until tarpaulin controller state indicator light extinguishes, about 6 seconds；The
Three steps: pressing B key, often clicks and increases 1A by the electric current of motor, maximum increases to 60A, presses C key, often clicks by motor
Electric current reduce 1A；Step 4: waiting about 10 seconds, the status indicator lamp of tarpaulin controller is lighted, i.e., the data adjusted electric current
It automatically saves.
When needing the runing time for proceeding through motor to tarpaulin controller to be adjusted, adjusted by following steps
It is whole: the first step；It is powered to tarpaulin controller；Step 2: A key is pinned, until tarpaulin controller state indicator light extinguishes, about 6
Second；Step 3: pressing B key, the time for often clicking motor operation increases by 2 seconds, and maximum increases to 150 seconds, presses C key, often clicks
The time of motor operation reduces 2 seconds；Step 4: waiting about 10 seconds, the status indicator lamp of tarpaulin controller is lighted, i.e., will time tune
Whole data automatically save.
Tarpaulin springs back function: purpose: since market electric machine structure is multifarious, quality is irregular, motor and speed reducer
Be easy it is stuck, so being solved by springing back.The step of rebound: as long as tarpaulin closes to the end, will trigger the rebound function of 40ms,
Motor can't see movement toward reverse direction operation 40ms, 40ms for tarpaulin, so it is closed not will cause tarpaulin
Tight problem.The state opened and closed by Beidou to the top cover that platform uploads, is data command signals, the letter that can not be practised fraud
Number.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (6)
1. a kind of slag-soil truck remotely manages vehicle-mounted intelligent control system, which is characterized in that including central control system, for detecting wagon box
Lift the carriage lifting monitor at inclination angle, the monitoring camera for capturing compartment photo, for detecting wagon box sky heavy condition
Compartment bare weight monitor, LED display, the Beidou terminal for being got in touch with platform and information of vehicles display screen, the middle control
System, carriage lifting monitor, inclination angle detector are each attached on the fixed bracket of system, and the monitoring camera passes through camera
Fixed bracket is fixed on the fixed bracket of system, and the carriage lifting monitor, inclination angle detector, monitoring camera, compartment are empty
Weight monitor is connected with central control system, the central control system, carriage lifting monitor, inclination angle detector, monitoring camera
Be fixed below the wagon box the brim of a hat by the fixed bracket of system, the central control system with for showing the fortune that speed and platform issue
The connection of defeated certificate of authorized LED display, the LED display connects with Beidou terminal, the Beidou terminal and are used to show the whole series
The information of vehicles display screen connection of each state, digital map navigation of monitoring system, the LED display, Beidou terminal, vehicle letter
Breath display screen is installed in driver's cabin, and the LED display is connect with the tarpaulin controller for controlling platform tent opening and closing.
2. a kind of slag-soil truck according to claim 1 remotely manages vehicle-mounted intelligent control system, which is characterized in that described
Central control system passes through RS485 bus and carriage lifting monitor, inclination angle detector, monitoring camera, compartment bare weight monitor phase
Connection.
3. a kind of slag-soil truck according to claim 1 remotely manages vehicle-mounted intelligent control system, which is characterized in that described
Central control system passes through RS485 bus respectively and is connected with LED display, Beidou terminal and information of vehicles display screen.
4. a kind of slag-soil truck according to claim 1 remotely manages vehicle-mounted intelligent control system, which is characterized in that the vehicle
Information display screen is used to show the state that the lifting state of wagon box, the open/close states of top cover and wagon box bare weight carry.
5. a kind of slag-soil truck according to claim 1 remotely manages vehicle-mounted intelligent control system, which is characterized in that the north
Bucket terminal is connect by BEI-DOU position system with control platform.
6. a kind of slag-soil truck according to claim 5 remotely manages vehicle-mounted intelligent control system, which is characterized in that the control
Platform processed is used to monitor carriage status and monitor the operation conditions of vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821422716.0U CN208596299U (en) | 2018-08-31 | 2018-08-31 | A kind of slag-soil truck remotely manages vehicle-mounted intelligent control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821422716.0U CN208596299U (en) | 2018-08-31 | 2018-08-31 | A kind of slag-soil truck remotely manages vehicle-mounted intelligent control system |
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| CN208596299U true CN208596299U (en) | 2019-03-12 |
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ID=65605407
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|---|---|---|---|
| CN201821422716.0U Expired - Fee Related CN208596299U (en) | 2018-08-31 | 2018-08-31 | A kind of slag-soil truck remotely manages vehicle-mounted intelligent control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109921700A (en) * | 2019-04-22 | 2019-06-21 | 济南科亚电子科技有限公司 | A kind of brushless motor control device and method and application |
| CN110807910A (en) * | 2019-09-19 | 2020-02-18 | 成都亿盟恒信科技有限公司 | Muck truck area judgment and speed limit method |
| CN111901759A (en) * | 2020-07-23 | 2020-11-06 | 北京以萨技术股份有限公司 | Muck vehicle monitoring system and method based on Internet of things |
| CN114613141A (en) * | 2022-03-21 | 2022-06-10 | 美境数字科技(杭州)有限公司 | Monitoring system and method for raised dust of muck truck |
-
2018
- 2018-08-31 CN CN201821422716.0U patent/CN208596299U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109921700A (en) * | 2019-04-22 | 2019-06-21 | 济南科亚电子科技有限公司 | A kind of brushless motor control device and method and application |
| CN110807910A (en) * | 2019-09-19 | 2020-02-18 | 成都亿盟恒信科技有限公司 | Muck truck area judgment and speed limit method |
| CN111901759A (en) * | 2020-07-23 | 2020-11-06 | 北京以萨技术股份有限公司 | Muck vehicle monitoring system and method based on Internet of things |
| CN114613141A (en) * | 2022-03-21 | 2022-06-10 | 美境数字科技(杭州)有限公司 | Monitoring system and method for raised dust of muck truck |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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| CF01 | Termination of patent right due to non-payment of annual fee |