JPH0681361A - Control method for working machine - Google Patents
Control method for working machineInfo
- Publication number
- JPH0681361A JPH0681361A JP25537392A JP25537392A JPH0681361A JP H0681361 A JPH0681361 A JP H0681361A JP 25537392 A JP25537392 A JP 25537392A JP 25537392 A JP25537392 A JP 25537392A JP H0681361 A JPH0681361 A JP H0681361A
- Authority
- JP
- Japan
- Prior art keywords
- bucket
- working machine
- angle
- excavation direction
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、パワーショベル等掘削
用の作業機の制御装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a work machine for excavating a power shovel or the like.
【０００２】[0002]
【従来の技術】従来の上記作業機で、例えばパワーショ
ベルにおける自動運転に関する技術としては、特開平２
−２２１５２７号公報に示されるように、パワーショベ
ルの掘削機用の各アクチェエータを制御するアクチェエ
ータ制御手段と、掘削作業機のブーム、アーム、先端作
業機のそれぞれの姿勢角を検出する作業機姿勢検出手段
と、上記先端作業機にて掘削しようとする掘削面の目標
とする掘削勾配を与える勾配入力手段と、先端作業機の
基準平面からの目標傾角を与える先端傾角入力手段と、
上記作業機姿勢検出手段からの検出値と勾配入力手段及
び先端傾角入力手段とからの指令値を受けて、先端作業
機が上記先端傾角入力手段にて与えられた傾角で、か
つ、勾配入力手段で与えられた掘削勾配を、きめられた
固有の速度で移動するための操作量を演算して、その値
を上記各アクチェエータ制御手段へ出力するアクチェエ
ータ操作量演算手段とを備えた構成となっているものが
ある。2. Description of the Related Art As a conventional technique relating to automatic operation of a power shovel, for example, in the above-mentioned working machine, Japanese Patent Application Laid-Open No. Hei 2
As disclosed in JP-A-221527, an actuator control means for controlling each actuator for an excavator of a power shovel and a work implement posture detection for detecting respective posture angles of a boom, an arm and a tip work implement of an excavator. Means, slope input means for giving a target excavation slope of the excavation surface to be excavated by the tip working machine, tip inclination input means for giving a target inclination from a reference plane of the tip working machine,
In response to the detected value from the working machine attitude detecting means and the command values from the gradient input means and the tip inclination angle input means, the tip working machine has the inclination angle given by the tip inclination input means and the gradient input means. The operation amount for moving the excavation gradient given in 1. at the specified specific speed is calculated, and the value is output to the above-mentioned actuator control means. There is something.
【０００３】[0003]
【発明が解決しようとする課題】上記従来の作業機の制
御装置にあっては、自動運転を開始するまでに、法面の
掘削条件に対する入力信号、例えば勾配入力、先端傾角
入力、掘削方向入力等の入力信号を指定する必要があ
る。自動運転を考えたときに、オペレータの運転操作の
労力ができるだけ少ない方がよいが、上記従来の装置に
あっては入力信号の入力を忘れたためにトラブルが発生
する。このため自動運転の開始に際してはその都度全部
の入力が正しいかどうかを確認しなければならないとい
う問題があった。In the above-described conventional control device for a working machine, an input signal for excavation conditions on a slope, for example, slope input, tip inclination input, excavation direction input, before starting automatic operation. It is necessary to specify the input signal such as. When considering automatic driving, it is preferable that the operator's driving effort is as small as possible, but in the above-mentioned conventional apparatus, a trouble occurs because the input signal is forgotten. Therefore, there is a problem that it is necessary to confirm whether or not all the inputs are correct each time the automatic operation is started.
【０００４】本発明は上記のことにかんがみなされたも
ので、掘削作業時における入力信号のうちの掘削方向の
ための入力操作をなして、掘削作業時におけるオペレー
タの操作労力をできるだけ少なくできて、操作ミスをな
くすことができるようにした作業機の制御方法を提供す
ることを目的とするものである。SUMMARY OF THE INVENTION The present invention has been made in view of the above, and an input operation for an excavation direction in an input signal during excavation work can be performed, so that an operator's operation labor during excavation work can be minimized. It is an object of the present invention to provide a work machine control method capable of eliminating an operation error.
【０００５】[0005]
【課題を解決するための手段】パワーショベル等におけ
る掘削作業では、掘削開始における作業機（バケット）
先端の位置が、作業範囲内で奥の方にあるときの掘削方
向は引き側であり、手前の方にあるときは押し出し側と
略決まっており、本発明はこのことに着目してなされた
もので、作業機による作業範囲をある境界により２つの
領域Ａ，Ｂに分けておき、自動運転可能な作業機が有し
ている位置検出手段を使うことにより、作業機の角度あ
るいは位置等の作業条件が、上記した２つの領域Ａ，Ｂ
のどちらかに入るかを判断してその結果により掘削方向
を押し出し側か引き側かを決定する。[Means for Solving the Problems] In excavation work with a power shovel or the like, a work machine (bucket) at the start of excavation
The excavation direction is the pulling side when the position of the tip is in the inner part of the working range, and when it is in the front part, it is almost decided to be the extruding side, and the present invention was made with this point in mind. The working range of the working machine is divided into two regions A and B by a certain boundary, and the position detecting means of the working machine capable of automatic operation is used to determine the angle or position of the working machine. The working conditions are the two areas A and B described above.
It is determined which of the two is to be entered, and the result is used to determine whether the excavation direction is the push side or the pull side.
【０００６】[0006]
【作 用】自動制御開始時の作業機の姿勢あるいは位
置等の作業条件により、作業機による掘削方向が押し側
か、引き側を掘削方向判別装置９ａにて自動的に判別さ
れる。[Operation] Depending on work conditions such as the posture or position of the work machine at the start of automatic control, the excavation direction of the work machine is automatically discriminated by the excavation direction discrimination device 9a as to whether the excavation direction is the push side or the pull side.
【０００７】[0007]
【実 施 例】本発明の実施例を図面に基づいて説明す
る。図１は本発明の一実施例を示すブロック図であり、
この図１におけるパワーショベルの構成は一般のパワー
ショベルと同一である。なお、以下の説明のために、上
記構成のパワーショベルの各部材の角度、位置を図２に
示すように定義する。すなわち、ブーム１の回転角を
α、アーム２の回転角をβ、バケット３の回転角をγ、
バケット３の水平面（基準面）に対する傾角をδ、ブー
ム１の長さをＬ1 、アーム２の長さをＬ2 、バケット３
の長さをＬ3 、バケット３の先端の前後方向の位置を
ｘ、上下方向の位置をｙ、掘削勾配をφとする。EXAMPLES Examples of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of the present invention.
The structure of the power shovel in FIG. 1 is the same as that of a general power shovel. For the following description, the angle and position of each member of the power shovel having the above configuration will be defined as shown in FIG. That is, the rotation angle of the boom 1 is α, the rotation angle of the arm 2 is β, the rotation angle of the bucket 3 is γ,
The inclination of the bucket 3 with respect to the horizontal plane (reference plane) is δ, the length of the boom 1 is L 1 , the length of the arm 2 is L 2 , and the bucket 3 is
Is L 3 , the front-back position of the tip of the bucket 3 is x, the vertical position is y, and the excavation gradient is φ.
【０００８】図１に示す構成において、勾配入力手段７
から勾配指令φγを、先端傾角入力手段８からバケット
傾角指令δγを、また作業機姿勢検出手段１０ａ，１０
ｂ，１０ｃからブーム各検出値αa 、アーム各検出値β
a 、バケット各検出値γa をそれぞれアクチェエータ操
作量演算手段９に入力し、このアクチェエータ操作量演
算手段９では、バケット３の目標傾角、刃先の目標軌跡
及びバケット３の実傾角と実軌跡を演算し、これらから
与えられたバケット傾角で目標軌跡上を移動するための
ブーム１、アーム２、バケット３への各アクチェエータ
へ供給する流体の流量指令値Ｖα，Ｖβ，Ｖγを演算
し、これに基づいて流量制御弁１１ａ，１１ｂ，１１ｃ
を制御して各シリンダ４，５，６を駆動する。一方９ａ
は掘削方向判別装置であり、この掘削方向判別装置９ａ
は、上記各作業機姿勢検出手段１０ａ，１０ｂ，１０ｃ
から入力される各検出値αa ，βa ，γa に基づいてバ
ケット３の掘削方向を判別してその結果を上記演算手段
９に出力されるようになっている。In the configuration shown in FIG. 1, the gradient input means 7
A gradient command phi gamma from the bucket tilt command [delta] gamma from the tip-angle input means 8, also work implement orientation detection means 10a, 10
From b and 10c, boom detection values α a and arm detection values β
a, enter the bucket detection values gamma a to Akucheeta operation amount calculating means 9, respectively, in the Akucheeta operation amount calculation means 9, operation target inclination angle of the bucket 3, the actual inclination and the actual trajectory of the target locus and the bucket 3 of the cutting edge Then, the flow rate command values V α , V β , and V γ of the fluid to be supplied to the actuators to the boom 1, arm 2, and bucket 3 for moving on the target locus with the bucket tilt angle given from these are calculated, Based on this, the flow control valves 11a, 11b, 11c
Is controlled to drive each cylinder 4, 5, 6. On the other hand, 9a
Is an excavation direction discrimination device, and this excavation direction discrimination device 9a
Are the working machine posture detecting means 10a, 10b, 10c.
The excavation direction of the bucket 3 is discriminated based on the respective detected values α a , β a , γ a input from and the result is output to the arithmetic means 9.
【０００９】上記掘削方向判別装置９ａでの掘削方向の
判別はアーム２の角度β、アーム２の角度βとブーム１
の角度α、さらにアーム２の先端のｘ−ｙ座標系のいず
れかの入力値が用いられるようになっている。 （ａ）アームの角度βで判別する。 図３に示すように、アーム２による作業範囲を、あるア
ーム角度βo を基準に２分する。そしてこの基準角度β
o を掘削方向判別装置９ａにあらかじめ設定しておき、
これとアーム用の作業機姿勢検出機１０ｂからのアーム
検出値βとを比較して掘削方向を判別する。 βo ＝εo …（１） εo ：設定値 ここでβ≦βo の場合は遠い方の領域Ａとなり、掘削方
向は引き側となる。またβ≧βo の場合は近い方の領域
Ｂとなり、掘削方向は押し側となる。一例として、βo
＝１００［ｄｅｇ］のときを示す。制御開始点がβ＝１
３５［ｄｅｇ］であったとすると、β＞βo となり掘削
方向は押し側となる。これを２次元的に表わすと図４に
示すようになる。The excavation direction discriminating device 9a discriminates the excavation direction by the angle β of the arm 2, the angle β of the arm 2 and the boom 1.
And the input value of any one of the xy coordinate system of the tip of the arm 2 are used. (A) The determination is made based on the arm angle β. As shown in FIG. 3, the working range of the arm 2 is divided into two parts based on a certain arm angle β o . And this reference angle β
o is set in advance in the excavation direction discrimination device 9a,
This is compared with the arm detection value β from the working machine posture detector 10b for the arm to determine the excavation direction. β o = ε o (1) ε o : Set value Here, when β ≦ β o , it is the far area A and the excavation direction is the pulling side. When β ≧ β o , the area B is closer, and the excavation direction is the push side. As an example, β o
= 100 [deg] is shown. The control start point is β = 1
If it is 35 [deg], β> β o and the excavation direction is the push side. This is expressed two-dimensionally as shown in FIG.
【００１０】 （ｂ）アーム角度とブーム角度で判別する。 図５に示すように、作業範囲を２分割する境界 ｆ（αo ，βo ）＝０ …（２） をあらかじめ設定しておく。そして（２）式にブーム角
度αとアーム角度βを代入し、左辺が正か負かでＡ，Ｂ
のどちらかの領域に属するかを判別し、Ａの領域の場合
の掘削方向は引き側、Ｂの領域の場合の掘削方向は押し
側となる。一例として ｆ（αo ，βo ）＝αo ＋βo −１６０＝０ …（３） となる境界線を設定する。そこで、制御開始点のα，β
が、（α，β）＝（１００，５５）とすると、 ｆ（α，β）＝１００＋５５−１６０＜０ …（４） となり遠い方の領域Ａと判断され、掘削方向は引き側と
なる。(B) Judging by the arm angle and the boom angle. As shown in FIG. 5, a boundary f (α o , β o ) = 0 (2) that divides the work range into two is set in advance. Then, by substituting the boom angle α and the arm angle β into the equation (2), A and B are determined depending on whether the left side is positive or negative.
It is determined which of the two areas belongs to, the digging direction in the area A is the pulling side, and the digging direction in the area B is the pushing side. As an example, a boundary line is set such that f (α o , β o ) = α o + β o −160 = 0 (3). Therefore, the control start points α and β
However, if (α, β) = (100,55), then f (α, β) = 100 + 55−160 <0 (4) and it is determined that the region A is the far side, and the excavation direction is the pulling side.
【００１１】 （ｃ）ｘ−ｙ座標系に換算して判別する（その１）。 図２よりアーム先端の位置（ｘ−ｙ）は ｘ＝Ｌ1 ｓｉｎα＋Ｌ2 ｓｉｎ（α＋β）， ｙ＝Ｌ1 ｃｏｓα＋Ｌ2 ｃｏｓ（α＋β） …（５） で求まる。そして図６に示すように作業範囲を２分割す
る境界 ｆ（ｘo ，ｙo ）＝０ …（６） をあらかじめ設定しておく。そこで（６）式にｘ，ｙを
代入し、左辺が正か負かでどちらかの領域に属するか判
別し、Ａの領域の場合は掘削方向は引き側、Ｂの領域の
場合は掘削方向は押し出し側とする。一例として、ｆ
（ｘo ，ｙo ）＝ｘo 2 ＋ｙo 2 −５０００2 ＝０を設
定し、制御開始点の（ｘ，ｙ）が（５）式を用いて （ｘ，ｙ）＝（７０００，２００） と求まったとすると、 ｆ（ｘ，ｙ）＝（７０００2 ＋２００2 −５０００2 ）＞０ となりＡと判断されて掘削作業は引き側となる。(C) Converting to an xy coordinate system for determination (part 1). From FIG. 2, the position (x-y) of the arm tip is obtained by x = L 1 sin α + L 2 sin (α + β), y = L 1 cos α + L 2 cos (α + β) (5). Then, as shown in FIG. 6, a boundary f (x o , y o ) = 0 (6) for dividing the work range into two is set in advance. Then, by substituting x and y into the equation (6), it is determined whether the left side belongs to the positive side or the negative side and belongs to either of the regions. For the region A, the excavation direction is the pulling side, and for the region B, the excavation direction. Is on the extrusion side. As an example, f
(X o, y o) = x o 2 + y o 2 Set -5000 2 = 0, the control start point (x, y) using the equation (5) (x, y) = (7000,200 ), F (x, y) = (7000 2 +200 2 −5000 2 )> 0 and it is judged that A and the excavation work is on the pulling side.
【００１２】（ｃ）ｘ−ｙ座標系に換算して判別する
（その２）。 図７（ａ）より、ブームトップピン点０を座標中心とし
たバケット刃先の位置は、 ｘ＝Ｌ2 ｓｉｎ（α＋β−φ）＋Ｌ3 ｓｉｎ（α＋β＋γ−φ） より求まる。あらかじめ図７（ｂ）に示すように定めて
おいたｘ0 ，（例えばｘ0 ＝０）と、上記ｘを比較する
ことにより、ｘ≧ｘ0 のときは、引き側となり、ｘ＜ｘ
0 のときは押し側となる。(C) It is converted to the xy coordinate system for determination (part 2). From FIG. 7A, the position of the bucket blade edge with the boom top pin point 0 as the coordinate center is obtained by x = L 2 sin (α + β−φ) + L 3 sin (α + β + γ−φ). X 0 had been determined as shown in advance FIG. 7 (b), the (e.g. x 0 = 0), by comparing the x, when the x ≧ x 0, becomes pulling side, x <x
When it is 0 , it is the push side.
【００１３】以上述べたことは、作業機ブームバケット
１においても可能である。また上記各式で表わされる境
界は固定であってもよいし、勾配や作業機の角度によっ
て変わるものでもよい。例えば、勾配がφ≦３０°，φ
＞３０°，のときはβo ＝１００°，βo ＝７０°とあ
らかじめ設定しておく。またオペレータの自由意思によ
って掘削方向を決めたい場合は図７に示すように切換ス
イッチ１２、あるいはアームレバーなどの外部入力スイ
ッチが優先となるようにして掘削方向を決定する。この
ときのフローは図８に示すようになる。The above description is also applicable to the work implement boom bucket 1. The boundary represented by each of the above equations may be fixed or may change depending on the gradient and the angle of the working machine. For example, if the gradient is φ ≦ 30 °, φ
When> 30 °, β o = 100 ° and β o = 70 ° are preset. Further, when it is desired to determine the excavation direction by the operator's free will, the excavation direction is determined by giving priority to the changeover switch 12 or an external input switch such as an arm lever as shown in FIG. The flow at this time is as shown in FIG.
【００１４】[0014]
【発明の効果】本発明によれば、作業機のを自動運転す
るにあたって、掘削作業時における入力信号のうちの掘
削方向のための入力操作が不要となり、掘削作業時にお
けるオペレータの操作労力をできるだけ少なくできて操
作ミスをなくすことができる。According to the present invention, when the work machine is automatically operated, the input operation for the excavation direction out of the input signals during excavation work is unnecessary, and the operator's operation effort during excavation work is minimized. You can reduce the number of mistakes and eliminate operational mistakes.
【図１】本発明の実施例を示すブロック図である。FIG. 1 is a block diagram showing an embodiment of the present invention.
【図２】作業機の各部材の姿勢説明図である。FIG. 2 is a posture explanatory view of each member of the work machine.
【図３】アーム角度に応じて作業方向を２分割する場合
の作用説明図である。FIG. 3 is an explanatory view of an operation when the work direction is divided into two according to the arm angle.
【図４】アーム角度に応じて作業方向を判別する場合を
２次元的に示す説明図である。FIG. 4 is an explanatory view two-dimensionally showing a case where a working direction is determined according to an arm angle.
【図５】アーム角度とブーム角度で作業方向を判別する
場合を２次元的に示す説明図である。FIG. 5 is an explanatory view two-dimensionally showing a case where the working direction is discriminated by an arm angle and a boom angle.
【図６】ｘ−ｙ座標系に換算して作業方向を判別する場
合を２次元的に示す説明図である。FIG. 6 is an explanatory diagram two-dimensionally showing a case where the work direction is determined by converting it into an xy coordinate system.
【図７】（ａ），（ｂ）はｘ−ｙ座標系に換算して作業
方向を判別する場合を２次元的に示す他の説明図であ
る。7 (a) and 7 (b) are other two-dimensional explanatory views showing a case where the working direction is determined by converting it into an xy coordinate system.
【図８】外部入力スイッチにて作業方向を判別する場合
の構成を示すブロック図である。FIG. 8 is a block diagram showing a configuration in a case where a work direction is determined by an external input switch.
【図９】外部入力スイッチにて作業方向を判別する場合
のフローチャートである。FIG. 9 is a flowchart in the case of determining a work direction by an external input switch.
１…ブーム、３…アーム、３…バケット、４，５，６…
シリンダ、７…勾配入力手段、８…先端傾各入力手段、
９…アクチェエータ操作量演算手段、１０ａ，１０ｂ，
１０ｃ…姿勢検出手段、１１ａ，１１ｂ，１１ｃ…流量
制御弁、１２…切換スイッチ。1 ... Boom, 3 ... Arm, 3 ... Bucket, 4, 5, 6 ...
Cylinder, 7 ... Gradient input means, 8 ... Tip tilt input means,
9: actuator operation amount calculation means, 10a, 10b,
10c ... Attitude detecting means, 11a, 11b, 11c ... Flow control valve, 12 ... Changeover switch.
Claims (2)
に自動制御される作業機において、自動制御開始時の作
業機の姿勢あるいは位置等の作業条件により作業機によ
る掘削方向が押し出し側か、引き側を自動判別するよう
にしたことを特徴とする作業機の制御方法。1. A working machine in which the locus of the tip working machine is automatically controlled so as to match the target locus, and whether the excavation direction by the working machine is the pushing side depending on working conditions such as the posture or position of the working machine at the start of automatic control. A method for controlling a working machine, wherein the pulling side is automatically determined.
力スイッチからの指令が優先するようにしたことを特徴
とする請求項１記載の作業機の制御方法。2. The method for controlling a work machine according to claim 1, wherein a command from an external input switch is prioritized in determining the excavation direction by the work machine.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25537392A JP3273575B2 (en) | 1992-09-01 | 1992-09-01 | Work machine control method |
| PCT/JP1992/001400 WO1993009300A1 (en) | 1991-10-29 | 1992-10-29 | Method of selecting automatic operation mode of working machine |
| US08/232,177 US5446981A (en) | 1991-10-29 | 1992-10-29 | Method of selecting automatic operation mode of working machine |
| EP92922196A EP0609445A4 (en) | 1991-10-29 | 1992-10-29 | Method of selecting automatic operation mode of working machine. |
| EP98250010A EP0835964A2 (en) | 1991-10-29 | 1992-10-29 | Method of selecting automatic operation mode of working machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25537392A JP3273575B2 (en) | 1992-09-01 | 1992-09-01 | Work machine control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0681361A true JPH0681361A (en) | 1994-03-22 |
| JP3273575B2 JP3273575B2 (en) | 2002-04-08 |
Family
ID=17277869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25537392A Expired - Fee Related JP3273575B2 (en) | 1991-10-29 | 1992-09-01 | Work machine control method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3273575B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5446981A (en) * | 1991-10-29 | 1995-09-05 | Kabushiki Kaisha Komatsu Seisakusho | Method of selecting automatic operation mode of working machine |
| EP0900887A1 (en) * | 1996-12-03 | 1999-03-10 | Shin Caterpillar Mitsubishi Ltd. | Controller of construction machine |
| JP2019173472A (en) * | 2018-03-29 | 2019-10-10 | 株式会社小松製作所 | Work vehicle control system, method, and work vehicle |
| CN115288218A (en) * | 2022-07-28 | 2022-11-04 | 中联重科股份有限公司 | Method for controlling arm support, excavator, storage medium and processor |
-
1992
- 1992-09-01 JP JP25537392A patent/JP3273575B2/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5446981A (en) * | 1991-10-29 | 1995-09-05 | Kabushiki Kaisha Komatsu Seisakusho | Method of selecting automatic operation mode of working machine |
| EP0900887A1 (en) * | 1996-12-03 | 1999-03-10 | Shin Caterpillar Mitsubishi Ltd. | Controller of construction machine |
| EP0900887A4 (en) * | 1996-12-03 | 2000-05-24 | Caterpillar Mitsubishi Ltd | Controller of construction machine |
| JP2019173472A (en) * | 2018-03-29 | 2019-10-10 | 株式会社小松製作所 | Work vehicle control system, method, and work vehicle |
| US11578473B2 (en) | 2018-03-29 | 2023-02-14 | Komatsu Ltd. | Control system for work vehicle, method, and work vehicle |
| CN115288218A (en) * | 2022-07-28 | 2022-11-04 | 中联重科股份有限公司 | Method for controlling arm support, excavator, storage medium and processor |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3273575B2 (en) | 2002-04-08 |
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