CN102277892B - Controller area network (CAN)-bus-based excavator electrical component control system and method - Google Patents
Controller area network (CAN)-bus-based excavator electrical component control system and method Download PDFInfo
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- CN102277892B CN102277892B CN 201110170459 CN201110170459A CN102277892B CN 102277892 B CN102277892 B CN 102277892B CN 201110170459 CN201110170459 CN 201110170459 CN 201110170459 A CN201110170459 A CN 201110170459A CN 102277892 B CN102277892 B CN 102277892B
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Abstract
The invention discloses a controller area network (CAN)-bus-based excavator electrical component control system, which comprises a master controller, a keyboard, a power allocation module controller, a cooling system controller and an engine controller, wherein the master controller, the keyboard, the power allocation module controller, the cooling system controller and the engine controller are connected by a CAN bus. The system makes a breakthrough in conventional signal transmission realized by hardwire connection between a control switch and a relay, and realizes control over excavator electrical components by bus communication among nodes in an overall CAN network by using a CAN bus technology, thereby simplifying overall wire harnesses and meeting the communication requirements of Euro III and Euro IV engines.
Description
Technical field
The present invention relates to a kind of control technology, relate in particular to a kind of control system and method for the excavator electric component based on the CAN bus.
Background technology
CAN is the (ControllerAreaNetwork of controller local area network, CAN) abbreviation, the German BOSCH company exploitation that is by research and development and produces that automobile electronics are celebrated, and finally become international standard (ISO11898) is one of most widely used fieldbus in the world.In North America and West Europe, the CAN bus protocol has become the STD bus of Computer Controlled System for Vehicle and built-in industrial control area net（CAN）, and has the J1939 agreement that aims at the design of high capacity waggon and heavy industry motor vehicles and machines take CAN as underlying protocol.In recent years, the high reliability that it has and good error detection capability come into one's own day by day, are widely used in that Computer Controlled System for Vehicle and environment temperature are abominable, electromagnetic radiation is strong and vibrates large industrial environment.
But at construction machinery industry, the application of CAN bussing technique is also far away less than automobile industry.Excavator is as the important composition product in the construction machinery industry, and its Electrical Control Technology is also just towards the direction development of high accuracy, high-intelligentization.The technical problem that wherein still exists has: the transfer of data in the electrical control of (1) most excavator realizes with being connected mainly to connect by rigid line, like this, along with increasing of electric component, the complete machine wire harness also can be thereupon day by day loaded down with trivial details, bring very large trouble for design, installation and maintenance, fault rate is high, the communication poor reliability; (2) in order to comply with global environmental protection and energy saving trend, more and more excavators select to carry Europe III, Europe IV BBG, the information content that complete machine need to transmit significantly increases, and these information are based on the CAN message of J1939 agreement mostly, and this is not just supported the excavator electric component of CAN communication to bring very large communication obstacle.
Summary of the invention
Problem for above-mentioned existence, the control system and the method that the purpose of this invention is to provide a kind of excavator electric component based on the CAN bus, realize the complete machine transfer of data by the CAN bus, can effectively simplify wire harness, improve stability and the reliability of communication, satisfy the communication need of Europe III, Europe IV motor.
The objective of the invention is to be achieved through the following technical solutions:
A kind of control system of the excavator electric component based on the CAN bus, comprise master controller, keyboard, power division module controller, cooling system controller and engine controller, wherein, interconnect by the CAN bus between described master controller, described keyboard, described power division module controller, described cooling system controller and the described engine controller; Described master controller is finished complete machine control work, described keyboard passes through the CAN bus to the instruction of described master controller transmit button, described power division module controller is integrated complete machine relay and fuse, participate in the complete machine communication by the CAN bus, described cooling system controller plays the commutation of control hydraulic fan and speed governing, and described engine controller is by CAN bus and described master controller communication, thus the realization Regeneration control, wherein, described master controller comprises:
Regeneration control module is responsible for forbidding regeneration, forbidding regeneration and manually regeneration by the releasing of CAN bus;
The portable lamp control module is responsible for connecting or disconnecting swing arm lamp relay or platform lamp relay and keyboard indicator thereof by the CAN bus;
Water jet pump windscreen wiper control module is responsible for being switched on or switched off water jet pump relay and keyboard indicator thereof by the CAN bus, and is switched on or switched off low speed Wiper Relay or high speed Wiper Relay and keyboard indicator thereof by the CAN bus;
The hydraulic fan control module is responsible for regulating rotation speed of the fan by the CAN bus;
Fault diagnosis module is responsible for by the described fuse state of CAN bus monitoring, the electric fault that diagnosis is opened circuit and caused by described fuse, and in all ask-reply the communication flow of formula, realize fault diagnosis functions by the message content of resolving acknowledgement frame.
A kind of control method based on the excavator electric component of CAN bus of as above-mentioned control system wherein, comprises method for controlling reproduction, the portable lamp control method, water jet pump control method, rain scrape control method, hydraulic fan control method and method for diagnosing faults, wherein:
Described method for controlling reproduction comprises forbids Regeneration control and manual Regeneration control, the described Regeneration control of forbidding is to regenerate after key is pressed when described regeneration control module monitors forbidding in the described keyboard, if receiving message from described engine controller judges to have entered and forbids reproduced state, then send to remove and forbid the message of regenerating, do not forbid reproduced state if enter, then send the message of forbidding regenerating to described engine controller; Described manual Regeneration control is after described regeneration control module monitors manual regeneration key in the described keyboard and is pressed, and sends to start manually the regeneration message to described engine controller;
Described portable lamp control method be when described portable lamp control module by the CAN bus monitoring in the described keyboard the swing arm lamp or the button of platform lamp be pressed, send the CAN request message to described power division module controller, after described power division module controller receives request, feed back a frame response message, judge the state of swing arm lamp relay or platform lamp relay behind the response message that described portable lamp control module parsing receives: if described swing arm lamp relay or described platform lamp relay access failure, then described portable lamp control module is passed through CAN bus sending controling instruction to described power division module controller and described keyboard, connect described swing arm lamp relay or described platform lamp relay, and light the keyboard indicator of described swing arm lamp or described platform lamp; If relay is connected, then described portable lamp control module is passed through CAN bus sending controling instruction to described power division module controller and described keyboard, disconnect described swing arm lamp relay or described platform lamp relay, and extinguish the keyboard indicator of described swing arm lamp or described platform lamp;
Described water jet pump control method is when described water jet pump windscreen wiper control module monitors water jet pump key in the described button and is pressed, connect the water jet pump relay by the CAN bus, and light corresponding water jet pump button indicator lamp, when monitoring described water jet pump key and unclamp, described water jet pump windscreen wiper control module then disconnects described water jet pump relay, extinguishes simultaneously described water jet pump button indicator lamp; Described rain scrape control method is the number of times that described water jet pump windscreen wiper control module is pressed by CAN bus monitoring windscreen wiper button, described windscreen wiper button is pressed for the first time rear transmission CAN message to described power division module controller and is connected the low speed Wiper Relay, lights low speed windscreen wiper keyboard indicator; Described windscreen wiper button is pressed for the second time rear described water jet pump windscreen wiper control module and is connected the high speed Wiper Relay by the CAN bus, lights high speed windscreen wiper keyboard indicator, disconnects simultaneously described low speed Wiper Relay, and extinguishes described low speed windscreen wiper keyboard indicator; After described windscreen wiper button is pressed for the third time, disconnect described high speed Wiper Relay, and extinguish described high speed windscreen wiper keyboard indicator, described water jet pump windscreen wiper control module is setting in the digital output corresponding with described windscreen wiper control module simultaneously, stops after windscreen wiper is resetted;
Described hydraulic fan control method is that described hydraulic fan control module reads the reproduced state of engine speed and diesel particulate filter to judge the commutation condition from described engine controller by the CAN bus, when not satisfying, the commutation condition enters fan automatic speed regulation control, if the commutation condition satisfies, then described hydraulic fan control module sends bus message and makes the flicker of fan button indicator lamp, send simultaneously the message of forbidding regenerating to described engine controller, start delayer, delay time to after again commutate and recover former rotating speed, extinguish simultaneously described fan button indicator lamp, stop to send and forbid the message of regenerating; And,
Described method for diagnosing faults is that described fault diagnosis module is by the described fuse state of CAN bus monitoring, the electric fault that diagnosis is opened circuit and caused by described fuse, and ask-reply to realize fault diagnosis functions by the message content of resolving acknowledgement frame in the communication flow of formula at all.
The control method of above-mentioned excavator electric component based on the CAN bus, wherein, in described hydraulic fan control method, if the commutation condition satisfies, then described hydraulic fan control module sends bus message and makes described fan button indicator lamp with the 1/2Hz frequency scintillation.
The control method of above-mentioned excavator electric component based on the CAN bus, wherein, in described hydraulic fan control method, if the commutation condition satisfies, after starting described delayer, delay time is 36 seconds, wherein switched minimum speed in front 3 seconds, the commutation of 3 seconds aft-fans also rises to maximum (top) speed, again is down to minimum speed after 30 seconds, 36 seconds delay times to after again commutate and recover former rotating speed.
Compared with the prior art, beneficial effect of the present invention is:
(1) realizes the complete machine transfer of data by the CAN bus, can effectively simplify wire harness, improve stability and the reliability of communication;
(2) expand complete machine CAN network, satisfied the bus communication requirement of Europe III, Europe IV engine controller and complete machine.
Description of drawings
Fig. 1 the present invention is based on the control system of excavator electric component of CAN bus and the structural representation block diagram of the control system in the method;
Fig. 2 a the present invention is based on the schematic flow sheet that forbidding in the control system of excavator electric component of CAN bus and the method for controlling reproduction in the method regenerate;
Fig. 2 b the present invention is based on the control system of excavator electric component of CAN bus and the schematic flow sheet of the manual regeneration in the method for controlling reproduction in the method
Fig. 3 a and Fig. 3 b the present invention is based on the control system of excavator electric component of CAN bus and the schematic flow sheet of the swing arm lamp in the method and platform lamp control method;
Fig. 4 the present invention is based on the control system of excavator electric component of CAN bus and the schematic flow sheet of the water jet pump control method in the method;
Fig. 5 the present invention is based on the control system of excavator electric component of CAN bus and the schematic flow sheet of the rain scrape control method in the method;
Fig. 6 the present invention is based on the control system of excavator electric component of CAN bus and the schematic flow sheet of the hydraulic fan control method in the method.
The specific embodiment
The invention will be further described below in conjunction with schematic diagram and concrete operations embodiment.
As shown in Figure 1, the present invention is based on the control system of the excavator electric component of CAN bus, specifically comprise master controller 1, keyboard 2, power division module controller 3, cooling system controller 4 and engine controller 5, interconnect by CAN bus 0 between master controller 1, keyboard 2, power division module controller 3, cooling system controller 4 and the engine controller 5.Master controller 1 is finished complete machine control work, keyboard 2 is integrated with the control buttons such as motor regeneration, portable lamp, windscreen wiper and fan commutation of diesel particulate filter, by CAN bus 0 to master controller 1 transmit button instruction, power division module controller 3 is integrated complete machine relay and fuse, participate in the complete machine communication by CAN bus 0, cooling system controller 4 plays the commutation of control hydraulic fan and speed governing, engine controller 5 is by CAN bus 0 and master controller 1 communication, thus the realization Regeneration control.
Particularly, master controller 1 comprises regeneration control module, the portable lamp control module, and water jet pump windscreen wiper control module, hydraulic fan control module and fault diagnosis module, wherein:
Regeneration control module is responsible for forbidding regeneration by 0 releasing of CAN bus, forbid regeneration and manually regeneration, it comprises method for controlling reproduction, simultaneously referring to shown in Fig. 1 and Fig. 2 a, method for controlling reproduction comprises forbids Regeneration control and manual Regeneration control, forbid that Regeneration control is to regenerate after key is pressed when regeneration control module monitors forbidding in the keyboard 2, from engine controller 5(ECM) if judging to have entered, the reception message forbids reproduced state, then send to remove and forbid the message of regenerating, do not forbid reproduced state if enter, then send and forbid regenerating message to engine controller 5(ECM); Continuation is referring to shown in Fig. 2 b, and manually Regeneration control is after regeneration control module monitors manual regeneration key in the keyboard 2 and is pressed, and sends to start the message of manually regenerating to engine controller 5(ECM), and continued to light manual regeneration key indicator lamp 30 seconds;
The portable lamp control module is responsible for connecting or disconnecting swing arm lamp relay or platform lamp relay and keyboard indicator thereof by the CAN bus, it comprises the portable lamp control method, simultaneously referring to Fig. 1 and Fig. 3 a, shown in Fig. 3 b, the portable lamp control method is to monitor swing arm lamp in the keyboard by CAN bus 0 or the button of platform lamp is pressed when the portable lamp control module, send the CAN request message to power division module controller 3, after power division module controller 3 receives request, feed back a frame response message, judge the state of swing arm lamp relay or platform lamp relay behind the response message that the parsing of portable lamp control module receives: if swing arm lamp relay or platform lamp relay access failure, then the portable lamp control module is passed through CAN bus 0 sending controling instruction to power division module controller 3 and keyboard 2, connect swing arm lamp relay or platform lamp relay, and light the keyboard indicator of swing arm lamp or platform lamp; If swing arm lamp relay or platform lamp relay are connected, then the portable lamp control module is passed through CAN bus 0 sending controling instruction to power division module controller 3 and keyboard 2, disconnect swing arm lamp relay or platform lamp relay, and extinguish the keyboard indicator of swing arm lamp or platform lamp;
Water jet pump windscreen wiper control module is responsible for being switched on or switched off water jet pump relay and keyboard indicator thereof by CAN bus 0, and be switched on or switched off low speed Wiper Relay or high speed Wiper Relay and keyboard indicator thereof by CAN bus 0, it comprises the water jet pump rain scrape control method, specifically comprises water jet pump control method and rain scrape control method.Please be simultaneously referring to Fig. 1 and shown in Figure 4, the water jet pump control method is when water jet pump windscreen wiper control module monitors water jet pump key in the button and is pressed, connect the water jet pump relay by CAN bus 0, and light corresponding water jet pump button indicator lamp, when monitoring the water jet pump key and unclamp, water jet pump windscreen wiper control module then disconnects the water jet pump relay, extinguishes simultaneously water jet pump button indicator lamp; Please be simultaneously referring to Fig. 1 and shown in Figure 5, rain scrape control method is the number of times that water jet pump windscreen wiper control module is pressed by CAN bus 0 monitoring windscreen wiper button, the windscreen wiper button is pressed for the first time rear transmission CAN message to power division module controller 3 and is connected the low speed Wiper Relay, lights low speed windscreen wiper keyboard indicator; The windscreen wiper button is pressed for the second time rear water jet pump windscreen wiper control module and is connected the high speed Wiper Relay by CAN bus 0, lights high speed windscreen wiper keyboard indicator, disconnects simultaneously the low speed Wiper Relay, and extinguishes low speed windscreen wiper keyboard indicator; After the windscreen wiper button is pressed for the third time, disconnects the high speed Wiper Relay, and extinguish high speed windscreen wiper keyboard indicator, water jet pump windscreen wiper control module is setting in the digital output corresponding with the windscreen wiper control module (DO) simultaneously, stops after windscreen wiper is resetted;
The hydraulic fan control module is responsible for regulating rotation speed of the fan by CAN bus 0, it comprises the hydraulic fan control method, such as Fig. 1 and shown in Figure 6, the hydraulic fan control method be the hydraulic fan control module by CAN bus 0 from engine controller 5(ECM) read engine speed and diesel particulate filter (DPD) reproduced state to judge the commutation condition, when not satisfying, the commutation condition enters fan automatic speed regulation control, whether read fortune this moment satisfies pre-provisioning request to rotating speed (rotating speed percentage), if satisfy, enter speed-regulating control module, if do not satisfy a given fixed current value; If the commutation condition satisfy (rotation speed of the fan〉400 or regeneration do not carry out), then the hydraulic fan control module sends bus message and makes the flicker of fan button indicator lamp, send simultaneously and forbid regenerating message to engine controller 5, start delayer, delay time to after again commutate and recover former rotating speed, extinguish simultaneously fan button indicator lamp, stop to send and forbid the message of regenerating;
Further, in the hydraulic fan control method, if the commutation condition satisfies, then hydraulic fan control module transmission bus message makes fan button indicator lamp with the 1/2Hz frequency scintillation;
Further, in the hydraulic fan control method, if the commutation condition satisfies, after starting delayer, delay time is 36 seconds, wherein switches minimum speed in front 3 seconds, and aft-fan commutation in 3 seconds also rises to maximum (top) speed, again be down to minimum speed after 30 seconds, 36 seconds delay times to after again commutate and recover former rotating speed;
Fault diagnosis module is responsible for by CAN bus 0 monitoring fuse state, the electric fault that diagnosis is opened circuit and caused by fuse, and ask-reply to realize fault diagnosis functions by the message content of resolving acknowledgement frame in the communication flow of formula at all, it comprises method for diagnosing faults, method for diagnosing faults is that the fault diagnostic module is by CAN bus 0 monitoring fuse state, the electric fault that diagnosis is opened circuit and caused by fuse, and ask-reply to realize fault diagnosis functions by the message content of resolving acknowledgement frame in the communication flow of formula at all.
In sum, the present invention has broken between gauge tap and the relay and relies on rigid line to be connected the tradition of signal transmission, use the CAN bussing technique, realize the control of excavator electric component by the bus communication between the complete machine CAN nodes, thereby simplify the complete machine wire harness, and satisfy the communication need of Europe III, Europe IV motor.
More than specific embodiments of the invention are described in detail, but the present invention is not restricted to specific embodiment described above, it is just as example.To those skilled in the art, any to this equivalent modifications of carrying out based on control system and the method for the excavator electric component of CAN bus with substitute also all among category of the present invention.Therefore, not breaking away from impartial conversion and the modification of having done under the spirit and scope of the present invention, all should contain within the scope of the invention.
Claims (4)
1. control system based on the excavator electric component of CAN bus, comprise master controller, keyboard, power division module controller, cooling system controller and engine controller, it is characterized in that, interconnect by the CAN bus between described master controller, described keyboard, described power division module controller, described cooling system controller and the described engine controller; Described master controller is finished complete machine control work, described keyboard passes through the CAN bus to the instruction of described master controller transmit button, described power division module controller is integrated complete machine relay and fuse, participate in the complete machine communication by the CAN bus, described cooling system controller plays the commutation of control hydraulic fan and speed governing, described engine controller is by CAN bus and described master controller communication, thus the realization Regeneration control;
Described master controller comprises:
Regeneration control module is responsible for forbidding regeneration, forbidding regeneration and manually regeneration by the releasing of CAN bus;
The portable lamp control module is responsible for connecting or disconnecting swing arm lamp relay or platform lamp relay and keyboard indicator thereof by the CAN bus;
Water jet pump windscreen wiper control module is responsible for being switched on or switched off water jet pump relay and keyboard indicator thereof by the CAN bus, and is switched on or switched off low speed Wiper Relay or high speed Wiper Relay and keyboard indicator thereof by the CAN bus;
The hydraulic fan control module is responsible for regulating rotation speed of the fan by the CAN bus;
Fault diagnosis module is responsible for by the described fuse state of CAN bus monitoring, the electric fault that diagnosis is opened circuit and caused by described fuse, and in all ask-reply the communication flow of formula, realize fault diagnosis functions by the message content of resolving acknowledgement frame.
2. control method based on the excavator electric component of CAN bus such as control system as described in the above-mentioned claim 1, it is characterized in that, comprise method for controlling reproduction, the portable lamp control method, the water jet pump control method, rain scrape control method, hydraulic fan control method and method for diagnosing faults, wherein:
Described method for controlling reproduction comprises forbids Regeneration control and manual Regeneration control, the described Regeneration control of forbidding is to regenerate after key is pressed when described regeneration control module monitors forbidding in the described keyboard, if receiving message from described engine controller judges to have entered and forbids reproduced state, then send to remove and forbid the message of regenerating, do not forbid reproduced state if enter, then send the message of forbidding regenerating to described engine controller; Described manual Regeneration control is after described regeneration control module monitors manual regeneration key in the described keyboard and is pressed, and sends to start manually the regeneration message to described engine controller;
Described portable lamp control method be when described portable lamp control module by the CAN bus monitoring in the described keyboard the swing arm lamp or the button of platform lamp be pressed, send the CAN request message to described power division module controller, after described power division module controller receives request, feed back a frame response message, judge the state of swing arm lamp relay or platform lamp relay behind the response message that described portable lamp control module parsing receives: if described swing arm lamp relay or described platform lamp relay access failure, then described portable lamp control module is passed through CAN bus sending controling instruction to described power division module controller and described keyboard, connect described swing arm lamp relay or described platform lamp relay, and light the keyboard indicator of described swing arm lamp or described platform lamp; If relay is connected, then described portable lamp control module is passed through CAN bus sending controling instruction to described power division module controller and described keyboard, disconnect described swing arm lamp relay or described platform lamp relay, and extinguish the keyboard indicator of described swing arm lamp or described platform lamp;
Described water jet pump control method is when described water jet pump windscreen wiper control module monitors water jet pump key in the described keyboard and is pressed, connect the water jet pump relay by the CAN bus, and light corresponding water jet pump button indicator lamp, when monitoring described water jet pump key and unclamp, described water jet pump windscreen wiper control module then disconnects described water jet pump relay, extinguishes simultaneously described water jet pump button indicator lamp; Described rain scrape control method is the number of times that described water jet pump windscreen wiper control module is pressed by CAN bus monitoring windscreen wiper button, described windscreen wiper button is pressed for the first time rear transmission CAN message to described power division module controller and is connected the low speed Wiper Relay, lights low speed windscreen wiper keyboard indicator; Described windscreen wiper button is pressed for the second time rear described water jet pump windscreen wiper control module and is connected the high speed Wiper Relay by the CAN bus, lights high speed windscreen wiper keyboard indicator, disconnects simultaneously described low speed Wiper Relay, and extinguishes described low speed windscreen wiper keyboard indicator; After described windscreen wiper button is pressed for the third time, disconnect described high speed Wiper Relay, and extinguish described high speed windscreen wiper keyboard indicator, described water jet pump windscreen wiper control module is setting in the digital output corresponding with described windscreen wiper control module simultaneously, stops after windscreen wiper is resetted;
Described hydraulic fan control method is that described hydraulic fan control module reads the reproduced state of engine speed and diesel particulate filter to judge the commutation condition from described engine controller by the CAN bus, when not satisfying, the commutation condition enters fan automatic speed regulation control, if the commutation condition satisfies, then described hydraulic fan control module sends bus message and makes the flicker of fan button indicator lamp, send simultaneously the message of forbidding regenerating to described engine controller, start delayer, delay time to after again commutate and recover former rotating speed, extinguish simultaneously described fan button indicator lamp, stop to send and forbid the message of regenerating; And,
Described method for diagnosing faults is that described fault diagnosis module is by the described fuse state of CAN bus monitoring, the electric fault that diagnosis is opened circuit and caused by described fuse, and ask-reply to realize fault diagnosis functions by the message content of resolving acknowledgement frame in the communication flow of formula at all.
3. the control method of the excavator electric component based on the CAN bus according to claim 2, it is characterized in that, in described hydraulic fan control method, if the commutation condition satisfies, then described hydraulic fan control module transmission bus message makes described fan button indicator lamp with the 1/2Hz frequency scintillation.
4. the control method of the excavator electric component based on the CAN bus according to claim 2, it is characterized in that, in described hydraulic fan control method, if the commutation condition satisfies, after starting described delayer, delay time is 36 seconds, wherein switched minimum speed in front 3 seconds, the commutation of 3 seconds aft-fans also rises to maximum (top) speed, again is down to minimum speed after 30 seconds, 36 seconds delay times to after again commutate and recover former rotating speed.
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| CN 201110170459 CN102277892B (en) | 2011-06-23 | 2011-06-23 | Controller area network (CAN)-bus-based excavator electrical component control system and method |
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| CN 201110170459 CN102277892B (en) | 2011-06-23 | 2011-06-23 | Controller area network (CAN)-bus-based excavator electrical component control system and method |
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| CN102491179B (en) * | 2011-12-21 | 2014-04-30 | 上海三一科技有限公司 | Distributed control system |
| CN105587421B (en) * | 2016-01-19 | 2018-07-31 | 株洲南车时代电气股份有限公司 | System and method based on the control of more CAN communication protocol realization diesel engine speed regulations |
| CN107222965B (en) * | 2017-07-31 | 2023-06-13 | 徐州徐工矿山机械有限公司 | Mine car ladder lamp control circuit with bus keyboard |
| CN109235532A (en) * | 2018-11-13 | 2019-01-18 | 中联重科股份有限公司 | Control system, control method and excavator for excavator |
| CN111799788A (en) * | 2020-07-14 | 2020-10-20 | 三一重机有限公司 | Power-off control system, engineering machinery and power-off control method |
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| CN200961277Y (en) * | 2006-08-21 | 2007-10-17 | 内蒙古北方重型汽车股份有限公司 | Electronic control device for rotary-dredging drill |
| CN201089947Y (en) * | 2007-09-05 | 2008-07-23 | 天津工程机械研究院 | Constant speed control apparatus of grader |
| CN201538983U (en) * | 2009-02-20 | 2010-08-04 | 广西玉柴重工有限公司 | Electrical control and engine condition monitoring device of skid loader |
| CN201857637U (en) * | 2010-09-29 | 2011-06-08 | 三一重机有限公司 | Multifunctional display control system for digger |
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| WO2005043481A1 (en) * | 2003-10-31 | 2005-05-12 | Komatsu Ltd. | Working machine management system |
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| CN200961277Y (en) * | 2006-08-21 | 2007-10-17 | 内蒙古北方重型汽车股份有限公司 | Electronic control device for rotary-dredging drill |
| CN201089947Y (en) * | 2007-09-05 | 2008-07-23 | 天津工程机械研究院 | Constant speed control apparatus of grader |
| CN201538983U (en) * | 2009-02-20 | 2010-08-04 | 广西玉柴重工有限公司 | Electrical control and engine condition monitoring device of skid loader |
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