CN102556143B - Method and device for controlling travelling direction of engineering mechanical equipment - Google Patents
Method and device for controlling travelling direction of engineering mechanical equipment Download PDFInfo
- Publication number
- CN102556143B CN102556143B CN201210027477.XA CN201210027477A CN102556143B CN 102556143 B CN102556143 B CN 102556143B CN 201210027477 A CN201210027477 A CN 201210027477A CN 102556143 B CN102556143 B CN 102556143B
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- China
- Prior art keywords
- velocity component
- control rod
- traveling gear
- taking
- universal control
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- Expired - Fee Related
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
- E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
The invention discloses a method and a device for controlling travelling direction of engineering mechanical equipment, which relate to the field of tracked or wheeled engineering machinery. The method includes: detecting the positive direction of a rotary table of the engineering mechanical equipment; using a universal control device of the equipment to output motion vectors according to corresponding operations and the positive direction of the rotary table; and determining running speed components and steering speed components of the equipment according to the motion vectors. The action direction of the universal control device is in correspondence to actual travelling direction of the tracked or wheeled engineering mechanical equipment, the problem that travelling operation is opposite to the equipment relative to the travelling direction of a driver when the rotary angle is larger is solved, operations of the driver can be more vivid and direct, labor intensity is relieved, and possibility of dangers caused by misoperation can be avoided.
Description
Technical field
The present invention relates to crawler type or industrial wheeled equipment field, particularly control method and the device of the direction of travel of a kind of crawler type or industrial wheeled equipment equipment.
Background technology
Crawler type or industrial wheeled equipment equipment at least possess lower body and upper body two parts, and wherein upper body can turn round around lower body by swing type mechanism.Taking excavating machine as example, as shown in Figure 1, general hydraulic excavator is made up of three parts: equipment 1, turntable 2 and traveling gear 3.Wherein, equipment comprises scraper bowl, dipper, swing arm etc.; Turntable comprises engine installation, driving system, swing type mechanism, accessory equipment and operator's compartment etc.; Traveling gear comprises lower vehicle frame, running motor and crawler belt etc.
Fig. 2 is the structural representation of the excavating machine walking operation apparatus that provides of prior art, and as shown in Figure 2, walking operation apparatus generally comprises two one control levers 21 and two pedals 22.Excavating machine left and right two one control levers are controlled respectively advancing of excavating machine left and right crawler belt and retreat, push away forward, and running motor forward, corresponding traveling gear is walked forward; Toward pusher, running motor reversion, corresponding traveling gear is walked backward.The amplitude size that left and right joystick promotes, the speed of travel size of control left and right crawler belt.If it is large that left joystick promotes amplitude forward, it is little that right joystick promotes amplitude forward, and before left crawler belt, line speed is fast, and before right-hand track chiain, line speed is slow, moves ahead just can realize limit, and limit bends to right.If pushed away before left joystick, right joystick pusher, left and right joystick promotion amplitude is consistent, can realize original place right-hand turning to.When at turntable, or degreeof turn consistent with traveling gear direction is little, existing walking operation apparatus easy and simple to handle, and visual in image.
But in the time of excavator operation, after rotation of rotary table certain angle, it is directly perceived not that the operation of existing walking operation apparatus becomes, operator remembers traveling gear positive dirction position at moment of having to.As shown in Figure 3, in Fig. 3 (a), turntable and traveling gear direction are consistent, operator promotes joystick directions and traveling gear direction of travel is also consistent, but in Fig. 3 (b), after rotation of rotary table certain angle, operator's driving handle direction (namely turntable direction) is inconsistent with traveling gear direction, it is very not vivid and directly perceived to operate, and long-time operation easily causes fatigue and faulty operation, even causes dangerous generation.
Summary of the invention
The object of the present invention is to provide a kind of control method and device of engineering mechanical device direction of travel, can solve better crawler type or industrial wheeled equipment equipment in turntable direction and traveling gear direction when inconsistent, chaufeur control joystick or pedal advance or the action that retreats and traveling gear with respect to the inconsistent problem of direction of travel of chaufeur.
According to an aspect of the present invention, provide a kind of engineering mechanical device direction of travel control method, described method comprises:
The turntable direction of work machine equipment;
The Universal control rod device of described equipment is handled and described turntable direction output action vector according to corresponding;
Determine moving velocity component and the turning velocity component of described equipment according to described action vector.
Preferably, the step of Universal control rod device output action vector is specially:
In the plane of rotation of the traveling gear of the relatively described equipment of described turntable, taking the center of gyration of described equipment as initial point, taking described turntable forward as X ' axle, taking through initial point and the straight line vertical with X ' axle as Y ' axle;
Described Universal control rod device is according to the corresponding component of output action vector on X ' axle and the component on Y ' axle handled.
Preferably, the step of determining moving velocity component and turning velocity component comprises:
In the plane of rotation of the traveling gear of the relatively described equipment of described turntable, taking the center of gyration of described equipment as initial point, taking the forward of described traveling gear as X-axis, taking through initial point and the straight line vertical with X-axis as Y-axis;
The projection in described X-axis of described action vector is obtained to the moving velocity component of described traveling gear, the projection in described Y-axis of described action vector is obtained to the turning velocity component of described traveling gear.
Preferably,
Described Universal control rod device is the device that Universal control rod bar or Universal control rod pedal or other can be realized Universal control rod in plane.
Preferably, obtain also comprising after the step of described moving velocity component and turning velocity component:
According to the speed of the left and right running motor of traveling gear described in described moving velocity component and the control of turning velocity component, described traveling gear is travelled with moving velocity and the turning velocity corresponding with described moving velocity component and turning velocity component.
According to a further aspect in the invention, provide a kind of engineering mechanical device direction of travel control setup, described device comprises:
Detecting device, for detection of the turntable direction of engineering mechanical device;
Universal control rod device, for handling and described turntable direction output action vector according to corresponding;
Controller, for determining moving velocity component and the turning velocity component of described equipment according to described action vector.
Preferably,
In the plane of rotation of the traveling gear of the relatively described equipment of described turntable, taking the center of gyration of described equipment as initial point, taking described turntable forward as X ' axle, taking through initial point and the straight line vertical with X ' axle as Y ' axle, described Universal control rod device is also for according to the corresponding component of output action vector on X ' axle and the component on Y ' axle handled.
Preferably,
In the plane of rotation of the traveling gear of the relatively described equipment of described turntable, taking the center of gyration of described equipment as initial point, taking the forward of described traveling gear as X-axis, taking through initial point and the straight line vertical with X-axis as Y-axis, described controller also, for the projection in described X-axis of described action vector being obtained to the moving velocity component of described traveling gear, obtains the projection in described Y-axis of described action vector the turning velocity component of described traveling gear.
Preferably,
Described Universal control rod device is the device that Universal control rod bar or Universal control rod pedal or other can be realized Universal control rod in plane.
Preferably,
Described controller also, for according to the speed of the left and right running motor of traveling gear described in described moving velocity component and the control of turning velocity component, makes described traveling gear travel with moving velocity and the turning velocity corresponding with described moving velocity component and turning velocity component.
Compared with prior art, beneficial effect of the present invention is: direction of travel control method provided by the present invention and device can make the direction of action of Universal control rod device and the actual direction of travel of crawler type or industrial wheeled equipment equipment be corresponding relation, make driver's operation more visual in image, reduce labor intensity, avoid the possibility of misoperation initiation potential.
Brief description of the drawings
Fig. 1 is the excavating machine overall structure and composition schematic diagram that prior art provides;
Fig. 2 is the structural representation of the excavating machine walking operation apparatus that provides of prior art;
Fig. 3 is the scenario analysis schematic diagram that excavating machine walking that prior art provides is handled;
Fig. 4 is the diagram of circuit of a kind of engineering mechanical device ambulation control method of providing of first embodiment of the invention;
Fig. 5 is the diagram of circuit of a kind of engineering mechanical device ambulation control method of providing of second embodiment of the invention;
Fig. 6 is the action vector that provides of second embodiment of the invention and the schematic diagram that is related to of moving velocity component and turning velocity component;
Fig. 7 is the structural representation of the control setup of a kind of engineering mechanical device direction of travel of providing of the embodiment of the present invention.
Detailed description of the invention
To a preferred embodiment of the present invention will be described in detail, should be appreciated that the preferred embodiment of the following stated, only for description and interpretation the present invention, is not intended to limit the present invention below in conjunction with accompanying drawing.
Fig. 4 is the diagram of circuit of a kind of engineering mechanical device ambulation control method of providing of first embodiment of the invention, as shown in Figure 4, said method comprising the steps of:
Step S401, the turntable direction of work machine equipment.
Step S402, the Universal control rod device of described equipment is handled and turntable direction output action vector according to corresponding.
In the plane of rotation of the traveling gear of the relatively described equipment of described turntable, taking the center of gyration of described equipment as initial point, taking described turntable forward as X ' axle, taking through initial point and the straight line vertical with X ' axle as Y ' axle.
Pilot control Universal control rod device, Universal control rod device is according to the corresponding component of output action vector on X ' axle and the component on Y ' axle handled.Wherein, described Universal control rod device is the device that Universal control rod bar or Universal control rod pedal or other can be realized Universal control rod in plane.
Step S403, according to moving velocity component and the turning velocity component of the definite described equipment of described action vector.
In the plane of rotation of the relatively described traveling gear of described turntable, taking the center of gyration of described equipment as initial point, taking the forward of described traveling gear as X-axis, taking through initial point and the straight line vertical with X-axis as Y-axis.The moving velocity component that the projection in described X-axis of described action vector is obtained to described traveling gear is the moving velocity component of equipment, and the turning velocity component that the projection in described Y-axis of described action vector is obtained to described traveling gear is the turning velocity component of equipment.After obtaining moving velocity component and turning velocity component, according to the speed of the left and right running motor of moving velocity component and turning velocity component control traveling gear, traveling gear is travelled with moving velocity and the turning velocity corresponding with moving velocity component and turning velocity component.
Fig. 5 is the diagram of circuit of a kind of engineering mechanical device ambulation control method of providing of second embodiment of the invention, as shown in Figure 5, said method comprising the steps of:
Step S501, the turntable direction of work machine equipment.
In the present embodiment, engineering mechanical device is taking excavating machine as example.Rotary encoder is installed on excavating machine, rotary encoder can perception excavator turntable forward with respect to the angle θ of traveling gear forward rotation, and then determine turntable direction according to the forward of traveling gear and degreeof turn θ.
Step S502, Universal control rod device is according to the corresponding output action vector of handling.
Universal control rod device can be device or the means that Universal control rod bar, Universal control rod pedal or other can be realized Universal control rod in plane, comprising computer program.The present embodiment, taking Universal control rod bar as example, is mounted and fixed on Universal control rod bar in the operator's compartment of turntable, Universal control rod bar can be parallel to turntable with respect to the plane of rotation of traveling gear in all directions shake all around.
Fig. 6 is the action vector that provides of second embodiment of the invention and the schematic diagram that is related to of moving velocity component and turning velocity component, as shown in Figure 6, in the plane of rotation of the relative traveling gear of turntable, taking the center of gyration of engineering mechanical device as initial point, taking turntable positive dirction as X ' axle 61, taking through initial point and perpendicular to X ' axle 61 straight line in operator's compartment left side that points to turntable as Y ' axle 62, wherein, turntable positive dirction can be determined by the degreeof turn 70 obtaining in step S501.
In described plane of rotation, promote Universal control rod bar, described Universal control rod pole-footing is according to the corresponding action vector of output taking turntable direction as reference coordinate of handling.The actual output parameter of different types of Universal control rod bar has difference, what some Universal control rod bars were exported is the action component 63 of vector on X ' axle 61 and the component on Y ' axle 62 64, what some Universal control rod bars were exported is pendulum angle and amplitude of fluctuation, wherein pendulum angle is the angle α 71 between Universal control rod bar movement locus and described turntable forward, and amplitude of fluctuation is the movement range of Universal control rod bar with respect to center of gyration.Can determine that according to the definite degreeof turn θ 70 of step S501 and pendulum angle α 71 Universal control rod bar moves vectorial direction, can determine according to amplitude of fluctuation the size that action is vectorial.After the vectorial size and Orientation of action is determined or action vector after the component of X ' axle and the component of Y ' axle are determined, naturally just can obtain moving vectorial 65.
Step S503, obtains moving velocity component and turning velocity component according to the action vector of Universal control rod bar.
In Fig. 6, taking the center of gyration of engineering mechanical device as initial point, taking traveling gear positive dirction as X-axis 66, taking through initial point perpendicular to the straight line of X-axis as Y-axis 67, the action vector 65 of Universal control rod bar is carried out to projection respectively in X-axis 66 and Y-axis 67, obtain the component of action vector in X-axis 66 and Y-axis 67, wherein the component 68 in X-axis is moving velocity components, and the component 69 in Y-axis is turning velocity components.
Step S504, determines moving velocity and the turning velocity of equipment according to moving velocity component and turning velocity component.
According to the moving velocity component 68 obtaining in step S503 and turning velocity component 69, the speed of controlling digging machine walking mechanism left and right running motor, makes moving velocity travel according to moving velocity component 68 proportionate relationship corresponding with turning velocity component 69 with turning velocity.
Fig. 7 is the structural representation of the control setup of a kind of engineering mechanical device direction of travel of providing of the embodiment of the present invention, and as shown in Figure 7, described device comprises: detecting device, Universal control rod device, controller.
Detecting device is for detection of the turntable direction of engineering mechanical device.In the present embodiment, detecting device is rotary encoder, can the turntable forward of work machine equipment and the traveling gear forward of described equipment between degreeof turn.After degreeof turn is determined, just can determine the direction of turntable according to traveling gear forward.
Universal control rod device is for handling and turntable direction output action vector according to corresponding.Universal control rod device can be device or the means that Universal control rod bar, Universal control rod pedal or other can be realized Universal control rod in plane, comprising computer program.In the plane of rotation of the relative traveling gear of turntable, taking the center of gyration of engineering mechanical device as initial point, taking described turntable forward as X ' axle, taking through initial point and the straight line vertical with X ' axle as Y ' axle.Pilot control Universal control rod device, described Universal control rod device is according to the corresponding action vector of output taking turntable direction as reference coordinate of handling.The actual output parameter of different types of Universal control rod bar has difference, and what some Universal control rod bars were exported is that action is vectorial at the component of X ' axle and the component of Y ' axle, and what some Universal control rod bars were exported is pendulum angle and amplitude of fluctuation.Wherein pendulum angle is the angle between Universal control rod bar movement locus and described turntable forward, and amplitude of fluctuation is the movement range of Universal control rod bar with respect to center of gyration.Can determine that according to degreeof turn and pendulum angle Universal control rod bar moves vectorial direction, can determine according to amplitude of fluctuation the size that action is vectorial.After the vectorial size and Orientation of action is determined or action vector after the component of X ' axle and the component of Y ' axle are determined, naturally just can obtain moving vectorial.
Controller, for determining moving velocity component and the turning velocity component of described traveling gear according to described action vector.In the plane of rotation of the relative traveling gear of turntable, taking the center of gyration of described equipment as initial point, taking the forward of described traveling gear as X-axis, taking through initial point and the straight line vertical with X-axis as Y-axis.The component of Universal control rod device output action vector on X ' axle and the component on Y ' axle, after above-mentioned two components are determined, in fact the action vector of Universal control rod device is also just determined.Controller obtains the projection in X-axis of determined action vector the moving velocity component of described traveling gear, the projection in described Y-axis of described action vector is obtained to the turning velocity component of described traveling gear.After obtaining moving velocity component and turning velocity component, controller, according to the speed of the left and right running motor of traveling gear described in described moving velocity component and the control of turning velocity component, makes described traveling gear travel with moving velocity and the turning velocity corresponding with described moving velocity component and turning velocity component.
In sum, the present invention is by making the direction of action of Universal control rod device and the actual direction of travel of crawler type or industrial wheeled equipment equipment be corresponding relation, solve the walking operation problem contrary with respect to the direction of travel of chaufeur with equipment when degreeof turn is larger, make driver's operation more visual in image, reduce labor intensity, avoid the possibility of misoperation initiation potential.
Although above the present invention is had been described in detail, the invention is not restricted to this, those skilled in the art of the present technique can carry out various amendments according to principle of the present invention.Therefore, all amendments of doing according to the principle of the invention, all should be understood to fall into protection scope of the present invention.
Claims (6)
1. an engineering mechanical device direction of travel control method, is characterized in that, described method comprises:
The turntable direction of work machine equipment;
The Universal control rod device of described equipment is handled and described turntable direction output action vector according to corresponding;
Determine moving velocity component and the turning velocity component of described equipment according to described action vector;
According to the speed of the left and right running motor of traveling gear described in described moving velocity component and the control of turning velocity component, described traveling gear is travelled with moving velocity and the turning velocity corresponding with described moving velocity component and turning velocity component;
Wherein, the step of determining moving velocity component and turning velocity component comprises:
In the plane of rotation of the traveling gear of the relatively described equipment of described turntable, taking the center of gyration of described equipment as initial point, taking the forward of described traveling gear as X-axis, taking through initial point and the straight line vertical with X-axis as Y-axis;
The projection in described X-axis of described action vector is obtained to the moving velocity component of described traveling gear, the projection in described Y-axis of described action vector is obtained to the turning velocity component of described traveling gear.
2. method according to claim 1, is characterized in that, the step of Universal control rod device output action vector is specially:
In the plane of rotation of the traveling gear of the relatively described equipment of described turntable, taking the center of gyration of described equipment as initial point, taking described turntable forward as X ' axle, taking through initial point and the straight line vertical with X ' axle as Y ' axle;
Described Universal control rod device is according to the corresponding component of output action vector on X ' axle and the component on Y ' axle handled.
3. method according to claim 1, is characterized in that,
Described Universal control rod device is the device that Universal control rod bar or Universal control rod pedal or other can be realized Universal control rod in plane.
4. an engineering mechanical device direction of travel control setup, is characterized in that, described device comprises:
Detecting device, for detection of the turntable direction of engineering mechanical device;
Universal control rod device, for handling and described turntable direction output action vector according to corresponding;
Controller, for determining moving velocity component and the turning velocity component of described equipment according to described action vector;
Wherein, described controller also, for according to the speed of the left and right running motor of traveling gear described in described moving velocity component and the control of turning velocity component, makes described traveling gear travel with moving velocity and the turning velocity corresponding with described moving velocity component and turning velocity component;
Wherein, in the plane of rotation of the traveling gear of the relatively described equipment of described turntable, taking the center of gyration of described equipment as initial point, taking the forward of described traveling gear as X-axis, taking through initial point and the straight line vertical with X-axis as Y-axis, described controller also, for the projection in described X-axis of described action vector being obtained to the moving velocity component of described traveling gear, obtains the projection in described Y-axis of described action vector the turning velocity component of described traveling gear.
5. device according to claim 4, is characterized in that,
In the plane of rotation of the traveling gear of the relatively described equipment of described turntable, taking the center of gyration of described equipment as initial point, taking described turntable forward as X ' axle, taking through initial point and the straight line vertical with X ' axle as Y ' axle, described Universal control rod device is also for according to the corresponding component of output action vector on X ' axle and the component on Y ' axle handled.
6. device according to claim 5, is characterized in that,
Described Universal control rod device is the device that Universal control rod bar or Universal control rod pedal or other can be realized Universal control rod in plane.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210027477.XA CN102556143B (en) | 2012-02-08 | 2012-02-08 | Method and device for controlling travelling direction of engineering mechanical equipment |
| PCT/CN2012/074326 WO2013117053A1 (en) | 2012-02-08 | 2012-04-19 | Method and device for controlling travelling direction of engineering mechanical equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210027477.XA CN102556143B (en) | 2012-02-08 | 2012-02-08 | Method and device for controlling travelling direction of engineering mechanical equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102556143A CN102556143A (en) | 2012-07-11 |
| CN102556143B true CN102556143B (en) | 2014-08-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210027477.XA Expired - Fee Related CN102556143B (en) | 2012-02-08 | 2012-02-08 | Method and device for controlling travelling direction of engineering mechanical equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102556143B (en) |
| WO (1) | WO2013117053A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10323389B2 (en) | 2016-04-08 | 2019-06-18 | Caterpillar Inc. | Control system and method for a machine |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106414857B (en) | 2014-06-06 | 2019-02-15 | 凯斯纽荷兰(中国)管理有限公司 | The system that direction of travel and operator position to hydraulic machinery are coordinated |
| DE102018203622A1 (en) * | 2018-03-09 | 2019-09-12 | Zf Friedrichshafen Ag | Drive for a working machine |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101883709A (en) * | 2007-12-19 | 2010-11-10 | 洋马株式会社 | Driving vehicle |
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| JPS57143020A (en) * | 1981-03-02 | 1982-09-04 | Komatsu Ltd | Control system for running of vehicle equipped with turning table |
| JPH02229331A (en) * | 1989-02-28 | 1990-09-12 | Komatsu Ltd | Travel control device for vehicle and its control method |
| JPH02229330A (en) * | 1989-02-28 | 1990-09-12 | Komatsu Ltd | Travel control device for vehicle and its control method |
| JPH1081254A (en) * | 1996-09-10 | 1998-03-31 | Kubota Corp | Steering operation structure of farm working vehicle |
| JPH11336132A (en) * | 1998-05-28 | 1999-12-07 | Hitachi Constr Mach Co Ltd | Revolving construction machine |
| JP2002104227A (en) * | 2000-09-28 | 2002-04-10 | Aichi Corp | Traveling control device of crawler type vehicle |
| JP3929039B2 (en) * | 2002-09-26 | 2007-06-13 | 株式会社小松製作所 | Swing control device for swing hydraulic excavator |
| JP4898521B2 (en) * | 2007-03-30 | 2012-03-14 | 株式会社小松製作所 | Hybrid construction machinery |
| JP2010053601A (en) * | 2008-08-28 | 2010-03-11 | Caterpillar Japan Ltd | Operating lever device of construction machine |
| KR101491855B1 (en) * | 2008-09-18 | 2015-02-09 | 두산인프라코어 주식회사 | Remote control system for construction equipment and remote control method therof |
| CN102051895B (en) * | 2009-11-05 | 2012-08-08 | 北汽福田汽车股份有限公司 | Travelling control device and method for excavator |
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2012
- 2012-02-08 CN CN201210027477.XA patent/CN102556143B/en not_active Expired - Fee Related
- 2012-04-19 WO PCT/CN2012/074326 patent/WO2013117053A1/en active Application Filing
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101883709A (en) * | 2007-12-19 | 2010-11-10 | 洋马株式会社 | Driving vehicle |
Non-Patent Citations (4)
| Title |
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| JP平2-229330A 1990.09.12 |
| JP平2-229331A 1990.09.12 |
| JP特开平10-81254A 1998.03.31 |
| JP特开平11-336132A 1999.12.07 |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10323389B2 (en) | 2016-04-08 | 2019-06-18 | Caterpillar Inc. | Control system and method for a machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102556143A (en) | 2012-07-11 |
| WO2013117053A1 (en) | 2013-08-15 |
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