CN111042971A - Control circuit and control method for construction machine - Google Patents
Control circuit and control method for construction machine Download PDFInfo
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- CN111042971A CN111042971A CN201911386709.9A CN201911386709A CN111042971A CN 111042971 A CN111042971 A CN 111042971A CN 201911386709 A CN201911386709 A CN 201911386709A CN 111042971 A CN111042971 A CN 111042971A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
- F02N11/00—Starting of engines by means of electric motors
- F02N11/08—Circuits or control means specially adapted for starting of engines
- F02N11/0814—Circuits or control means specially adapted for starting of engines comprising means for controlling automatic idle-start-stop
- F02N11/0818—Conditions for starting or stopping the engine or for deactivating the idle-start-stop mode
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
- F02N11/00—Starting of engines by means of electric motors
- F02N11/08—Circuits or control means specially adapted for starting of engines
- F02N11/0803—Circuits or control means specially adapted for starting of engines characterised by means for initiating engine start or stop
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
Abstract
The application provides a control circuit and a control method of engineering machinery, wherein the control circuit comprises: the controller, the switch detection circuit and the one-key switch are arranged on the controller; the one-key switch is connected with the switch detection circuit, and the switch detection circuit is connected with the controller; the switch detection circuit is used for detecting the action information of the one-key switch and acquiring a corresponding switch signal according to the action information, wherein the switch signal comprises: an engine start signal, an engine stall signal; and the controller is used for receiving the switching signal sent by the switching detection circuit and executing a corresponding instruction according to the switching signal. The main functions of the engineering machinery, such as starting, flameout and the like, can be controlled by only one switch, so that the control efficiency is improved, and the operation is simplified.
Description
Technical Field
The embodiment of the application relates to the technical field of engineering machinery control, in particular to a control circuit and a control method of engineering machinery.
Background
Construction machines are an important component of the equipment industry. Plays an important role in various earthwork construction projects, pavement construction and maintenance, mobile lifting loading and unloading operations or various comprehensive construction projects. The existing door lock keys matched with a plurality of engineering machinery manufacturers have certain mutual opening performance, in order to solve the problem that a purchaser takes the vehicle safety into consideration after purchasing the vehicle, a part of manufacturers are provided with a password verification link after opening a vehicle door, the vehicle can be completely started to carry out engineering operation after the password verification is passed, but the construction process is intermittent operation sometimes, the operation process of the engineering operation is discontinuous due to the password verification link after each starting, and the user experience is not high.
In order to improve user experience, at present, engineering machinery is also provided, for example, an excavator starts to apply a one-key start-stop function, however, a start switch and a flameout switch of an existing one-key start-stop system are divided into two independent switches, operation is still complex, and control efficiency is not high.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the problems in the prior art, the application provides a control circuit and a control method of engineering machinery.
In order to achieve the purpose, the technical scheme adopted by the application is as follows:
a first aspect of the present application provides a control circuit for a construction machine, including: the controller, the switch detection circuit and the one-key switch are arranged on the controller; the one-key switch is connected with the switch detection circuit, and the switch detection circuit is connected with the controller.
The switch detection circuit is used for detecting the action information of the one-key switch and acquiring a corresponding switch signal according to the action information, wherein the switch signal comprises: an engine start signal, an engine stall signal.
And the controller is used for receiving the switching signal sent by the switching detection circuit and executing a corresponding instruction according to the switching signal.
Optionally, the motion information of the one-key switch includes: the key pressing time exceeds a first preset time length.
Correspondingly, the switch detection circuit is specifically configured to acquire a corresponding switch signal as an engine start signal if it is detected that the key pressing time of the one-key switch exceeds a first preset time duration.
Optionally, the controller is specifically configured to receive an engine start signal sent by the switch detection circuit, and detect a current state of the engine; and if the engine is not started currently, controlling the engine to be started.
Optionally, the motion information of the one-key switch includes: and the key pressing time is less than a second preset time length.
Correspondingly, the switch detection circuit is specifically configured to acquire the corresponding switch signal as an engine stall signal if it is detected that the key pressing time of the one-key switch is less than a second preset time duration.
Optionally, the control circuit further comprises: an electrical box, a battery; the battery is connected with the electric box and the switch detection circuit, and the electric box is connected with the switch detection circuit.
Wherein the switching signal further comprises: a power-up signal.
The switch detection circuit is also used for detecting the action information of the one-key switch in the state that the controller is not electrified and acquiring a corresponding electrifying signal according to the action information.
And the electric box is used for receiving the electrifying signal sent by the switch detection circuit and controlling the battery to supply power to the controller according to the electrifying signal.
Optionally, the control circuit further comprises: the system comprises a network unit, a positioning unit and a main control unit; the network unit and the positioning unit are connected with the main control unit, and the main control unit is connected with the switch detection circuit.
The main control unit is used for receiving the background authentication data sent by the server through the network unit and acquiring the current positioning information according to the positioning unit; determining whether the authentication is passed according to the background authentication data and the current positioning information; and if the authentication is confirmed to pass, sending an authentication passing signal to the switch detection circuit.
Correspondingly, the switch detection circuit is specifically configured to detect the action information of the one-key switch after receiving the authentication pass signal, and acquire the corresponding switch signal according to the action information.
A second aspect of the present application provides a method of controlling a construction machine, the method including:
the switch detection circuit detects the action information of the one-key switch and acquires a corresponding switch signal according to the action information, wherein the switch signal comprises: an engine start signal, an engine stall signal;
the controller receives the switching signal sent by the switching detection circuit and executes a corresponding instruction according to the switching signal.
Optionally, the motion information of the one-key switch includes: the key pressing time exceeds a first preset time length.
The switch detection circuit detects the action information of the one-key switch and acquires a corresponding switch signal according to the action information, and the switch detection circuit comprises:
and if the key pressing time of the one-key switch is detected to exceed the first preset time length, the switch detection circuit acquires a corresponding switch signal as an engine starting signal.
Optionally, the controller receives a switching signal sent by the switching detection circuit, and executes a corresponding instruction according to the switching signal, including:
the controller receives an engine starting signal sent by the switch detection circuit and detects the current state of the engine; and if the engine is not started currently, controlling the engine to be started.
Optionally, the motion information of the one-key switch includes: and the key pressing time is less than a second preset time length.
The switch detection circuit detects the action information of the one-key switch and acquires a corresponding switch signal according to the action information, and the switch detection circuit comprises:
and if the key pressing time of the one-key switch is detected to be less than a second preset time, the switch detection circuit acquires a corresponding switch signal as an engine flameout signal.
According to the control circuit and the control method of the engineering machinery, the one-key switch is arranged in the engineering machinery, the action information of the one-key switch is detected through the switch detection circuit, the corresponding switch signal is obtained according to the action information, then the controller receives the switch signal sent by the switch detection circuit, and the corresponding instruction is executed according to the switch signal, so that most of main functions of the engineering machinery can be controlled only through one switch, such as starting, flameout and the like, the control efficiency is improved, and the operation is simplified.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic diagram of an engineering circuit structure of an engineering machine according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a construction circuit of a construction machine according to another embodiment of the present disclosure;
fig. 3 is a schematic diagram of a construction circuit of a construction machine according to another embodiment of the present disclosure;
fig. 4 is a flowchart illustrating a control method of a construction machine according to an embodiment of the present disclosure.
Detailed Description
Aiming at the problems that in the prior art, a starting switch and a flameout switch are divided into two independent switches, the operation is still complex, and the control efficiency is not high, the embodiment of the application provides a novel control circuit and a novel control method for engineering machinery. The engineering machinery can be an excavator, an engineering truck, a stirrer and the like, and the application is not limited.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Fig. 1 is a schematic diagram of a construction circuit structure of a construction machine according to an embodiment of the present disclosure, and as shown in fig. 1, a control circuit of the construction machine includes a controller 101, a switch detection circuit 102, and a one-key switch 103, where:
the one-touch switch 103 is connected to the switch detection circuit 102, and the switch detection circuit 102 is connected to the controller 101.
The switch detection circuit 102 is configured to detect the operation information of the one-key switch 103, and obtain a corresponding switch signal according to the operation information.
Wherein the switching signal may include: an engine start signal, an engine stall signal.
It should be noted that the switch signal may also include an engine power-on signal and an engine power-off signal, and is not particularly limited in the embodiment of the present application.
In the embodiment of the present application, the functions of starting and stopping the engine can be controlled by using one key switch, and a plurality of switches are not required to be controlled separately. The one-key switch in the embodiment of the present application may be a button, a gate, a hydraulic pressure, or the like.
And the controller 101 is configured to receive the switching signal sent by the switching detection circuit 102, and execute a corresponding instruction according to the switching signal.
The controller 101 may issue a command to the engine upon determining the type of switching signal.
In this embodiment, a one-key switch 103 is arranged in the engineering machine, the switch detection circuit 102 is used for detecting the action information of the one-key switch 103, and acquiring a corresponding switch signal according to the action information, so that the controller 101 receives the switch signal sent by the switch detection circuit 102 and executes a corresponding instruction according to the switch signal, thereby realizing that most main functions of the engineering machine can be controlled by only one switch, such as starting, flameout and the like, improving the control efficiency and simplifying the operation.
Optionally, the action information of the one-key switch 103 includes: the key pressing time exceeds a first preset time length. The first preset time is preset according to specific requirements when the factory leaves, for example: the number of the channels can be 3s, 5s and the like, and the embodiment of the application is not particularly limited.
Correspondingly, the switch detection circuit 102 is specifically configured to acquire a corresponding switch signal as an engine start signal if it is detected that the key pressing time of the one-key switch 103 exceeds a first preset time duration.
Optionally, the controller 101 is specifically configured to receive an engine start signal sent by the switch detection circuit 102, and detect a current state of the engine; and if the engine is not started currently, controlling the engine to be started.
That is, in this embodiment, after receiving the engine start signal, the controller 101 further confirms whether the current engine has been started, and if the current engine has been started, it is not necessary to issue an instruction to the engine, and the engine start signal sent by the switch detection circuit 102 may not be processed.
Before controlling the engine to start, the controller 101 needs to determine conditions such as the state of the pilot switch, the on-off time interval, and the number of times of on-off. And when the pilot switch is closed, the starting and stopping time exceeds a preset time interval, and the starting and stopping times within a period of time do not exceed a preset upper limit, controlling the engine to start.
Specifically, after the engine is started, the controller also needs to judge that the pilot switch is turned on. The engineering machinery which turns on the pilot switch can judge the construction condition of the construction site, and further can protect the safety of the construction site and drivers. When the engine is started and the pilot switch is turned on, the construction machine can perform normal construction work.
In addition, the controller 101 may be connected to a display screen, and when the controller 101 receives an engine start signal and detects that the vehicle has started, the controller may control the display screen to display a prompt message "engine started".
In another embodiment, the operation information of the one-touch switch 103 includes: and the key pressing time is less than a second preset time length. Optionally, the second preset time period is preset by a vehicle manufacturer, and the second preset time period may be equal to the first preset time period, for example, 3s, 5s, and the like, and of course, may also be unequal to the first preset time period, which is not limited in this embodiment.
Correspondingly, the switch detection circuit 102 is specifically configured to, if it is detected that the key pressing time of the one-key switch 103 is less than a second preset time period, acquire the corresponding switch signal as an engine stall signal.
If the engine is currently in a starting state, the controller 101 controls the engine to stop after receiving an engine stop signal sent by the switch detection circuit 102.
Fig. 2 is a schematic structural diagram of a construction circuit of a construction machine according to another embodiment of the present application, and as shown in fig. 2, on the basis of fig. 1, the control circuit further includes: an electrical box 104 and a battery 105.
The battery 105 is connected to the electrical box 104 and the switch detection circuit 102, and the electrical box 104 is connected to the switch detection circuit 102, and accordingly, the switch signal further includes a power-on signal.
The switch detection circuit 102 is further configured to detect action information of the one-key switch 103 in a state where the controller is not powered on, and obtain a corresponding power-on signal according to the action information.
Further, the electrical box 104 is configured to receive a power-on signal sent by the switch detection circuit 102, and control the battery 105 to supply power to the controller 101 according to the power-on signal.
Accordingly, when the electrical box 104 receives the power-off signal sent by the switch detection circuit 102, the electrical box 104 controls the battery 105 to power off the controller 101 according to the received power-off signal.
When the engineering machinery is not started, the controller 101, the engine and the like are in a non-power-on state, and a user can also finish power-on through the one-key switch 103 provided by the application. That is, in the state where the construction machine is not powered on, if the user operates the one-key switch 103, the power-on signal is triggered.
Optionally, in an implementation manner, before the whole engineering machine is powered on, an authentication step may be further included, so as to improve safety guarantee of the engineering machine. If the authentication is passed, the operation of the one-key switch 103 is identified, otherwise, the entire vehicle is in a locked state, and the user cannot operate the vehicle. For example, before the entire vehicle is powered on, after the entire vehicle passes the authentication, when the operator presses the one-key switch 103, the switch detection circuit 102 detects that the one-key switch 103 is pressed, and outputs a power-on signal to the electrical box 104, and the battery relay is pulled in to supply power to the battery 105, so that the entire vehicle is powered on.
Fig. 3 is a schematic diagram of a construction circuit of a construction machine according to another embodiment of the present disclosure, as shown in fig. 3, based on fig. 2, the control circuit further includes: a network unit 106, a positioning unit 107 and a master control unit 108.
It should be noted that the network unit 106 and the positioning unit 107 are both connected to the main control unit 108, and the main control unit 108 is connected to the switch detection circuit 102; the main control unit 108 is configured to receive, through the network unit 106, the background authentication data sent by the server and obtain current positioning information according to the positioning unit 107; determining whether the authentication is passed according to the background authentication data and the current positioning information; if the authentication is determined to pass, sending an authentication passing signal to the switch detection circuit 102; accordingly, the switch detection circuit 102 is specifically configured to detect the operation information of the one-key switch 103 after receiving the authentication pass signal, and acquire the corresponding switch signal according to the operation information.
Specifically, the authentication process in the embodiment of the present application may be that the network unit 106 receives background authentication data sent by the server, and the positioning unit 107 obtains current positioning information of the engineering machine.
Optionally, if the current positioning information is in the preset safety region and the background authentication data meets the preset condition, the main control unit 108 sends an authentication passing signal to the switch detection circuit 102. The vehicle door of the rear engineering machinery can be opened after passing the authentication, so that the user can perform subsequent operation.
Wherein the background authentication data may include: user identity information such as user ID, fingerprint, voice, name, etc. The background authentication process specifically comprises the following steps: the user logs in the internet network platform by using the internet equipment such as a mobile phone, a computer and the like, then the login is completed through the identity information, and the server receives the background authentication data and can transmit the background authentication data to the main control unit.
When the current positioning information of the engineering machinery exceeds the preset safety range, the engineering machinery is probably stolen, and a locking instruction can be issued to the engineering machinery through the network platform.
Alternatively, the locking state of the working machine may include two types: the primary locking machine and the secondary locking machine. The primary locking machine is that the vehicle door cannot be opened, and accordingly the whole vehicle cannot work; the secondary locking machine is used for normally opening the vehicle door but preventing the whole vehicle from working. Specifically, the first-stage locking machine or the second-stage locking machine may be set according to actual conditions, and this embodiment is not particularly limited.
In addition, the authentication process can be completed through a wireless remote controller or a remote control door lock, for example, after the wireless remote controller or the remote control door lock sends unlocking information, the authentication can be completed, and the vehicle door of the engineering machinery can be opened.
It should be noted that, the authentication may be completed by using one or more of the above authentication manners, and the embodiment is not particularly limited.
Furthermore, in the embodiment of the present application, the network unit 106, the positioning unit 107, the main control unit 108, and the switch detection circuit 102 may be integrated into the same driving control device, for example, a display screen, so that the integration level of the system is improved as a whole, the electrical design of the vehicle body is simplified, and the load factor of the CAN bus is reduced while the number of nodes of the entire vehicle is reduced.
Fig. 4 is a flowchart illustrating a control method of a construction machine according to an embodiment of the present disclosure, where the method is applied to a control circuit of the construction machine. As shown in fig. 4, the method includes:
s401, the switch detection circuit detects the action information of the one-key switch and acquires a corresponding switch signal according to the action information.
Wherein the switching signal includes: an engine start signal, an engine stall signal.
S402, the controller receives the switch signal sent by the switch detection circuit and executes a corresponding instruction according to the switch signal.
In this embodiment, by setting the one-key switch in the engineering machine, detecting the action information of the one-key switch through the switch detection circuit, and acquiring the corresponding switch signal according to the action information, the controller receives the switch signal sent by the switch detection circuit, and executes the corresponding instruction according to the switch signal, most of main functions of the engineering machine can be controlled only by one switch, such as starting, flameout and the like, so that the control efficiency is improved, and the operation is simplified.
Optionally, the motion information of the one-key switch includes: the key press time exceeds a first preset time duration, and S401 may specifically include: and if the key pressing time of the one-key switch is detected to exceed a first preset time length, the switch detection circuit acquires a corresponding switch signal as an engine starting signal. Alternatively, in another embodiment, the operation information of the one-touch switch further includes: and the key pressing time is less than a second preset time length. Accordingly, S401 includes: and if the key pressing time of the one-key switch is detected to be less than a second preset time, the switch detection circuit acquires a corresponding switch signal as an engine flameout signal.
Further, the controller receives the switching signal sent by the switching detection circuit, and executes a corresponding instruction according to the switching signal, which may be: the controller receives an engine starting signal sent by the switch detection circuit and detects the current state of the engine; and if the engine is not started currently, controlling the engine to be started.
In addition, based on the embodiment shown in fig. 2 in the foregoing embodiment, the switch signal further includes a power-up signal.
The switch detection circuit detects the action information of the one-key switch in the state that the controller is not electrified, and acquires a corresponding electrifying signal according to the action information.
Further, the electrical box receives a power-on signal sent by the switch detection circuit, and controls the battery to supply power to the controller according to the power-on signal.
Optionally, in an implementation manner, before the whole engineering machine is powered on, an authentication step may be further included to improve safety guarantee of the engineering machine. If the authentication is passed, the operation of the one-key switch can be identified, otherwise, the whole vehicle is in a locking state, and the user cannot operate the vehicle. For example, before the whole vehicle is powered on, after the vehicle passes the authentication, when an operator presses a key switch, the switch detection circuit detects that the key switch is pressed, and at the moment, a power-on signal is output to the electric box, the storage battery relay is attracted to enable the battery to supply power, and the whole vehicle is powered on.
Specifically, reference may be made to the foregoing circuit embodiments, which are not described herein again.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A control circuit for a construction machine, comprising: the controller, the switch detection circuit and the one-key switch are arranged on the controller; the one-key switch is connected with the switch detection circuit, and the switch detection circuit is connected with the controller;
the switch detection circuit is configured to detect motion information of the one-touch switch, and obtain a corresponding switch signal according to the motion information, where the switch signal includes: an engine start signal, an engine stall signal;
and the controller is used for receiving the switching signal sent by the switching detection circuit and executing a corresponding instruction according to the switching signal.
2. The control circuit according to claim 1, wherein the operation information of the one-touch switch includes: the key pressing time exceeds a first preset time length;
correspondingly, the switch detection circuit is specifically configured to acquire a corresponding switch signal as an engine start signal if it is detected that the key pressing time of the one-key switch exceeds a first preset time duration.
3. The control circuit of claim 2, wherein the controller is specifically configured to receive the engine start signal sent by the switch detection circuit and detect a current state of an engine; and if the engine is not started currently, controlling the engine to be started.
4. The control circuit according to claim 1, wherein the operation information of the one-touch switch includes: the key pressing time is less than a second preset time length;
correspondingly, the switch detection circuit is specifically configured to acquire the corresponding switch signal as an engine stall signal if it is detected that the key pressing time of the one-key switch is less than a second preset time duration.
5. The control circuit of claim 1, further comprising: an electrical box, a battery; the battery is connected with the electrical box and the switch detection circuit, and the electrical box is connected with the switch detection circuit;
the switching signal further includes: a power-on signal;
the switch detection circuit is also used for detecting the action information of the one-key switch when the controller is not powered on and acquiring the corresponding power-on signal according to the action information;
the electrical box is used for receiving the power-on signal sent by the switch detection circuit and controlling the battery to supply power to the controller according to the power-on signal.
6. The control circuit of claim 1, further comprising: the system comprises a network unit, a positioning unit and a main control unit; the network unit and the positioning unit are both connected with the main control unit, and the main control unit is connected with the switch detection circuit;
the main control unit is used for receiving background authentication data sent by the server through the network unit and acquiring current positioning information according to the positioning unit; determining whether the authentication is passed according to the background authentication data and the current positioning information; if the authentication is confirmed to pass, sending an authentication passing signal to the switch detection circuit;
correspondingly, the switch detection circuit is specifically configured to detect the action information of the one-touch switch after receiving the authentication pass signal, and acquire a corresponding switch signal according to the action information.
7. A control method for a construction machine, characterized by being applied to the circuit according to any one of claims 1 to 6; the method comprises the following steps:
the switch detection circuit detects the action information of the one-key switch and acquires a corresponding switch signal according to the action information, wherein the switch signal comprises: an engine start signal, an engine stall signal;
and the controller receives the switching signal sent by the switching detection circuit and executes a corresponding instruction according to the switching signal.
8. The method according to claim 7, wherein the one-touch switch action information includes: the key pressing time exceeds a first preset time length;
the switch detection circuit detects the action information of the one-key switch and acquires a corresponding switch signal according to the action information, and the switch detection circuit comprises:
and if the key pressing time of the one-key switch is detected to exceed a first preset time length, the switch detection circuit acquires a corresponding switch signal as an engine starting signal.
9. The method of claim 8, wherein the controller receives the switching signal sent by the switching detection circuit and executes a corresponding instruction according to the switching signal, comprising:
the controller receives the engine starting signal sent by the switch detection circuit and detects the current state of the engine; and if the engine is not started currently, controlling the engine to be started.
10. The method according to claim 7, wherein the one-touch switch action information includes: the key pressing time is less than a second preset time length;
the switch detection circuit detects the action information of the one-key switch and acquires a corresponding switch signal according to the action information, and the switch detection circuit comprises:
and if the key pressing time of the one-key switch is detected to be less than a second preset time, the switch detection circuit acquires a corresponding switch signal as an engine flameout signal.
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| CN201911386709.9A CN111042971A (en) | 2019-12-27 | 2019-12-27 | Control circuit and control method for construction machine |
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| CN201911386709.9A CN111042971A (en) | 2019-12-27 | 2019-12-27 | Control circuit and control method for construction machine |
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