CN115492188A - Perception follow-up control device and method for excavator and excavator - Google Patents
Perception follow-up control device and method for excavator and excavator Download PDFInfo
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- CN115492188A CN115492188A CN202211292704.1A CN202211292704A CN115492188A CN 115492188 A CN115492188 A CN 115492188A CN 202211292704 A CN202211292704 A CN 202211292704A CN 115492188 A CN115492188 A CN 115492188A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000008447 perception Effects 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 162
- 238000001514 detection method Methods 0.000 claims abstract description 119
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 238000007405 data analysis Methods 0.000 claims description 3
- 230000001953 sensory effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 description 11
- 230000001276 controlling effect Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
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Classifications
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- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2037—Coordinating the movements of the implement and of the frame
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- 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
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- 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
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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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)
Abstract
The invention relates to a perception follow-up control device and a control method for an excavator and the excavator, wherein the perception follow-up control device comprises a controller, a sensor and a controller, wherein the controller is used for acquiring the operation position of a bucket; the controller judges whether the operation position of the bucket is in a blind area of the detection mechanism or not; the controller controls the second driving mechanism to adjust the position of the detection mechanism according to the blind area judgment condition, so that the irradiation angle of the detection mechanism follows up according to the operation position of the bucket. According to the sensing follow-up control method and device for the excavator, the controller is matched with the first driving mechanism and the second driving mechanism, the detection mechanism can automatically adjust the position of the detection mechanism in real time according to the working position of the bucket, the detection mechanism can follow up according to the working position of the bucket, the detection blind area is avoided, and the design scheme is overall concise and clear, and is simple to control and low in cost.
Description
Technical Field
The invention relates to the technical field of engineering machinery control, in particular to a sensing follow-up control device and a control method for an excavator and the excavator.
Background
The conventional hydraulic excavator is generally provided with a laser radar to detect an obstacle so as to obtain information such as distance and direction of the obstacle, and under the condition that a straight path conflicts with the obstacle, the lateral safe distance position of the obstacle is used as a track relay position, and the planned track of the excavating machine is determined by utilizing the initial excavating point position, the current position and the track relay position. However, in traditional hydraulic excavator, laser radar fixed mounting can't implement the excavation position of following the scraper bowl and follow the change, and there is the blind area in the work area, and the working range is limited, need install a plurality of laser radar in order to reduce the work blind area, nevertheless because laser radar fixed mounting, still can't eliminate the work blind area completely, and install a plurality of laser radar and lead to control system relatively more complicated, and with high costs.
Disclosure of Invention
The present invention is directed to a sensing follow-up control device and method for an excavator, and an excavator, which can solve the problems of the related art and cause a laser radar to follow up according to a working position of a bucket.
In order to achieve the purpose, the invention provides the following technical scheme: a sensory follow-up control device for an excavator, comprising:
a detection mechanism for identifying excavator bucket information;
the first driving mechanism is connected with the excavator bucket and used for driving the excavator bucket to move;
the second driving mechanism is connected with the detection mechanism and is used for driving the detection mechanism to move;
the first detection mechanism is connected with the excavator bucket and is used for detecting real-time position data of the excavator bucket;
the second detection mechanism is connected with the detection mechanism and is used for detecting real-time position data of the detection mechanism;
a controller electrically connected to the detection mechanism, the first detection mechanism and the second detection mechanism,
the controller obtains real-time position data of the excavator bucket and real-time position data of the detection mechanism, controls the first driving mechanism and the second driving mechanism to act, and enables the irradiation angle of the detection mechanism to follow the operation position of the excavator bucket.
Preferably, the detection mechanism at least comprises a group of laser radars or a camera system, and the detection mechanism identifies the excavator bucket as a bucket outer contour identification or a bucket tooth contour identification.
Preferably, the first driving mechanism comprises a boom rotatably connected to the mounting bracket of the excavator, an arm rotatably connected to the boom, a boom cylinder for driving the boom to move, an arm cylinder for driving the arm to move, and a bucket cylinder for driving the bucket to move.
Preferably, the first driving mechanism further includes a boom solenoid valve connected to the boom cylinder, an arm solenoid valve connected to the arm cylinder, and a bucket solenoid valve connected to the bucket cylinder, and the boom solenoid valve, the arm solenoid valve, and the bucket solenoid valve are respectively electrically connected to the controller and respectively receive a control signal of the controller.
Preferably, the second driving mechanism includes a robot arm mounted on the mounting bracket and a control motor for driving the robot arm to rotate.
Preferably, the mechanical arm comprises a first mechanical arm and a second mechanical arm, the first mechanical arm is fixedly mounted on the mounting support, the second mechanical arm is rotatably connected to the first mechanical arm, and the detection mechanism is fixedly connected to the end of the second mechanical arm.
Preferably, the first detection mechanism includes an angle sensor for detecting positions of the boom, the arm, and the bucket, or a displacement sensor for detecting the boom cylinder, the arm cylinder, and the bucket cylinder, respectively.
Preferably, the second detection mechanism includes a robot arm angle sensor.
The invention also provides a perception follow-up control method for the excavator, and the perception follow-up control device adopting any scheme comprises the following steps:
an identification step: the controller acquires the information of the excavator bucket identified by the detection mechanism;
a judging step: the controller judges whether the excavator bucket is in a blind area of the detection mechanism according to the recognized excavator bucket information;
the first control step: when the blind area is judged not to be the blind area, the controller normally outputs a control signal to the first driving mechanism;
and a second control step: when the blind area is judged, the controller acquires the real-time position data of the excavator bucket and the real-time position data of the detection mechanism and performs data analysis; the controller sends a control instruction to the second driving mechanism and controls the second driving mechanism to act so as to adjust the angle of the detection mechanism;
repeating the steps: and the controller repeats the identification step, the judgment step, the control step I and the control step II.
The invention also provides a technical scheme of the excavator, and the perception follow-up control device or the perception follow-up control method is adopted.
Compared with the prior art, the invention has the beneficial effects that: according to the sensing follow-up control device and method for the excavator, the controller is matched with the detection mechanism, the first detection mechanism, the second detection mechanism, the first driving mechanism and the second driving mechanism, the detection mechanism can automatically adjust the position of the detection mechanism according to the working position of the bucket, the detection mechanism is matched with the working position of the bucket, follow-up is carried out according to the working position of the bucket, a detection blind area is avoided, and the design scheme is overall concise and clear, and is simple to control and low in cost.
Drawings
Fig. 1 is a schematic overall structural diagram of an excavator according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a mounting bracket and a detection mechanism according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for perceptual follow-up control in an embodiment of the present invention;
in the figure:
1. mounting a bracket; 2. a movable arm; 3. a bucket rod; 4. a bucket; 5. a first robot arm; 6. a second robot arm; 7. a detection mechanism; 8. a controller; 9. a boom cylinder; 10. a bucket rod cylinder; 11. a bucket cylinder; 12. and controlling the motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
The invention discloses a perception follow-up control device for an excavator, which is characterized in that the irradiation angle of a detection mechanism 7 is set to follow up according to the working position of a bucket 4, so that a working blind area is avoided, and the optimal excavating effect is ensured.
Specifically, referring to fig. 1 and 2, the sensing follow-up control device for the excavator disclosed by the invention comprises a detection mechanism 7 for identifying information of an excavator bucket 4, and a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is connected with the excavator bucket 4 and the second driving mechanism is connected with the detection mechanism 7 respectively, the first driving mechanism is used for driving the excavator bucket 4 to move, and the second driving mechanism is used for driving the detection mechanism 7 to move;
the control device further comprises a first detection mechanism connected with the excavator bucket 4, a second detection mechanism connected with the detection mechanism 7 and a controller 8, wherein the first detection mechanism is used for detecting the real-time position data of the bucket 4, and the second detection mechanism is used for detecting the real-time position data of the detection mechanism 7. The controller 8 is further electrically connected with the detection mechanism 7, the first detection mechanism, the second detection mechanism, the first driving mechanism and the second driving mechanism, the controller 8 judges whether the position of the bucket 4 is in a blind area of the detection mechanism 7 according to information of the excavator bucket 4 identified by the detection mechanism 7, and then the controller 8 acquires real-time position data of the excavator bucket 4 and real-time position data of the detection mechanism 7 according to feedback of the first detection mechanism and the second detection mechanism, controls the first driving mechanism and the second driving mechanism to act, and enables the irradiation angle of the detection mechanism 7 to follow up according to the operation position of the excavator bucket 4.
The first driving mechanism comprises a movable arm 2 rotatably connected to the excavator mounting bracket 1, an arm 3 rotatably connected to the movable arm 2, a movable arm cylinder 9 for driving the movable arm 2 to move, an arm cylinder 10 for driving the arm 3 to move and a bucket cylinder 11 for driving the bucket 4 to move, wherein the movable arm cylinder 9 is connected to the movable arm 2 and used for controlling the movable arm 2 of the excavator to perform lifting action, the arm cylinder 10 is connected to the arm 3 and used for controlling the retraction action of the arm 3, and the bucket cylinder 11 is connected to the bucket 4 and used for controlling the excavating action of the bucket 4;
further, the first driving mechanism further includes a boom solenoid valve connected to the boom cylinder 9, an arm solenoid valve connected to the arm cylinder 10, and a bucket solenoid valve connected to the bucket cylinder 11, the boom solenoid valve, the arm solenoid valve, and the bucket solenoid valve are respectively electrically connected to the controller 8 and respectively receive a control signal of the controller 8, and the boom solenoid valve, the arm solenoid valve, and the bucket solenoid valve respectively control the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11 to extend and retract according to the control signal of the controller, so as to control the boom 2, the arm 3, and the bucket 4 to perform corresponding actions to control the bucket 4 to move.
The second driving mechanism electrically connected with the controller 8 comprises a mechanical arm arranged on the upper end surface of the mounting support 1 and a control motor 12 driving the mechanical arm to rotate, the mechanical arm is arranged at one end of the mounting support 1 close to the movable arm 2, the mechanical arm is connected with the detection mechanism 7, and the position of the detection mechanism 7 is adjusted through the mechanical arm.
The mechanical arm further comprises a first mechanical arm 5 and a second mechanical arm 6, the first mechanical arm 5 is fixedly connected to the mounting support 1, the second mechanical arm 6 is rotatably connected to the first mechanical arm 5, the detection mechanism 7 is fixedly connected to the end portion of the second mechanical arm 6, the detection range of the detection mechanism 7 can be enlarged through the end portion, and the detection mechanism 7 can be adjusted in angle along with the rotation of the second mechanical arm 6. The second mechanical arm 6 is controlled to rotate relative to the first mechanical arm 5 through the control motor 12, and the orientation of the detection mechanism 7 is further controlled.
In this embodiment, detection mechanism 7 sets up the discernment to excavator bucket 4 for the discernment of scraper bowl outline or the discernment of dipper tooth outline, and detection mechanism 7 adopts laser radar, in other embodiments, also can adopt camera system, perhaps adopts laser radar and camera system cooperation to carry out the target detection jointly to obtain more accurate detection effect. Preferably, the second driving mechanism further comprises a speed reducing mechanism, and the control motor 12 is connected with the second mechanical arm 6 through the speed reducing mechanism. More preferably, the two groups of detection mechanisms 7 are respectively connected to two sides of one end of the mounting bracket 1 close to the movable arm 2, are respectively connected through a mechanical arm, and are respectively driven by the second driving mechanism to perform angle adjustment, and the two groups of detection mechanisms 7 respectively perform target detection on two sides of the mounting bracket 1, so that the detection range is further expanded.
The first detection mechanism electrically connected to the controller 8 includes at least angle sensors for detecting the positions of the boom 2, the arm 3, and the bucket 4, that is, a boom angle sensor, an arm angle sensor, and a bucket angle sensor; or displacement sensors for detecting the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11. The controller 8 analyzes the data fed back from the angle sensor or the displacement sensor to confirm the precise position of the excavator bucket. The excavator comprises a boom angle sensor, an arm 3, a bucket 4, a controller 8, a bucket angle sensor and a controller, wherein the boom angle sensor is connected to a boom 2 of the excavator and used for detecting the relative angle change of the boom 2 relative to the horizontal direction of a mounting bracket 1 in the lifting process and transmitting the angle change data of the boom 2 to the controller 8, the arm angle sensor is connected to the bucket 3 of the excavator and used for detecting the relative angle change of the bucket 4 relative to the hinge center line of the arm 3 in the folding and unfolding processes and transmitting the angle change data of the bucket 4 to the controller 8, and the bucket angle sensor is connected to the bucket 4 of the excavator and used for detecting the relative angle change of the bucket 4 relative to the hinge center line of the arm 3 in the folding and unfolding processes. And each displacement sensor is configured to detect a change in the telescopic displacement of the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11, and transmit the telescopic displacement change data to the controller 8.
The second detection mechanism comprises a mechanical arm angle sensor and is used for detecting the relative angle change of the detection mechanism 7, namely the laser radar and the camera system, relative to the horizontal direction of the mounting support 1, transmitting the change information to the controller 8, analyzing the feedback data by the controller 8, confirming the accurate position of the detection mechanism 7, comparing and analyzing the posture change information of the detection mechanism 7 and the position information of the bucket 4, and further controlling the second driving mechanism to drive the second mechanical arm 6 to act, so that the detection mechanism 7 is matched with the position of the bucket 4 and follows the working position of the bucket 4.
Based on the perception follow-up control device, the invention particularly discloses a perception follow-up control method based on an excavator. The method comprises the following steps:
an identification step: the controller 8 acquires the information of the excavator bucket 4 identified by the detection mechanism 7;
a judging step: the controller 8 judges whether the excavator bucket 4 is in the blind area of the detection mechanism 7 according to the identified information of the excavator bucket 4;
a first control step: when the blind area is not judged, the controller 8 normally outputs a control signal to the first driving mechanism;
and a second control step: when the blind area is judged, the controller 8 acquires the real-time position data of the excavator bucket 4 and the real-time position data of the detection mechanism 7, and performs data analysis; the controller 8 sends a control instruction to the second driving mechanism and controls the second driving mechanism to act so as to adjust the angle of the detection mechanism 7;
repeating the steps: the controller 8 repeats the above-described identifying step, judging step, controlling step one, and controlling step two. Therefore, the position of the detection mechanism 7 is followed according to the working position of the bucket 4, so that the optimal irradiation angle of the detection mechanism 7 is ensured, and the irradiation blind area of the detection mechanism 7 to the bucket 4 is eliminated.
Specifically, in the identifying step, the method for acquiring the information of the excavator bucket 4 identified by the detecting mechanism 7 through the controller 8 specifically includes: real-time data acquisition is carried out by a detection mechanism 7, namely a laser radar or a camera system or the combination of the laser radar and the camera system, the acquired data are fed back to a controller 8, and the controller 8 identifies or identifies the outline of the bucket teeth according to the outline of the bucket so as to accurately identify the operation position of the bucket 4.
Specifically, in the determining step, the controller 8 determines whether the operation position of the bucket 4 is in the irradiation blind area of the detection mechanism 7 according to the bucket outline recognition or the bucket tooth outline recognition information, and if the recognized bucket outline recognition or bucket tooth outline information is incomplete outline information, it is determined that the irradiation blind area exists.
Specifically, in the second control step, the controller 8 confirms the accurate position of the bucket 4 according to data fed back by the boom angle sensor, the arm angle sensor, the bucket angle sensor or the boom cylinder, the arm cylinder, and the bucket cylinder displacement sensor, confirms the accurate position of the detection mechanism 7 according to data fed back by the arm angle sensor, and compares and analyzes position information of the bucket 4 and the detection mechanism 7. According to the analysis result, the controller 8 sends a control signal to the second driving mechanism, the second driving mechanism drives the second mechanical arm 6, and the angle of the detection mechanism 7 is adjusted, so that the position of the detection mechanism 7 follows up according to the operation position of the bucket 4, a detection blind area is avoided, and the optimal irradiation angle of the detection mechanism 7 is ensured.
According to the sensing follow-up control device and method for the excavator, the controller 8 is matched with the detection mechanism 7, the first detection mechanism, the second detection mechanism, the first driving mechanism and the second driving mechanism, the detection mechanism 7 can automatically adjust the position of the detection mechanism 7 according to the working position of the bucket 4, the detection mechanism 7 is matched with the working position of the bucket 4 and follows the working position, a detection blind area is avoided, and the design scheme is overall concise and clear, and is simple to control and low in cost. The perception follow-up control device and method provided by the invention can be applied to excavator equipment and other similar engineering mechanical equipment, and have wide application prospect.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A perception follow-up control device for an excavator, comprising:
a detection mechanism for identifying excavator bucket information;
the first driving mechanism is connected with the excavator bucket and used for driving the excavator bucket to move;
the second driving mechanism is connected with the detection mechanism and is used for driving the detection mechanism to move;
the first detection mechanism is connected with the excavator bucket and used for detecting real-time position data of the excavator bucket;
the second detection mechanism is connected with the detection mechanism and is used for detecting real-time position data of the detection mechanism;
the controller is electrically connected with the detection mechanism, the first detection mechanism and the second detection mechanism, acquires the real-time position data of the excavator bucket and the real-time position data of the detection mechanism, controls the first driving mechanism and the second driving mechanism to act, and enables the irradiation angle of the detection mechanism to follow up according to the operation position of the excavator bucket.
2. The perceptual-servo control device of claim 1 wherein the detection mechanism comprises at least one of a set of laser radars or a camera system, and the detection mechanism identifies the excavator bucket as a bucket outline or a bucket tooth outline.
3. The sensory servomechanism of claim 1, wherein the first drive mechanism comprises a boom pivotally connected to an excavator mounting bracket, an arm pivotally connected to the boom, a boom cylinder to drive movement of the boom, an arm cylinder to drive movement of the arm, and a bucket cylinder to drive movement of the bucket.
4. The sensing follow-up control device according to claim 3, wherein the first driving mechanism further comprises a boom solenoid valve connected to the boom cylinder, an arm solenoid valve connected to the arm cylinder, and a bucket solenoid valve connected to the bucket cylinder, and the boom solenoid valve, the arm solenoid valve, and the bucket solenoid valve are respectively electrically connected to the controller and respectively receive control signals of the controller.
5. The sensing and servo-control device of claim 1, wherein the second driving mechanism comprises a mechanical arm mounted on the mounting bracket and a control motor for driving the mechanical arm to rotate.
6. The sensing and servo control device of claim 5, wherein the robotic arm comprises a first robotic arm and a second robotic arm, the first robotic arm is fixedly mounted to the mounting bracket, the second robotic arm is pivotally connected to the first robotic arm, and the probing mechanism is fixedly connected to an end of the second robotic arm.
7. The sensory follow-up control device according to claim 3, wherein the first detection mechanism includes an angle sensor for detecting positions of the boom, the arm, and the bucket, or a displacement sensor for detecting the boom cylinder, the arm cylinder, and the bucket cylinder, respectively.
8. The perception follow-up control device according to claim 5, wherein the second detection mechanism includes a robot arm angle sensor.
9. A perception follow-up control method for an excavator, which adopts the perception follow-up control device according to any one of claims 1 to 8, characterized by comprising the steps of:
an identification step: the controller acquires the information of the excavator bucket identified by the detection mechanism;
a judging step: the controller judges whether the excavator bucket is in a blind area of the detection mechanism according to the recognized excavator bucket information;
a first control step: when the blind area is judged not to be the blind area, the controller normally outputs a control signal to the first driving mechanism;
and a second control step: when the blind area is judged, the controller acquires the real-time position data of the excavator bucket and the real-time position data of the detection mechanism and performs data analysis; the controller sends a control instruction to the second driving mechanism and controls the second driving mechanism to act so as to adjust the angle of the detection mechanism;
repeating the steps: and the controller repeats the identification step, the judgment step, the control step I and the control step II.
10. An excavator characterized in that the perception follow-up control device according to any one of claims 1 to 8 or the perception follow-up control method according to claim 9 is used.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211292704.1A CN115492188B (en) | 2022-10-21 | 2022-10-21 | Perception follow-up control device and control method for excavator and excavator |
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| CN202211292704.1A CN115492188B (en) | 2022-10-21 | 2022-10-21 | Perception follow-up control device and control method for excavator and excavator |
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| CN115492188A true CN115492188A (en) | 2022-12-20 |
| CN115492188B CN115492188B (en) | 2024-03-26 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0412395B1 (en) * | 1989-08-08 | 1994-09-21 | Siemens Aktiengesellschaft | Bucket wheel excavator steering for building planned surfaces |
| JPH11256620A (en) * | 1998-03-06 | 1999-09-21 | Topcon Corp | Construction-equipment control system |
| KR20110045345A (en) * | 2009-10-26 | 2011-05-04 | 육상조 | bucket viewer system to be adopted a forkcrane |
| CN110984266A (en) * | 2019-12-27 | 2020-04-10 | 三一重机有限公司 | Control system and control method of excavator movable arm searchlight and excavator |
| WO2020189578A1 (en) * | 2019-03-18 | 2020-09-24 | 住友重機械工業株式会社 | Work machine |
| CN114164877A (en) * | 2021-11-09 | 2022-03-11 | 中联重科土方机械有限公司 | Method for loading material, controller and excavating equipment |
| CN217352687U (en) * | 2022-01-26 | 2022-09-02 | 山东特雷斯重工有限公司 | Loader with rotary front arm |
-
2022
- 2022-10-21 CN CN202211292704.1A patent/CN115492188B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0412395B1 (en) * | 1989-08-08 | 1994-09-21 | Siemens Aktiengesellschaft | Bucket wheel excavator steering for building planned surfaces |
| JPH11256620A (en) * | 1998-03-06 | 1999-09-21 | Topcon Corp | Construction-equipment control system |
| KR20110045345A (en) * | 2009-10-26 | 2011-05-04 | 육상조 | bucket viewer system to be adopted a forkcrane |
| WO2020189578A1 (en) * | 2019-03-18 | 2020-09-24 | 住友重機械工業株式会社 | Work machine |
| CN110984266A (en) * | 2019-12-27 | 2020-04-10 | 三一重机有限公司 | Control system and control method of excavator movable arm searchlight and excavator |
| CN114164877A (en) * | 2021-11-09 | 2022-03-11 | 中联重科土方机械有限公司 | Method for loading material, controller and excavating equipment |
| CN217352687U (en) * | 2022-01-26 | 2022-09-02 | 山东特雷斯重工有限公司 | Loader with rotary front arm |
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