CN115492188B - Perception follow-up control device and control method for excavator and excavator - Google Patents
Perception follow-up control device and control method for excavator and excavator Download PDFInfo
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- CN115492188B CN115492188B CN202211292704.1A CN202211292704A CN115492188B CN 115492188 B CN115492188 B CN 115492188B CN 202211292704 A CN202211292704 A CN 202211292704A CN 115492188 B CN115492188 B CN 115492188B
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- 230000008447 perception Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 156
- 238000001514 detection method Methods 0.000 claims abstract description 111
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000001953 sensory effect Effects 0.000 claims description 6
- 238000007405 data analysis Methods 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
- 238000009412 basement excavation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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
- E02F9/20—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
-
- 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)
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 for acquiring the working position of a bucket; the controller judges whether the working position of the bucket is in a blind area of the detection mechanism; the controller controls the second driving mechanism to adjust the position of the detection mechanism according to the dead zone judgment condition, so that the irradiation angle of the detection mechanism is driven according to the working position of the bucket. According to the perception follow-up control method and device for the excavator, through the cooperation of the controller, the first driving mechanism and the second driving mechanism, the detection mechanism can automatically and real-timely adjust the position of the detection mechanism according to the working position of the bucket, the detection mechanism follows up according to the working position of the bucket, detection dead zones are avoided, the whole design scheme is simple and clear, the control is simple, and the cost is low.
Description
Technical Field
The invention relates to the technical field of engineering machinery control, in particular to a perception follow-up control device and method for an excavator and the excavator.
Background
In the conventional hydraulic excavator, a laser radar is installed to detect an obstacle to acquire information such as distance and azimuth, and when a linear path collides with the position of the obstacle, the lateral safety distance position of the obstacle is used as a track relay position, and the initial excavation point position, the current position and the track relay position are used for determining a planning track of the excavator. However, in the conventional hydraulic excavator, the laser radars are fixedly installed, the following of the excavation position of the bucket cannot be implemented, the blind area exists in the working area, the working range is limited, a plurality of laser radars are required to be installed to reduce the working blind area, the working blind area cannot be completely eliminated due to the laser radar fixed installation, and the control system is complicated and high in cost due to the fact that the plurality of laser radars are installed.
Disclosure of Invention
The invention aims to provide a perception follow-up control device and method for an excavator and the excavator, which can solve the technical problems in the background art and enable a laser radar to follow up according to the working position of a bucket.
In order to achieve the above purpose, the present invention provides the following technical solutions: a sensory follow-up control device for an excavator, comprising:
the detection mechanism is used 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 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;
the controller is electrically connected with the detection mechanism, the first detection mechanism and the second detection mechanism,
the controller acquires real-time position data of the excavator bucket and real-time position data of the detection mechanism, and controls the first driving mechanism and the second driving mechanism to act, so that the irradiation angle of the detection mechanism is driven according to the working position of the excavator bucket.
Preferably, the detection mechanism at least comprises a group of laser radars or camera systems, and the detection mechanism identifies the excavator bucket as bucket outer contour identification or bucket tooth contour identification.
Preferably, the first driving mechanism comprises a movable arm rotatably connected to the excavator mounting bracket, a bucket rod rotatably connected to the movable arm, a movable arm cylinder driving the movable arm to move, a bucket rod cylinder driving the bucket rod to move and a bucket cylinder driving the bucket to move.
Preferably, the first driving mechanism further comprises a boom electromagnetic valve connected with the boom cylinder, an arm electromagnetic valve connected with the arm cylinder and a bucket electromagnetic valve connected with the bucket cylinder, wherein the boom electromagnetic valve, the arm electromagnetic valve and the bucket electromagnetic valve are respectively and electrically connected with the controller and respectively receive control signals of the controller.
Preferably, the second driving mechanism comprises a mechanical arm arranged on the mounting bracket and a control motor for driving the mechanical arm to rotate.
As a preferable scheme, the mechanical arm comprises a first mechanical arm and a second mechanical arm, the first mechanical arm is fixedly installed on the installation support, the second mechanical arm is rotationally connected with the first mechanical arm, and the detection mechanism is fixedly connected with the end part of the second mechanical arm.
Preferably, the first detection mechanism includes angle sensors for detecting positions of the boom, the arm, and the bucket, respectively, or displacement sensors for detecting positions of the boom cylinder, the arm cylinder, and the bucket.
Preferably, the second detection mechanism includes a mechanical arm angle sensor.
The invention also provides a perception follow-up control method for the excavator, which adopts any one of the perception follow-up control devices, and comprises the following steps:
and (3) identification: the controller acquires the excavator bucket information identified by the detection mechanism;
judging: the controller judges whether the excavator bucket is in a blind area of the detection mechanism according to the identified excavator bucket information;
the first control step: when the dead zone is judged not to be the dead zone, the controller normally outputs a control signal to the first driving mechanism;
and a control step II: when the dead zone is judged, the controller acquires real-time position data of the excavator bucket and 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 of: the controller repeats the above-described identifying step, judging step, controlling step one, and controlling step two.
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 perception follow-up control device and method for the excavator, provided by the invention, through the cooperation of the controller and the detection mechanism as well as 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, so that the detection mechanism is matched with the working position of the bucket and follows according to the working position of the bucket, a detection blind area is avoided, and the design scheme is simple and clear as a whole, and is simple to control and low in cost.
Drawings
FIG. 1 is a schematic view of an overall structure of an excavator according to an embodiment of the present invention;
FIG. 2 is a schematic 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 sensing follow-up control method according to an embodiment of the invention;
in the figure:
1. a mounting bracket; 2. a movable arm; 3. a bucket rod; 4. a bucket; 5. a first mechanical arm; 6. a second mechanical 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 following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention discloses a perception follow-up control device for an excavator, which is used for avoiding a working blind area and ensuring the optimal excavating effect by setting the irradiation angle of a detection mechanism 7 to follow up according to the working position of a bucket 4.
Specifically, referring to fig. 1 and 2, the sensing follow-up control device for an 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 respectively, the second driving mechanism is connected with the detection mechanism 7, 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 means connected to the excavator bucket 4 for detecting real time position data of the bucket 4, a second detection means connected to the detection means 7 for detecting real time position data of the detection means 7, and a controller 8. The controller 8 is further electrically connected with the detecting mechanism 7, the first detecting mechanism, the second detecting 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 detecting mechanism 7 according to the information of the excavator bucket 4 identified by the detecting mechanism 7, and then the controller 8 obtains real-time position data of the excavator bucket 4 and real-time position data of the detecting mechanism 7 according to feedback of the first detecting mechanism and the second detecting mechanism, and controls the first driving mechanism and the second driving mechanism to act so that the irradiation angle of the detecting mechanism 7 is driven 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, a bucket rod 3 rotatably connected to the movable arm 2, a movable arm cylinder 9 for driving the movable arm 2 to move, a bucket rod cylinder 10 for driving the bucket rod 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 excavator movable arm 2 to perform lifting and lowering actions, the bucket rod cylinder 10 is connected to the bucket rod 3 and used for controlling the retracting action of the bucket rod 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, each of which is electrically connected to the controller 8 and receives a control signal from the controller 8, and controls the boom solenoid valve, the arm solenoid valve, and the bucket solenoid valve to extend and retract the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11 according to the control signal from the controller, respectively, so as to control the boom 2, the arm 3, and the bucket 4 to perform corresponding actions to control the movement of the bucket 4.
The second driving mechanism electrically connected with the controller 8 comprises a mechanical arm arranged on the upper end face of the mounting bracket 1 and a control motor 12 for driving the mechanical arm to rotate, wherein the mechanical arm is arranged at one end, close to the movable arm 2, of the mounting bracket 1, is connected with the detection mechanism 7 through the mechanical arm, and adjusts the position of the detection mechanism 7 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 bracket 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 part of the second mechanical arm 6, the detection range of the detection mechanism 7 can be enlarged through the end part, and the detection mechanism 7 can be subjected to angle adjustment 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, so that the orientation of the detection mechanism 7 is controlled.
In this embodiment, the identification of the detection mechanism 7 to the excavator bucket 4 is set to bucket outer contour identification or bucket tooth contour identification, and the detection mechanism 7 adopts a laser radar, and in other embodiments, a camera system may also be adopted, or the laser radar and the camera system cooperate to perform target detection together, so as to obtain a more accurate detection effect. Preferably, the second driving mechanism further comprises a speed reducing mechanism, and the control motor 12 is connected to 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, close to the movable arm 2, of the mounting bracket 1, are respectively connected through mechanical arms, are respectively driven by the second driving mechanism to perform angle adjustment, and the two groups of detection mechanisms 7 are respectively used for performing target detection on two sides of the mounting bracket 1, so that the detection range is further enlarged.
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 accurate position of the excavator bucket. The boom angle sensor is connected to the boom 2 of the excavator, is used for detecting relative angle change of the boom 2 relative to the horizontal direction of the mounting bracket 1 in the lifting process, and transmits angle change data of the boom 2 to the controller 8, the bucket angle sensor is connected to the bucket 3 of the excavator, is used for detecting relative angle change of the bucket 3 relative to the hinge center line of the boom 2 in the retracting process, and transmits angle change data of the bucket 3 to the controller 8, the bucket angle sensor is connected to the bucket 4 of the excavator, is used for detecting relative angle change of the bucket 4 relative to the hinge center line of the bucket 3 in the retracting process, and transmits angle change data of the bucket 4 to the controller 8. And each displacement sensor is for detecting a telescopic displacement change of the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11, and transmitting 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 bracket 1, transmitting the change information to the controller 8, analyzing feedback data by the controller 8, confirming the accurate position of the detection mechanism 7, comparing the posture change information of the detection mechanism 7 with the position information of the bucket 4, analyzing the data, and 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 following 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:
and (3) identification: the controller 8 acquires the information of the excavator bucket 4 identified by the detection mechanism 7;
judging: the controller 8 judges whether the excavator bucket 4 is in the blind area of the detection mechanism 7 according to the identified excavator bucket 4 information;
the first control step: when the dead zone is judged not to be the dead zone, the controller 8 normally outputs a control signal to the first driving mechanism;
and a control step II: when judging as a dead zone, the controller 8 acquires real-time position data of the excavator bucket 4 and 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 of: the controller 8 repeats the above-described identification step, judgment step, control step one, and control step two. So that the position of the detection mechanism 7 is followed according to the working position of the bucket 4 to ensure the optimal irradiation angle of the detection mechanism 7 and eliminate the irradiation blind area of the detection mechanism 7 on the bucket 4.
Specifically, in the identifying step, the method for acquiring the information of the excavator bucket 4 identified by the detection mechanism 7 through the controller 8 specifically includes: the detection mechanism 7, namely a laser radar or a camera system or a combination of the laser radar and the camera system, performs real-time data acquisition, feeds back acquired data to the controller 8, and the controller 8 performs identification according to the outer profile of the bucket or bucket tooth profile identification so as to accurately identify the working position of the bucket 4.
Specifically, in the judging step, the controller 8 judges whether the working position of the bucket 4 is in the irradiation blind area of the detection mechanism 7 based on the bucket outer contour recognition or the bucket tooth contour recognition information, and if the bucket outer contour recognition or the bucket tooth contour information is recognized as incomplete contour information, the irradiation blind area is considered to exist.
Specifically, in the second control step, the controller 8 confirms the accurate position of the bucket 4 based on the data fed back from 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 based on the data fed back from the arm angle sensor, and compares and analyzes the positional 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 is driven according to the working position of the bucket 4, and the occurrence of a detection blind area is avoided, so that the optimal irradiation angle of the detection mechanism 7 is ensured.
According to the perception follow-up control device and method for the excavator, provided by the invention, through the cooperation of the controller 8 and the detection mechanism 7 as well as 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 self position according to the working position of the bucket 4, so that the detection mechanism 7 is matched with the working position of the bucket 4 and follows the working position of the bucket 4, a detection blind area is avoided, and the design scheme is simple and clear, and the control is simple and low in cost. The perception follow-up control device and the perception follow-up control method provided by the invention can be applied to not only excavator equipment, but also other similar engineering machinery equipment, and have wide application prospects.
The foregoing has shown and described the basic principles, principal 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 above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. A sensory follow-up control apparatus for an excavator, comprising:
the detection mechanism is used 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 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;
the controller is electrically connected with the detection mechanism, the first detection mechanism and the second detection mechanism, acquires real-time position data of the excavator bucket and real-time position data of the detection mechanism, and controls the first driving mechanism and the second driving mechanism to act so that the irradiation angle of the detection mechanism follows according to the working position of the excavator bucket;
the detection mechanism is connected to the mounting bracket of the excavator through a second driving mechanism; the two groups of detection mechanisms are respectively connected to two sides of the mounting bracket;
the second driving mechanism comprises a mechanical arm arranged on the mounting bracket and a control motor for driving the mechanical arm to rotate.
2. The perception follow-up control device according to claim 1, wherein the detection means comprises at least one set of laser radar or camera system, and the detection means recognizes the excavator bucket as bucket outer profile recognition or bucket tooth profile recognition.
3. The sensory follow-up control apparatus according to claim 1, wherein the first driving mechanism includes a boom rotatably coupled to an excavator mounting bracket, an arm rotatably coupled to the boom, a boom cylinder driving the boom to move, an arm cylinder driving the arm to move, and a bucket cylinder driving the bucket to move.
4. The sensory-follow-up control device according to claim 3, wherein 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, the boom solenoid valve, the arm solenoid valve, and the bucket solenoid valve being electrically connected to the controller, respectively, and receiving control signals of the controller, respectively.
5. The sensory follow-up control device of claim 4, wherein the mechanical arm comprises a first mechanical arm and a second mechanical arm, the first mechanical arm is fixedly mounted on the mounting bracket, the second mechanical arm is rotatably connected to the first mechanical arm, and the detection mechanism is fixedly connected to an end of the second mechanical arm.
6. A sensory follow-up control apparatus according to claim 3, wherein the first detection mechanism includes angle sensors for detecting positions of the boom, stick, and bucket, respectively, or displacement sensors for detecting positions of the boom cylinder, stick cylinder, and bucket cylinder.
7. The sensory follow-up control device according to claim 4, wherein the second detection mechanism comprises a robotic arm angle sensor.
8. A perception follow-up control method for an excavator, employing a perception follow-up control apparatus as claimed in any one of claims 1 to 7, comprising the steps of:
and (3) identification: the controller acquires the excavator bucket information identified by the detection mechanism;
judging: the controller judges whether the excavator bucket is in a blind area of the detection mechanism according to the identified excavator bucket information;
the first control step: when the dead zone is judged not to be the dead zone, the controller normally outputs a control signal to the first driving mechanism;
and a control step II: when the dead zone is judged, the controller acquires real-time position data of the excavator bucket and 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 of: the controller repeats the above-described identifying step, judging step, controlling step one, and controlling step two.
9. An excavator, characterized in that the perception follow-up control apparatus according to any one of claims 1 to 7 or the perception follow-up control method according to claim 8 is employed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 CN115492188A (en) | 2022-12-20 |
| CN115492188B true 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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