CN214399557U - Automatic rotation control device, system and engineering machinery - Google Patents
Automatic rotation control device, system and engineering machinery Download PDFInfo
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Abstract
An embodiment of the utility model provides an automatic gyration controlling means, system, engineering machine tool belongs to engineering machine tool technical field. The device includes: a conversion unit, a processing unit and a control unit, wherein the conversion unit is used for converting the starting point rotation position angle theta0And end point slewing position angle thetatConverting into 0-360 degrees; the processing unit is used for at least converting the starting point rotation position angle theta00Angular range of the position, and end-point reversal position of the switchSet angle thetattAnd the converted starting point rotation position angle theta00Determining a first rotation angle theta and a first rotation direction of a rotation mechanism of the engineering machinery according to the size relationship; the control unit is used for controlling the slewing mechanism of the engineering machine to slew at a minimum angle at least according to the determined first slewing angle theta and the first slewing direction. The utility model discloses reduce engineering machine tool operation consumption, improved the operation precision, also effectively promoted engineering machine tool automatic operation's work efficiency and intelligent level.
Description
Technical Field
The utility model relates to an engineering machine tool technical field specifically relates to an automatic gyration controlling means, system and engineering machine tool.
Background
For the rotation of engineering machinery, such as a tower crane and a crane, the prior art scheme is generally manual control or automatic control.
The manual control is manually controlled through a linkage table or a remote controller. However, the two modes can not get rid of the influence of manual operation of the engineering machinery, and the automation degree is low; the engineering machinery is operated by depending on the visual field of people, and the operation has limitation;
in the automatic control, the construction machine is rotated by an angle difference (e.g., 280 °) between a current position (e.g., a rotation angle of 40 °) and a target position (e.g., a rotation angle of 320 °), that is, the construction machine can be rotated only in one direction, and thus, the work efficiency is low and the power consumption is large.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides an automatic rotary control device, system and engineering machine tool, this automatic rotary control device, system and engineering machine tool reduce engineering machine tool operation consumption, have improved the operation precision, have also effectively promoted engineering machine tool automatic operation's work efficiency and intelligent level.
In order to achieve the above object, an embodiment of the present invention provides an automatic rotation control device for engineering machinery, where the engineering machinery includes a rotation mechanism, the device includes: a conversion unit, a processing unit and a control unit, wherein the conversion unit is used for converting the starting point rotation position angle theta0And end point slewing position angle thetatConversion to 0 °-360 °; the processing unit is used for at least converting the starting point rotation position angle theta00The angular range and the converted end-point gyration position angle thetattAnd the converted starting point rotation position angle theta00Determining a first rotation angle theta and a first rotation direction of a rotation mechanism of the engineering machinery according to the size relationship; the control unit is used for controlling the slewing mechanism of the engineering machinery to slew at a minimum angle at least according to the determined first slewing angle theta and the first slewing direction.
Preferably, the processing unit is configured to:
theta is more than or equal to 0 DEG00< 180 DEG and theta00≤θtt＜θ00At +180 °, the first swivel direction is counterclockwise, and the first swivel angle θ is determined by the following equation:
θ＝θ0+|θtt-θ00|；
theta is more than or equal to 0 DEG00< 180 DEG and thetatt＜θ00When the first rotation direction is clockwise, the first rotation angle θ is determined by the following formula:
θ＝θ0-|θtt-θ00|；
theta is more than or equal to 0 DEG00< 180 DEG and thetatt＞θ00At +180 °, the first gyration direction is clockwise, and the first gyration angle θ is determined by the following equation:
θ＝θ0-360°+|θtt-θ00|。
preferably, the processing unit is configured to:
theta is less than or equal to 180 DEG00Less than or equal to 360 DEG, and theta00-180°＜θtt≤θ00When the first rotation direction is clockwise, the first rotation angle θ is determined by the following formula:
θ＝θ0-|θtt-θ00|；
theta is less than or equal to 180 DEG00Less than or equal to 360 DEG, and thetatt＜θ00At-180 °, said first revolutionThe direction is counterclockwise, and the first gyration angle θ is determined by the following formula:
θ＝θ0+360°-|θtt-θ00|；
theta is less than or equal to 180 DEG00Less than or equal to 360 DEG, and thetatt＞θ00When the first rotation direction is counterclockwise, the first rotation angle θ is determined by the following formula:
θ＝θ0+|θtt-θ00|。
preferably, the control unit is configured to: when the determined first rotation angle theta exceeds the limit range of the action of the engineering machinery, controlling the rotation mechanism of the engineering machinery to rotate to a second rotation angle theta towards a second rotation direction1Wherein the second direction of gyration is opposite to the first direction of gyration, the second gyration angle theta1Determined by the following equation:
theta is more than or equal to 0 DEG00＜180°，θ00≤θtt＜θ00When the angle is +180 degrees, the angle is adjusted,
θ1＝θ0-360°+|θ-θ0|；
theta is more than or equal to 0 DEG00＜180°，θtt＜θ00When the temperature of the water is higher than the set temperature,
θ1＝θ0+360°+|θ-θ0|；
theta is more than or equal to 0 DEG00＜180°，θtt＞θ00When the angle is +180 degrees, the angle is adjusted,
θ1＝θ0+360°-|θ-θ0|。
preferably, the control unit is configured to: when the determined first rotation angle theta exceeds the limit range of the action of the engineering machinery, controlling the rotation mechanism of the engineering machinery to rotate to a second rotation angle theta towards a second rotation direction1Wherein the second direction of gyration is opposite to the first direction of gyration, the second gyration angle theta1Determined by the following equation:
theta is less than or equal to 180 DEG00≤360°，θ00-180°＜θtt≤θ00When the temperature of the water is higher than the set temperature,
θ1＝θ0+360°-|θ-θ0|；
theta is less than or equal to 180 DEG00≤360°，θtt＜θ00At a temperature of-180 DEG,
θ1＝θ0-360°+|θ-θ0|；
theta is less than or equal to 180 DEG00≤360°，θtt＞θ00When the temperature of the water is higher than the set temperature,
θ1＝θ0-360°+|θ-θ0|。
the embodiment of the utility model provides a still provide an engineering machine tool's automatic gyration control system, this system includes: the automatic turning control device for construction machinery described above; and an interactive device for inputting the starting point rotation position angle theta0And said end slewing position angle thetat(ii) a And the display device is used for displaying the current rotation angle of the rotation mechanism of the engineering machinery.
The embodiment of the utility model provides a still provide an engineering machine tool, this engineering machine tool includes the above engineering machine tool's automatic rotation control device.
Through the technical scheme, adopt the utility model provides an engineering machine tool's automatic rotation control device, system and engineering machine tool can automatic control engineering machine tool with the minimum angle gyration, can greatly reduce engineering machine tool working distance, reduce engineering machine tool operation consumption, effective energy saving has also effectively promoted engineering machine tool automatic operation's work efficiency to owing to need not the gyration of manual control engineering machine tool, liberated the labour of people, improved the operation precision, more promoted intelligent level.
Other features and advantages of embodiments of the present invention will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention, but do not constitute a limitation of the embodiments of the invention. In the drawings:
fig. 1 is a flowchart of an automatic turning control method for construction machinery according to an embodiment of the present invention;
fig. 2 is a block diagram illustrating an automatic turning control apparatus for construction machinery according to an embodiment of the present invention;
fig. 3 is a block diagram illustrating an automatic swing control system of a construction machine according to an embodiment of the present invention.
Description of the reference numerals
101 conversion unit 102 processing unit
Automatic rotation control device for 201-stroke machine with 103 control unit
202 interaction device 203 display device
204 embedded industrial personal computer 205 angle sensor
206 slewing mechanism 207 safety monitoring system
208 PLC controller
Detailed Description
The following describes in detail embodiments of the present invention with reference to the accompanying drawings. It is to be understood that the description herein is only intended to illustrate and explain embodiments of the present invention, and is not intended to limit embodiments of the present invention.
Fig. 1 is a flowchart of an automatic turning control method for construction machinery according to an embodiment of the present invention. As shown in fig. 1, the working machine includes a swing mechanism, and the control method includes:
step S11, starting point rotation position angle theta0And end point slewing position angle thetatConverting into 0-360 degrees;
for example, for the starting point rotation position angle θ0Let the converted starting point rotation position angle be theta00If 360 DEG < theta0Less than or equal to 540 deg., then theta00＝θ0-360 °; if-540 ° < θ0Less than or equal to 360 DEG, then theta00＝θ0+720 °; if-360 < theta0Less than or equal to 0 deg., then theta00＝θ0+360°；
Angle theta with starting point rotation position0Similarly, for end slewing position angle θtSetting the converted end-point rotation position angle as thetattIf 360 DEG < thetatLess than or equal to 540 deg., then thetatt＝θt-360 °; if-540 ° < θtLess than or equal to 360 DEG, then thetatt＝θt+720 °; if-360 < thetatLess than or equal to 0 deg., then thetatt＝θt+360°。
Step S12, rotating the position angle theta according to the converted starting point at least00The angular range and the converted end-point gyration position angle thetattAnd the converted starting point rotation position angle theta00Determining a first rotation angle theta and a first rotation direction of a rotation mechanism of the engineering machinery according to the size relationship;
for example, the converted starting point rotation position angle θ may be set00Dividing the angle ranges into two angle ranges which are theta more than or equal to 0 degree00Theta less than 180 degrees and less than or equal to 180 degrees00Less than or equal to 360 degrees. Aiming at theta less than or equal to 0 degree00If < 180 DEG, the converted end point rotation position angle theta is judgedttAnd the converted starting point rotation position angle theta00To determine the different first gyration angle θ and the first gyration direction, i.e.:
theta is more than or equal to 0 DEG00< 180 DEG and theta00≤θtt＜θ00At +180 °, the first swivel direction is counterclockwise, and the first swivel angle θ is determined by the following equation:
θ＝θ0+|θtt-θ00|；
theta is more than or equal to 0 DEG00< 180 DEG and thetatt＜θ00When the first rotation direction is clockwise, the first rotation angle θ is determined by the following formula:
θ＝θ0-|θtt-θ00|；
theta is more than or equal to 0 DEG00< 180 DEG and thetatt＞θ00At +180 °, the first gyration direction is clockwise, and the first gyration angle θ is determined by the following equation:
θ＝θ0-360°+|θtt-θ00|。
aiming at theta less than or equal to 180 degrees00When the angle is less than or equal to 360 degrees, the converted end point rotation position angle theta is judgedttAnd the converted starting point rotation position angle theta00To determine the different first gyration angle θ and the first gyration direction, i.e.:
theta is less than or equal to 180 DEG00Less than or equal to 360 DEG, and theta00-180°＜θtt≤θ00When the first rotation direction is clockwise, the first rotation angle θ is determined by the following formula:
θ＝θ0-|θtt-θ00|；
theta is less than or equal to 180 DEG00Less than or equal to 360 DEG, and thetatt＜θ00-180 °, the first direction of gyration being anticlockwise, the first angle of gyration θ being determined by the following equation:
θ＝θ0+360°-|θtt-θ00|；
theta is less than or equal to 180 DEG00Less than or equal to 360 DEG, and thetatt＞θ00When the first rotation direction is counterclockwise, the first rotation angle θ is determined by the following formula:
θ＝θ0+|θtt-θ00|。
and step S13, controlling the slewing mechanism of the engineering machinery to slew at the minimum angle at least according to the determined first slewing angle theta and the first slewing direction.
For example, the turning mechanism of the construction machine may be directly controlled to turn in the first turning direction to the first turning angle θ. However, most construction machines have a limited range of rotation angles, for example (-540 °, 540 °), and cannot always perform a rotation operation counterclockwise or clockwise, and if the first rotation angle θ exceeds the limited range of the operation of the construction machine, the rotation mechanism of the construction machine may be controlled to rotate in the second rotation directionRotated to a second rotation angle theta1Wherein the second direction of gyration is opposite to the first direction of gyration, the second gyration angle theta1Is still determined by the converted starting point rotation position angle theta0Angle range of 0, and converted end-point revolution position angle thetattAnd the converted starting point rotation position angle theta00The magnitude relationship between them differs, for example:
theta is more than or equal to 0 DEG00＜180°，θ00≤θtt＜θ00+180 deg. said second angle of revolution theta1Determined by the following equation:
θ1＝θ0-360°+|θ-θ0|；
theta is more than or equal to 0 DEG00＜180°，θtt＜θ00While the second rotation angle theta1Determined by the following equation:
θ1＝θ0+360°+|θ-θ0|；
theta is more than or equal to 0 DEG00＜180°，θtt＞θ00+180 deg. said second angle of revolution theta1Determined by the following equation:
θ1＝θ0+360°-|θ-θ0|。
theta is less than or equal to 180 DEG00≤360°，θ00-180°＜θtt≤θ00Then, the second pivot angle θ 1 is determined by the following equation:
θ1＝θ0+360°-|θ-θ0|；
theta is less than or equal to 180 DEG00≤360°，θtt＜θ00-180 °, said second angle of revolution θ1Determined by the following equation:
θ1＝θ0-360°+|θ-θ0|；
theta is less than or equal to 180 DEG00≤360°，θtt＞θ00While the second rotation angle theta1Determined by the following equation:
θ1＝θ0-360°+|θ-θ0|。
it will be appreciated that the converted origin slewing position angle θ described above00And the converted end turning position angle thetattAnd the converted starting point rotation position angle theta00The manner of determining the magnitude relationship is an example, and is not limited thereto. Through the technical scheme, the engineering machinery can be automatically controlled to rotate at the minimum angle, the running distance of the engineering machinery can be greatly reduced, the running power consumption of the engineering machinery is reduced, energy is effectively saved, the manual control of the rotation of the engineering machinery is not needed, the labor force of people is liberated, the operation precision is improved, the working efficiency of the automatic operation of the engineering machinery is effectively improved, and the intelligent level is further improved.
Fig. 2 is a block diagram illustrating an automatic turning control apparatus for construction machinery according to an embodiment of the present invention. As shown in fig. 2, the working machine includes a swing mechanism, and the apparatus includes: a conversion unit 101, a processing unit 102 and a control unit 103, wherein the conversion unit 101 is used for converting the starting point rotation position angle theta0And end point slewing position angle thetatConverting into 0-360 degrees; the processing unit 102 is configured to convert the starting point rotation position angle theta into a second rotation position angle theta00The angular range and the converted end-point gyration position angle thetattAnd the converted starting point rotation position angle theta00Determining a first rotation angle theta and a first rotation direction of a rotation mechanism of the engineering machinery according to the size relationship; the control unit 103 is configured to control the turning mechanism of the working machine to turn at a minimum angle at least according to the determined first turning angle θ and the first turning direction.
Preferably, the processing unit 102 is configured to:
theta is more than or equal to 0 DEG00< 180 DEG and theta00≤θtt＜θ00At +180 °, the first swivel direction is counterclockwise, and the first swivel angle θ is determined by the following equation:
θ＝θ0+|θtt-θ00|；
theta is more than or equal to 0 DEG00< 180 DEG and thetatt＜θ00When the first rotation direction is clockwise, the first rotation angle θ is determined by the following formula:
θ＝θ0-|θtt-θ00|；
theta is more than or equal to 0 DEG00< 180 DEG and thetatt＞θ00At +180 °, the first gyration direction is clockwise, and the first gyration angle θ is determined by the following equation:
θ＝θ0-360°+|θtt-θ00|。
preferably, the processing unit 102 is configured to:
theta is less than or equal to 180 DEG00Less than or equal to 360 DEG, and theta00-180°＜θtt≤θ00When the first rotation direction is clockwise, the first rotation angle θ is determined by the following formula:
θ＝θ0-|θtt-θ00|；
theta is less than or equal to 180 DEG00Less than or equal to 360 DEG, and thetatt＜θ00-180 °, the first direction of gyration being anticlockwise, the first angle of gyration θ being determined by the following equation:
θ＝θ0+360°-|θtt-θ00|；
theta is less than or equal to 180 DEG00Less than or equal to 360 DEG, and thetatt＞θ00When the first rotation direction is counterclockwise, the first rotation angle θ is determined by the following formula:
θ＝θ0+|θtt-θ00|。
preferably, the control unit 103 is configured to: when the determined first rotation angle theta exceeds the limit range of the action of the engineering machinery, controlling the rotation mechanism of the engineering machinery to rotate to a second rotation angle theta 1 towards a second rotation direction, wherein the second rotation direction is opposite to the first rotation direction, and the second rotation angle theta 1 is determined by the following formula:
at 0 °≤θ00＜180°，θ00≤θtt＜θ00When the angle is +180 degrees, the angle is adjusted,
θ1＝θ0-360°+|θ-θ0|；
theta is more than or equal to 0 DEG00＜180°，θtt＜θ00When the temperature of the water is higher than the set temperature,
θ1＝θ0+360°+|θ-θ0|；
theta is more than or equal to 0 DEG00＜180°，θtt＞θ00When the angle is +180 degrees, the angle is adjusted,
θ1＝θ0+360°-|θ-θ0|。
preferably, the control unit 103 is configured to: when the determined first rotation angle theta exceeds the limit range of the action of the engineering machinery, controlling the rotation mechanism of the engineering machinery to rotate to a second rotation angle theta towards a second rotation direction1Wherein the second direction of gyration is opposite to the first direction of gyration, the second gyration angle theta1Determined by the following equation:
theta is less than or equal to 180 DEG00≤360°，θ00-180°＜θtt≤θ00When the temperature of the water is higher than the set temperature,
θ1＝θ0+360°-|θ-θ0|；
theta is less than or equal to 180 DEG00≤360°，θtt＜θ00At a temperature of-180 DEG,
θ1＝θ0-360°+|θ-θ0|；
theta is less than or equal to 180 DEG00≤360°，θtt＞θ00When the temperature of the water is higher than the set temperature,
θ1＝θ0-360°+|θ-θ0|。
fig. 3 is a block diagram illustrating an automatic swing control system of a construction machine according to an embodiment of the present invention. As shown in fig. 3, the system includes: the automatic turning control device 201 of the construction machine described above; and an interaction means 202 for inputting the starting point turning position angle theta0And said end slewing position angle thetat(ii) a A display device 203 for displaying theThe current turning angle of the work machine.
For example, the present invention may be provided with an embedded industrial personal computer 204, including the automatic turning control device 201 of the engineering machine, configured to execute the automatic turning control method of the engineering machine; also included is an interaction device 202 by which an operator can set the starting point swing position angle theta0And said end slewing position angle thetatClicking an automatic operation key to enable the engineering machinery to execute an automatic operation command; the device also comprises a display device 203 which can display the current rotation angle information.
In addition, the system may detect a turning angle of a turning mechanism 206 of the construction machine in real time using an angle sensor 205, and then transmit the measured value of the turning angle to a safety monitoring system 207 in real time, and the safety monitoring system 207 transmits the obtained data to a PLC controller 208. The PLC controller 208 and the embedded industrial personal computer 204 communicate based on the CAN communication protocol, and may transmit, for example, a measured turning angle value, i.e., current turning angle information, to the embedded industrial personal computer 204 for display, and may also receive a control instruction of the embedded industrial personal computer 204 to control the turning of the turning mechanism 206 of the engineering machine.
An embodiment of the utility model provides an engineering machine tool is still provided, its characterized in that, this engineering machine tool include the above engineering machine tool's automatic rotation control device.
The above-described embodiments of the automatic turning control apparatus and the automatic turning control system for a construction machine are similar to the above-described embodiments of the automatic turning control method for a construction machine, and are not described again here.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The use of the phrase "including an" as used herein does not exclude the presence of other, identical elements, components, methods, articles, or apparatus that may include the same, unless expressly stated otherwise.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (7)
1. An automatic swing control apparatus of a construction machine including a swing mechanism, characterized by comprising:
a conversion unit, a processing unit and a control unit, wherein,
the conversion unit is used for converting the starting point to the rotation position angle theta0And end point slewing position angle thetatConverting into 0-360 degrees;
the processing unit is used for at least converting the starting point rotation position angle theta00The angular range and the converted end-point gyration position angle thetattAnd the converted starting point rotation position angle theta00Determining a first rotation angle theta and a first rotation direction of a rotation mechanism of the engineering machinery according to the size relationship;
the control unit is used for controlling the slewing mechanism of the engineering machinery to slew at a minimum angle at least according to the determined first slewing angle theta and the first slewing direction.
2. The automatic swing control apparatus of a construction machine according to claim 1, wherein the processing unit is configured to:
theta is more than or equal to 0 DEG00< 180 DEG and theta00≤θtt＜θ00At +180 °, the first swivel direction is counterclockwise, and the first swivel angle θ is determined by the following equation:
θ＝θ0+|θtt-θ00|；
theta is more than or equal to 0 DEG00< 180 DEG and thetatt＜θ00When the first rotation direction is clockwise, the first rotation angle θ is determined by the following formula:
θ＝θ0-|θtt-θ00|；
theta is more than or equal to 0 DEG00< 180 DEG and thetatt＞θ00At +180 °, the first gyration direction is clockwise, and the first gyration angle θ is determined by the following equation:
θ＝θ0-360°+|θtt-θ00|。
3. the automatic swing control apparatus of a construction machine according to claim 1, wherein the processing unit is configured to:
theta is less than or equal to 180 DEG00Less than or equal to 360 DEG, and theta00-180°＜θtt≤θ00When the first rotation direction is clockwise, the first rotation angle θ is determined by the following formula:
θ＝θ0-|θtt-θ00|；
theta is less than or equal to 180 DEG00Less than or equal to 360 DEG, and thetatt＜θ00-180 °, the first direction of gyration being anticlockwise, the first angle of gyration θ being determined by the following equation:
θ＝θ0+360°-|θtt-θ00|；
theta is less than or equal to 180 DEG00Less than or equal to 360 DEG, and thetatt＞θ00When the first rotation direction is counterclockwise, the first rotation angle θ is determined by the following formula:
θ＝θ0+|θtt-θ00|。
4. the automatic swing control apparatus of a construction machine according to claim 2, wherein the control unit is configured to:
when the determined first rotation angle theta exceeds the limit range of the action of the engineering machinery, controlling the rotation mechanism of the engineering machinery to rotate to the second rotation directionAngle theta1Wherein the second direction of gyration is opposite to the first direction of gyration, the second gyration angle theta1Determined by the following equation:
theta is more than or equal to 0 DEG00＜180°，θ00≤θtt＜θ00When the angle is +180 degrees, the angle is adjusted,
θ1＝θ0-360°+|θ-θ0|；
theta is more than or equal to 0 DEG00＜180°，θtt＜θ00When the temperature of the water is higher than the set temperature,
θ1＝θ0+360°+|θ-θ0|；
theta is more than or equal to 0 DEG00＜180°，θtt＞θ00When the angle is +180 degrees, the angle is adjusted,
θ1＝θ0+360°-|θ-θ0|。
5. the automatic swing control apparatus of a construction machine according to claim 3, wherein the control unit is configured to:
when the determined first rotation angle theta exceeds the limit range of the action of the engineering machinery, controlling the rotation mechanism of the engineering machinery to rotate to a second rotation angle theta towards a second rotation direction1Wherein the second direction of gyration is opposite to the first direction of gyration, the second gyration angle theta1Determined by the following equation:
theta is less than or equal to 180 DEG00≤360°，θ00-180°＜θtt≤θ00When the temperature of the water is higher than the set temperature,
θ1＝θ0+360°-|θ-θ0|；
theta is less than or equal to 180 DEG00≤360°，θtt＜θ00At a temperature of-180 DEG,
θ1＝θ0-360°+|θ-θ0|；
theta is less than or equal to 180 DEG00≤360°，θtt＞θ00When the temperature of the water is higher than the set temperature,
θ1＝θ0-360°+|θ-θ0|。
6. an automatic swing control system for a construction machine, the system comprising:
an automatic swing control device of a construction machine according to any one of claims 1 to 5; and
an interactive device for inputting the starting point rotation position angle theta0And said end slewing position angle thetat；
And the display device is used for displaying the current rotation angle of the rotation mechanism of the engineering machinery.
7. A working machine, characterized in that the working machine comprises an automatic swing control apparatus of a working machine according to any one of claims 1-5.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114253277A (en) * | 2022-02-28 | 2022-03-29 | 徐工消防安全装备有限公司 | Work device control system and method for work vehicle, and work vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114253277A (en) * | 2022-02-28 | 2022-03-29 | 徐工消防安全装备有限公司 | Work device control system and method for work vehicle, and work vehicle |
| CN114253277B (en) * | 2022-02-28 | 2022-07-05 | 徐工消防安全装备有限公司 | Work device control system and method for work vehicle, and work vehicle |
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