EP3362399A1 - Ensemble constitué d'un dispositif de commande et d'un module de commande mobile - Google Patents

Ensemble constitué d'un dispositif de commande et d'un module de commande mobile

Info

Publication number
EP3362399A1
EP3362399A1 EP16794921.3A EP16794921A EP3362399A1 EP 3362399 A1 EP3362399 A1 EP 3362399A1 EP 16794921 A EP16794921 A EP 16794921A EP 3362399 A1 EP3362399 A1 EP 3362399A1
Authority
EP
European Patent Office
Prior art keywords
lifting device
control module
arrangement according
mobile control
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP16794921.3A
Other languages
German (de)
English (en)
Other versions
EP3362399B2 (fr
EP3362399B1 (fr
Inventor
Michael HANGÖBL
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Palfinger AG
Original Assignee
Palfinger AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
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Application filed by Palfinger AG filed Critical Palfinger AG
Priority to PL16794921.3T priority Critical patent/PL3362399T5/pl
Publication of EP3362399A1 publication Critical patent/EP3362399A1/fr
Application granted granted Critical
Publication of EP3362399B1 publication Critical patent/EP3362399B1/fr
Publication of EP3362399B2 publication Critical patent/EP3362399B2/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/42—Hydraulic transmitters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/44—Electrical transmitters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm

Definitions

  • the present invention relates to an arrangement of a control arranged on a hydraulic lifting device or to be arranged and a mobile control module having the features of the preamble of claim 1 and a hydraulic lifting device with such an arrangement.
  • the calculation of the current lifting situation is based on the current geometry of the lifting device and the support state of the lifting device in the stationary control. From the data thus calculated, information is determined which is characteristic of the current lifting situation and / or the allowability of operations on the lifting device at the given current lifting load situation. This information is transmitted wirelessly or wired to the mobile control module.
  • the problem is the amount of data to be transmitted under the frame operation of the real-time requirement, i. H. a data transfer without time delay. If the deceleration is too great, the situation presented on the mobile control module may deviate from the real situation on the lifting device. For example, a movement on the mobile control module may still be shown as allowed, although the control of the lifting device already inhibits this movement. Since the remote control of the controller by the mobile control module is a security-relevant process, not every electronic hardware can be used in the mobile control module.
  • the object of the invention is to provide an arrangement of a controller and a mobile control module, wherein the mobile control module manages the real-time operation without such a massive processor power that the operating life of the battery of the mobile control module would be significantly limited and a hydraulic lifting device with such an arrangement ,
  • This object is achieved by an arrangement with the features of claim 1 and a hydraulic lifting device with such an arrangement.
  • the controller has a mode in which it the mobile control module via a transmitting and receiving module that information which for the current Hublastsituation and / or the acceptability of operations on the lifting device - possibly in the given current Hublastsituation - are characteristic, wirelessly and / or wired transmitted to a transmitting and receiving module of the mobile control module and that a processor of the mobile control module from this information graphics data calculated for a representation that can be displayed via a display unit for a user.
  • a mobile control or a mobile control module can be understood to mean an autonomous (possibly portable) operating unit with which a user can move essentially freely around a crane or a hydraulic lifting device in a certain environment.
  • a mobile control module and the crane or the hydraulic lifting device especially with the or its control
  • data or information can be exchanged.
  • the sensor data can be derived, for example, from pressure sensors, encoders, strain gauges, displacement measuring devices or switches, which are each arranged on parts of the lifting device, such as hydraulic cylinders, articulated or articulated joints, frame parts or push arms.
  • the characteristic for the utilization of the lifting device information which can include the example of the current support situation, capacity, geometry or equipment of the lifting device can be transmitted in a suitable operating mode of the controller to the mobile control module. Based on this information transmitted can be calculated in the mobile control module by a suitable processor graphics data for presentation. This calculation can include, for example, a scaling, a selection and / or compilation of symbols or graphics stored in the control module or an integration of calculated graphics data into background graphics. Thus it can be achieved that the presentation is essentially in real time.
  • the display unit may, for example, have a liquid crystal display.
  • the presentation of the calculated graphics data which provide information about the current lifting situation and / or the allowability of operations on the lifting device - possibly in the given current lifting situation - can be so in a manner easily understandable for a user on the mobile control module enable.
  • a wired transmission of the information may take place, for example, when a user is within a certain radius of the control arranged or to be arranged on a hydraulic lifting device. In the case of particularly security-relevant control processes, this can also be a requirement for the allowability of the control commands issued by the user via the mobile control module.
  • the lifting device may be a crane, for example a loading crane that can be arranged on a vehicle, or else an aerial work platform.
  • the mobile control module has activation options for activating the calculation and / or the display, which can be operated by a user. Thereby, the calculation and / or the presentation, for example by a user, at a desired time or for a desired period of time can be activated. In the remaining time can be saved for the calculation and / or presentation resulting processor power - and associated energy consumption.
  • activation of the calculation and / or the display takes place automatically when approaching a specific value of the load of a lifting device with a control according to the invention or when approaching a lifting load limit by a setting made by a user of the mobile control module.
  • the mobile control module has an energy store and the calculation and / or the display can only take place at a minimum load of the energy store. As a result, it can be prevented that the mobile control module becomes inoperative due to the calculation and / or the display - and thus the possibly associated increased expenditure of energy - for example, in the case of an already low charge level of the energy store due to a further, accelerated discharge. In a wired operation of the mobile control module can also be a charge of the energy storage.
  • the characteristic information is transmitted incrementally.
  • the transmission can be done in certain angular increments for example, a polar angle of a payload-carrying part, such as a crane arm, a lifting device with a control according to the invention.
  • the characteristic information each contain a value for a load or load limit per 5 ° of 360 °.
  • the characteristic information for example, each include a value for a lifting load or utilization limit per 1 ° of 360 °, a transmission can therefore be done in certain situations in finer increments.
  • the incremental transmission of the characteristic information for the current lifting situation only includes the changes to the previous lifting load situation, whereby the amount of data to be transmitted can be reduced.
  • the controller has a further mode in which it stores the characteristic information as a function of the rate of change of the Transmitted sensor data. This can ensure that the information processed in the mobile control module and also the graphic data displayed correspond to the current state of the lifting device.
  • a change of sensor data of the lifting device can, for example, trigger a transmission of the characteristic information to the mobile control module. In the absence of changes in sensor data of the lifting device, for example, a transmission of the characteristic information to the mobile control module can be suspended.
  • the transmission of the characteristic information takes place at a reduced data rate.
  • a transmission of the characteristic information takes place less frequently per second.
  • a transmission of the characteristic information with an increased data rate can take place.
  • a substantially real-time representation of the characteristic information can be made at an optimized data transfer rate.
  • data is compressed in the controller before the characteristic information is transmitted. As a result, the required transmission duration of the characteristic information can advantageously be minimized.
  • the transmission of the characteristic information takes place in the event of a change-preferably only in the case of a change-of the support situation of the lifting device and / or the position of the center of gravity of the lifting device.
  • a change in the center of gravity can be done for example by a change in the outsourcing or position of a boom of the lifting device or by a change in position of a portion of the lifting device, for example, a spent winch rope with a certain weight.
  • the support situation may be changed, for example, by a change in a supporting device of the lifting device that is supported on the ground, such as telescoping support legs.
  • a change in the support situation of the lifting device and / or the position of the center of gravity of the lifting device can be achieved that the graphic data displayed on the mobile control module always correspond to the actual lifting load situation of the hydraulic lifting device. If the transmission takes place only when the support situation of the lifting device and / or the position of the center of gravity of the lifting device change, the electrical power consumption of the control or of the mobile control module can be optimized.
  • the change in the support situation of the lifting device and / or the position of the center of gravity is effected by a change in the size or position of a payload lifted by the lifting device and / or by a change in the size or position of a ballast weight which can be arranged on the lifting device.
  • a change in the support situation and / or the center of gravity position may also include receiving or removing a load on or from a loading area or a loading space of the lifting device with a control according to the invention or a vehicle on which such a lifting device is arranged. This can advantageously lead to a more uniform load on the lifting device and to an optimized utilization of the lifting potential. A more efficient utilization and loading of the lifting device can also take place by changing the outsourcing, position or size of a ballast weight that can be arranged on the lifting device.
  • the representation comprises an indication of the current utilization of the lifting device in a coordinate system with Cartesian coordinates or polar coordinates. Such a representation offers a user a simple and intuitive understandable processing of the current lifting load situation of the lifting device.
  • the representation comprises an indication of the current load of the lifting device in the form of a point, a line or other geometric shape in a coordinate system, wherein the point, the line or the other geometric shape with the current utilization of the lifting device having corresponding coloring or gray level.
  • the display can be the absolute possible range of, for example, an arm of the Lifting device represent lifted load before reaching a certain utilization limit. This may, for example, take the form of a point or any other graphic symbol in a Cartesian coordinate system in which a rotatable column of the lifting device lies at the origin of the coordinate system.
  • the representation of the current load in the form of a line is useful, for example, in a representation in polar coordinates, in which the length of the line or the radius of the current absolute paging or the current relative, for example, percentage utilization can correspond.
  • the polar angle can represent the angular position of a payload carrying arm relative to a predefined axis, in a vehicle crane, for example, the longitudinal axis of the vehicle.
  • the point, the line or the other geometric shape can also be colored, for example, according to the color of a traffic light system, or provided with a gray level according to the current load of the lifting device.
  • the representation information about the current overload and / or shutdown for the lifting device preferably in the form of a polygon, comprises.
  • the information about the current overload and / or shutdown values can reflect, for example, a maximum possible absolute range in terms of stability or utilization. It is also conceivable that the information on the current overload and / or shutdown values provide information about the increase in the utilization in one direction.
  • the representation can take place in a coordinate system by means of a traverse, which can be obtained, for example, by interpolation between interpolation points with calculated limit values, as a result of which the instantaneous hoisting load situation can be represented and estimated particularly well.
  • the transmission channel is encrypted.
  • the encryption requirements may differ from those of the transmission channel for the control commands.
  • Protection is also desired for a hydraulic lifting device, in particular loading crane for a vehicle - particularly preferred articulated crane crane or aerial work platform, with an arrangement as described above.
  • Fig. 2 shows an embodiment of a arranged on a vehicle
  • Fig. 3 is a schematic representation of an embodiment of a
  • the crane control 1 receives via sensor inputs 6, 7 sensor data relating to the crane geometry, the support situation and possibly the lifting load.
  • the crane control unit 1 calculates from these data and stored crane-specific data information which is characteristic of the current hoisting load situation and / or the permissibility of work processes on the crane, possibly given the current lifting load situation.
  • the controller 1 has a memory 30 in which specific data for the lifting device can be stored. These may include information on equipment, functions and limits of operating parameters of the lifting device. The calculation of the information that is characteristic of the current lifting situation and / or the allowability of operations on the lifting device - possibly in the given current lifting situation - can advantageously take place with the inclusion of the data stored in the memory 30.
  • a transmitting and receiving module 4 Via a transmitting and receiving module 4, the information which is characteristic of the current lifting situation and / or the allowability of operations on the crane - possibly in the given current lifting situation - via a wireless connection 10 or a cable connection 1 1 to a transmission and receiving module 5 of the mobile control module 2 transmitted.
  • a combination of a transmission with a wireless connection 10 and a cable connection 1 1 is conceivable.
  • the wireless link 10 can transmit and receive data over multiple channels and in multiple frequency bands, also in parallel.
  • the mobile control module 2 has a memory 31, in which the transmitted information and also calculated graphic data for a presentation can be stored.
  • the mobile control module 2 has an energy store 29, for example in the form of a rechargeable accumulator.
  • the power supply of the controller 1 can be done via an unillustrated unit of the lifting device.
  • FIG. 2 shows an embodiment of a lifting device arranged on a vehicle 12 and a control 1 arranged thereon.
  • the vehicle 12 has a loading surface 13 for receiving or also for transporting a payload or also a ballast weight 32.
  • a lifting device in the form of a crane 14 is connected to the vehicle 12 via the crane base 15.
  • On the crane base 15, a rotatable about a vertical axis crane column 16 is mounted.
  • On the crane column 16 On the crane column 16, a pivotable about a horizontal axis by means of a hydraulic cylinder 22 lifting arm 17 is arranged.
  • On the lifting arm 17 is again one about a horizontal axis pivotable by means of a hydraulic cylinder 23
  • Kranarmverinrung 18 with at least one telescopic crane push arm 19 is arranged.
  • FIG. 1 shows an embodiment of a lifting device arranged on a vehicle 12 and a control 1 arranged thereon.
  • the vehicle 12 has a loading surface 13 for receiving or also for transporting a payload or
  • an attachment arm 20, which is likewise pivotable about a horizontal axis by means of a hydraulic cylinder 24, can be arranged on the crane arm extension 18.
  • the attachment arm 20 can have at least one telescopic crane push arm 21.
  • Fig. 3 shows a schematic representation of an embodiment of a lifting device and an inventive arrangement of a controller 1 and a mobile control module 2.
  • the lifting device in the form of a crane 14 has in addition to the aforementioned components various sensors for detecting the current position of the crane 14 ,
  • switches S3, S4 are provided for detecting the support state of the boom 26 at the bottom.
  • a sensor for the boom 27, not shown here which can be arranged on a frame part of the vehicle 12 may be provided. It is also conceivable that the extended position of the arms 26, 27 is detected via a path measuring device, not shown here.
  • a rotary encoder DG1 For detecting the angle of rotation of the crane column 16 relative to the crane base 15, a rotary encoder DG1 is provided.
  • the angle of rotation of the crane column 16 detected by the rotary encoder DG1 about a vertical axis would correspond to the polar angle in a polar representation.
  • a further rotary encoder DG2 is provided for detecting the bending angle in a vertical plane between the crane column 16 and the lifting arm 17, a further rotary encoder DG2 is provided.
  • the characteristic for the crane load hydraulic pressure in the hydraulic cylinder 22 of the lifting arm 17 is a pressure sensor DS1 provided.
  • a rotary encoder DG3 For detecting the bending angle between the lifting arm 17 and the Kranarmverinrung 18 in a vertical plane, a rotary encoder DG3 is provided.
  • a pressure sensor DS2 For detecting the hydraulic pressure in the hydraulic cylinder 23 of the crane arm extension 18, a pressure sensor DS2 is provided. For detecting the retraction state of a crane push arm 19 of the crane arm extension 18, a switch S1 is provided. Next, a rotary encoder DG4 is provided for detecting the bending angle between the crane arm extension 18 and the attachment arm 20 in a vertical plane. To Detecting the hydraulic pressure of the hydraulic cylinder 24 of the attachment arm 20, a pressure sensor DS3 is provided. For detecting the retraction state of a crane push arm 21 of the attachment arm 20, a switch S2 is provided. In principle, it should not be ruled out that the thrust position of the individual crane push arms is detected via a push position sensor with, for example, a displacement measuring device.
  • the sensor data are fed to the controller 1 via signal inputs, of which the signal inputs 6, 7 of the switches S1, S2 which detect the retraction position of the crane arm extension 18 and the auxiliary arm 20 are exemplarily supplied.
  • information is then calculated from these sensor data and stored in a memory 30, in this example for the crane 14 specific data, which are characteristic of the current Hublastsituation and / or the acceptability of operations on the crane 14.
  • this information can then be transmitted via a wireless connection 10 and / or a wired connection 1 1 to a transmitting and receiving module 5 of a mobile control module 2.
  • graphic data for a representation can be calculated in the mobile control module 2 and displayed via a presentation unit 3 for a user.
  • An activation of the representation can optionally take place via a user-actuatable activation option 28, for example in the form of a switch or a push-button.
  • a user-actuatable activation option 28 for example in the form of a switch or a push-button.
  • various controls 25 are provided on the mobile control module.
  • FIG. 4 a shows a schematic representation of graphic data calculated from the transmitted information on a display unit 3.
  • the presentation unit 3 may be formed, for example, by a graphics-capable liquid crystal display 33 which is mounted or attachable in or on the mobile control module 2.
  • the representation on the display unit 3 comprises a schematic representation of a vehicle 12 as shown in FIG. 2 with a lifting device in a plan view, wherein advantageously the rotatably mounted crane column 16 is located in the origin of the coordinate system 36.
  • the representation can, as shown, in a Cartesian coordinate system with X and Y coordinate axes or in a coordinate system with polar coordinates.
  • the current utilization of the lifting device is displayed in the form of a registered in the coordinate system 36 point P.
  • the traverse K represents the nominal maximum allowable utilization of the lifting device. As shown, the lifting device is currently in the vicinity of a maximum allowable utilization, which is easy and intuitive for a user by the proximity of the point P to the load limit shown by the polygon K. is recognizable.
  • the representation on the display unit 3 can also be a menu bar 35, via which settings, information or alternative functions can be accessed, and a title bar 34 with about a status display 37, which provides information about the state of charge of the energy storage device 29 or type and quality of the data connection can include. Also, the coordinate lines may have a caption 38 with information about the current scaling of the representation.
  • FIG. 4 b shows a schematic representation of graphic data calculated from characteristic information and displayed via a display unit 3, wherein the instantaneous load of the lifting device is indicated in the form of a line in a coordinate system with polar coordinates.
  • the polar angle of the line L essentially corresponds to the angle of rotation of the crane column 16 relative to the crane base 15 detected by the rotary encoder DG1
  • the vehicle 12 shown schematically in plan view in FIG. 4b its imaginary longitudinal axis in the coordinate system 36 is oriented.
  • the nominal permissible load limit is indicated in the coordinate system 36 by the polynomial tension K.
  • the illustrated load of the lifting device in the form of the line L is represented by the length of the line L, wherein as shown, the load of the lifting device exceeds the nominal permissible load limit. It is thus easily recognizable to a user that the lifting device is in an inadmissible loading area.
  • FIG. 4c shows a further embodiment of a graphical representation of the load of the lifting device.
  • the representation is again with a registered in a coordinate system 36 line L, wherein the polar angle of the line L again corresponds to the rotation angle of the lifting device.
  • the utilization of the lifting device is shown by a greyscale corresponding to the current load. A larger load can be displayed with a darker gray level. Alternatively, it is possible to display the utilization by a corresponding color. In this case, for example, similar to the color scheme of a traffic light system, a low utilization by a green line L, an average utilization by an orange line L and a high utilization, for example by a red line L can be represented.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

Ensemble comprenant un dispositif de commande (1) monté ou destiné à être monté sur un dispositif de levage hydraulique, et un module de commande mobile (2) permettant la commande à distance du dispositif de commande (1). Des données de capteur peuvent être transmises au dispositif de commande (1) par l'intermédiaire d'entrées de signalisation (6, 7), et un processeur (8) du dispositif de commande (1) est configuré pour calculer, à partir desdites données de capteur et de données mémorisées spécifiques du dispositif de levage, des informations caractéristiques d'une situation de charge de levage courante et/ou de l'admissibilité d'opérations de travail sur le dispositif de levage ou, le cas échéant, dans la situation de charge de levage courante donnée. Le dispositif de commande (1) présente un mode dans lequel il transmet au module de commande mobile (2), par l'intermédiaire d'un module d'émission-réception (4), les informations caractéristiques de la situation de charge de levage courante et/ou de l'admissibilité d'opérations de travail sur le dispositif de levage ou, le cas échéant, pour la situation de charge de levage courante donnée, par une liaison sans fil (10) et/ou une liaison filaire (11) à un module d'émission-réception (5) du module de commande mobile (2), et un processeur (9) du module de commande mobile (2) calcule, à partir de ces informations, des données graphiques pour un affichage pouvant être présenté à un utilisateur sur une unité d'affichage (3).
EP16794921.3A 2015-10-16 2016-10-14 Arrangement d'un dispositif de commande et un module de commande mobile Active EP3362399B2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL16794921.3T PL3362399T5 (pl) 2015-10-16 2016-10-14 Układ urządzenia sterującego i mobilnego modułu sterowania

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT3032015 2015-10-16
PCT/AT2016/060077 WO2017063014A1 (fr) 2015-10-16 2016-10-14 Ensemble constitué d'un dispositif de commande et d'un module de commande mobile

Publications (3)

Publication Number Publication Date
EP3362399A1 true EP3362399A1 (fr) 2018-08-22
EP3362399B1 EP3362399B1 (fr) 2019-08-21
EP3362399B2 EP3362399B2 (fr) 2024-02-14

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ID=58516872

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Application Number Title Priority Date Filing Date
EP16794921.3A Active EP3362399B2 (fr) 2015-10-16 2016-10-14 Arrangement d'un dispositif de commande et un module de commande mobile

Country Status (11)

Country Link
US (1) US10961087B2 (fr)
EP (1) EP3362399B2 (fr)
JP (1) JP7003043B2 (fr)
CN (1) CN108290722B (fr)
BR (1) BR112018007406B8 (fr)
DE (1) DE202016008565U1 (fr)
DK (1) DK3362399T4 (fr)
ES (1) ES2758128T3 (fr)
PL (1) PL3362399T5 (fr)
SG (1) SG11201803124YA (fr)
WO (1) WO2017063014A1 (fr)

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CN111170156A (zh) * 2019-12-31 2020-05-19 博睿斯重工股份有限公司 一种洁净环境下的在线监测系统及监测方法
US11524879B2 (en) * 2021-04-19 2022-12-13 Oshkosh Corporation Remote control system for a crane
CN115676634B (zh) * 2022-12-29 2023-03-07 博鼎精工智能科技(山东)有限公司 一种工程机械用液压控制系统

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ES2758128T3 (es) 2020-05-04
US10961087B2 (en) 2021-03-30
BR112018007406A2 (pt) 2018-10-23
CN108290722A (zh) 2018-07-17
WO2017063014A1 (fr) 2017-04-20
DE202016008565U1 (de) 2018-06-26
PL3362399T5 (pl) 2024-05-13
PL3362399T3 (pl) 2020-02-28
EP3362399B2 (fr) 2024-02-14
SG11201803124YA (en) 2018-05-30
JP2018530493A (ja) 2018-10-18
BR112018007406B8 (pt) 2023-04-04
JP7003043B2 (ja) 2022-01-20
BR112018007406B1 (pt) 2023-01-24
US20180229979A1 (en) 2018-08-16
CN108290722B (zh) 2021-07-09
EP3362399B1 (fr) 2019-08-21
DK3362399T3 (da) 2019-11-18

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