JP2008248627A - Emergency stop system for construction machine and construction machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an emergency stop system for a construction machine and the construction machine capable of obtaining a condition of the machine in emergency stop and determining whether operation is the emergency stop or not. <P>SOLUTION: The emergency stop system is provided with a first switch 52, a second switch 53, a working machine stop means 54 for stopping a working machine, a first electronic apparatus 14 for stopping an engine, and a second electronic apparatus 51 giving a working machine stop instruction for stopping the working machine to the working machine stop means and an engine stop instruction to the first electronic apparatus for stopping the engine. Each of a plurality of electronic apparatuses including the first and second electronic apparatus is provided with a power supply line connected to a battery via an ignition switch 21. The second electronic apparatus 51 is provided with a first signal supply line connected to the battery via the ignition switch 21 and the first switch 52 and a second signal supply line connected to the battery via the ignition switch 21 and the second switch 53. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an emergency stop system for a construction machine including a work machine and a plurality of electronic devices, and a construction machine including the emergency stop system.

  In recent years, various sensors and electronic devices are mounted on construction machines in order to improve work efficiency and comfort during work. By processing these electronic devices, it is possible to acquire various types of information such as operating status and failure status in the work machine, and the acquired information is used for maintenance management and work management of the work machine.

By the way, in the construction machine, various methods for stopping the operation of the work machine in an emergency have been proposed for safety reasons.
The easiest way to emergency stop the construction machine is to turn off the ignition switch. When the ignition switch is turned off, the power supply to the electronic device is cut off, so that it is possible to stop all operations such as running, steering and braking of the construction machine and the engine.

  Also, as another method of emergency stopping the construction machine, a configuration is known in which an emergency stop switch is provided between the battery and various electronic devices, and the power supply to the electronic device is forcibly cut off by operating the switch. (For example, refer to Patent Document 1).

JP 2002-173299 A

  However, the ignition switch is generally provided in the cab. For this reason, when a person outside the cab for maintenance or the like turns off the ignition switch and makes an emergency stop of the construction machine, there is a problem that he must move to the driver's seat once.

On the other hand, when the operation of the construction machine is stopped by turning on the emergency stop switch or turning off the ignition switch in the configuration of Patent Document 1 above, the power supply to the electronic device is interrupted. Electronic devices will stop functioning. For this reason, there is a problem that various conditions of the construction machine cannot be grasped from the electronic device, and necessary information cannot be obtained.
In addition, since all electronic devices do not function, there is a problem that it is impossible to determine whether the switch operation is an emergency stop operation or a normal stop operation, and the situation analysis at the time of emergency stop cannot be performed.

  The objective of this invention is providing the emergency stop system which can acquire the condition and emergency stop operation of a construction machine also at the time of an emergency stop of a construction machine, and a construction machine provided with this emergency stop system.

  An emergency stop system according to a first aspect of the present invention is an emergency stop system for a construction machine including a work machine and a plurality of electronic devices, and includes a first switch and a second switch provided separately from the first switch, The work implement stop means for stopping the operation of the work implement, the first electronic device for stopping the engine of the construction machine, and the signals from the first switch and the second switch. A work machine stop command for stopping the operation of the work machine, and a second electronic device that performs an engine stop command for causing the first electronic device to stop the engine, and the first electronic device and the first electronic device, Each of the plurality of electronic devices including a second electronic device includes a power supply line connected to a battery of the construction machine via an ignition switch, and the second electronic device A first signal supply line connected to the battery via the ignition switch and the first switch, and a second signal supply line connected to the battery via the ignition switch and the second switch. It is characterized by.

  The emergency stop system according to a second aspect of the present invention is the emergency stop system according to the first aspect, wherein the second electronic device determines first switch state determining means for determining an open / closed state of the first switch and an open / closed state of the second switch. Second switch state determination means for generating, and control command generation for generating and outputting the work implement stop instruction and the engine stop instruction based on the determination results of the first switch state determination means and the second switch state determination means And the control command generation means outputs the work implement stop command to the work implement stop means when only the first switch among the first switch and the second switch is closed, When the second switch is in the closed state, the work implement stop command is output to the work implement stop means, and the engine stop command is sent to the first electronic device. Characterized by force.

  A construction machine according to a third aspect of the invention includes a work machine that performs work on the construction machine, a plurality of electronic devices, and the emergency stop system according to the first or second aspect of the invention.

  According to the emergency stop system according to the first aspect of the invention, the second electronic device performs a work implement stop command for causing the work implement stop means to stop the operation of the work implement and an engine stop command for causing the first electronic device to stop the engine. The second electronic device includes a power supply line 40 connected to the construction machine battery via an ignition switch, and a first signal supply line 41 connected to the battery via the ignition switch and the first switch. And a second signal supply line 42 connected to the battery via the ignition switch and the second switch.

  According to this, since each of the plurality of electronic devices including the second electronic device includes the power supply line 40 connected to the battery via the ignition switch, the open / close state of the first switch and the second switch Regardless of this, if the ignition switch is closed, power is supplied to each electronic device. The second electronic device includes a first signal supply line 41 and a second signal supply line 42 separately from the power supply line 40, and the second electronic device opens and closes the first switch and the second switch. A signal corresponding to the state is supplied. For this reason, the second electronic device causes the work implement stopping means to stop the operation of the work implement based on the signals from the first switch and the second switch in a state where power is supplied to each electronic device. A work machine stop command and an engine stop command for causing the first electronic device to stop the engine can be issued. Accordingly, even during an emergency stop, it is possible to acquire information on the status of the construction machine in each electronic device and the emergency stop status of the first switch and the second switch.

According to the emergency stop system of the second invention, the second electronic device outputs a work implement stop command to the work implement stop means when only the first switch of the first switch and the second switch is closed. When the second switch is in the closed state, a work implement stop command is output to the work implement stop means, and an engine stop command is output to the first electronic device.
According to this, since the construction machine can be stopped by the first switch and the second switch separately for the case where only the work machine is stopped and the case where the work machine and the engine are stopped, the emergency stop pattern Can be selected according to the situation. For this reason, it is possible to prevent the engine from being stopped more than necessary in a situation where safety is ensured if only the work machine is stopped, and it is possible to save the trouble of starting the engine again after the emergency stop state is canceled. be able to.
In addition, since the open / closed states of the first switch and the second switch can be grasped even during an emergency stop, the situation at the time of an emergency stop can be analyzed in more detail from the open / closed states of the first switch and the second switch.

  According to the 3rd invention, the construction machine provided with the emergency stop system which has the effect of the 1st invention and the 2nd invention can be provided.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[1] Configuration of Emergency Stop System FIG. 1 shows a schematic diagram of an excavator 1 including an emergency stop system according to the first embodiment of the present invention.
The excavator 1 includes a work machine 11, a cab 12, an engine 13, an engine controller (first electronic device) 14, a monitor panel 15, a monitor device (electronic device) 16, a communication terminal (electronic device) 17, an antenna 18, and a battery 19. And an emergency stop controller (second electronic device) 51.

  The work machine 11 is controlled by a work machine controller (not shown), and performs work such as excavation and leveling based on an operation signal of an operation lever in the cab 12. The work machine 11 is hydraulically driven using the engine 13 as a power source, and the output of the engine 13 is controlled by the engine controller 14. Various states of the excavator 1 such as the coolant temperature of the engine 13 and the remaining amount of fuel are displayed on a monitor panel 15 provided in the cab 12, and the display of the monitor panel 15 is controlled by the monitor device 16. The communication terminal 17 obtains various information such as the engine speed, battery voltage, excavator 1 operating time and failure history in addition to the coolant temperature and fuel remaining amount displayed on the monitor panel 15, and is connected to the communication terminal 17. Via the antenna 18 to a management server (not shown).

  Among these elements, the engine controller 14, the monitor device 16, the communication terminal 17, and the emergency stop controller 51 are connected to the network 20 and configured to be able to communicate with each other, as shown in FIG. Further, the engine controller 14, the monitor device 16, the communication terminal 17, and the emergency stop controller 51 each include a power supply line 40 that is connected to the battery 19 via the ignition switch 21.

  In FIG. 2 schematically showing the configuration of the emergency stop system 5, the emergency stop system 5 includes an emergency stop controller 51, a first switch 52, a second switch 53, a work implement control valve 54, a first warning lamp 55, a second A warning lamp 56 and an alarm buzzer 57 are provided.

  The first switch 52 and the second switch 53 are switches for emergency stop of the work machine 11 and the engine 13, and are provided outside the excavator 1 while being covered with a lock type cover for preventing malfunction. . Of these, the first switch 52 is a switch for stopping the operation of the excavator 1 other than the engine 13 such as the traveling operation of the excavator 1 and the operation of the work machine 11, and the second switch 53 is the entire operation of the excavator 1 and the engine. 13 is a switch to stop 13. In each of the first switch 52 and the second switch 53, one terminal is electrically connected to the battery 19 through the ignition switch 21, and the other terminal is electrically connected to the emergency stop controller 51. ing.

  The work implement control valve (work implement stop means) 54 is an electromagnetic valve that controls the drive of the work implement 11 based on a control command from the work implement controller. As shown by a thick line in FIG. By energizing the solenoid 54, the position of the work implement control valve 54 moves, and the work implement 11 is driven. Therefore, when the energization to the solenoid of the work implement control valve 54 is cut off, the operation of the work implement 11 is stopped.

  The first warning lamp 55, the second warning lamp 56, and the alarm buzzer 57 notify that the excavator 1 is in an emergency stop state, and are electrically connected to the emergency stop controller 51 and the ground, respectively. . The first warning lamp 55, the second warning lamp 56, and the alarm buzzer 57 are provided outside the excavator 1, similarly to the first switch 52 and the second switch 53.

  Based on the signal states of the first switch 52 and the second switch 53, the emergency stop controller 51 stops the travel of the excavator 1, the operation of the work machine 11, and the engine 13. Therefore, the emergency stop controller 51 is connected to the battery 19 via the ignition switch 21 and the second switch 53, and the first signal supply line 41 connected to the battery 19 via the ignition switch 21 and the first switch 52. A travel pressure switch 22 that is provided on the shovel 1 and outputs travel information of the shovel 1 is electrically connected to the input side of the emergency stop controller 51.

  Further, a work implement control valve 54, a first warning lamp 55, a second warning lamp 56, and an alarm buzzer 57 are electrically connected to the output side of the emergency stop controller 51. The emergency stop controller 51 is connected to the work implement control valve. A work machine stop command for stopping the operation of the work machine 11 is issued to 54, and driving of the first warning lamp 55, the second warning lamp 56, and the alarm buzzer 57 is controlled. Further, the emergency stop controller 51 is connected to the engine controller 14, the monitor device 16, and the communication terminal 17 via the network 20, and an engine stop command for stopping the engine 13 is sent from the emergency stop controller 51 to the engine controller 14. Sent. Also, the emergency stop controller 51 sends a command to the monitor device 15 to display a warning display indicating that the excavator 1 is in an emergency stop state, and the signal states of the first switch 52 and the second switch 53 are displayed. Information such as the stop state of the excavator 1 is transmitted to the communication terminal 17.

[2] Control Structure of Emergency Stop Control in Emergency Stop Controller 51 Next, a control structure of emergency stop control in the emergency stop controller 51 will be described with reference to FIG.
The emergency stop controller 51 includes an engine activation state determination unit 511, a first switch state determination unit 512, a second switch state determination unit 513, an ignition switch state determination unit 514, a stoppage determination unit 515, and a control command generation unit 516. Yes.

The engine activation state determination unit 511 determines whether or not the engine 13 is in an activation state based on the engine speed acquired from the engine controller 14. Specifically, the engine activation state determination unit 511 determines whether or not the engine speed is a predetermined value or more.
Here, the predetermined rotational speed used for the determination is a value close to the idling rotational speed of the engine, and for example, 500 rpm is used.

  The first switch state determination unit 512 determines the open / close state of the first switch 52 based on the input signal from the first switch 52, and the second switch state determination unit 513 receives the input signal from the second switch 53. Based on this, the open / closed state of the second switch 53 is determined. That is, the first switch state determination unit 512 determines whether or not the first switch 52 is in an on state, and the second switch state determination unit 513 determines whether or not the second switch 53 is in an on state. Determine.

The ignition switch state determination means 514 determines the open / closed state of the ignition switch 21 based on the input signal from the ignition switch 21.
The stop determination unit 515 determines whether or not the excavator 1 is stopped based on the output signal of the traveling pressure switch 22 provided in the excavator 1. Specifically, the stop determination means 515 determines that the vehicle is stopped when the speed of the excavator 1 is zero or at the minimum speed, and determines that the vehicle is traveling otherwise.

  The control command generation means 516 issues a work implement stop command for causing the work implement control valve 54 to stop the operation of the work implement 11 based on the determination results of the respective decision means 512, 513, 514, 515, and the first warning lamp 55, a control command for the second warning lamp 56 and the alarm buzzer 57 is generated and output. At this time, the control command generation means 516 outputs a control command for displaying a warning on the monitor panel 15 to the monitor device 16. The control command generation unit 516 issues an engine stop command to stop the engine 13 to the engine controller 14 based on the determination results of the determination units 512, 513, 514, and 515. That is, the control command generation means 516 includes a command to stop the operation of the excavator 1 and the work machine 11, a command to stop the engine 13, the first warning lamp 55, the second warning lamp 56, the alarm buzzer 57, And a command to warn the warning means such as the monitor panel 15.

[3] Operation of Emergency Stop System 5 Hereinafter, the operation of the emergency stop system 5 will be described with reference to FIGS.
First, the engine activation state determination means 511 of the emergency stop controller 51 determines whether or not the engine is in an activation state (step S1). If it is determined that the engine has not been started, the process of step S1 is repeated until it is determined that the engine has been started.

Next, the second switch state determination means 513 determines whether or not the second switch 53 is turned on, that is, whether or not the second switch 53 is in the closed state (step S2).
If it is determined in step S2 that the second switch 53 is not in the on state, the first switch state determining means 512 determines whether or not the first switch 52 is in the on state (step S3).

  When it is determined that the first switch 52 is in the ON state, the control command generation unit 516 generates a command for stopping the operation of the excavator 1 and cuts off the power supply to the work implement control valve 54. Thereby, operation | movement of the working machine 11 is stopped. In addition, the control command generation unit 516 generates a control command for lighting the first warning lamp 55 and a control command for sounding the alarm buzzer 57, and outputs them to the first warning lamp 55 and the alarm buzzer 57, respectively. Further, the control command generation unit 516 generates a control command for displaying on the monitor panel 15 that the operation of the excavator 1 including the work machine 11 is stopped, and outputs the control command to the monitor device 16 (step S4).

  At this time, the engine controller 14, the monitor device 16, the communication terminal 17, and the emergency stop controller 51 are supplied with power from the power supply line 40 as shown by a thick line in FIG. The device 16, the communication terminal 17, and the emergency stop controller 51 can continue to function. For example, the engine controller 14 can output the engine speed, and the monitor device 16 can perform display control of the monitor panel 15. And the communication terminal 17 can acquire various information, such as an engine speed, the operating time of the shovel 1, and a failure history, and can transmit to a management server.

  In addition, as shown in FIG. 5, a signal is input to the emergency stop controller 51 from the first signal supply line 41 via the first switch 52. Based on this signal input, the emergency stop controller 51 cuts off the power supply to the work implement control valve 54 and supplies power to the first warning lamp 55 and the alarm buzzer 57.

Returning to FIG. 4, after step S4, the ignition switch state determining means 514 determines whether or not the ignition switch 21 is turned off (step S5).
When the ignition switch 21 is off in step S5, the power to the electronic device other than the communication terminal 17 is cut off and the electronic device is reset, so that the emergency stop state of the excavator 1 is automatically released. And if the ignition switch 21 is turned on and the engine 13 is started again, the excavator 1 can be operated normally.

On the other hand, when it is determined in step S5 that the ignition switch 21 is in the on state, the first switch state determining means 512 determines whether or not the first switch 52 is in the off state, and the stop determination is made. The means 515 determines whether or not the excavator 1 is stopped (step S6).
If it is determined in step S6 that the first switch 52 is in the on state, or if it is determined that the excavator 1 is traveling, the emergency stop state of the excavator 1 should be canceled. Therefore, the emergency stop controller 51 returns to step S5 and repeats the same process.

  On the other hand, when it is determined in step S6 that the first switch 52 is off and the excavator 1 is stopped, the control command generating means 516 issues a control command for canceling the emergency stop state of the excavator 1. Generate and release the stop of the operation of the excavator 1. Thereby, energization to the work implement control valve 54 is permitted, and the work implement 11 can be operated. The control command generation means 516 generates and outputs a control command for terminating the warning display or warning sound on the first warning lamp 55, the warning buzzer 57, and the monitor panel 15 (step S7). In this case, the emergency stop state of the excavator 1 is released without requiring the reset by the ignition switch 21 and the engine 13 being started.

On the other hand, when it is determined in step S2 that the second switch 53 is in the ON state, the control command generation unit 516 outputs a command to stop the engine 13 to the engine controller 14, and the engine controller 14 The engine 13 is stopped. Also. The control command generation unit 516 generates a command for stopping the operation of the excavator 1 and cuts off the power supply to the work implement control valve 54. For this reason, the valve position of the work implement control valve 54 is changed, and the operation of the work implement 11 is stopped.
Further, the control command generating means 516 generates a control command for lighting the first and second warning lamps 55 and 56 and a control command for sounding the alarm buzzer 57, and the first and second warning lamps 55 and 56, respectively. And the alarm buzzer 57. Further, the control command generation means 516 generates a control command for causing the monitor panel 15 to display that the operation of the shovel 1 is in an emergency stop, and outputs it to the monitor device 16 (step S8).

  At this time, since power is supplied from the power supply line 40 to the engine controller 14, the monitor device 16, the communication terminal 17, and the emergency stop controller 51, as shown by a thick line in FIG. 6, each electronic device also functions. You can continue. In addition, a signal is input to the emergency stop controller 51 from the second signal supply line 42 via the second switch 53. Based on this signal input, the emergency stop controller 51 cuts off the power supply to the work implement control valve 54 and supplies the first warning lamp 55, the second warning lamp 56, and the alarm buzzer 57.

Returning to FIG. 4, after step S8, the ignition switch state determination means 514 determines whether or not the ignition switch 21 is in an OFF state (step S9). In step S8, when it is determined that the ignition switch 21 is on, the emergency stop controller 51 repeats the determination in step S9.
On the other hand, when the ignition switch 21 is off in step S9, the energization to the electronic devices other than the communication terminal 17 is cut off, and the emergency stop state of the excavator 1 is automatically released. That is, when the ignition switch 21 is turned on and the engine 13 is started again, the excavator 1 can be operated as usual.

  According to the emergency stop system 5 as described above, each electronic device such as the engine controller 14, the monitor device 16, the communication terminal 17, and the emergency stop controller 51 regardless of whether the first switch 52 or the second switch 53 is open or closed. Therefore, even when the excavator 1 is in an emergency stop, each device can continue to function. Thereby, even when the excavator 1 is in an emergency stop, information related to the excavator 1 and the operation status of the first switch 52 and the second switch 53 can be acquired, and information necessary for grasping the status of the excavator 1 and analyzing the reason for the emergency stop. Can be obtained.

  In particular, when the communication terminal 17 is mounted on the excavator 1, various types of information on the excavator 1 at the time of emergency stop can be transmitted to the management server. Therefore, the shovel 1 can be stopped by accessing the management server. It is possible to grasp that it is in a state. Further, the status of the excavator 1 at the time of emergency stop and the operation status of the first switch 52 and the second switch 53 can be stored in the management server to form a database. This database can be used for analyzing the status of the excavator 1 at the time of emergency stop. Available.

  Further, since the first switch 52 and the second switch 53 are provided for the emergency stop operation of the excavator 1, the work machine 11 is stopped without stopping the engine 13, and the work machine 11 and the engine 13 are also stopped. The case can be selected according to the situation. Therefore, it is possible to prevent the engine 13 from being stopped more than necessary.

  Furthermore, since the first warning lamp 55, the second warning lamp 56, and the alarm buzzer 57 are provided outside the shovel 1, and the monitor panel 15 is provided in the cab 12, the shovel 1 is in an emergency stop. Is notified inside and outside the excavator 1. Therefore, not only the person who operated the first switch 52 and the second switch 53 but also the person around the shovel 1 and in the cab 12 can be notified that the shovel 1 is in an emergency stop.

[Modification of Embodiment]
It should be noted that the present invention is not limited to the above-described embodiment, and modifications, improvements, and the like within the scope that can achieve the object of the present invention are included in the present invention.
In the embodiment, the emergency stop system 5 stops the operation of the excavator 1, but is not limited thereto, and may be used for other construction machines such as a dump truck and a wheel loader.

  In the embodiment, the emergency stop controller 51 stops the operation of the work machine 11 in the excavator 1, but is not limited thereto. For example, the emergency stop controller 51 outputs a control command for stopping the operation of the excavator 1 to the controller that controls the forward and backward movement of the excavator 1, thereby prohibiting the excavator 1 from traveling, and issuing a control command for controlling the braking of the shovel 1 The excavator 1 may be stopped by outputting to the controller.

  In the above-described embodiment, the emergency stop controller 51 directly controls the energization state of the work implement control valve 54 to stop the operation of the work implement 11, but is not limited thereto. In short, it is sufficient that the operation of the work implement 11 is stopped according to the command of the emergency stop controller 51. For example, the emergency stop controller 51 causes the work implement controller that controls the operation of the work implement 11 to stop the operation of the work implement 11. A control command may be output and the work machine controller may stop the operation of the work machine 11.

  In the above embodiment, the work implement control valve 54 is provided for controlling the work implement 11 by the work implement controller, and the emergency stop controller 51 cuts off the power supply to the work implement control valve 54. Although the work machine 11 has been stopped, the present invention is not limited to this. For example, an emergency stop solenoid valve for the work implement 11 is provided separately from the solenoid valve for controlling the work implement 11 by the work implement controller, and this emergency stop solenoid valve is controlled by the emergency stop controller 51. Good.

  In the above embodiment, the engine start state determination unit 511 of the emergency stop controller 51 determines whether the engine 13 is in the start state based on the engine speed acquired from the engine controller 14. Instead, the engine speed may be acquired from the engine speed sensor to determine whether or not the engine 13 is in an activated state.

  INDUSTRIAL APPLICABILITY The present invention can be used for an emergency stop system of a work machine and other work machines including a plurality of electronic devices, in addition to being used in construction machines.

The schematic diagram which shows the construction machine which concerns on one Embodiment of this invention. The figure for showing the composition of the emergency stop system concerning the one embodiment. The control block diagram of the emergency stop controller which concerns on the said one Embodiment. The flowchart for demonstrating the effect | action of the emergency stop system which concerns on the said one Embodiment. The figure for demonstrating the effect | action of the emergency stop system which concerns on the said one Embodiment. The another figure for demonstrating the effect | action of the emergency stop system which concerns on the said one Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Excavator (construction machine), 5 ... Emergency stop system, 11 ... Work machine, 14 ... Engine controller (1st electronic device), 21 ... Ignition switch, 51 ... Emergency stop controller (2nd electronic device), 52 ... 1st switch, 53 ... 2nd switch, 54 ... Work implement control valve (work implement stop means).

Claims (3)

An emergency stop system for a construction machine including a work machine and a plurality of electronic devices,
A first switch;
A second switch provided separately from the first switch;
Working machine stopping means for stopping the operation of the working machine;
A first electronic device for stopping the engine of the construction machine;
Based on signals from the first switch and the second switch, a work implement stop command that causes the work implement stop means to stop the operation of the work implement, and an engine stop that causes the first electronic device to stop the engine. A second electronic device for performing a command,
Each of the plurality of electronic devices including the first electronic device and the second electronic device includes a power supply line connected to a battery of the construction machine via an ignition switch,
The second electronic device includes a first signal supply line connected to the battery via the ignition switch and the first switch, and a first signal line connected to the battery via the ignition switch and the second switch. An emergency stop system comprising a two-signal supply line. The emergency stop system according to claim 1,
The second electronic device is
First switch state determining means for determining an open / closed state of the first switch;
Second switch state determining means for determining an open / closed state of the second switch;
Control command generation means for generating and outputting the work implement stop command and the engine stop command based on the determination results of the first switch state determination unit and the second switch state determination unit;
The control command generation means outputs the work implement stop command to the work implement stop means when only the first switch of the first switch and the second switch is closed, and the second switch is closed. An emergency stop system that outputs the work implement stop command to the work implement stop means and outputs the engine stop command to the first electronic device when in a state. A construction machine,
A work machine for performing work on the construction machine;
Multiple electronic devices,
A construction machine comprising the emergency stop system according to claim 1.

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