JP2012255248A - ショベル - Google Patents
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- JP2012255248A JP2012255248A JP2011127264A JP2011127264A JP2012255248A JP 2012255248 A JP2012255248 A JP 2012255248A JP 2011127264 A JP2011127264 A JP 2011127264A JP 2011127264 A JP2011127264 A JP 2011127264A JP 2012255248 A JP2012255248 A JP 2012255248A
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- 238000001514 detection method Methods 0.000 claims abstract description 49
- 238000009412 basement excavation Methods 0.000 claims description 24
- 238000005553 drilling Methods 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 14
- 239000003990 capacitor Substances 0.000 description 13
- 230000007704 transition Effects 0.000 description 12
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 11
- 230000007423 decrease Effects 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 229910001416 lithium ion Inorganic materials 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K25/00—Auxiliary drives
- B60K25/02—Auxiliary drives directly from an engine shaft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/06—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving electric generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/46—Series type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
- B60W30/1886—Controlling power supply to auxiliary devices
- B60W30/1888—Control of power take off [PTO]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/412—Excavators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
Abstract
【解決手段】本発明に係るショベルは、エンジン11と、エンジン11により駆動される油圧ポンプ14と、油圧ポンプ14が吐出する圧油により駆動されるブーム4を含むアタッチメントと、エンジン11の駆動をアシストする電動発電機12と、電動発電機12が発電した電力を蓄電する蓄電部120と、アタッチメントの動作状態を検出する動作状態検出部300と、蓄電部120に蓄電された電力を用いた電動発電機12によるアシストの実行を制御するアシスト制御部301とを有するショベルであって、アシスト制御部301は、掘削動作後のブーム上げ動作中に、電動発電機12によりエンジン11をアシストさせる。
【選択図】図3
Description
Claims (5)
- エンジンと、該エンジンにより駆動される油圧ポンプと、該油圧ポンプが吐出する圧油により駆動されるブームを含むアタッチメントと、該エンジンの駆動をアシストする電動発電機と、該電動発電機が発電した電力を蓄電する蓄電部と、該アタッチメントの動作状態を検出する動作状態検出部と、該蓄電部に蓄電された電力を用いた該電動発電機によるアシストの実行を制御するアシスト制御部とを有するショベルであって、
前記アシスト制御部は、掘削動作後のブーム上げ動作中に、前記電動発電機により前記エンジンをアシストさせる、
ことを特徴とするショベル。 - 前記ブームに加わる負荷を検出する負荷圧センサを更に備え、
前記アシスト制御部は、前記負荷圧センサによる負荷圧の検出値が所定圧力を超えた場合に、前記電動発電機により前記エンジンをアシストさせる、
ことを特徴とする請求項1に記載のショベル。 - 前記ブームの動作状態を検出するブーム動作状態検出部を更に備え、
前記アシスト制御部は、前記ブーム動作状態検出部の検出値に基づいて前記動作状態検出部が前記ブーム上げ動作を検出した場合に、前記電動発電機により前記エンジンをアシストさせる、
ことを特徴とする請求項1又は2に記載のショベル。 - 前記アタッチメントを操作する操作装置の操作内容を検出する操作状態検出部を更に備え、
前記アシスト制御部は、前記操作状態検出部の検出値に基づいて前記動作状態検出部が前記ブーム上げ動作を検出した場合に、前記電動発電機により前記エンジンをアシストさせる、
ことを特徴とする請求項1乃至3の何れか一項に記載のショベル。 - 前記アシスト制御部は、ブーム上げ旋回動作において、前記電動発電機により前記エンジンをアシストさせる、
ことを特徴とする請求項1乃至4の何れか一項に記載のショベル。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011127264A JP5653844B2 (ja) | 2011-06-07 | 2011-06-07 | ショベル |
KR1020120060277A KR101372781B1 (ko) | 2011-06-07 | 2012-06-05 | 쇼벨 |
US13/488,582 US8775033B2 (en) | 2011-06-07 | 2012-06-05 | Shovel and method of controlling shovel |
EP12004312.0A EP2532793B1 (en) | 2011-06-07 | 2012-06-06 | Shovel and method of controlling shovel |
CN201210186772.XA CN102817385B (zh) | 2011-06-07 | 2012-06-07 | 挖土机 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011127264A JP5653844B2 (ja) | 2011-06-07 | 2011-06-07 | ショベル |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2012255248A true JP2012255248A (ja) | 2012-12-27 |
JP5653844B2 JP5653844B2 (ja) | 2015-01-14 |
Family
ID=46319527
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011127264A Active JP5653844B2 (ja) | 2011-06-07 | 2011-06-07 | ショベル |
Country Status (5)
Country | Link |
---|---|
US (1) | US8775033B2 (ja) |
EP (1) | EP2532793B1 (ja) |
JP (1) | JP5653844B2 (ja) |
KR (1) | KR101372781B1 (ja) |
CN (1) | CN102817385B (ja) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015229891A (ja) * | 2014-06-06 | 2015-12-21 | 住友重機械工業株式会社 | ショベル |
WO2015199249A1 (ja) * | 2015-08-18 | 2015-12-30 | 株式会社小松製作所 | 作業車両及びその制御方法 |
KR101656765B1 (ko) * | 2015-08-18 | 2016-09-12 | 가부시키가이샤 고마쓰 세이사쿠쇼 | 작업 차량 및 그 제어 방법 |
JP2017223096A (ja) * | 2016-06-17 | 2017-12-21 | 住友重機械工業株式会社 | ショベル |
JP2019124049A (ja) * | 2018-01-16 | 2019-07-25 | 住友建機株式会社 | ショベル |
WO2019151335A1 (ja) * | 2018-01-30 | 2019-08-08 | 住友建機株式会社 | ショベル及びショベルの管理システム |
CN114606996A (zh) * | 2022-03-28 | 2022-06-10 | 徐工集团工程机械股份有限公司科技分公司 | 一种装载机自动铲料控制方法 |
Families Citing this family (18)
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JP5203434B2 (ja) * | 2010-09-08 | 2013-06-05 | 日立建機株式会社 | ハイブリッド建設機械 |
JP5928065B2 (ja) * | 2012-03-27 | 2016-06-01 | コベルコ建機株式会社 | 制御装置及びこれを備えた建設機械 |
JP6019956B2 (ja) * | 2012-09-06 | 2016-11-02 | コベルコ建機株式会社 | ハイブリッド建設機械の動力制御装置 |
JP5529241B2 (ja) * | 2012-11-20 | 2014-06-25 | 株式会社小松製作所 | 作業機械および作業機械の作業量計測方法 |
JP5969380B2 (ja) * | 2012-12-21 | 2016-08-17 | 住友建機株式会社 | ショベル及びショベル制御方法 |
KR20160023710A (ko) * | 2013-06-28 | 2016-03-03 | 볼보 컨스트럭션 이큅먼트 에이비 | 플로팅기능을 갖는 건설기계용 유압회로 및 플로팅기능 제어방법 |
US9701312B2 (en) | 2013-12-11 | 2017-07-11 | Caterpillar Inc. | Idle reduction engine shutdown and restart system for a machine |
US20150247509A1 (en) * | 2014-02-28 | 2015-09-03 | Caterpillar Inc. | Machine having hydraulic start assist system |
JP6962667B2 (ja) * | 2014-03-27 | 2021-11-05 | 住友建機株式会社 | ショベル及びその制御方法 |
JP6415839B2 (ja) * | 2014-03-31 | 2018-10-31 | 住友重機械工業株式会社 | ショベル |
EP3228762B1 (en) * | 2014-12-05 | 2019-03-13 | Sumitomo Heavy Industries, Ltd. | Shovel and shovel control method |
CN104515844B (zh) * | 2014-12-29 | 2017-01-18 | 江苏师范大学 | 一种测试挖掘机施工区的力学特性试验系统 |
FI126801B (fi) * | 2015-01-13 | 2017-05-31 | Reijo Saukko | Työkone |
JP6884702B2 (ja) * | 2015-09-16 | 2021-06-09 | 住友重機械工業株式会社 | ショベル |
KR102479557B1 (ko) * | 2015-11-09 | 2022-12-20 | 현대두산인프라코어(주) | 휠로더의 적재 중량 측정 방법 및 측정 시스템 |
CN108603359A (zh) * | 2016-01-28 | 2018-09-28 | 住友建机株式会社 | 挖土机 |
EP3594414B1 (en) * | 2017-03-10 | 2023-01-18 | Sumitomo (S.H.I.) Construction Machinery Co., Ltd. | Shovel |
EP3943674A4 (en) * | 2019-03-19 | 2022-07-13 | Sumitomo Construction Machinery Co., Ltd. | EXCAVATOR |
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JP2015229891A (ja) * | 2014-06-06 | 2015-12-21 | 住友重機械工業株式会社 | ショベル |
DE112015000107B4 (de) * | 2015-08-18 | 2017-11-16 | Komatsu Ltd. | Arbeitsfahrzeug und Arbeitsfahrzeugsteuerungsverfahren |
CN105452570A (zh) * | 2015-08-18 | 2016-03-30 | 株式会社小松制作所 | 作业车辆及其控制方法 |
JP5946594B2 (ja) * | 2015-08-18 | 2016-07-06 | 株式会社小松製作所 | 作業車両及びその制御方法 |
KR101656765B1 (ko) * | 2015-08-18 | 2016-09-12 | 가부시키가이샤 고마쓰 세이사쿠쇼 | 작업 차량 및 그 제어 방법 |
US9540785B1 (en) | 2015-08-18 | 2017-01-10 | Komatsu Ltd. | Working vehicle and working vehicle control method |
WO2015199249A1 (ja) * | 2015-08-18 | 2015-12-30 | 株式会社小松製作所 | 作業車両及びその制御方法 |
JP2017223096A (ja) * | 2016-06-17 | 2017-12-21 | 住友重機械工業株式会社 | ショベル |
JP2019124049A (ja) * | 2018-01-16 | 2019-07-25 | 住友建機株式会社 | ショベル |
JP7062445B2 (ja) | 2018-01-16 | 2022-05-06 | 住友建機株式会社 | ショベル |
WO2019151335A1 (ja) * | 2018-01-30 | 2019-08-08 | 住友建機株式会社 | ショベル及びショベルの管理システム |
JPWO2019151335A1 (ja) * | 2018-01-30 | 2021-01-14 | 住友建機株式会社 | ショベル及びショベルの管理システム |
CN114606996A (zh) * | 2022-03-28 | 2022-06-10 | 徐工集团工程机械股份有限公司科技分公司 | 一种装载机自动铲料控制方法 |
CN114606996B (zh) * | 2022-03-28 | 2022-10-21 | 徐工集团工程机械股份有限公司科技分公司 | 一种装载机自动铲料控制方法 |
Also Published As
Publication number | Publication date |
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EP2532793B1 (en) | 2019-05-15 |
JP5653844B2 (ja) | 2015-01-14 |
KR20120135880A (ko) | 2012-12-17 |
US20120315119A1 (en) | 2012-12-13 |
US8775033B2 (en) | 2014-07-08 |
EP2532793A2 (en) | 2012-12-12 |
CN102817385A (zh) | 2012-12-12 |
EP2532793A3 (en) | 2016-12-28 |
KR101372781B1 (ko) | 2014-03-10 |
CN102817385B (zh) | 2015-04-15 |
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