JPS6279310A - Apparatus for detecting posture of excavator - Google Patents

Apparatus for detecting posture of excavator

Info

Publication number
JPS6279310A
JPS6279310A JP21894685A JP21894685A JPS6279310A JP S6279310 A JPS6279310 A JP S6279310A JP 21894685 A JP21894685 A JP 21894685A JP 21894685 A JP21894685 A JP 21894685A JP S6279310 A JPS6279310 A JP S6279310A
Authority
JP
Japan
Prior art keywords
light receiver
light
receiver
excavator
axis
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.)
Pending
Application number
JP21894685A
Other languages
Japanese (ja)
Inventor
Hiroshi Hamuro
羽室　浩
Masaaki Tsuchimoto
土本　正明
Masahiro Imomoto
芋本　昌裕
Shoji Sugioka
杉岡　昭司
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.)
Kubota Corp
Original Assignee
Kubota Corp
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
Application filed by Kubota Corp filed Critical Kubota Corp
Priority to JP21894685A priority Critical patent/JPS6279310A/en
Publication of JPS6279310A publication Critical patent/JPS6279310A/en
Pending legal-status Critical Current

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  • Excavating Of Shafts Or Tunnels (AREA)

Abstract

PURPOSE:To enhance the planning capability and economical efficiency of a advancing posture, by constituting a half mirror, a first receiver and a second light receiver so that all of them are freely revolved 90 deg. around the axis passing the center of the second light receiver and crossing the light receiving surface of the second light receiver at a right angle. CONSTITUTION:The whole of a posture detector 7 containing a half mirror 10, a first light receiver 12 and a second light receiver 13 is constituted so as to be integrally and freely revolved 90 deg. around the axis P passing the center of the light receiver 13 and crossing the light receiving surface 13a of the light receiver 13 at a right angle and the remote operation type drive apparatus 8 applying integral revolving operation to the whole of the posture detector 7 is connected to the posture detector 7. Information for calculating the position of an excavator is obtained from the light receiver 12 and information for calculating the yawing angle and pitching angle of the excavator with respect to a scheduled advancing direction is obtained from two light receivers 12, 13 substancially different in the distance from a laser transit. Therefore, even if an biaxial direction light receiving position detecting type light receiver is not used in the light receiver, the yawing and pitching angles can be detected.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、推進管工法やトンネル掘削等に用いる掘削機
の姿勢検出装置に関し、詳しくは、掘削目標方向に投光
されたレーザビームに対するハーフミラ−と、そのハー
フミラ−からの反射レーザビームを検出する第１受光器
と、前記ハーフミラ−からの透過レーザビームを検出す
る第２受光器とを備えた掘削機の姿勢検出装置に関する
。Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a posture detection device for an excavator used in propulsion pipe construction methods, tunnel excavation, etc. -, a first light receiver for detecting a reflected laser beam from the half mirror, and a second light receiver for detecting a transmitted laser beam from the half mirror.

〔従来の技術〕[Conventional technology]

従来、上記姿勢検出装置では、第３図に示すように、第
１受光器（３０）を水平なＸ軸組当方向（ｘ）又は垂直
なＹ軸組当方向（ｙ）のどららか一方の線に沿って所定
の受光長さを有する受光素子（１５）を備えた一軸方向
受光位置検出型に形成すると共に、第２受光器（３１）
をＸ軸方向とＹ軸方向の検出可能な受光素子（３２）を
設けた二軸方向受光位置検出型に形成し、第１受光器（
３０）をその受光面の中心を通り、且つ、受光面に直交
する軸芯（０）周りに９０度回動操作自在に形成してあ
り、たとえば、第１受光！　（３０）の受光素子（１５
）の長手方向がＸ軸組当方向（ｘ）にある場合には、第
１受光器（３０）によってレーザビーム（Ｌ）のＸ軸方
向における受光位置を検出すると共に、第１受光器（３
０）と第２受光器（３１）によるＸ軸方向の検出変位値
の差によってヨーイング角を検出し、引き続き、第１受
光器（３０）を軸芯（ロ）周りに９０度回動操作して受
光素子（１５）の長手方向をＹ軸相当方向（ｙ）に切換
えて、第１受光器（３０）によってレーザビーム（Ｌ）
のＹ軸方向における受光位置を検出すると共に、第１受
光器（３０）と第２受光器（３１）によるＹ軸方向の検
出変位値の差によってピッチ角を検出できるように構成
してあった。Conventionally, in the above-mentioned attitude detection device, as shown in FIG. The second light receiver (31) is formed into a uniaxial light receiving position detection type having a light receiving element (15) having a predetermined light receiving length along the line of
is formed into a biaxial light-receiving position detection type equipped with a light-receiving element (32) that can detect in the X-axis direction and the Y-axis direction, and the first light receiver (
30) is formed so as to pass through the center of the light-receiving surface and to be rotatable 90 degrees around an axis (0) perpendicular to the light-receiving surface. (30) Photodetector (15
) is in the X-axis alignment direction (x), the first light receiver (30) detects the light receiving position of the laser beam (L) in the X-axis direction, and the first light receiver (30)
The yawing angle is detected by the difference between the detected displacement value in the X-axis direction by the second light receiver (31) and the first light receiver (30), and then the first light receiver (30) is rotated 90 degrees around the axis (b). The longitudinal direction of the light receiving element (15) is switched to the direction (y) corresponding to the Y axis, and the first light receiver (30) emits the laser beam (L).
In addition to detecting the light receiving position in the Y-axis direction, the pitch angle can also be detected based on the difference in displacement values detected in the Y-axis direction by the first light receiver (30) and the second light receiver (31). .

〔発明が解決しようとする問題点〕[Problem that the invention seeks to solve]

しかし、二軸方向受光位置検出型の第２受光器（３１）
は、一般に、製作コストが高くつくだけでなく、Ｘ軸方
向の変位値とＹ軸方向の変位値とに分解する分解能が、
検出面上で異なるために、全体としての検出性能が一軸
方向受光位置検出型よりは劣り、しかも検出範囲が限ら
れて、大きな変位を検出することができないという欠点
があった。However, the second light receiver (31) of biaxial light receiving position detection type
In general, not only is the production cost high, but the resolution to resolve the displacement value in the X-axis direction and the displacement value in the Y-axis direction is
Since the detection surface is different, the overall detection performance is inferior to the uniaxial light receiving position detection type, and the detection range is limited, making it impossible to detect large displacements.

本発明の目的は、第２受光器に、二軸方向受光位置検出
型の受光器を使用しなくとも、ヨーイング角とピッチ角
を検出できるようにする点にある。An object of the present invention is to make it possible to detect the yawing angle and the pitch angle without using a biaxial light receiving position detection type light receiver as the second light receiver.

〔問題点を解決するための手段〕[Means for solving problems]

本発明における掘削機の姿勢検出装置の特徴構成は、第
１受光器及び第２受光器が一軸方向受光位置検出型であ
って、ハーフミラ−と、第１受光器と、第２受光器を、
前記第２受光器の中心を通り、且つ、第２受光器の受光
面に直交する軸芯周りに９０度回動自在に構成したこと
にあり、その作用効果は、次の通りである。The characteristic configuration of the attitude detection device for an excavator according to the present invention is that the first light receiver and the second light receiver are of a uniaxial light receiving position detection type, and the half mirror, the first light receiver, and the second light receiver are
It is configured to be rotatable 90 degrees around an axis that passes through the center of the second light receiver and is orthogonal to the light receiving surface of the second light receiver, and its effects are as follows.

〔作　用〕[For production]

つまり、たとえば第１受光器の受光素子を、Ｘ軸相当方
向にのみ一列設けであると共に、第２受光器の素子を、
Ｘ軸方向にのみ一列設けである場合には、この状態でレ
ーザビームのＸ軸方向における受光位置及び、ヨーイン
グ角を検出することができると共に、ハーフミラ−と、
第１受光器と、第２受光器を第２受光器の中心を通り、
且つ、第２受光器の受光面に直交する軸芯周りに９０度
回動操作すれば、ハーフミラ−による反射レーザビーム
も軸芯周りに９０度方向を変えると共に、その反射レー
ザビームを受ける第１受光器の受光素子の長手方向は、
Ｙ軸相当方向に変化するために、レーザビームのＹ軸方
向における受光位置を検出でき、また、ハーフミラ−か
らの透過レーザビームを受ける第２受光器における受光
素子の長手方向は、軸芯周りに９０度回動させたＹ軸方
向に変化するために、ピッチ角の検出が可能となる。That is, for example, the light receiving elements of the first light receiver are provided in a row only in the direction equivalent to the X axis, and the elements of the second light receiver are
If one row is provided only in the X-axis direction, the receiving position of the laser beam in the X-axis direction and the yawing angle can be detected in this state, and the half mirror and
Passing the first light receiver and the second light receiver through the center of the second light receiver,
In addition, if the second light receiver is rotated 90 degrees around the axis perpendicular to the light receiving surface, the laser beam reflected by the half mirror will also change direction by 90 degrees around the axis, and the first light receiver that receives the reflected laser beam will also change direction by 90 degrees around the axis. The longitudinal direction of the light-receiving element of the receiver is
Since the laser beam changes in a direction corresponding to the Y-axis, the light-receiving position of the laser beam in the Y-axis direction can be detected, and the longitudinal direction of the light-receiving element in the second receiver that receives the transmitted laser beam from the half mirror is centered around the axis. Since the pitch angle changes in the Y-axis direction by rotating by 90 degrees, the pitch angle can be detected.

〔発明の効果〕〔Effect of the invention〕

従って、第２受光器に、二輪方向受光位置検出型の受光
器を使用せずに、一軸方向受光位置検出型の受光器を使
用しても、ヨーイング角とピッチ角の検出ができて、製
品コストを低減させられるばかりではなく、たとえば、
一軸方向受光位置検出型の利点を利用して、検出性能を
変えずに検出範囲の広いものに形成することができるた
めに、掘削機における推進姿勢の計測性能、及び経済性
を確実に向上させることができた。Therefore, even if a uniaxial light receiving position detection type receiver is used as the second receiver instead of a two-wheel direction light receiving position detection type receiver, the yaw angle and pitch angle can be detected, and the product Not only can costs be reduced, but also, for example,
Utilizing the advantages of the uniaxial light receiving position detection type, it is possible to create a device with a wide detection range without changing detection performance, which reliably improves the measurement performance and economic efficiency of the propulsion posture of excavators. I was able to do that.

〔実施例〕〔Example〕

次に、本発明の実施例を、図面に基づいて説明する。 Next, embodiments of the present invention will be described based on the drawings.

第２図に、掘削機（１）に対して継足し状に接続した推
進管（２）群を、掘削機（１）による掘削土砂をスクリ
ューコンベア（３）で施工ピント（４）側に搬出しなが
ら、施工ピット（４）に設置した推進機（５）により土
中に押入する推進工法の施工状態を示してある。Figure 2 shows a group of propulsion pipes (2) connected to the excavator (1) in a continuous manner, and the earth and sand excavated by the excavator (1) is carried out to the construction pin (4) by a screw conveyor (3). However, the construction state is shown using a propulsion method in which the propulsion device (5) installed in the construction pit (4) is used to push the soil into the ground.

前記掘削機（１）には、施工ピット（４）に設置したレ
ーザトランシット（６）から予定推進方向にレーザビー
ム（Ｌ）を投光するのに対して、そのレーザビーム（Ｌ
）を掘削ａ（１）側において受光する際の受光位置を垂
直方向並びに水平方向の夫夫について検出すると共に、
ピンチ角及びヨーイング角を検出する掘削機（１）の姿
勢検出装置（７）を装備してある。The excavator (1) is equipped with a laser beam (L) that is projected in the planned propulsion direction from a laser transit (6) installed in the construction pit (4).
) on the excavation a (1) side, detecting the light receiving position in the vertical and horizontal directions, and
The excavator (1) is equipped with an attitude detection device (7) that detects the pinch angle and yaw angle.

一方、姿勢検出装置（７）の検出結果に基づいて垂直な
Ｙ軸方向並びに水平なＸ軸方向の夫々についての掘削機
（１）のヨーイング角とピッチ角とを算出すると共に、
それら算出結果を操作者に対して表示し、更に、それら
算出結果に基づいて掘削機（１）の先端部を遠隔首振り
操作することにより、土中推進経路を予定経路に合わせ
るように掘削機（１）の推進方向を自動修正する制御装
置（９）を族エビノド（４）側に設置してある。On the other hand, the yawing angle and pitch angle of the excavator (1) in each of the vertical Y-axis direction and the horizontal X-axis direction are calculated based on the detection results of the attitude detection device (7), and
The calculation results are displayed to the operator, and the tip of the excavator (1) is remotely swung based on the calculation results, so that the excavator (1) can adjust the underground propulsion path to the planned path. A control device (9) for automatically correcting the propulsion direction of (1) is installed on the side of the family shrimp (4).

前記姿勢検出装置（７）は、第１図に示すように、掘削
機（１）の基準軸ｖＡ（Ｐ）上に、投光レーザビーム（
Ｌ）を集光する集光レンズ（１４）を設けると共に、集
光されたレーザビーム（Ｌ３）に対するハーフミラ−（
１０）を設け、ハーフミラ−（１０）からの反射レーザ
ビーム（Ｌ２）を受光してその際の受光位置を一軸方向
について検出するために、反射レーザビーム（シ２）の
照射線上に、その反射レーザビーム（Ｌ２）を扇形状の
Ｙ軸相当方向（ｙ）にのみ拡散する透過光に変換する第
１拡散レンズ（１９）を設けると共に、第１拡散レンズ
（１９）からの透過光を含む面に対して、交差するＸ軸
相当方向（×）の線に沿って所定の受光長さを有する受
光素子（１５）を配置して、Ｘ軸方向の受光位置を検出
する一軸方向受光位置検出型の第１受光器（１２）を形
成してあり、一方、ハーフミラ−（１０）を通過する透
過レーザビーム（Ｌ３）を、受光して一軸方向における
受光位置を検出するために、透過レーザビーム（Ｌ３）
の照射線上にその透過レーザビーム（Ｌ３）を扇形状の
Ｙ軸方向にのみ拡散する透過光に変換する第２拡散レン
ズ（２０）を設けると共に、第２拡散レンズ（２０）か
らの透過光を含む面に対して、交差するＸ軸方向の線に
沿って所定の受光長さを有する受光素子（１５）を配置
して、Ｘ軸方向の受光位置を検出する一軸方向受光位置
検出型の第２受光器（１３）を、基４ζ軸線（Ｐ）　と
直交する状態で形成してある。As shown in FIG. 1, the attitude detection device (7) emits a projected laser beam (
A condensing lens (14) is provided to condense the laser beam (L3), and a half mirror (14) for condensing the condensed laser beam (L3) is provided.
10) is provided on the irradiation line of the reflected laser beam (L2) in order to receive the reflected laser beam (L2) from the half mirror (10) and detect the light receiving position in one axis direction. A first diffusion lens (19) that converts the laser beam (L2) into transmitted light that is diffused only in the direction (y) corresponding to the fan-shaped Y axis is provided, and a surface containing the transmitted light from the first diffusion lens (19) is provided. A uniaxial light-receiving position detection type that detects the light-receiving position in the X-axis direction by arranging a light-receiving element (15) having a predetermined light-receiving length along the intersecting line in the X-axis equivalent direction (x). On the other hand, in order to receive the transmitted laser beam (L3) passing through the half mirror (10) and detect the light receiving position in the uniaxial direction, a transmitted laser beam (L3) is formed. L3)
A second diffusing lens (20) is provided on the irradiation line to convert the transmitted laser beam (L3) into transmitted light that is diffused only in the fan-shaped Y-axis direction, and the transmitted light from the second diffusing lens (20) is A light receiving element (15) having a predetermined light receiving length is arranged along a line in the X-axis direction that intersects with respect to a surface containing the surface, and the light receiving position in the uniaxial direction is detected. Two light receivers (13) are formed perpendicular to the base 4ζ axis (P).

そして、ハーフミラ−（１０）と、第１受光器（１２）
と、第２受光器（１３）とを含む姿勢検出装置（７）全
体を、第２受光器（１３）の中心を通り、且つ、第２受
光器（１３）の受光面（１３ａ）に直交する軸芯（Ｐ）
周りに９０度一体回動自在に構成し、姿勢検出装置（７
）全体を一体回動操作する遠隔操作型駆動装置（８）を
第１図及び第２図に示すように姿勢検出装置（７）に連
結してある。And a half mirror (10) and a first light receiver (12)
and the second light receiver (13), the entire attitude detection device (7) including Axis center (P)
It is configured so that it can rotate freely by 90 degrees around the circumference, and the posture detection device (7
) A remote-controlled drive device (8) that integrally rotates the entire device is connected to an attitude detection device (7) as shown in FIGS. 1 and 2.

つまり、Ｘ軸方向の受光位置のみを検出できる状態にあ
る第１受光器（１２）と第２受光器（１３）とが、駆動
装置（８）による回転操作で軸芯（Ｐ）周りに９０度回
動させることによって、共にＹ軸方向の受光位置を検出
できる状態に変化し、一軸方向受光位置検出型の受光器
で、二次元方向の検出が可能となるように構成してある
。In other words, the first light receiver (12) and the second light receiver (13), which are in a state where only the light receiving position in the X-axis direction can be detected, are rotated 90 degrees around the axis (P) by the rotation operation by the drive device (8). By rotating the two, the state changes to a state where the light receiving position in the Y-axis direction can be detected, and the light receiver is configured to detect the light receiving position in the uniaxial direction, so that detection in the two-dimensional direction is possible.

結局、垂直方向並びに水平方向における掘削機（１）の
位置を求めるための情報を第１受光器（１２）から得る
ように、又、予定推進方向に対する１屈削機（１）のヨ
ーイング角及びピッチ角を求めるための情報を、レーザ
トランシット（６）からの距離が実質的に異なる２つの
第１受光器（１２）と第２受光器（１３）とから得るよ
うに構成してある。As a result, information for determining the position of the excavator (1) in the vertical and horizontal directions is obtained from the first receiver (12), and the yawing angle and the angle of the excavator (1) with respect to the planned propulsion direction are obtained. The information for determining the pitch angle is obtained from the two light receivers (12) and the second light receiver (13) that are located at substantially different distances from the laser transit (6).

受光素子（１５）としては、例えば０．４ｍ−幅で長さ
１０龍のアモルファスの素子を０．５龍ピツチで複数個
並設し１０龍Ｘ　１００　龍の大きさとしたものをあげ
ることができる。As the light-receiving element (15), for example, a plurality of amorphous elements each having a width of 0.4 m and a length of 10 dragons are arranged in parallel at a pitch of 0.5 dragons, and the size is 10 dragons x 100 dragons. .

前記集光レンズ（１４）の手前の基準軸′ｍ（Ｐ）上に
は、格子状の目視ターゲラｌ−（１７）を基準軸線（Ｐ
）と直交する姿勢で設けると共に、その目視ターゲット
（１７）に目盛を構成する糸状体に発光塗料を塗布し、
更に、目視ターゲラｌ−（１７）の横側に、発光塗料を
発光させるための蛍光灯（１８）を配備し、もって、発
光状態にある目盛を用いて投光レーザビーム（Ｌ）の通
過位置と掘削機基準軸線（Ｐ）との相対変位量を垂直方
向（Ｙ軸方向）並びに水平方向（Ｘ軸方向）について施
工ピント（４）からトランシフトで読むことにより、予
定推進経路に対する掘削機（１）の変位状態を目視で認
知できるようにしてある。On the reference axis 'm (P) in front of the condensing lens (14), a grid-like visual target lens l-(17) is placed on the reference axis (P).
), and a luminescent paint is applied to the filament forming the scale on the visual target (17).
Furthermore, a fluorescent lamp (18) for making the luminescent paint emit light is installed on the side of the visual targeter L-(17), and the passing position of the projected laser beam (L) is determined using the scale in the emitting state. The excavator ( The displacement state of 1) can be visually recognized.

前記第１、第２拡散レンズ（１９）　、　（２０）は、
円柱状のガラス棒（２１）を複数本、レーザビーム（Ｌ
２）　、　（Ｌ：ｌ）に対して直交する平面上に並べた
ものから形成してあり、ガラス棒（２１）の並設方向に
、透過光が扇形状に拡散されるものである。The first and second diffusion lenses (19) and (20) are
A plurality of cylindrical glass rods (21) are connected to a laser beam (L
2) The glass rods (21) are arranged on a plane perpendicular to (L:l), and the transmitted light is diffused in a fan shape in the direction in which the glass rods (21) are arranged side by side.

〔別実施例〕[Another example]

前記第１、第２拡散レンズ（１９）　、　（２０）は、
複数本のガラス棒（２１）から成るもの以外に、Ｘ軸、
Ｙ軸相当方向の内の一方の方向には厚みが一定で、他方
の方向には厚み変化のあるレンズから成るものでも良い
。The first and second diffusion lenses (19) and (20) are
In addition to the one consisting of multiple glass rods (21),
The lens may have a constant thickness in one direction of the directions corresponding to the Y-axis, and a lens having a thickness varying in the other direction.

前記姿勢検出袋Ｗ（７）は、第１、第２拡散レンズ（１
９）　、　（２０）を、設けないものでも良く、この場
合は、受光器（１２）　、　（１３）を、−軸方向素子
を、それに直交する方向に平行に複数列並べたものから
形成しなければならない。The attitude detection bag W (7) includes first and second diffusion lenses (1
9) and (20) may not be provided; in this case, the light receivers (12) and (13) are formed from a plurality of rows of negative-axis direction elements arranged in parallel in a direction perpendicular thereto. There must be.

前記受光素子（（１５）は、複数の素子から構成せず、
１つの大きな素子で形成したものであってもよい。The light receiving element ((15) is not composed of a plurality of elements,
It may be formed of one large element.

【図面の簡単な説明】[Brief explanation of drawings]

図面は本発明に係る掘削機の姿勢検出装置の実施例を示
し、第１図は姿勢検出装置の概略斜視図、第２図は掘削
機の一部断面を示す全体図、第３図は従来例を示す姿勢
°検出装置の概略斜視図である。The drawings show an embodiment of the attitude detection device for an excavator according to the present invention, FIG. 1 is a schematic perspective view of the attitude detection device, FIG. 2 is an overall view showing a partial cross section of the excavator, and FIG. 3 is a conventional one. 1 is a schematic perspective view of an example posture detection device; FIG.

Claims (1)

【特許請求の範囲】[Claims] 掘削目標方向に投光されたレーザビーム（Ｌ）に対する
ハーフミラー（１０）と、そのハーフミラー（１０）か
らの反射レーザビーム（Ｌ＿２）を検出する第１受光器
（１２）と、前記ハーフミラー（１０）からの透過レー
ザビーム（Ｌ＿３）を検出する第２受光器（１３）とを
備えた掘削機の姿勢検出装置において、前記第１受光器
（１２）及び第２受光器（１３）が一軸方向受光位置検
出型であって、前記ハーフミラー（１０）と、第１受光
器（１２）と、第２受光器（１３）を、前記第２受光器
（１３）の中心を通り、且つ、第２受光器（１３）の受
光面（１３ａ）に直交する軸芯（Ｐ）周りに９０度回動
自在に構成してある掘削機の姿勢検出装置。A half mirror (10) for the laser beam (L) projected in the direction of the excavation target, a first light receiver (12) for detecting the reflected laser beam (L_2) from the half mirror (10), and the half mirror. (10) In the attitude detection device for an excavator, the first light receiver (12) and the second light receiver (13) are provided with a second light receiver (13) for detecting a transmitted laser beam (L_3) from the It is a uniaxial direction light receiving position detection type, and the half mirror (10), the first light receiver (12), and the second light receiver (13) are connected to each other through the center of the second light receiver (13), and , an excavator attitude detection device configured to be rotatable 90 degrees around an axis (P) perpendicular to the light receiving surface (13a) of the second light receiver (13).
JP21894685A 1985-10-01 1985-10-01 Apparatus for detecting posture of excavator Pending JPS6279310A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP21894685A JPS6279310A (en) 1985-10-01 1985-10-01 Apparatus for detecting posture of excavator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP21894685A JPS6279310A (en) 1985-10-01 1985-10-01 Apparatus for detecting posture of excavator

Publications (1)

Publication Number Publication Date
JPS6279310A true JPS6279310A (en) 1987-04-11

Family

ID=16727807

Family Applications (1)

Application Number Title Priority Date Filing Date
JP21894685A Pending JPS6279310A (en) 1985-10-01 1985-10-01 Apparatus for detecting posture of excavator

Country Status (1)

Country Link
JP (1) JPS6279310A (en)

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