WO2018182370A1 - 건설기계의 제어 장치 및 건설기계의 제어 방법 - Google Patents

건설기계의 제어 장치 및 건설기계의 제어 방법 Download PDF

Info

Publication number
WO2018182370A1
WO2018182370A1 PCT/KR2018/003799 KR2018003799W WO2018182370A1 WO 2018182370 A1 WO2018182370 A1 WO 2018182370A1 KR 2018003799 W KR2018003799 W KR 2018003799W WO 2018182370 A1 WO2018182370 A1 WO 2018182370A1
Authority
WO
WIPO (PCT)
Prior art keywords
boom
engine rpm
engine
transmission
control device
Prior art date
Application number
PCT/KR2018/003799
Other languages
English (en)
French (fr)
Korean (ko)
Inventor
김진수
김재민
김준영
Original Assignee
두산인프라코어 주식회사
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 두산인프라코어 주식회사 filed Critical 두산인프라코어 주식회사
Priority to CN201880023407.2A priority Critical patent/CN110520576A/zh
Publication of WO2018182370A1 publication Critical patent/WO2018182370A1/ko

Links

Images

Classifications

    • 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
    • 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
    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • 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
    • E02F9/2079—Control of mechanical transmission

Definitions

  • the present invention relates to a control device for construction machinery and a control method for construction machinery. More specifically, the present invention relates to a control device for a construction machine that performs a transmission cut-off operation mode and a control method for a construction machine using the same.
  • Construction machinery such as a wheel loader can perform a desired task by using a traveling device and a work device simultaneously.
  • Such construction machinery may have a transmission cut-off function for automatically switching and maintaining the transmission in a neutral state based on the brake pedal operation and the output of the engine.
  • the accelerator pedal is pressed, and the driving speed is unintentionally increased with the driving power connected, so the brake pedal is combined to reduce the speed of the driving vehicle. Stepped on. At this time, the driving power can be cut off by performing the transmission cut-off operation, thereby improving work efficiency.
  • An object of the present invention is to provide a control device for a construction machine that can improve the work efficiency during the transmission cut-off operation.
  • Another object of the present invention to provide a control method for a construction machine using the above-described control device.
  • Control device for a construction machine is a boom position detection unit for detecting the position of the boom, the load weight detection unit for detecting the weight of the load, the transmission cut-off operation mode
  • a vehicle control device configured to receive the position information of the boom and the weight information of the load in order to determine an engine RPM rise value and output an engine RPM control signal including the determined engine RPM rise value, and the vehicle control device and the engine It is connected to enable the reception of the RPM control signal and includes an engine control unit for controlling the engine speed to the determined engine RPM rise value.
  • the vehicle control apparatus may control to determine the engine RPM increase value according to the load weight when the boom position is below a preset position or when the boom is driving up.
  • the engine RPM rise value may be determined in proportion to the boom cylinder pressure.
  • control apparatus of the construction machine may further include a brake operation detector for outputting a detection signal when the operation of the brake is detected, and the vehicle control apparatus may be configured to the detection signal output from the brake operation detection unit.
  • a cutoff control signal for performing the transmission cutoff operation mode may be output.
  • control device of the construction machine may be connected to the cut-off control signal input from the vehicle control device and to perform the transmission cut-off operation mode in response to the input of the cut-off control signal. It may further include a transmission control device for controlling.
  • control device of the construction machine may further include an engine RPM increase mode selection switch for determining whether to control the engine speed by the engine RPM rise value.
  • the vehicle control apparatus may release the engine RPM raising operation mode when the boom position is at a stop state for a preset time or when the boom position is lowered.
  • the position and load weight information of the boom is received.
  • the engine RPM rise value is determined based on the received information in the transmission cut off mode of operation.
  • the engine speed is controlled by the determined engine RPM.
  • the engine RPM rise value when determining the engine RPM rise value, may be determined according to the load weight when the boom position is less than or equal to a preset position.
  • the engine RPM rise value may be determined in proportion to the boom cylinder pressure.
  • control method of the construction machine may further include detecting a brake operation and determining whether to perform the transmission cut-off operation mode in response to the brake operation.
  • control method of the construction machine may further include providing a user with a selection menu to determine whether to control the engine speed by the engine RPM rise value.
  • the method of controlling the construction machine may further include releasing the engine RPM raising operation mode when the boom position is at a standstill for a preset time or when the boom position is lowered.
  • the transmission cut-off function automatically raises the engine RPM according to the boom lift and front work unit pressure (weight of the load) when switching from forward / reverse gear state to neutral to press the accelerator pedal. You don't need to do anything.
  • the engine speed is increased by controlling the engine speed increased according to the weight of the load, thereby rapidly raising the boom, thereby improving work efficiency and improving user convenience.
  • FIG. 1 is a side view illustrating a wheel loader in accordance with example embodiments.
  • FIG. 2 is a block diagram illustrating the control device of FIG. 1.
  • FIG. 3 is a block diagram illustrating the vehicle control apparatus of FIG. 2.
  • FIG. 4 is a side view illustrating the boom raised position according to the rotation angle of the boom.
  • Fig. 5 is a flow chart illustrating a control method of a construction machine according to exemplary embodiments.
  • first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.
  • FIG. 1 is a side view illustrating a wheel loader in accordance with example embodiments.
  • FIG. 2 is a block diagram illustrating the control device of FIG. 1.
  • 3 is a block diagram illustrating the vehicle control apparatus of FIG. 2.
  • 4 is a side view illustrating the boom raised position according to the rotation angle of the boom.
  • the wheel loader 10 is illustrated in FIG. 1, the control device of the construction machine according to the exemplary embodiments is not limited to being used only in the wheel loader, but may be applied to an industrial vehicle such as a forklift.
  • an industrial vehicle such as a forklift
  • the wheel loader 10 may include a front body 12 and a rear body 14 rotatably connected to each other.
  • the front vehicle body 12 may include a work device and a front wheel 70.
  • the rear body 14 may include a cab 40, an engine room 50, and a rear wheel 72.
  • the work device may include a boom 20 and a bucket 30.
  • the boom 20 may be rotatably attached to the front body 12 and the bucket 30 may be rotatably attached to one end of the boom 20.
  • the boom 20 is connected by the front vehicle body 12 and the boom cylinder 22, and the boom 20 can rotate in the vertical direction by driving the boom cylinder 22.
  • the boom cylinder 22 may be provided in plurality.
  • the tilt arm 34 is freely rotatable on the center of the arm 20, one end of the tilt arm 34 and the front vehicle body 12 are connected by a bucket cylinder 32, and the tilt arm 34
  • the bucket 30 connected to the other end of the tilt rod may rotate (dump or crowd) in the vertical direction by driving the bucket cylinder 32.
  • front body 12 and the rear body 14 are rotatably connected to each other by the center pin 16, and the front body 12 is stretched to the rear cylinder 14 by stretching the steering cylinder (not shown). It can be refracted from side to side with respect to.
  • the rear body 14 may be equipped with a traveling device for driving the wheel loader 10.
  • the engine 52 may be disposed in the engine room 50 and supply power output to the traveling device.
  • the traveling device may include a torque converter, a transmission 60, a propeller shaft, an axle, and the like.
  • the power output of the engine 52 is transmitted to the front wheel 70 and the rear wheel 72 through the torque converter, the transmission 60, the propeller shaft and the axle so that the wheel loader 10 travels.
  • the transmission 60 may include hydraulic clutches that shift speed stages between the first and fourth speeds.
  • the transmission 60 may include a forward hydraulic clutch, a reverse hydraulic clutch and first to fourth speed hydraulic clutches.
  • Each of the hydraulic clutches may be engaged or released by pressure oil (clutch pressure) controlled by a transmission control unit (TCU) 300. That is, when the clutch pressure supplied to the hydraulic clutch increases, the hydraulic clutch is engaged, and when the clutch pressure decreases, the hydraulic clutch can be released.
  • TCU transmission control unit
  • the wheel loader 10 cuts the transmission power.
  • a transmission cut off operation mode may be performed.
  • the vehicle control unit (VCU) 200 outputs a cut-off control signal for performing the transmission cut-off operation to the transmission control device 300, and the transmission control device 300 for the forward and backward movements.
  • the transmission of the hydraulic fluid to the hydraulic clutches can be switched off to switch the transmission to neutral.
  • a control device for a construction machine capable of controlling engine speed in the transmission cutoff operation mode will be described.
  • the control device 100 of the construction machine includes a brake operation detector, a boom position detector, a load weight detector, a vehicle controller 200, a transmission controller (TCU), and an engine controller 400. can do.
  • the control device 100 of the construction machine may further include a transmission cut-off selection switch 102 and an engine RPM rising mode selection switch 104.
  • the driver may turn the transmission cut off select switch 102 ON such that a transmission cut off mode of operation is performed.
  • the driver may turn on the engine RPM increase mode selection switch 104 to the ON state so that the engine RPM increase operation mode is performed during the transmission cut-off operation, thereby improving work efficiency and fuel economy.
  • the brake operation detector may detect brake operation by a driver's operation.
  • the brake operation detector may include a brake pressure detection sensor 110 for detecting the brake pedal pressure.
  • the brake operation detection unit may include a brake pedal detection sensor for detecting an operation amount of the brake pedal. In the case of the brake pedal detection sensor, the operation amount of the brake pedal may be detected and information about the brake pressure calculated based on the brake pedal detection sensor may be provided.
  • the boom position detector may detect the position of the boom 20, that is, information about the height of the boom 20 from the ground.
  • the boom position detector may include a boom angle sensor 24 for detecting the position of the boom 20.
  • the boom position detector may include a displacement sensor for detecting the position of the boom 20.
  • the boom angle sensor 24 may detect the rotation angle of the boom 20 and provide information about the boom lift height based thereon. As shown in FIG. 4, the rotation angle of the boom 20 may be an angle between the extension line L and the extension line of the boom 20 at the lowest position (0%) of the boom 20. The rotation angle of the boom 20 at the maximum boom height of the boom 20 is ⁇ max.height, and the boom position is the maximum height (100%). The rotation angle of the boom 20 at maximum horizontal reach of the boom 20 is ⁇ max.reach, and the boom position is medium height (about 40%).
  • the boom angle sensor 24 may detect an operating state of the boom 20. For example, the boom angle sensor 24 may include an acceleration measurement function to determine whether the boom 20 is being raised. The operation state of the boom described above may be confirmed by the driver detecting whether the operating device in the cab is operated.
  • the load weight detection unit may detect the weight of the load loaded on the vehicle.
  • the load weight detection unit may include a boom cylinder pressure sensor 120 for detecting the boom cylinder pressure.
  • the load weight detection unit may calculate the weight of the load by detecting the pressure of the boom cylinder.
  • the load weight detection unit may calculate the weight of the load by detecting the inclination angle of the ground, the angle change of the boom, the pressure change of the boom cylinder, the strain tension force change of the boom and the bucket.
  • the vehicle control apparatus 200 may receive information on the brake pressure, the transmission torque value, and the like, and may output a cutoff control signal for performing a transmission cutoff operation based on the received information.
  • the vehicle control apparatus 200 receives information on the position change of the boom and the weight of the load, and controls the engine speed with the engine RPM increase value during the transmission cut-off operation mode based on the received information.
  • the engine RPM control signal for performing the engine RPM increase operation mode can be output.
  • the vehicle control apparatus 200 increases the engine RPM during the transmission cut-off operation mode and the transmission cut-off determination unit 210 that determines the entry time of the transmission cut-off operation mode.
  • the engine RPM determination unit 220 may determine an entry point of the mode, and an output unit 230 which outputs the cut-off control signal and the engine RPM control signal, respectively.
  • the transmission cut-off determiner 210 transmits the transmission cut-off operation mode when the input signals meet the engagement criteria while the transmission cut-off function is enabled by the transmission cut-off selection switch 102. It is possible to determine the entry point for the execution of. For example, when the brake pressure is greater than or equal to the reference pressure (for example, 15 bar, 20 bar), it may be determined to enter the transmission cut off operation.
  • the reference pressure for example, 15 bar, 20 bar
  • the transmission cut-off determiner 210 may control the transmission cut-off operation to stop when the input signals match the disengagement reference pressure while the transmission cut-off operation mode is being performed. For example, the transmission cutoff determiner 210 sets the condition for the brake pressure as the highest release condition, and outputs a release control signal to stop the transmission cutoff operation when the input brake pressure is equal to or lower than the release reference pressure. can do.
  • the engine RPM determiner 220 executes the engine RPM increase operation mode when the input signals meet the entry criteria while the engine RPM increase operation function is enabled by the engine RPM increase mode selection switch 104. It is possible to determine the entry point for. For example, when the boom is raised below 50% of the boom position, it may be determined to enter the engine RPM raising operation.
  • the engine RPM rising value may be determined according to the boom cylinder pressure.
  • the engine RPM rise value may be determined in proportion to the boom cylinder pressure.
  • the engine RPM may be determined in the range of 800 rpm to 2100 rpm in proportion to the boom cylinder pressure.
  • the engine RPM determiner 220 may release the engine RPM raising operation mode when the boom position is in a stopped state for a preset time (for example, 3 seconds) or when the boom position is lowered.
  • At least one of the transmission cut-off selection switch 102 and the engine RPM rising mode selection switch 104 may be provided in the form of a selection button provided in the instrument panel setting menu. The user can execute or release the transmission cut off selection or the RPM rising mode selection function by operating the selection button of the instrument panel setting menu.
  • Such an instrument panel may be provided in the form of a touch screen, and manipulation of the selection button may be possible by manipulating the touch screen of the instrument panel.
  • at least one of the transmission cut-off selection switch and the engine RPM rising mode selection switch may be installed in an operation apparatus provided in a cab and operated by a user. Examples of the operating device include a steering wheel, an operating lever, and the like, and the user can execute at least one of the transmission cutoff selection and the engine RPM raising mode selection simultaneously with the operation of the operating device without removing the operator. .
  • the output unit 230 may output the cut-off control signal to the transmission control device 300 and output the engine RPM control signal to the engine control unit ECU 400.
  • the transmission control device 300 is operably connected to the vehicle control device 200 and receives the cut-off control signal to block the supply of hydraulic oil to the forward and backward hydraulic clutches at the determined entry time to neutralize the transmission 60. You can switch to the state.
  • the engine controller 400 is operably connected to the vehicle control apparatus 200 and receives the engine RPM control signal and adjusts the fuel injection amount to control the rotation speed of the engine 52 to be the determined engine RPM rise value. Can be.
  • Fig. 5 is a flow chart illustrating a control method of a construction machine according to exemplary embodiments.
  • the information on the brake operation may be determined based on the information on the brake pressure output from the brake pressure detection sensor 110.
  • the amount of operation of the brake pedal can be detected to obtain information on brake operation.
  • an entry time point for executing the transmission cut off operation may be determined.
  • the entry point may be when the brake is activated while the construction machine is running. It is preferable that the transmission cut-off operation is executed when the brake is operated for a predetermined amount or more, which may be when the brake pressure is higher than the reference pressure (for example, 15 bar or 20 bar) or when the brake pedal is operated by a certain amount or more.
  • the engine RPM increase value may be determined when entering the transmission cut-off operation mode based on the received signals (S120).
  • information about the boom lift height may be obtained through the boom angle sensor 24.
  • Information about the weight of the load loaded on the bucket may be obtained through the boom cylinder pressure sensor 120.
  • an entry point for executing the engine RPM increase mode may be determined.
  • the engine RPM increase value according to the engine RPM increase operation mode may be determined.
  • the engine RPM rising value may be determined according to the boom cylinder pressure.
  • the engine RPM rise value may be determined in proportion to the boom cylinder pressure.
  • the engine RPM may be determined in the range of 800 rpm to 2100 rpm in proportion to the boom cylinder pressure.
  • the engine RPM raising operation mode can be entered when the bucket load amount is a certain size and the boom is driven up while the transmission cut off operation mode is being executed. Whether the boom is driven up or down may be advanced when the operation amount of the user's manipulation device is detected or when the boom is driven up through the sensor. As the sensor, a boom angle sensor or the like may be utilized.
  • a user selection function may be provided to an instrument panel setting menu to determine whether to perform the engine RPM raising operation mode. The user may select or release whether to perform the engine RPM raising mode through the selection button of the instrument panel setting menu.
  • the engine speed may be controlled by the determined engine RPM rise value (S140).
  • the transmission control device 300 may switch the transmission 60 to the neutral state in the transmission cut-off operation mode.
  • the engine controller (ECU) 400 may control the engine speed to be the determined engine RPM increase value by adjusting the fuel injection amount in the engine RPM increase mode.
  • the engine RPM raising operation mode may be released when the boom position is at a standstill for a preset time (for example, 3 seconds) or when the boom position is lowered.
  • the engine RPM is automatically raised according to the pressure of the boom and the front unit (weight of the load), so it is not necessary to press the accelerator pedal. You can do that.
  • the engine speed is controlled by the engine RPM increased according to the weight of the load, thereby rapidly raising the boom as the front work device, thereby improving work efficiency and improving user convenience.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
PCT/KR2018/003799 2017-03-31 2018-03-30 건설기계의 제어 장치 및 건설기계의 제어 방법 WO2018182370A1 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201880023407.2A CN110520576A (zh) 2017-03-31 2018-03-30 工程机械的控制装置及工程机械的控制方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2017-0041427 2017-03-31
KR1020170041427A KR102459514B1 (ko) 2017-03-31 2017-03-31 건설기계의 제어 장치 및 건설기계의 제어 방법

Publications (1)

Publication Number Publication Date
WO2018182370A1 true WO2018182370A1 (ko) 2018-10-04

Family

ID=63676452

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2018/003799 WO2018182370A1 (ko) 2017-03-31 2018-03-30 건설기계의 제어 장치 및 건설기계의 제어 방법

Country Status (3)

Country Link
KR (1) KR102459514B1 (zh)
CN (1) CN110520576A (zh)
WO (1) WO2018182370A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112878411A (zh) * 2021-03-05 2021-06-01 柳工柳州传动件有限公司 一种装载机的行走系统、装载机及作业控制方法
CN113445567B (zh) * 2021-06-30 2023-03-24 广西柳工机械股份有限公司 自主作业装载机行走速度控制系统及控制方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR970011605B1 (ko) * 1994-04-30 1997-07-12 현대중장비산업 주식회사 트랜스 밋션 클러치의 컷 오프 제어시스템 및 그 작동방법
KR20060063442A (ko) * 2004-12-07 2006-06-12 두산인프라코어 주식회사 트랜스미션 컷 오프 제어장치 및 제어방법
KR20130105683A (ko) * 2010-12-21 2013-09-25 두산인프라코어 주식회사 건설중장비의 트랜스미션 컷 오프 제어장치 및 제어방법
KR20150105752A (ko) * 2014-03-10 2015-09-18 두산인프라코어 주식회사 건설기계의 트랜스미션 컷오프 제어장치 및 제어방법
KR20160144695A (ko) * 2015-06-09 2016-12-19 두산인프라코어 주식회사 건설기계의 엔진 제어 장치 및 엔진 제어 방법

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR970011605A (ko) * 1995-08-04 1997-03-27 김광호 가스오븐렌지의 냉각장치
CN101666105B (zh) * 2009-07-08 2011-08-10 北汽福田汽车股份有限公司 控制挖掘机动臂上升速度的方法、控制系统及一种挖掘机
CN103711169B (zh) * 2013-08-20 2016-02-03 浙江大学 混合动力挖掘机自动怠速控制方法
GB2521633B (en) * 2013-12-24 2018-02-07 Jc Bamford Excavators Ltd Vehicle
US20160281323A1 (en) * 2015-03-25 2016-09-29 Komatsu Ltd. Wheel Loader

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR970011605B1 (ko) * 1994-04-30 1997-07-12 현대중장비산업 주식회사 트랜스 밋션 클러치의 컷 오프 제어시스템 및 그 작동방법
KR20060063442A (ko) * 2004-12-07 2006-06-12 두산인프라코어 주식회사 트랜스미션 컷 오프 제어장치 및 제어방법
KR20130105683A (ko) * 2010-12-21 2013-09-25 두산인프라코어 주식회사 건설중장비의 트랜스미션 컷 오프 제어장치 및 제어방법
KR20150105752A (ko) * 2014-03-10 2015-09-18 두산인프라코어 주식회사 건설기계의 트랜스미션 컷오프 제어장치 및 제어방법
KR20160144695A (ko) * 2015-06-09 2016-12-19 두산인프라코어 주식회사 건설기계의 엔진 제어 장치 및 엔진 제어 방법

Also Published As

Publication number Publication date
KR102459514B1 (ko) 2022-10-27
KR20180111055A (ko) 2018-10-11
CN110520576A (zh) 2019-11-29

Similar Documents

Publication Publication Date Title
WO2016111578A1 (ko) 건설 기계의 자동 변속 방법 및 이를 수행하기 위한 장치
WO2018182370A1 (ko) 건설기계의 제어 장치 및 건설기계의 제어 방법
WO2012091186A1 (ko) 건설기계용 주행 제어시스템
WO2011162429A1 (ko) 건설기계의 유압펌프 제어시스템
KR101970856B1 (ko) 작업 기계의 유압 제어 장치
CN101606010A (zh) 液压驱动车辆的离合器控制装置
WO2011025197A2 (ko) 훨로더 작업기의 자동 운전 제어 장치 및 방법
WO2014092321A1 (ko) 지게차의 자동 제동장치
SE520271C2 (sv) Förfarande för vändning av körriktning
JP5121586B2 (ja) 作業機のブレーキ制動時エンジン停止防止システムおよびその制御方法
WO2010047517A2 (ko) 지게차의 주행조종장치
WO2012026633A1 (ko) 건설기계의 제어장치
WO2012087023A2 (ko) 건설중장비의 트랜스미션 컷 오프 제어장치 및 제어방법
JP2020153114A (ja) 作業車両、および作業車両の制御方法
WO2014034969A1 (ko) 건설기계용 유압시스템
KR102597075B1 (ko) 건설기계의 트랜스미션 컷오프 제어 장치 및 방법
WO2014115911A1 (ko) 건설기계의 주행 제어장치
CN103906658B (zh) 车辆用控制装置
KR20120070804A (ko) 지게차용 인칭 자동제어 시스템
WO2013100218A1 (ko) 건설기계의 엔진 제어방법
JP5973326B2 (ja) 作業車両のブレーキ制御装置
KR20110018313A (ko) 동력원을 제어하기 위한 방법
JP2008101680A (ja) 車両用の変速制御装置
JPS6239334A (ja) 自動変速機を備えた車両のスイツチバツク走行におけるクラツチ及び変速機の制御装置
JPH0487841A (ja) 半自動変速制御装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18775382

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 23/01/2020)

122 Ep: pct application non-entry in european phase

Ref document number: 18775382

Country of ref document: EP

Kind code of ref document: A1