WO2020054078A1 - Engin de chantier - Google Patents

Engin de chantier Download PDF

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Publication number
WO2020054078A1
WO2020054078A1 PCT/JP2018/034309 JP2018034309W WO2020054078A1 WO 2020054078 A1 WO2020054078 A1 WO 2020054078A1 JP 2018034309 W JP2018034309 W JP 2018034309W WO 2020054078 A1 WO2020054078 A1 WO 2020054078A1
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WO
WIPO (PCT)
Prior art keywords
turning
revolving
controller
automatically
construction machine
Prior art date
Application number
PCT/JP2018/034309
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English (en)
Japanese (ja)
Inventor
直樹 除村
智之 齋藤
坂本　博史
秀一 森木
Original Assignee
日立建機株式会社
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 日立建機株式会社 filed Critical 日立建機株式会社
Priority to JP2020527972A priority Critical patent/JP6991331B2/ja
Priority to PCT/JP2018/034309 priority patent/WO2020054078A1/fr
Publication of WO2020054078A1 publication Critical patent/WO2020054078A1/fr

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    • 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

Definitions

  • the present invention relates to a swing type construction machine.
  • a work machine controller updates a design surface indicating a target shape to be excavated and automatically adjusts the position of a blade edge of a bucket with respect to the updated design surface, thereby automatically setting a front surface.
  • An excavation control system of a hydraulic shovel that directly faces a work machine to a design surface is disclosed.
  • an object of the present invention is to provide a construction machine capable of accurately facing a revolving superstructure to a target position regardless of the skill or inertia of an operator.
  • the present invention provides a traveling body, a revolving body pivotally mounted above the traveling body, a front working machine attached to a front portion of the revolving body, An operating device for turning the body, a turning motor for driving the turning body, a directional control valve for controlling a flow of hydraulic oil supplied to the turning motor, and a pilot pressure applied to the directional control valve.
  • the revolving superstructure can accurately face the target position regardless of the skill or inertia of the operator. Problems, configurations, and effects other than those described above will be apparent from the following description of the embodiments.
  • FIG. 1 is an external perspective view illustrating a configuration example of a hydraulic shovel according to an embodiment of the present invention. It is a figure which shows the structure of the hydraulic circuit and electric circuit which concern on the turning operation
  • FIG. 3 is a functional block diagram illustrating a configuration of functions of a controller. 6 is a flowchart illustrating a flow of a process executed in the controller.
  • the hydraulic excavator 1 includes a traveling body 101 for traveling on a road surface, a revolving body 102 that is rotatably mounted above the traveling body 101 via a revolving device (not shown), and A front work machine 103 movably mounted to perform work such as excavation.
  • the swing body 102 swings with respect to the traveling body 101 by the driving force of a swing motor 24 (see FIG. 2) provided in the swing device.
  • An operation lever 211 (see FIG. 2) as an operation device for turning the revolving unit 102 is provided in the cab 21. The specific turning operation of the turning body 102 will be described later.
  • the front working machine 103 has a base end rotatably attached to the revolving unit 102, and a boom 31 that rotates up and down (upward) with respect to the revolving unit 102, and is rotatable at the distal end of the boom 31.
  • Arm 32 that is attached to the boom 31 and pivots back and forth with respect to the boom 31; and a bucket 33 that is rotatably attached to the tip of the arm 32 and pivots back and forth with respect to the arm 32 I have.
  • the boom cylinder 310 rotates the boom 31 with respect to the revolving unit 102 when the rod expands and contracts.
  • the arm cylinder 320 rotates the arm 32 with respect to the boom 31 as the rod expands and contracts.
  • the bucket cylinder 330 rotates the bucket 33 with respect to the arm 32 when the rod expands and contracts.
  • the hydraulic excavator 1 further includes a GNSS antenna 41, a vehicle body IMU 42, a boom IMU 43A, an arm IMU 43B, and a bucket IMU 43C.
  • the vehicle body IMU 42 is an inertial measurement unit (IMU) that detects a three-dimensional angular velocity and acceleration of the vehicle body, and is attached to, for example, a front portion of the cab 21.
  • the vehicle body IMU 42 is an embodiment of an angular velocity sensor for detecting the turning angular velocity ⁇ of the revolving unit 102 and also an embodiment of an inclination angle sensor for detecting an inclination angle (posture) of the vehicle body.
  • the boom IMU 43A is an inertial measurement device that detects a three-dimensional angular velocity and acceleration of the boom 31, and is attached to a side of the boom 31.
  • the arm IMU 43B is an inertial measurement device that detects a three-dimensional angular velocity and acceleration of the arm 32, and is attached to a side of the arm 32.
  • the bucket IMU 43C is an inertial measurement device that detects a three-dimensional angular velocity and acceleration of the bucket 33, and is attached to a tip end of the bucket cylinder 330 on the rod side.
  • the boom IMU 43A, the arm IMU 43B, and the bucket IMU 43C are one mode of a posture sensor that detects the posture of the front work machine 103.
  • the “boom IMU 43A, the arm IMU 43B, and the bucket IMU 43C” are collectively referred to as “front IMUs 43A, 43B, 43C”.
  • FIG. 2 is a diagram showing the configuration of a hydraulic circuit and an electric circuit related to the turning operation of the turning body 102 in the excavator 1.
  • the hydraulic circuit related to the swing operation of the swing body 102 includes a main pump 232 and a pilot pump 233 driven by the engine 231, a hydraulic oil tank 234 that stores hydraulic oil, a swing motor 24 that drives the swing body 102, and a swing.
  • the pilot pump 233 is a fixed-displacement type hydraulic pump that sucks hydraulic oil from a hydraulic oil tank 234 and supplies it to the pair of pressure receiving chambers 241X and 241Y of the direction control valve 241.
  • a relief valve 235 is provided on the discharge side of the pilot pump 233, and when the discharge pressure of the pilot pump 233 exceeds a predetermined set pressure, excess pressure is relieved to the hydraulic oil tank 234.
  • the direction control valve 241 is a tandem center type spool valve provided between the main pump 232 and the swing motor 24, and operates with the first switching position 241A for rotating the swing motor 24 in one direction and the main pump 232. It has a neutral position 241N for returning the hydraulic oil discharged from the main pump 232 to the hydraulic oil tank 234 by communicating with the oil tank 234, and a second switching position 241B for rotating the turning motor 24 in the other direction. .
  • the first switching position 241A, the neutral position 241N, and the second switching position 241B are switched by the stroke of the internal spool according to the magnitude of the pilot pressure acting on each of the pair of pressure receiving chambers 241X, 241Y. Thereby, the flow of the hydraulic oil supplied from the main pump 232 to the turning motor 24 is controlled.
  • Each of the pair of pilot valves 242A and 242B is an electromagnetic proportional valve, and includes a closed position 242X that allows the pressure receiving chambers 241X and 241Y of the direction control valve 241 to communicate with the hydraulic oil tank 234, a pilot pump 233 and the direction control valve 241. And an open position 242Y for communicating the pressure receiving chambers 241X and 241Y.
  • an operation signal that is an electric signal based on the operation direction and the operation amount is output to the pair of pilot valves 242A and 242B via the controller 5.
  • Each of the pair of pilot valves 242A and 242B opens at an opening proportional to the current value output from the controller 5, that is, switches from the closed position 242X to the open position 242Y, and a pilot pressure having a magnitude corresponding to the opening. Is generated and acts on each of the pair of pressure receiving chambers 241X and 241Y of the direction control valve 241.
  • the generated pilot pressures are respectively detected by pressure sensors 44A and 44B provided between each pair of pilot valves 242A and 242B and each of the pressure receiving chambers 241X and 241Y.
  • the pilot pressure generated by one pilot valve 242A and applied to one pressure receiving chamber 241X of the directional control valve 241 is generated by the other pilot valve 242B and applied to the other pressure receiving chamber 241Y of the directional control valve 241.
  • the direction control valve 241 switches to the first switching position 241A, and the turning motor 24 rotates in one direction. Thereby, the revolving superstructure 102 revolves in one direction.
  • the pilot pressure generated by the other pilot valve 242B and applied to the other pressure receiving chamber 241Y of the directional control valve 241 is generated by the one pilot valve 242A to the one pressure receiving chamber 241X of the directional control valve 241. If it is higher than the applied pilot pressure, the direction control valve 241 switches to the second switching position 241B, and the swing motor 24 rotates in the other direction. Thereby, the revolving superstructure 102 revolves in the other direction.
  • the direction control valve 241 switches to the neutral position 241N, and the hydraulic oil from the main pump 232 is turned by the turning motor 24. Is not supplied to the motor, so that the turning motor 24 stops. Thus, the swing body 102 stops the swing operation.
  • the revolving revolving structure 102 when the revolving revolving structure 102 is directly opposed to the work target (excavation target), the revolving revolving structure 102 is output after the controller 5 outputs a command signal for stopping the revolving operation. Also keeps turning for a while due to inertia. Therefore, the controller 5 needs to output a command signal for stopping the turning operation in consideration of the turning angle ⁇ (hereinafter, referred to as “swirl flow angle ⁇ ”) generated by the inertia of the turning body 102.
  • the turning angle ⁇ hereinafter, referred to as “swirl flow angle ⁇ ”
  • the controller 5 calculates the turning flow angle ⁇ based on the detection data from the vehicle body IMU 42, and outputs a deceleration start timing (a command signal for stopping the turning operation) for stopping accurately at the target stop position. Timing).
  • the “target stop position” is a position of a target work surface of the work object of the hydraulic shovel 1 that faces the revolving unit 102, and is simply referred to as a “target position” below.
  • the swirling flow angle ⁇ is calculated by the following calculation method.
  • the turning angular velocity of the pivoting body 102 and ⁇ [deg / s], the moment of inertia and J [kg ⁇ m 2], the kinetic energy of the swing structure 102 is represented by J ⁇ 2/2 [J].
  • the torque received by the revolving unit 102 from the revolving motor 24 is Tq [N ⁇ m]
  • the work performed by the swing motor 24 is represented by Tq ⁇ ⁇ [J].
  • the moment of inertia J of the revolving superstructure 102 varies depending on the posture of the front work machine 103, but by predetermining the posture of the representative basic front work machine 103, the moment of inertia J in Equation (3) is determined. In this case, the moment of inertia Jc (constant value) in the posture of the front work machine 103 can be used. Thereby, the calculation formula of the swirling flow angle ⁇ is simplified as represented by the following formula (4).
  • the controller 5 calculates the target turning angle ⁇ (hereinafter, simply referred to as “target turning angle ⁇ ”) from the position information measured by the GNSS antenna 41 to the target position, based on the turning flow angle calculated by Expression (4).
  • ⁇ a control signal (a control signal for stopping the turning operation) is output to each of the pair of pilot valves 242A and 242B so that the pilot pressure becomes 0 MPa.
  • the moment of inertia J in Equation (3) may be changed according to the attitude of the front work machine 103.
  • the value of the proportionality constant C in Equation (4) is detected by the front IMUs 43A, 43B, and 43C. It changes according to the attitude of the front working machine 103 performed.
  • the swirling flow angle ⁇ in consideration of the actual posture of the front work machine 103 can be calculated, and the revolving superstructure 102 can be more accurately opposed to the target position.
  • FIG. 3 is a functional block diagram showing the configuration of the functions of the controller 5.
  • FIG. 4 is a flowchart illustrating a flow of processing executed in the controller 5.
  • the controller 5 is configured such that a CPU, a RAM, a ROM, an input I / F, and an output I / F are connected to each other via a bus, and controls the pair of pilot valves 242A and 242B to control the revolving unit 102 ( 1) is automatically started and stopped.
  • various sensors such as a GNSS antenna 41, a vehicle body IMU 42, and front IMUs 43A, 43B, and 43C are connected to an input I / F, and an operation lever 211 and a pair of pilot valves 242A and 242B are output I / Fs. It is connected to the.
  • the CPU reads out a control program (software) stored in a recording medium such as a ROM or an optical disk, expands the control program on the RAM, and executes the expanded control program.
  • a control program software stored in a recording medium such as a ROM or an optical disk
  • expands the control program on the RAM and executes the expanded control program.
  • the functions of the controller 5 are realized in cooperation with the hardware.
  • the controller 5 is described as a computer configured by a combination of software and hardware.
  • the present invention is not limited to this.
  • An integrated circuit that realizes the function of the control program to be performed may be used.
  • the controller 5 includes a data acquisition unit 51, a storage unit 52, a calculation unit 53, a determination unit 54, and a control unit 55.
  • the data acquisition unit 51 includes the position information of the hydraulic excavator 1 (the swing body 102) measured by the GNSS antenna 41, the swing angular velocity ⁇ and the body inclination angle ⁇ of the swing body 102 detected by the body IMU 42, the front IMUs 43A, 43B, Data on the attitude of the front work machine 103 detected by 43C, the pressure values detected by the pressure sensors 44A and 44B, and the temperature detected by the temperature sensor 45 are obtained.
  • the operation lever 211 has a switch 211A that invalidates the operation of the operation lever 211 and automatically starts and stops the turning operation of the turning body 102 by the controller 5, and the data acquisition unit 51 An operation signal from the switch 211A is obtained. Since the switch 211A is provided on the operation lever 211, the switching operation from the manual turning operation by the operator to the automatic turning control by the controller 5 is facilitated.
  • the excavator 1 includes a pressure sensor 44 that detects a pilot pressure generated by the pair of pilot valves 242A and 242B, and a temperature sensor 45 that detects the temperature of hydraulic oil supplied to the swing motor 24.
  • the data acquisition unit 51 acquires the pressure value detected by the pressure sensor 44 and the data related to the temperature detected by the temperature sensor 45.
  • the storage unit 52 includes a target position storage unit 52A and a threshold storage unit 52B.
  • the target position storage unit 52A stores a target position preset by the operator.
  • a monitor 212 is provided in the operator's cab 21, and the monitor 212 displays design surface information (such as map information) indicating the shape of the work target of the excavator 1.
  • the operator selects a construction design surface to be a target shape from the design surfaces displayed on the monitor 212.
  • the target position is set and stored in the target position storage unit 52A.
  • the threshold storage unit 52B includes a first threshold ⁇ th that is a turning angle at which the turning operation of the revolving unit 102 is automatically started under the control of the controller 5, and a tilt of the vehicle body that automatically starts the turning operation of the revolving unit 102 under the control of the controller 5.
  • the second threshold value ⁇ th which is an angle
  • the third threshold value Tth which is the temperature of hydraulic oil for automatically starting the turning operation of the turning body 102 under the control of the controller 5, are stored.
  • the calculation unit 53 calculates the target turning angle ⁇ based on the position information of the turning body 102 measured by the GNSS antenna 41 and the target position stored in the target position storage unit 52A.
  • the calculation unit 53 calculates the turning flow angle ⁇ based on the angular velocity ⁇ of the turning body 102 detected by the vehicle body IMU 42.
  • the determination unit 54 includes a deceleration start position determination unit 54A and a condition determination unit 54B.
  • the condition determination unit 54B determines whether or not each of the first, second, and third conditions is satisfied.
  • the “first condition” is a condition ( ⁇ ⁇ ⁇ th) in which the target turning angle ⁇ calculated by the calculation unit 53 is equal to or larger than the first threshold ⁇ th stored in the threshold storage unit 52B.
  • the “second condition” is a condition ( ⁇ ⁇ ⁇ th) that the inclination angle ⁇ of the vehicle body detected by the vehicle body IMU 42 is equal to or smaller than the second threshold value ⁇ th stored in the threshold value storage unit 52B.
  • the “third condition” is a condition (T ⁇ Tth) in which the temperature T detected by the temperature sensor 45 is equal to or higher than the third threshold Tth stored in the threshold storage unit 52B.
  • the control unit 55 includes a lever control unit 55A, a pilot pressure control unit 55B, and a display control unit 55C.
  • the lever control unit 55A outputs an input amount from the operation lever 211 to a pilot pressure control unit 55B described later.
  • the lever control unit 55A sends a control signal for invalidating the operation of the operation lever 211 to a pilot pressure control unit 55B described later. And the input amount from the operation lever 211 is invalidated.
  • the pilot pressure control unit 55B sends a pair of control signals for controlling the pilot pressure required for the turning operation to a pair. It outputs to each of pilot valves 242A and 242B. Accordingly, the swing body 102 starts a swing operation based on the control signal output from the pilot pressure control unit 55B.
  • the pilot pressure control unit 55B transmits a pair of control signals for controlling the pilot pressure to 0 MPa. Is output to each of the pilot valves 242A and 242B. As a result, the revolving superstructure 102 starts to decelerate based on the control signal output from the pilot pressure control unit 55B, and stops after revolving due to inertia.
  • the display control unit 55C When the position information measured by the GNSS antenna 41 is determined to be the target position, the display control unit 55C outputs a signal to the monitor 212 to display that the revolving unit 102 has stopped at the target position. I do.
  • the display control unit 55C determines that the switch 211A is enabled (ON state) and that at least one of the first, second, and third conditions is not satisfied by the condition determination unit 54B. In this case, a signal for displaying that the turning operation of the turning body 102 is not automatically performed is output to the monitor 212.
  • the display control unit 55C automatically performs the revolving operation of the revolving unit 102.
  • a signal for displaying that the operation is being performed is output to the monitor 212.
  • the monitor 212 indicates that the revolving unit 102 has stopped at the target position, that the revolving unit 102 will not automatically perform the revolving operation, and that the revolving unit 102 will not revolve. It is an aspect of a notifying device for notifying that the operation is automatically performed.
  • the method of notifying the operator does not necessarily need to be displayed on the monitor 212, and may be, for example, an alarm.
  • the controller 5 first determines whether the switch 211A is in the ON state, that is, whether the switch 211A is enabled (step S501).
  • step S501 determines whether the switch 211A is turned on in step S501 (step S501 / YES), that is, when the data acquisition unit 51 acquires an operation signal from the switch 211A, the lever control unit 55A reduces the input amount from the operation lever 211. It is invalidated (step S502).
  • step S501 if the switch 211A has not been turned on in step S501 (step S501 / NO), that is, the switch 211A remains off (invalid), and the data acquisition unit 51 acquires an operation signal from the switch 211A. If not, the process ends without performing control related to automatic turning of the revolving body 102 by the controller 5.
  • the data acquisition unit 51 acquires the current state of the vehicle body, that is, the initial state of the vehicle body before starting the automatic turning of the revolving unit 102 under the control of the controller 5. (Step S503). Specifically, in step S503, the data acquisition unit 51 determines the initial position information of the excavator 1 (hereinafter, referred to as “initial position information”) measured by the GNSS antenna 41, and the entire vehicle body detected by the vehicle body IMU. , And the temperature T of the hydraulic oil supplied to the turning motor 24 detected by the temperature sensor 45.
  • initial position information the initial position information of the excavator 1
  • the calculation unit 53 calculates the initial target turning angle ⁇ 0 based on the initial position information acquired in step S503 and the target position stored in the target position storage unit 52A (step S504). Then, the condition determination unit 54B determines whether the initial target turning angle ⁇ 0 calculated in step S504 satisfies a first condition that is equal to or greater than a first threshold ⁇ th (step S505).
  • step S505 When it is determined in step S505 that the first condition is satisfied ( ⁇ 0 ⁇ ⁇ th) (step S505 / YES), the condition determination unit 54B determines that the inclination angle ⁇ of the entire vehicle body acquired in step S503 is equal to or smaller than the second threshold ⁇ th. It is determined whether a certain second condition is satisfied (step S506).
  • step S506 When it is determined in step S506 that the second condition is satisfied ( ⁇ ⁇ ⁇ th) (step S506 / YES), the condition determining unit 54B determines that the temperature T of the hydraulic oil acquired in step S503 is equal to or higher than the third threshold value Tth. It is determined whether the third condition is satisfied (step S507).
  • the deceleration start position determining unit 54A determines that the initial position information is the deceleration start position of the revolving body 102. It is determined whether or not there is (step S509).
  • the position (initial position) of the excavator 1 does not naturally become the deceleration start position of the revolving unit 102, and thus it is determined in step S509 that it is not the deceleration start position (step S509 / NO), the data acquisition unit 51 acquires the pilot pressure detected by the pressure sensors 44A, 44B (Step S510).
  • the pilot pressure control unit 55B controls the pair of pilot valves 242A and 242B based on the pilot pressure acquired in step S510 to automatically start the turning operation of the revolving unit 102 (step S511). Thereby, the swing body 102 automatically swings toward the target position.
  • the data acquisition unit 51 acquires the current state of the vehicle body (step S513).
  • the data acquisition unit 51 only needs to acquire at least the current position information of the excavator 1 measured by the GNSS antenna 41.
  • step S509 If it is determined in step S509 that the position information of the excavator 1 is the deceleration start position (step S509 / YES), the pilot pressure control unit 55B controls the pair of pilot valves 242A and 242B to reduce the pilot pressure to 0 MPa. (Step S515).
  • the display control unit 55C controls the monitor 212 to display that the revolving unit 102 has stopped at the target position (step S516), and ends the processing in the controller 5.
  • step S507 when the first condition is not satisfied ( ⁇ 0 ⁇ th) in step S505 (step S505 / NO), when the second condition is not satisfied ( ⁇ > ⁇ th) in step S506 (step S505 / NO), and step S507 If the third condition is not satisfied (T ⁇ Tth) in step S507 (NO in step S507), the display control unit 55C controls the monitor 212 to turn the revolving unit 102 even if the switch 211A is ON in step S501. A message indicating that the operation is not to be performed automatically is displayed (step S517), and the processing in the controller 5 ends.
  • the controller 5 determines that the revolving unit 102 has stopped at the target position, that the controller 5 does not automatically rotate the revolving unit 102 even when the switch 211A is enabled, and that the revolving unit 102 is automatically rotating.
  • the operator can grasp the turning state of the turning body 102 at any time.
  • condition determination unit 54B determines all three conditions of the first condition, the second condition, and the third condition.
  • the present invention is not limited to this, and the condition determination unit 54B determines any one condition. Alternatively, any two conditions may be determined.
  • the direction and the position of the revolving structure 102 are detected using the GNSS antenna 41.
  • the GNSS antenna 41 is not necessarily used, and other detection devices and detection methods may be used. Is also good.
  • the target position is set based on the target design surface information (map information) displayed on the monitor 212.
  • the present invention is not limited to this, and the target position may be set by another method. Good.

Abstract

L'invention concerne un engin de chantier capable d'amener un corps de basculement à faire face avec précision à une tête de position cible indépendamment de l'habileté ou de l'inertie de l'opérateur. L'invention concerne une pelle hydraulique 1 comprenant un corps 101 mobile, un corps 102 de basculement, une machine 103 de travail avant, un levier 211 de commande, un moteur 24 oscillant, une vanne 241 de commande de direction, et une paire 242A, 242B de vannes pilotes. La pelle comprend également une antenne GNSS 41, un corps de véhicule IMU 42, et un dispositif de commande 5. Le dispositif de commande 5 enregistre une position cible ; calcule un angle de basculement cible, par rapport à la position cible, à partir d'informations de position et calcule un angle de débit de basculement sur la base d'une vitesse de rotation ; évalue, sur la base de l'angle de basculement cible et de l'angle de débit de basculement, si les informations de position sont ou non pour une position de décélération de début du corps 102 de basculement ; et commande la paire de vannes pilotes 242A, 242B pour commencer automatiquement le basculement si les informations de position ne sont pas pour la position de décélération de début du corps 102 de basculement, et commande la paire de vannes pilotes 242A, 242B pour arrêter automatiquement la rotation si les informations de position sont pour la position de décélération de début du corps 102 de basculement.
PCT/JP2018/034309 2018-09-14 2018-09-14 Engin de chantier WO2020054078A1 (fr)

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Application Number Priority Date Filing Date Title
JP2020527972A JP6991331B2 (ja) 2018-09-14 2018-09-14 建設機械
PCT/JP2018/034309 WO2020054078A1 (fr) 2018-09-14 2018-09-14 Engin de chantier

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PCT/JP2018/034309 WO2020054078A1 (fr) 2018-09-14 2018-09-14 Engin de chantier

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WO2020054078A1 true WO2020054078A1 (fr) 2020-03-19

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JPWO2021251463A1 (fr) * 2020-06-11 2021-12-16

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JP2013087577A (ja) * 2011-10-21 2013-05-13 Hitachi Constr Mach Co Ltd 作業機の表示装置
JP2017096006A (ja) * 2015-11-25 2017-06-01 日立建機株式会社 建設機械の制御装置

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JP2006038133A (ja) 2004-07-28 2006-02-09 Hitachi Constr Mach Co Ltd 建設機械の警告制御装置

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Publication number Priority date Publication date Assignee Title
JPS6490327A (en) * 1987-10-01 1989-04-06 Kensetsusho Kyushu Chiho Kense Controller for stop position of slewing
JPH11139770A (ja) * 1997-11-07 1999-05-25 Komatsu Ltd クレーンの旋回減速制御装置及びその制御方法
JP2004076351A (ja) * 2002-08-14 2004-03-11 Hitachi Constr Mach Co Ltd 建設機械の警報装置
JP2011052383A (ja) * 2009-08-31 2011-03-17 Caterpillar Sarl 作業機械の旋回制御装置
JP2011063407A (ja) * 2009-09-18 2011-03-31 Kobe Steel Ltd 旋回式作業機械の旋回停止制御装置および方法
JP2012021290A (ja) * 2010-07-13 2012-02-02 Sumitomo Heavy Ind Ltd 旋回作業機械及び旋回作業機械の制御方法
JP2013087577A (ja) * 2011-10-21 2013-05-13 Hitachi Constr Mach Co Ltd 作業機の表示装置
JP2017096006A (ja) * 2015-11-25 2017-06-01 日立建機株式会社 建設機械の制御装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2021251463A1 (fr) * 2020-06-11 2021-12-16
JP2022180525A (ja) * 2020-06-11 2022-12-06 日本精機株式会社 作業支援システム、作業支援方法
JP7207575B2 (ja) 2020-06-11 2023-01-18 日本精機株式会社 作業支援システム、作業支援方法

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