WO2022270136A1 - Système et procédé de commande d'engin de chantier - Google Patents

Système et procédé de commande d'engin de chantier Download PDF

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Publication number
WO2022270136A1
WO2022270136A1 PCT/JP2022/017987 JP2022017987W WO2022270136A1 WO 2022270136 A1 WO2022270136 A1 WO 2022270136A1 JP 2022017987 W JP2022017987 W JP 2022017987W WO 2022270136 A1 WO2022270136 A1 WO 2022270136A1
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WO
WIPO (PCT)
Prior art keywords
work machine
remote control
state
communication device
machine
Prior art date
Application number
PCT/JP2022/017987
Other languages
English (en)
Japanese (ja)
Inventor
圭 中野
総一 津村
Original Assignee
株式会社小松製作所
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 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to AU2022297925A priority Critical patent/AU2022297925A1/en
Priority to CA3214459A priority patent/CA3214459A1/fr
Priority to US18/282,355 priority patent/US20240159016A1/en
Publication of WO2022270136A1 publication Critical patent/WO2022270136A1/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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • 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
    • E02F9/24—Safety devices, e.g. for preventing overload
    • 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
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function

Definitions

  • the present invention relates to systems and methods for controlling work machines.
  • Some work machines can be started remotely. For example, when the construction machine vehicle of Patent Document 1 receives a command signal from a transmitter, it checks whether a predetermined condition is satisfied, and starts the engine if the predetermined condition is satisfied.
  • Predetermined conditions include, for example, that the engine is stopped, that the shift lever is in the neutral position, that the parking brake is in the operating position, that the driver's door is closed, and the like.
  • An object of the present disclosure is to start a work machine that is started by remote control at an appropriate timing according to the status of the work machine.
  • a system is a system for controlling a work machine.
  • the system includes an in-vehicle controller, a remote control device, and a communication device.
  • the vehicle-mounted controller is mounted on the working machine and controls the working machine.
  • the remote controller communicates with the onboard controller.
  • the remote controller transmits a start command signal for starting the work machine to the work machine.
  • the communication device is provided separately from the remote control device.
  • the communicator communicates with the in-vehicle controller.
  • the communicator is operable to switch the work machine from a start inhibiting state to a start permitting state.
  • the in-vehicle controller switches the working machine from the start-prohibited state to the start-permitted state according to the operation of the communication device.
  • the in-vehicle controller prohibits the work machine from starting even if a start command signal is received from the remote control device.
  • the vehicle-mounted controller starts the work machine when the work machine is in a start-permitted state and receives a start command signal from the remote control device.
  • a method is a method for controlling a work machine.
  • the method includes communicating with a communication device, switching the work machine from a start prohibition state to a start permission state in accordance with operation of the communication device, communicating with a remote control device, and performing work from the remote control device. Determining whether or not a start command signal for the machine has been received; Starting the work machine when the work machine is in a start permitted state and receiving a start command signal from the remote control device; Then, even if a start command signal is received from the remote controller, the work machine is prohibited from starting.
  • the operator at the work site when the operator at the work site is working on the work machine, the operator at the work site operates the communication device to switch the work machine from the start-prohibited state to the start-permitted state. Starting the work machine is prohibited until Therefore, even if a remote operator operates the remote controller to send a start command signal to the work machine, the work machine does not start.
  • the operator at the work site After completing the work on the work machine, the operator at the work site operates the communication device to switch the work machine from the start-prohibited state to the start-permitted state. As a result, a remote operator operates the remote control device to transmit a start command signal to the work machine, thereby starting the work machine. Therefore, in the system and method according to the present disclosure, it is possible to start a work machine that is started by remote control at an appropriate timing according to the status of the work machine.
  • FIG. 1 is a block diagram showing the configuration of a system for controlling a work machine according to an embodiment
  • FIG. It is a perspective view showing a working machine.
  • 4 is a flow chart showing processing for starting a work machine, which is executed by an in-vehicle controller;
  • FIG. 1 is a block diagram showing the configuration of a system 1 according to an embodiment.
  • a system 1 according to this embodiment includes a work machine 2 , a remote controller 3 , and a mobile communication device 4 .
  • the work machine 2 is arranged at a work site such as a mine.
  • the work machine 2 is, for example, a bulldozer.
  • FIG. 2 is a perspective view showing the working machine 2.
  • the working machine 2 includes a main body 10 and a working machine 13 .
  • Main body 10 includes a vehicle body 11 and a traveling device 12 .
  • the vehicle body 11 includes an operator cab 14 and a power cab 15 .
  • a driver's seat (not shown) is arranged in the driver's cab 14 .
  • the power room 15 is arranged in front of the operator's room 14 .
  • the travel device 12 is attached to the lower portion of the vehicle body 11 .
  • the travel device 12 has a pair of left and right crawler belts 16 . Note that FIG. 1 shows only the left crawler belt 16 .
  • the work machine 2 travels as the crawler belt 16 rotates.
  • Work implement 13 includes a lift frame 17 , a blade 18 and a lift cylinder 19 .
  • the lift frame 17 is attached to the travel device 12 so as to be movable up and down.
  • Lift frame 17 supports blade 18 .
  • the blade 18 is arranged in front of the vehicle body 11 .
  • the lift cylinder 19 is connected to the vehicle body 11 .
  • the front end of the lift cylinder 19 is rotatably attached to the back of the blade 18 .
  • the blade 18 moves up and down by extending and retracting the lift cylinder 19 .
  • the work machine 2 includes a power source 21, a hydraulic pump 22, and a power transmission device 23.
  • the power source 21 is an internal combustion engine.
  • a starter motor 24 is connected to the power source 21 .
  • Starter motor 24 starts power source 21 .
  • the hydraulic pump 22 is driven by the power source 21 and discharges hydraulic oil. Hydraulic oil discharged from the hydraulic pump 22 is supplied to the lift cylinder 19 .
  • one hydraulic pump is illustrated in FIG. 2, a plurality of hydraulic pumps may be provided.
  • the power transmission device 23 transmits the driving force of the power source 21 to the travel device 12 .
  • the power transmission device 23 may be, for example, an HST (Hydro Static Transmission).
  • the power transmission device 23 may be, for example, a torque converter or a transmission having multiple transmission gears.
  • the work machine 2 includes an on-vehicle controller 25 and a control valve 26.
  • the in-vehicle controller 25 is mounted on the working machine 2 .
  • the in-vehicle controller 25 is realized by a computer including a processor and memory.
  • the in-vehicle controller 25 may be composed of a plurality of separate controllers.
  • the in-vehicle controller 25 is programmed to control the work machine 2 based on the acquired data.
  • the control valve 26 is a proportional control valve and is controlled by a command signal from the vehicle-mounted controller 25 .
  • Control valve 26 is arranged between a hydraulic actuator, such as lift cylinder 19 , and hydraulic pump 22 .
  • the control valve 26 controls the flow rate of hydraulic oil supplied from the hydraulic pump 22 to the lift cylinder 19 .
  • the in-vehicle controller 25 controls the control valve 26 so that the work implement 13 ascends or descends.
  • the control valve 26 may be a pressure proportional control valve.
  • control valve 26 may be an electromagnetic proportional control valve.
  • the work machine 2 includes a camera 27 , an in-vehicle operation member 28 , a first mode selection member 29 and a second mode selection member 30 .
  • the camera 27 is attached to the vehicle body 11, for example. Camera 27 acquires an image of the surroundings of work machine 2 . Camera 27 transmits an image signal representing an image of the surroundings of work machine 2 to in-vehicle controller 25 .
  • the in-vehicle operation member 28 is arranged inside the driver's cab 14 .
  • the vehicle-mounted operating member 28 can be operated by an operator to cause the work machine 2 to travel.
  • the in-vehicle operating member 28 can be operated by the operator to operate the working machine 13 .
  • the in-vehicle operation member 28 includes, for example, an operation lever.
  • the in-vehicle operating member 28 may include other operating members such as pedals, switches, or touch panels.
  • the in-vehicle operation member 28 transmits an operation signal indicating an operation by the operator to the in-vehicle controller 25 .
  • the in-vehicle controller 25 causes the work machine 2 to run by controlling the power source 21 and the power transmission device 23 according to the operation signal.
  • the in-vehicle controller 25 operates the working machine 13 by controlling the hydraulic pump 22 and the control valve 26 according to the operation signal.
  • the first mode selection member 29 is arranged inside the driver's cab 14 .
  • First mode selection member 29 is operable by the operator to set the control mode of work machine 2 .
  • the first mode selection member 29 is, for example, a touch panel type input device. However, the first mode selection member 29 may be another input device such as a switch.
  • the first mode selection member 29 transmits an input signal indicating an operation by an operator to the vehicle-mounted controller 25 .
  • the control mode includes a direct operation mode and a remote operation mode.
  • the vehicle-mounted controller 25 controls the working machine 2 according to the operation signal from the vehicle-mounted operation member 28 . Therefore, in the direct operation mode, the operator operates the work machine 2 by operating the vehicle-mounted operation member 28 .
  • the remote control mode the work machine 2 is controlled according to remote control signals from the remote control device 3 . Therefore, in the remote control mode, the operator operates the work machine 2 by operating the remote control device 3 .
  • the second mode selection member 30 is attached to the work machine 2.
  • a second mode selection member 30 is operable by the operator to select a remote control mode as the control mode of work machine 2 .
  • the second mode selection member 30 is, for example, a switch.
  • the second mode selection member 30 may be another member such as a lever or a touch panel.
  • the second mode selection member 30 is arranged on the outer surface of the work machine 2 .
  • the second mode selection member 30 is positioned on the work machine 2 at a position operable by an operator on the ground.
  • the second mode selection member 30 may be arranged below the rear portion of the vehicle body 11 at a height of 2000 mm or less.
  • the second mode selection member 30 transmits a selection signal indicating an operation by the operator to the onboard controller 25 .
  • the work machine 2 includes a first communication device 31 and a second communication device 32.
  • the first communication device 31 and the second communication device 32 are mounted on the working machine 2 .
  • the first communication device 31 wirelessly communicates with the remote control device 3 .
  • the second communication device 32 wirelessly communicates with the mobile communication device 4 .
  • the communication methods of the first communication device 31 and the second communication device 32 may be different or the same.
  • the work machine 2 and the remote control device 3 may communicate directly, or may communicate with each other via a control system or the like.
  • the remote control device 3 is located in a management center away from the work site. An operator in the management center can remotely operate the work machine 2 by operating the remote control device 3 .
  • the remote control device 3 includes a communication device 33 , a remote control member 34 , a remote input device 35 , a display 36 and a remote controller 37 .
  • the communication device 33 wirelessly communicates with the first communication device 31 of the work machine 2 .
  • the remote control member 34 can be operated by the operator to make the work machine 2 run, like the on-vehicle control member 28 .
  • the remote control member 34 can be operated by the operator to operate the working machine 13 in the same manner as the vehicle-mounted operating member 28 .
  • the remote control member 34 includes, for example, an operating lever.
  • the remote control member 34 may include other control members such as pedals, switches, or touch panels.
  • the remote control member 34 transmits an operation signal indicating an operation by an operator to the remote controller 37 .
  • a remote input device 35 is operable by an operator to enter settings for the work machine 2 .
  • the remote input device 35 is, for example, a touch panel type input device. However, the remote input device 35 may be another input device such as a switch.
  • the remote input device 35 transmits input signals indicating operations by the operator to the remote controller 37 .
  • the remote controller 37 is implemented by a computer including a processor and memory.
  • the remote controller 37 may be composed of a plurality of controllers separate from each other.
  • the remote controller 37 transmits remote control signals to the onboard controller 25 via the communication device 33 .
  • the remote controller 37 generates a remote control signal based on an operation signal from the remote control member 34 or an input signal from the remote input device 35 .
  • the in-vehicle controller 25 causes the work machine 2 to run by controlling the power source 21 and the power transmission device 23 according to a remote control signal from the remote controller 37 .
  • the in-vehicle controller 25 operates the work implement 13 by controlling the hydraulic pump 22 and the control valve 26 according to a remote control signal from the remote controller 37 .
  • the in-vehicle controller 25 transmits image signals from the camera 27 to the remote controller 37 .
  • the remote controller 37 displays an image showing the surroundings of the work machine 2 on the display 36 based on the image signal.
  • the operator can operate the work machine 2 by operating the remote control member 34 while viewing an image showing the surroundings of the work machine 2 on the display 36 .
  • the mobile communication device 4 is provided separately from the remote control device 3.
  • the mobile communication device 4 can be operated by an operator.
  • the mobile communication device 4, like the remote control device 3, has a communication function.
  • the mobile communication device 4 wirelessly communicates with the in-vehicle controller 25 .
  • the mobile communication device 4 wirelessly communicates with the second communication device 32 of the work machine 2 .
  • the mobile communication device 4 may wirelessly communicate with the first communication device 31 of the work machine 2 .
  • the mobile communication device 4 is portable.
  • the mobile communication device 4 is carried to the work site where the work machine 2 is arranged.
  • the mobile communication device 4 is operated by an operator at the work site.
  • the mobile communication device 4 performs wireless communication with the in-vehicle controller 25 at a shorter distance than the remote control device 3 .
  • the operator operates the mobile communication device 4 within a visual range of the work machine 2 .
  • the mobile communication device 4 may be a general-purpose mobile communication terminal such as a notebook computer, tablet, or smartphone. Alternatively, mobile communication device 4 may be a dedicated terminal of system 1 for controlling work machine 2 .
  • the mobile communication device 4 includes operation members such as switches, levers, or touch panels.
  • the mobile communication device 4 can be operated to switch the work machine 2 from the start-prohibited state to the start-permitted state.
  • the mobile communication device 4 transmits a start permission signal to the vehicle-mounted controller 25 in response to an operation by the operator.
  • the start permission signal is a signal for switching the working machine 2 from the start prohibited state to the start permitted state. Processing for starting the work machine 2 will be described below.
  • FIG. 3 is a flow chart showing the process executed by the onboard controller 25 to start the work machine 2.
  • the in-vehicle controller 25 is activated by being supplied with electric power from the battery mounted in the work machine 1 .
  • step S101 the in-vehicle controller 25 sets the work machine 2 to a start-prohibited state.
  • the in-vehicle controller 25 sets the work machine 2 to a start prohibited state when the power source 21 is stopped and the start permission signal is not received from the mobile communication device 4 .
  • the power source 21 is prohibited from starting.
  • the vehicle-mounted controller 25 determines whether the control mode of the work machine 2 is the remote control mode.
  • the remote control mode is set by the first mode selection member 29 and the remote control mode is selected by the second mode selection member 30
  • the in-vehicle controller 25 changes the control mode of the work machine 2 to the remote control mode. It is determined that it is in operation mode.
  • the in-vehicle controller 25 determines that the control mode of the working machine 2 is the remote control mode, the process proceeds to step S103.
  • step S ⁇ b>103 the in-vehicle controller 25 determines whether a start permission signal has been received from the mobile communication device 4 .
  • the mobile communication device 4 transmits a start permission signal to the vehicle-mounted controller 25 in response to an operation by an operator at the work site.
  • the process proceeds to step S104.
  • step S104 the in-vehicle controller 25 cancels the start-prohibited state of the work machine 2. If the in-vehicle controller 25 does not receive the start permission signal from the mobile communication device 4 in step S103, the work machine 2 in the start inhibit state.
  • the vehicle-mounted controller 25 determines whether or not a start command signal for starting the work machine 2 has been received.
  • a start command signal is transmitted from the remote control device 3 .
  • the remote operation device 3 transmits a start command signal to the onboard controller 25 in response to the operation of the remote input device 35 by an operator in the management center (hereinafter referred to as "remote operator").
  • remote operator an operator in the management center
  • the vehicle-mounted controller 25 determines whether the working machine 2 is in a start-permitted state.
  • the in-vehicle controller 25 determines that the work machine 2 is in the start-permitted state when the start-prohibited state of the work machine 2 is canceled in step S104.
  • the in-vehicle controller 25 determines that the work machine 2 is in the start-permitted state when the start-prohibited state of the work machine 2 is canceled and other start-permitted conditions are satisfied. good too.
  • the process proceeds to step S107.
  • step S ⁇ b>107 the onboard controller 25 starts the work machine 2 . That is, the in-vehicle controller 25 starts the power source 21 by driving the starter motor 24 .
  • step S106 when the in-vehicle controller 25 determines that the work machine 2 is not in the start-permitted state, the in-vehicle controller 25 does not start the work machine 2 even if it receives a start command signal from the remote control device 3. That is, when the work machine 2 is in the start-prohibited state, the in-vehicle controller 25 prohibits the start of the work machine 2 even if a start command signal is received from the remote control device 3 .
  • the in-vehicle controller 25 cancels the start prohibition state of the work machine 2 when receiving the start permission signal from the mobile communication device 4 . Then, the in-vehicle controller 25 starts the work machine 2 when the start command signal is received from the remote control device 3 while the work machine 2 is in the start-permitted state. However, when the work machine 2 is in the start-prohibited state, the in-vehicle controller 25 prohibits the start of the work machine 2 even if the start command signal is received from the remote control device 3 .
  • the operator at the work site After completing the work on the work machine 2, the operator at the work site operates the first mode selection member 29 in the operator's cab 14 to set the control mode of the work machine 2 to the remote control mode. The operator at the work site gets off the work machine 2 and operates the second mode selection member 30 to select the remote control mode. After leaving the work machine 2 , the operator at the work site operates the mobile communication device 4 to release the start prohibition state of the work machine 2 .
  • the remote operator operates the remote control device 3 to send a start command signal to the work machine 2, thereby starting the work machine 2.
  • the remote operator operates the remote control member 34 to perform work at the work site using the work machine 2 .
  • the working machine 2 that is started by remote control can be started at an appropriate timing according to the status of the working machine 2 .
  • the work machine 2 is not limited to a bulldozer, and may be a wheel loader, motor grader, or other vehicle such as a dump truck.
  • the number of work machines controlled by the system 1 is not limited to one, and may be two or more.
  • the power source 21 may be an electric motor. In that case, starting the work machine 2 may be starting the travel of the work machine 2, the operation of the work machine 13, or the like. Alternatively, the power source 21 may be a hybrid of an internal combustion engine and an electric motor.
  • the setting of the remote control mode by the first mode selection member 29 may be omitted.
  • Selection of the remote control mode by the second mode selection member 30 may be omitted.
  • a first mode selection member 29 and a second mode selection member 30 may be arranged on the outer surface of work machine 2 .
  • the first mode selection member 29 and the second mode selection member 30 may be arranged within the cab 14 .
  • the in-vehicle controller 25 cancels the start prohibition state of the work machine 2 when receiving the start permission signal from the mobile communication device 4 .
  • the mobile communication device 4 may transmit the start disapproval signal to the in-vehicle controller 25 .
  • the in-vehicle controller 25 may maintain the working machine 2 in the start prohibited state while receiving the start prohibition signal from the mobile communication device 4 .
  • the mobile communication device 4 may stop the start disapproval signal according to the operation by the operator.
  • the in-vehicle controller 25 may cancel the start prohibition state of the work machine 2 when transmission of the start prohibition signal is stopped.
  • the communication device is not limited to the mobile communication device 4 described above, and may be modified.
  • the start permission signal may be transmitted to the vehicle-mounted controller 25 by a communication device installed at the site base.
  • the operator at the work site may return to the base at the site and operate the communication device to cancel the start-prohibited state of the work machine 2 .
  • the operator at the work site may contact the base at the site, and the operator at the base at the site may operate the communication device to cancel the start prohibition state of the work machine 2 .
  • a notification means such as a lamp indicating that the start-prohibited state or the start-prohibited state is canceled may be provided in the operator's cab 14 of the work machine 1, on the outer surface of the work machine 1, or in the remote control device 3. .
  • a work machine that is remotely started can be started at an appropriate timing according to the status of the work machine.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)

Abstract

Ce système comprend : un dispositif de commande embarqué ; un dispositif de commande à distance ; et une machine de communication. Le dispositif de commande embarqué est monté sur un engin de chantier et commande l'engin de chantier. Le dispositif de commande à distance communique avec le dispositif de commande embarqué. Le dispositif de commande à distance transmet, à l'engin de chantier, un signal d'instruction de démarrage pour démarrer l'engin de chantier. La machine de communication est disposée sur un corps séparé du dispositif de commande à distance. La machine de communication communique avec le dispositif de commande embarqué. La machine de communication peut être actionnée de façon à faire commuter l'engin de chantier d'un état de démarrage interdit à un état de démarrage autorisé. Le dispositif de commande embarqué fait commuter l'engin de chantier de l'état de démarrage interdit à l'état démarrage autorisé en réponse à une opération sur la machine de communication. Lorsque l'engin de chantier est dans l'état de démarrage interdit, le dispositif de commande embarqué empêche l'engin de chantier de démarrer même si le signal d'instruction de démarrage est reçu en provenance du dispositif de commande à distance. Lorsque l'engin de chantier est dans l'état de démarrage autorisé, le dispositif de commande embarqué amène l'engin de chantier à démarrer si le signal d'instruction de démarrage est reçu en provenance du dispositif de commande à distance.
PCT/JP2022/017987 2021-06-25 2022-04-18 Système et procédé de commande d'engin de chantier WO2022270136A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AU2022297925A AU2022297925A1 (en) 2021-06-25 2022-04-18 System and method for controlling work machine
CA3214459A CA3214459A1 (fr) 2021-06-25 2022-04-18 Systeme et procede de commande d'engin de chantier
US18/282,355 US20240159016A1 (en) 2021-06-25 2022-04-18 System and method for controlling work machine

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021-106041 2021-06-25
JP2021106041A JP2023004406A (ja) 2021-06-25 2021-06-25 作業機械を制御するためのシステムおよび方法

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WO2022270136A1 true WO2022270136A1 (fr) 2022-12-29

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US (1) US20240159016A1 (fr)
JP (1) JP2023004406A (fr)
AU (1) AU2022297925A1 (fr)
CA (1) CA3214459A1 (fr)
WO (1) WO2022270136A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06228988A (ja) * 1993-01-29 1994-08-16 Hitachi Constr Mach Co Ltd 油圧機械のロック機構
JP2013185501A (ja) * 2012-03-08 2013-09-19 Sumitomo (Shi) Construction Machinery Co Ltd 始動制御システム
JP2018159182A (ja) * 2017-03-22 2018-10-11 コーワテック株式会社 停止装置
JP2020105879A (ja) * 2018-12-28 2020-07-09 日立建機株式会社 無線操作式油圧ショベル
JP2020190145A (ja) * 2019-05-23 2020-11-26 日本車輌製造株式会社 建設機械の安全システム
JP2021088835A (ja) * 2019-12-03 2021-06-10 コベルコ建機株式会社 遠隔操作支援サーバおよび遠隔操作支援システム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06228988A (ja) * 1993-01-29 1994-08-16 Hitachi Constr Mach Co Ltd 油圧機械のロック機構
JP2013185501A (ja) * 2012-03-08 2013-09-19 Sumitomo (Shi) Construction Machinery Co Ltd 始動制御システム
JP2018159182A (ja) * 2017-03-22 2018-10-11 コーワテック株式会社 停止装置
JP2020105879A (ja) * 2018-12-28 2020-07-09 日立建機株式会社 無線操作式油圧ショベル
JP2020190145A (ja) * 2019-05-23 2020-11-26 日本車輌製造株式会社 建設機械の安全システム
JP2021088835A (ja) * 2019-12-03 2021-06-10 コベルコ建機株式会社 遠隔操作支援サーバおよび遠隔操作支援システム

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JP2023004406A (ja) 2023-01-17
CA3214459A1 (fr) 2022-12-29
AU2022297925A1 (en) 2023-10-12

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