WO2002006592A1 - Systeme de commande electronique d'une machine de construction - Google Patents
Systeme de commande electronique d'une machine de construction Download PDFInfo
- Publication number
- WO2002006592A1 WO2002006592A1 PCT/JP2001/006085 JP0106085W WO0206592A1 WO 2002006592 A1 WO2002006592 A1 WO 2002006592A1 JP 0106085 W JP0106085 W JP 0106085W WO 0206592 A1 WO0206592 A1 WO 0206592A1
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- WO
- WIPO (PCT)
- Prior art keywords
- data
- control
- communication line
- common communication
- monitor
- Prior art date
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
-
- 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
- E02F9/26—Indicating 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
-
- 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
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
-
- 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
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
Definitions
- the present invention relates to an electronic control system for a construction machine, and more particularly, to a construction machine having a prime mover, a hydraulic device and a system, and a working device, a plurality of control devices divided according to functions, and at least one device for monitoring a state of the construction machine.
- the present invention relates to an electronic control system for a construction machine that includes a plurality of monitor devices, connects the plurality of control devices and the monitor devices to each other, and transmits and receives data.
- a control device is provided for each device, and the control device for each device is connected to the master controller through a common communication line.
- an electronic control system of a hydraulic excavator in which the master-controller performs integrated control of the entire system.
- Japanese Patent Publication No. 8-28911 discloses a network in which bidirectional communication is possible by providing a control device for each device and connecting the control devices with a multiplex transmission serial communication circuit.
- An electronic control system for a construction machine is disclosed which facilitates system expansion.
- This publication also discloses that a display monitor for displaying the operating state of the system is connected to the multiplex transmission serial communication circuit.
- control devices are provided for each device, and these control devices are connected on a network.
- An electronic control system for a hydraulic excavator that divides a high-speed communication data into low-speed networks and a high-speed network (bus) is disclosed.
- construction machines such as hydraulic shovels record the operation data of machines to monitor the operation status for maintenance of the machine itself, and display the status of working equipment to assist the operator's work. Monitoring functions are required in addition to control purposes.
- Japanese Patent Application Laid-Open No. 7-110287 discloses that the operation data of a machine is compressed and recorded for maintenance of the machine body and the operation state is monitored. Disclosure of the invention
- the amount of data used by the control unit and the frequency of updating (communication speed) are increasing as electronic control is advanced.
- the function of the motor ring is also provided, such as recording the operation data of the machine for the maintenance of the machine itself and displaying the status of the work equipment to assist the operation of the operation. This is required, and the amount of data used for monitoring other than data used for control is increasing. Applying the above-described conventional control system in such a situation causes some problems.
- the control device provided for each device transmits all data to the master controller via a common communication line.
- the data is processed collectively by the mass controller, and then control commands are sent to each controller.
- a monitoring function is added to this system, all control data and monitor data must be handled by the master controller, and the data communication volume between each control device and the mass controller becomes enormous.
- a common communication line capable of high-speed communication and a master controller capable of high-speed processing are required to avoid affecting the control performance, which is the most important. So Therefore, each component of the system is complicated, and the cost of the system is increased.
- control data and monitor data are communicated on the same common communication line, if one of the data fails, communication becomes impossible due to mutual influence and the system stops. there is a possibility. In particular, it must be avoided that the control system stops due to monitor data failure.
- the distributed control system disclosed in Japanese Patent Publication No. 8-289-111 has a configuration in which a single multiplex transmission serial communication line is connected to control devices for each function and communicates with each other. It is considered that the amount of overnight data traffic will not be as large as that of the distributed control system disclosed in Japanese Patent Publication No. 7-1113854. However, since control data and monitor data are communicated on the same common communication line, if a failure occurs in either data, they will be affected by each other and communication will not be possible, and the system may stop. The problem remains.
- the data communication volume and communication frequency on the multiplex transmission serial communication line are set to be optimal for control when control data and monitor data are mixed. For this reason, when a new control device (function) is added, the amount of data communication and the communication frequency must be reset in response to the increase in communication data. I can't say. In particular, it is necessary to avoid situations where the increase in monitor data affects the control data.
- the distributed control system shown in SAE Paper 941796 Development of Intellectual Hydraulic Excavator-HYPE R GX Series divides the network into low-speed networks and high-speed networks.
- all the control devices of the system are connected to a low-speed network and used as a wide area network, and the high-speed network is used only for connection between control devices that require high-speed communication for control.
- a monitoring function is added to this system, it is necessary to handle various types of monitor data, so a control device for monitoring is connected to the wide area network. Therefore, as in the case of Japanese Patent Publication No. Hei 8-282911, there is a problem of mutual interference between control data and monitor data, and a problem of lack of flexibility in adding functions.
- the purpose of the present invention is to have a control function and a monitoring function.
- the present invention provides a construction machine equipped with a prime mover, a hydraulic device and a system, and a working device, which monitors a plurality of control devices for each function and an operation state of the construction machine.
- An electronic control system for a construction machine wherein at least one monitor device is provided, the plurality of control devices and the monitor device are connected to each other, and the control data and the monitor data are communicated.
- a first common communication line and at least two systems of a second common communication line for communicating the monitor data are provided, and the plurality of control devices are connected to the first common communication line.
- the first common communication line communicates the control data between the plurality of control devices, and connects the monitor device and a specific control device among the plurality of control devices with each other. Connected to a second common communication line, and performs communication of the monitor data between the monitoring device and the particular control device by the second common communication line.
- the communication data amount and communication frequency are distributed to each common communication line, and one The increase in the amount of data communication and the frequency of communication on the common communication line can be suppressed. For this reason, an extremely high-speed common communication line and an arithmetic processing unit are not required, and each component can be prevented from becoming complicated and costly.
- a monitoring device is added to add a function to the common communication line for monitoring, for example, the amount of data communication and the communication frequency for the common communication line for control are not affected, and the device is added. Can be flexibly handled.
- the electronic control system preferably includes A display device connected to the communication line and displaying monitor data communicated on the second common communication line.
- monitor data can be displayed to the operator without affecting control performance.
- the display device has processing means for graphically displaying monitor data communicated on the second common communication line.
- the monitor data can be displayed to the operator in an easily understandable manner.
- the electronic control system is preferably connected to both the first and second common communication lines and communicates with the first common communication line.
- the monitor data not only the monitor data but also the control data can be displayed on the same display device. Therefore, even in a narrow cab such as a construction machine, a single display device can be used to operate the monitor data and control data in the evening. Evening can be displayed. Also, since it is not necessary to provide a large number of display devices, the system becomes inexpensive.
- the display device graphically displays at least one of control data communicated on the first common communication line and monitor data communicated on the second common communication line. Processing means.
- monitor data and control data can be displayed to the operator in an easily understandable manner.
- the display device has an input means, and operates the input means to generate a control command signal and a monitor command signal in conjunction with the content of the display screen. Generating and transmitting the control command signal to a corresponding one of the plurality of control devices via the first common communication line, and transmitting the monitor command signal via the second common communication line to the monitor device. Send to
- FIG. 1 is a diagram showing an electronic control system of a hydraulic shovel according to a first embodiment of the present invention, together with a hydraulic shovel and a hydraulic system.
- FIG. 2 is a diagram showing a configuration of the first control unit shown in FIG.
- FIG. 3 is a diagram showing a configuration of the second control unit shown in FIG.
- FIG. 4 is a diagram showing a configuration of the third control unit shown in FIG.
- FIG. 5 is a diagram showing a configuration of the first monitor unit shown in FIG.
- FIG. 6 is a diagram showing a configuration of the second monitor unit shown in FIG.
- FIG. 7 is a diagram showing, in a table form, communication data of a common communication line in the first embodiment.
- FIG. 8 is a diagram illustrating a configuration of the first and second communication units.
- FIG. 9 is a flowchart illustrating timer interrupt processing of the CPU.
- FIG. 10 is a flowchart illustrating the data transmission process of the communication unit.
- FIG. 11 is a flowchart illustrating the data reception process of the communication unit.
- FIG. 12 is a flowchart for explaining the CPU interrupt processing for reception.
- FIG. 13 is a flowchart illustrating the main processing of the first control unit. '
- FIG. 14 is a flowchart illustrating the main processing of the second control unit.
- FIG. 15 is a flowchart illustrating main processing of the third control unit.
- FIG. 16 is a flowchart illustrating the main process of the first monitor unit.
- FIG. 17 is a flowchart illustrating the overall flow of the main processing of the second monitor unit.
- FIG. 18 is a flowchart illustrating details of the engine operation recording process in the main process of the second monitor unit.
- FIG. 19 is a diagram showing a state of data recorded in the EPROM by the main processing of the second monitor unit.
- Fig. 20 shows the engine oil pressure abnormality record in the main processing of the second monitor unit. It is a flowchart figure explaining the detail of a process.
- FIG. 21 is a flowchart illustrating details of the filter pressure abnormality recording processing in the main processing of the second monitor unit.
- FIG. 22 is a flowchart illustrating details of the fuel remaining amount warning recording process in the main process of the second monitor unit.
- FIG. 23 is a flowchart illustrating details of a cooling water temperature frequency distribution recording process in the main process of the second monitor unit.
- FIG. 24 is a diagram illustrating a configuration of the third communication unit.
- FIG. 25 is a flowchart illustrating details of the PC communication process in the main process of the second monitor unit.
- FIG. 26 is a diagram illustrating an electronic control system of a hydraulic shovel according to a second embodiment of the present invention, together with the hydraulic shovel and the hydraulic system.
- FIG. 27 is a diagram showing a configuration of the display device shown in FIG.
- FIG. 28 is a diagram illustrating, in a table form, communication data of a common communication line according to the second embodiment.
- FIG. 29 is a diagram showing an example of a display screen of the display device, wherein (a) shows screen 1, (b) shows screen 2, and (c) shows screen 3.
- FIG. 30 is a flowchart illustrating main processing of the display device.
- FIG. 31 is a flowchart illustrating details of the display processing of screen 1 in the main processing of the display device.
- FIG. 32 is a flowchart illustrating details of the display processing of screen 2 in the main processing of the display device.
- FIG. 33 is a flowchart illustrating details of the display processing of screen 3 in the main processing of the display device.
- FIG. 34 is a diagram illustrating an electronic control system of a hydraulic shovel according to a third embodiment of the present invention, together with the hydraulic shovel and the hydraulic system.
- FIG. 35 is a diagram showing a configuration of the fourth control unit shown in FIG.
- FIG. 36 is a diagram showing a configuration of the display device shown in FIG.
- FIG. 37 shows the communication data of the common communication line in the third embodiment in a table format.
- FIG. 38 is a flowchart for explaining the main processing of the fourth control unit.
- FIG. 39 is a flowchart illustrating main processing of the display device according to the third embodiment.
- FIG. 40 is a diagram illustrating an example of a display screen of the display device according to the third embodiment, in which () indicates screen 4 and (b) indicates screen 5.
- FIG. 41 is a flowchart for explaining details of the display processing of the screen 4 in the main processing of the display device.
- FIG. 42 is a flowchart illustrating details of the display processing of screen 5 in the main processing of the display device.
- FIG. 1 is a diagram showing an electronic control system of a hydraulic shovel according to a first embodiment of the present invention, together with a hydraulic shovel and a hydraulic system mounted thereon.
- reference numeral 1 denotes a hydraulic excavator.
- the hydraulic excavator 1 includes a traveling body 2, a revolving body 3 rotatably provided on the traveling body 2, a motor 14 configured on the revolving body 3, Storage room 4 for hydraulic equipment such as hydraulic pump 18, counterweight 5 provided at the rear of revolving unit 3, operator room 6 provided at the left front part of revolving unit 3, installed at the center of the front of revolving unit 3
- the drilling work equipment 7 is provided.
- the excavation work device 7 includes a boom 8 provided on the revolving unit 3 so as to be able to move up and down, an arm 9 provided rotatably at the tip of the boom 8, and a pivotally provided at the tip of the arm 9.
- Bucket 10 a boom operating hydraulic cylinder 11 for raising and lowering the boom 8, an arm operating hydraulic cylinder 12 for rotating the arm 9, and a bucket operation for rotating the bucket 10.
- a hydraulic cylinder 13 The prime mover 14 is a diesel engine, and has an electronic governor device 15 for maintaining its rotational speed within a certain range.
- Target speed Nr of prime mover 14 It is set by the target rotation speed setting unit 16.
- the hydraulic pump 18 is driven to rotate by the motor 14.
- the hydraulic pump 18 is a variable displacement pump, and has a swash plate 19 for changing the discharge amount.
- the swash plate 19 is connected to a discharge amount adjusting device 20. Further, a swash plate position detector 21 for detecting a tilt position of the swash plate 19 and a pressure detector 22 for detecting a discharge pressure of the hydraulic pump 18 are provided.
- the prime mover 14 is provided with a first control unit 17 .
- the control unit 17 is controlled based on the target rotation speed Nr from the target rotation speed setting device 16 and the actual rotation speed Ne detected by the governor device 15.
- the control signal R is output to the governor device 15 so that the actual rotation speed Ne matches the target rotation speed Nr.
- the hydraulic pump 18 is provided with a second control unit 23.
- the second control unit 23 includes a discharge pressure P d of the hydraulic pump 18 detected by the pressure detector 22 and a swash plate position detector 21. A predetermined calculation is performed based on the tilt position 0 of the swash plate 19 detected by the above, and a control signal of the swash plate 19 is output to the discharge amount adjusting device 20 of the hydraulic pump 18.
- a hydraulic cylinder 11 for boom operation, a cylinder 12 for arm operation, and a cylinder 13 for bucket operation are connected to a hydraulic pump 18 via control valves 24, 25, 26, respectively.
- the flow rate and direction of the pressure oil supplied from the pump 18 to each of the cylinders 11, 12, 13 are adjusted.
- Operating levers 27, 28, 29 are provided for the control valves 24, 25, 26, and lever actuators 30, 31, 32 are connected to the operating levers 27, 28, 29, respectively.
- the devices 30, 31, and 32 output electric signals corresponding to the operation amounts of the operation levers 27, 28, and 29 as operation signals XI, X2, and X3.
- the operation signals X 1, X 2, and X 3 are input to a third control unit 33, which performs predetermined arithmetic processing based on the operation signals X 1, X 2, and X 3, and controls each control valve 24. , 25, 26 Outputs control signals to 24L, 24R, 25L, 25R, 26L, 26R.
- the prime mover 14 is provided with a hydraulic pressure sensor 41 for measuring the pressure of the lubricating oil, and a water temperature sensor 42 provided in the Rajje 51 for cooling the engine cooling water.
- the signals of the engine oil pressure Poil and the cooling water temperature Tw detected by these sensors are input to the first control unit 17 and used for monitoring the abnormal condition of the prime mover 14.
- the electronic control system is provided with sensors for monitoring the state of each device of the excavator 1.
- a fuel level sensor 43 for measuring the remaining fuel amount and a pressure sensor 44 for detecting clogging of the filter 50 provided in the hydraulic circuit are provided.
- the signals of the fuel level Fuel and the filter pressure P flt to be changed are input to the first monitor unit 45.
- the first monitor unit 45 displays such information in the form of a meter or an alarm lamp on an instrument panel 52 provided in the operator's cab 6.
- the electronic control system is provided with a second monitor unit 46 for storing the operation status of the excavator 1, receives signals output by the first monitor unit 45 and the first control unit 17 through communication, and , The operating time and operating state of the excavator 1 are measured in time series or statistically and stored. This stored information can be output by connecting an external device such as a personal computer (PC) 53 to the monitor unit 46.
- PC personal computer
- a common bus for data communication there are provided two systems, a first common communication line 39 for communicating control data and a second common communication line 40 for communicating monitor data.
- the control units 17, 23, and 33 are connected via a first common communication line 39, and mutually transmit and receive signals (control data) required for control.
- the monitor units 45 and 46 and the first control unit 17 are connected via a second common communication line 40, and mutually transmit and receive signals (monitor data) required for monitoring.
- FIG. 2 shows the configuration of the first control unit 17.
- the control unit 17 switches the target speed signal Nr from the throttle 16, the engine pressure signal Poil from the oil pressure sensor 41, and the cooling water temperature signal Tw from the water temperature sensor 42, and switches the AZD.
- Multiplexer 17 0 that outputs to converter 17 1, AZD converter 17 1 that converts the analog signal received from multiplexer 170 into a digital signal Pulses the actual rotation speed Ne of the prime mover from governor device 15 Counter 1 7 5, ROM 1 7
- Central processing unit (CPU) 172 which controls the entire control unit 17 in accordance with the control procedure program and constants required for control stored in 3; program for the control procedure performed by CPU 172; read-only storage for constants required for control One memory (ROM) 173, a random access memory (RAM) 174 that temporarily stores the calculation results or numerical values during the calculation, a DZA converter 178 that converts digital signals to analog signals, and a signal from a DZA converter 1780 for outputting the signal to the governor device 15, a first communication unit 176 for controlling communication between control units connected by the first common communication line 39, and a second common communication line 40 It comprises a second communication unit 177 for controlling communication between the monitor unit and the control unit.
- FIG. 3 shows the configuration of the second control unit 23.
- the control unit 23 switches between the pressure signal Pd of the pressure detector 22 and the swash plate position signal 0 from the swash plate position detector 21 to output to the AZD converter 231 a multiplexer 230 and an input from a multiplexer.
- AZD converter 23 that converts the converted analog signal into a digital signal
- central processing unit (CPU) 232 central processing unit (CPU) 232
- read-only memory (ROM) 233 that stores control procedure programs and constants necessary for control, calculation results or during calculation Random access memory (RAM) 234 for temporarily storing the values of the above
- RAM random access memory
- IZO interface
- the first communication unit 236 controls communication between control units connected to the first common communication line 39.
- the configuration of the third control unit 33 is shown in FIG. In FIG. 4, the control unit 33 switches the operation signals XI, X2, and X3 from the signal generators 30, 31, and 32 of the electric levers 27, 28, and 29, and outputs a multiplexer 33 0 to the A / D converter 331.
- a / D converter 331 that converts the analog signal input from the multiplexer 330 into a digital signal, and a central processing unit (CPU) that controls the entire control unit according to the control procedure programs stored in the ROM 333 and the constants required for control.
- CPU central processing unit
- Random access memory (RAM) 334 for temporarily storing the calculation results or numerical values during calculation, electromagnetic proportional valves 24R, 24L, 25R, 25L, 26R, 26L provided in control valves 24, 25, 26 Drive signal to amplifier 33
- a DZA converter 339 that converts a digital drive signal output via 90 to 3395 into an analog signal
- a first communication unit that controls communication between control units connected to the first common communication line 39. Be composed.
- FIG. 5 shows the configuration of the first monitor unit 45.
- the monitor unit 45 switches the filter pressure signal Pflt of the pressure sensor 44 and the fuel level signal Fuel from the fuel level sensor 43 to output to the A / D converter 451 a multiplexer 450 and an analog input from the multiplexer.
- AZD converter 451 for converting signals to digital signals
- monitoring procedure program stored in ROM 453 ⁇ Central processing unit (CPU) 452 for controlling the entire monitor unit according to constants required for operation, monitoring procedure program Read only memory (ROM) 453 for storing constants required for calculation, Random access memory (RAM) 454 for temporarily storing calculation results or numerical values during calculation, fuel level signal, fill pressure signal, or other control Interface that outputs to the instrument panel 52 according to the signal input from the unit and monitor unit.
- FIG. 6 shows the configuration of the second monitor unit 46.
- the monitor unit 46 is a central processing unit (CPU) 462 that controls the entire monitor unit in accordance with the monitoring procedure program and constants required for the calculation stored in the ROM 463.
- Read only memory (ROM) 463 for storing necessary constants
- Random access memory (RAM) 464 for temporarily storing the calculation results or numerical values during calculation, processing according to signals input from first control unit 17 and monitor unit 45 4602, a real-time clock (RTC) 4603 that outputs the current time, and a monitor unit or control unit connected to the second common communication line 40.
- the second communication unit 467 controls communication between the PC and the monitoring data stored in the EEPROM 4602. Which consists of a third communication unit 4601 for communicating to external devices.
- FIG. 7 shows data communicated via the first and second common communication lines 39 and 40.
- IDNo is an identification number assigned to each data.
- ⁇ indicates data transmitted by each control unit. References indicate the reception data of each control unit.
- the cycle indicates the interval at which the control unit transmitting the data transmits the data, that is, the time interval at which the data is updated. The cycle is determined by the data required for control or monitoring, or in view of the rate of change of the data.
- the control unit 17 since the target rotation speed Nr of the prime mover 14 hardly changes once it is set, a transmission cycle of about 5 OmS is sufficient, and the actual rotation speed Ne of the prime mover 14 is 2 OmS It is desirable to communicate in a cycle of.
- the operation signals XI, X2, and X3 transmitted by the control unit 33 are necessary for calculating the target tilt angle ⁇ r of the hydraulic pump in the control unit 23, and the transmission cycle thereof needs to be about 1 OmS.
- FIG. 8 shows an example of the configuration of the first communication unit 176 in the control unit 17.
- the first communication unit 176 has a memory 80 having a storage location for managing data with the same number as the ID number added to the data, a communication controller 81, and data connected to the CPU 172 in the control unit 17. It is composed of a line 82, an interrupt signal line 83 for sending a reception interrupt signal from the communication controller 81 to the CPU 172, a reception line 84 and a transmission line 85 connecting the communication controller 81 and the first common communication line 39. ing.
- the second communication unit 177 in the control unit 17 and the first and second communication units in the other control units and the monitor unit have the same configuration.
- each data needs to be transmitted at regular time intervals according to the transmission cycle of FIG.
- the CPU 172 in the control unit 17 generates a timer interrupt at a fixed time, for example, every ImS by an evening timer (not shown), interrupts a main process (described later), and a timer interrupt shown by a flowchart in FIG. Start the processing program.
- Figure 9 Accordingly, the timer interrupt processing will be described.
- each power terminal is updated. For example, if the evening interrupt is executed every lmS, each counter is updated every lmS.
- the counter value is incremented every time the timer interrupt process is performed 50 times.
- STEPs 5030 to 5050 are executed in accordance with the cycle.
- the communication controller 81 in the first communication unit 176 performs the processing shown in the flowchart of FIG. 10 and transmits the control data to the first common communication line 39.
- the operation of the communication controller 81 in the first communication unit 176 will be described with reference to FIG.
- STEP 6010 It monitors whether the transmission request flag in the communication controller is set, and if it is set, the process proceeds to STEP 6020.
- the data with the ID added is converted to time-series serial data and transmitted to the common communication line.
- the ID No is taken from the data matched by the ID No and written to the storage location in the memory 80 corresponding to the ID No.
- the CPU 232 Upon receiving the reception interrupt signal from the communication unit 236, the CPU 232 interrupts main processing (described later) and performs reception interrupt processing.
- the data is read from a predetermined storage location corresponding to the ID No. on the memory 80 in the communication unit 236 and written to the RAM 234.
- Nr performs reception processing in the cycle in which data is transmitted in the control unit 23.
- the processing and operation of the CPUs 172 and 232 in the control units 17 and 23 and the first communication units 176 and 236 in the data transmission and reception of the first common communication line 39 have been described above.
- the unit 177 and the first and second communication units of the other control unit and monitor unit also perform data transmission and reception via the first and second common communication lines 39 and 40 by the same processing and operation.
- the control program shown in the flowchart of FIG. 13 is stored in the ROM 173 of the control unit 17.
- the ROM 173 starts this control program when the power is turned on, and performs the following processing.
- the target rotation speed Nr, engine oil pressure P oil and cooling water temperature Tw are read from the throttle 16 via the AZD converter.
- the actual rotation speed Ne of the prime mover 14 from the governor device 15 is input via the counter 1 15. Power.
- a control signal R is output to the governor device 15 so that the actual rotation speed Ne matches the target rotation speed Nr, and the rotation speed of the prime mover 14 is controlled.
- the control program shown in the flowchart of FIG. 14 is stored in the ROM 233 of the control unit 23.
- the ROM 233 starts this control program when the power is turned on, and performs the following processing.
- the pressure signal Pd from the pressure detector 22 and the swash plate position signal ⁇ ⁇ from the swash plate position detector 21 are read via the A / D converter.
- the load state of the prime mover 14 is calculated using the communication data Nr and Ne from the control unit 17.
- the discharge amount that the hydraulic pump is capable of is calculated from the load state of the prime mover and p, and the target tilt angle 0r is calculated from the discharge amount.
- a control signal is output to the swash plate position adjuster 20 so that the swash plate position signal ⁇ matches the target tilt angle ⁇ r, and the tilt position of the swash plate 19 of the hydraulic pump 18 is controlled.
- the ROM 333 of the control unit 33 stores the control program shown in the flowchart in FIG. R ⁇ M333 starts this control program when the power is turned on, and performs the following processing.
- the constants required for control operation are read from ROM 333.
- the engine speed Ne is displayed on the instrument panel.
- the engine oil pressure Poil is displayed on the instrument panel.
- cooling water temperature Tw is displayed on the instrument panel.
- fuel level Fuel is displayed on the instrument panel.
- FIG. 17 shows the entire control program stored in the ROM 463 of the second monitor unit 46.
- the initial value of the block 9000 is set.
- the engine operation flag, the engine oil pressure abnormality flag, the fill pressure abnormality flag, and the fuel remaining amount warning flag used in subsequent blocks 9100 to 9400 are set to the FF state.
- FIG. 18 shows the details of the process.
- the processing of block 9100 will be described with reference to FIG.
- the process proceeds to STEP 9102. If Ne is smaller than NO, go to STEP 9106.
- the operation determination rotational speed NO is set, for example, at a position slightly lower than the engine idle rotational speed.
- the engine operation flag indicating whether the engine was operating when this process was performed last time is ⁇ N
- the engine start time is recorded in the EEPROM 4602.
- EE PROM for example, as shown in the engine operation record shown in FIG. 19, “year, month, day, time, STA RTJ are recorded. Then, block 9100 is completed.
- the engine speed Ne is smaller than the operation determination speed N0. If it is determined that the answer is YES, STEP 9106 is executed. Here, it is determined whether the engine operation flag is OFF. If it is OFF, it means that there is no change from the previous time, so the processing of block 9100 ends. If the engine operation flag is ON, the process proceeds to STEP 9107.
- the engine stop time is recorded in the EEPROM 4602.
- the data is recorded in the EEPROM in the form of “year, month, day, time, STOP”, for example, as in the engine operation record shown in FIG.
- the latest engine start time stored in the engine operation record of the EEPROM 4602 is read, and the operation time is calculated based on the difference between the time and the current engine stop time.
- the latest engine start time is January 28, 2000, 9:10 AM
- the latest engine stop time is January 28, 2000, 4:30 PM, so the difference is 7 hours 20 minutes. Becomes This is the time the engine was running.
- FIG. 20 is a flowchart showing details of the block 9200.
- the block 9200 will be described with reference to FIG.
- Engine operation is not running (engine operation flag is OF In the case of F), block 9200 ends. If the engine is running, proceed to STEP 9 202.
- the engine oil pressure error occurrence time is stored in the EEPROM4602 in the storage location of the engine oil pressure error in the E-PROM in the format of "year, month, day, hour, minute ON". Then, block 9200 ends.
- the engine oil pressure abnormality flag is set to OFF with the initial value setting 9000. Therefore, when the first engine oil pressure abnormality occurs after startup, the processing of STEP 9202-9203-9204-9205-9206 is performed, and the engine oil pressure abnormality flag turns ON.
- the engine oil pressure error release time is stored in the EEPROM 4602 in the storage location of the engine oil pressure error in the EPP ROM in the format of "year, month, day, hour, minute OFF". Then, block 9200 ends.
- FIG. 21 is a flowchart showing details of the block 9300.
- the block 9300 will be described with reference to FIG.
- the filter pressure abnormality flag is set to OFF with the initial value setting 9000. Therefore, when the first filter pressure abnormality occurs after the start, the processing of STEP 9302—9303—9304—9305—9306 is performed, and the filter pressure abnormality flag is turned ON.
- the filter pressure abnormality release time is stored in the EEPROM4602 in the storage location of the filter pressure abnormality in the EEPROM in the format of "year, month, day, hour, minute OFF". Then, block 9300 ends.
- block 9400 Upon completion of block 9300, block 9400 is next executed. Figure 22 Details of block 9400 are shown in a flowchart. The block 9400 will be described below with reference to FIG.
- the fuel level warning occurrence time is stored in the EEPROM4602 in the storage location of the fuel level warning in the EPROM in the format of "year, month, day, hour, minute ⁇ N". Then, block 9400 ends.
- the fuel remaining amount warning flag is set to OFF with the initial value setting 9000. Therefore, at the time when the first fuel remaining warning is issued after the start, the processing of STEP 9401— 9402— 9403— 9404— 9405 is performed, and the fuel remaining warning flag is turned ON.
- the fuel level warning release time is stored in the EEPROM4601 in the storage location of the fuel level warning in the EPR ⁇ M in the format of "year, month, day, hour, minute OFF". Then, block 9400 ends.
- FIG. 23 is a flowchart showing details of the block 9500. The block 9500 will be described below with reference to FIG.
- the processing cycle of the blocks 9100 to 9600 of the monitor unit 46 ⁇ t time (unit is, for example, mS) is added to each storage location. For example, if it is determined in STEP 9502 that the cooling water temperature Tw is equal to or higher than Tmax, the process proceeds to STEP 9507. Then, in Step 9507, ⁇ t is added to the time recorded in the storage location of Tw ⁇ Tmax of the water temperature frequency distribution in the EE PROM 4602.
- 520 hr is in the range of Tl> Tw ⁇ T0 while the engine cumulative operating time is 1250 hr.
- Tmax, T2, Tl, and ⁇ 0 used here may be set for each machine model.
- Tmax may be determined as a design overheat temperature
- D0 may be a freezing point temperature of 0 ° C
- other values may be determined as values obtained by equally dividing T0 from Tmax.
- Block 9600 shows processing for connecting the personal computer (PC) 53 to the monitor unit 46 and outputting each information recorded in the EEPROM 4602 in blocks 9100 to 9500.
- the PC 53 is not always connected, When performing maintenance, connect the PC 53 to the terminal of the monitor unit 46 communication section 4601 and output information.
- the internal configuration of the third communication unit 4601 of the second monitor unit 46 is shown in FIG.
- the third communication unit 4601 converts the data into digital data and stores it in the reception register 90.
- the reception completion flag in the reception controller 91 is set.
- the CPU can know the data input by monitoring the reception completion flag.
- the third communication unit 4601 automatically converts the data into serial data and transmits it to the PC.
- the data is, for example, a character code, and an instruction (command) or a numerical value is transmitted and received in the character code.
- the recording data in the EEPROM 4602 shown in FIG. 19 is output to the PC.
- the recorded content is converted into a character code string and sent to the communication register one character at a time while checking the status of the transmission flag in the transmission controller in the third communication unit 4621. Convert to serial data and send to PC 53. Alternatively, the value may be sent as it is without converting it to a character code.
- the command is determined to be “T” in STEP 9602
- the start, stop time, and accumulated operating time of the engine are transmitted to the PC from the engine operation record in the EE PROM in STEP 9607.
- the PC 53 also has a communication unit similar to the third communication unit 4601, and reads data overnight by the same processing.
- processing Upon completion of block 9600, processing returns to block 9100.
- the processing of blocks 9100 to 9600 is repeatedly performed.
- the repetition time is the processing cycle ⁇ t time described earlier with respect to the water temperature frequency distribution.
- each control unit or monitor unit receives data from the first common communication line 39 for control and the second communication line 40 for monitoring at an optimal communication cycle, and performs each processing. Can be performed.
- the following effects can be obtained according to the present embodiment.
- the common communication line is divided into the first common communication line 39 for control and the second common communication line 40 for monitoring, the amount of communication data and the communication frequency are reduced by the common communication lines 39 and 40, respectively. Extremely high-speed common communication line It is not necessary, and the complexity of each component device (control unit and monitor unit) and cost up can be avoided.
- the common communication line is divided into the first common communication line 39 for control and the second common communication line 40 for monitoring, for example, a function is provided on the second common communication line 40 for monitoring. Even if a monitor unit is added for addition, a flexible system can be constructed without affecting the data communication volume and communication frequency to the first common communication line 39 for control. See the embodiment).
- FIGS. 26 to 33 A second embodiment of the present invention will be described with reference to FIGS. 26 to 33.
- the second embodiment has a configuration in which a display device 47 is added to a second common communication line 40 for monitoring in addition to the first embodiment.
- FIG. 27 shows the configuration of the display device 47.
- the display device 47 is provided with input means such as switches and keys which are pressed by an operator when the operator wants to switch the display, and the like.
- the input means 4 7 0 3 a, 4 7 0 3 b, 4 7 0 3 c a, 4 7 0 3 b, 4 7 0 3 I 4 interface for inputting signals from 3 c, 4 7 0 4, Central processing unit (CPU) 4 7 2, for control procedure programs and control Read-only memory (ROM) 473 for storing necessary constants, Random access memory (RAM) 474 for temporarily storing operation results or numerical values during operation, interface for output (I / O 470, a display unit such as LCD for displaying information, and a second communication unit for controlling the communication between the monitor units connected to the second common communication line.
- CPU Central processing unit
- ROM Read-only memory
- RAM Random access memory
- the table of FIG. 28 shows the transmission and reception relationship of data transmitted and received via the first and second common communication lines 39 and 40, and the cycle thereof.
- data to be displayed on the display using the display device 47 is added to the second common communication line 40 for monitoring.
- the first monitor unit 45 is connected to the first monitor unit 45.
- a display equivalent to the instrument panel is displayed on the display device 47 instead of the instrument panel that was used.
- a signal such as the operating time, the engine oil pressure, and the filter pressure recorded by the second monitor unit 46 or the frequency distribution data of the water temperature Tw is transmitted to the display device 47.
- the first and second monitor units 45 and 46 display their data by the timer interrupt signal in the same manner as the transmission method in the first to third control units 17, 23 and 33.
- Send to The display device 47 receives the data and displays them by a display method such as switching or combining them at the same time.
- FIG. 29 shows an example of a display screen of the display device 47 as the display method.
- Screen 1 in FIG. 29 (a) is a display screen corresponding to the instrument panel connected to the first monitor unit 45.
- the engine speed Ne received from the first control unit 17, the cooling water temperature Tw, and the fuel level Fuel received from the first monitor unit 45 are displayed as numbers or bar graphs.
- the engine oil pressure Poil received via the second common communication line 40 and the filter pressure Pflt received from the first monitor unit 45 via the second common communication line 40 are displayed on the screen only when there is an abnormality. Display the item.
- the abnormality determination of each data is performed in the same manner as in the processing flow of the second monitor unit 46 shown in FIGS. 20 and 21.
- FIG. 29 (b) shows the operating time Tmwork: collected and recorded by the second monitor unit 46 shown in the first embodiment, the cooling water temperature frequency distribution HisTw, and the time output by the RTC 4603. Time is received via the second common communication line 40 and displayed.
- FIG. 29 (c) shows the cooling water temperature frequency distribution HisTw in screen 2, instead of the engine water pressure abnormality and field pressure abnormality collected and recorded by the second monitor unit 46 of the first embodiment. This is a history display.
- FIG. 30 shows a processing flow of the display device 47 for displaying these screens. The details will be described below with reference to FIG.
- the screen display flag set in STEP4713, 4714, 4715 is determined. If the screen display flag is screen 1, the process proceeds to STEP 4717, if the screen display flag is screen 2, the process proceeds to STEP 4718, and if the screen display flag is screen 3, the process proceeds to STEP 4719. If it is determined in the previous step 4711 that the switch has not been pressed, the same screen as before is displayed because STEP 4716 is executed directly without changing the screen display flag.
- the screen 1 shown in Fig. 29 (a) is displayed.
- STEP4718 The screen 2 shown in Fig. 29 (b) is displayed.
- FIG. 31 shows the details of STEP 4717.
- the processing of STEP 4717 will be described with reference to FIG.
- Character string for displaying the numerical value of the engine speed N e received from the second common communication line 40 (Character (Ne)) (In the example of screen 1 in FIG. 29 (a), Ne: 2150, so the character string “2", “1", "5", "0").
- Cooling water temperature Tw 60 ° C
- the length of the bar graph (Graph (Fuel)) is calculated from the value of the fuel level Fuel received from the second common communication line 40.
- the character string "fuel level” is displayed in the order of (Graph (Fuel)) (Fig. 29 (a), third line of screen 1).
- FIG. 32 shows the details of STEP 4718 in FIG.
- description will be made with reference to FIG.
- STEP4718-1 The display data on screen 2 shown in Fig. 29 (b) does not communicate at regular intervals as shown in Fig. 28, but the data required from the second monitor unit 46 in response to a data transmission request from the display device 47.
- the communication data is transmitted and received by the method of receiving the communication data.
- STEP4714 and 4718 in the flowchart of FIG. The transmission request command of the distribution His Tw is transmitted to the second monitor unit 46 via the common communication line.
- the numeric value of the Time data is converted into a character string (Time) for display.
- FIG. 33 shows the details of STEP4719. Hereinafter, description will be made with reference to FIG.
- the display data on screen 3 shown in Fig. 29 (c) does not communicate at regular intervals as shown in Table 2, but in response to a data transmission request from display device 47.
- the communication data is transmitted and received by a method of receiving necessary data from the second monitor unit 46. That is, when the switch 4703c of the display device 47 is pressed, STEP4715 and 4719 in the flowchart of FIG. 30 are selected.
- a history HisW transmission request command is transmitted to the second monitor unit 46 via the second common communication line 40.
- Abnormality detection history Converts Hi sW information into a character string (HisW (N)). N indicates each abnormality information.
- the common communication line is divided into the first common communication line 39 for control and the second common communication line 40 for monitoring. Even if a display device 47 (one type of monitor unit) is added on the common communication line 40 to add a function, the data communication amount and communication frequency for the first common communication line 39 for control may be affected. Therefore, a flexible system can be constructed (the effect of (3) of the first embodiment).
- the display device 47 is added to the second common communication line 40 for the monitor, so that the following effects are obtained in addition to the effects (1) to (3) of the first embodiment. The effect is obtained.
- Monitor data can be displayed to the operator without affecting control performance.
- the monitor data Since the monitor data is graphically displayed on the display device 47, the monitor data can be displayed in an easy-to-understand manner for the operator.
- a fourth control unit 48 for controlling the excavation work device 7 is added. Further, a display device 47A is connected to the first common communication line 39 for control.
- the excavator 7 has a boom rotation angle detector 34 that detects the rotation angle of the boom 8, an arm rotation angle detector 35 that detects the rotation angle of the arm 9, and a bucket rotation that detects the rotation angle of the bucket 10.
- An angle detector 36 is provided.
- the fourth control unit 48 performs predetermined arithmetic processing based on the rotation angle signals ⁇ , a, and ⁇ from the rotation angle detectors 34, 35, and 36. Control Drive commands YiS, Ya, Yr are provided.
- FIG. 35 shows the configuration of the fourth control unit 48.
- the control unit 480 switches the boom, arm, and bucket angle signals i3, and ⁇ of the work equipment, and outputs the AZD converter 481 to the multiplexer 480 and the analog signal input from the multiplexer 480.
- AZD converter 481 for converting to digital signal
- CPU 482 for controlling the entire control unit in accordance with the control procedure stored in ROM 483, ROM 483 for storing the control procedure
- RAM 484 for temporarily storing data
- the first communication unit 486 6 for communication with the common communication line 39 of the control system
- the second communication unit 40 for communication with the second common communication line 40 for monitoring It consists of two communication units 487.
- FIG. 36 shows the configuration of the display device 47A.
- the display device 47A is a component for controlling the communication between the control unit and the monitor unit connected to the first common communication line 39 in addition to the components of the display device 47 of the second embodiment. 1Communication unit 4 7 6 is provided.
- Fig. 37 shows the data of the first and second common communication lines 39, 40, their transmission / reception relationship, and the communication cycle.
- the second embodiment is added to the second embodiment.
- the display unit 47A displays the state of the excavation work device 7 calculated by the control unit 48 on the display unit 47A, and the control target value (automatic operation command Cauto And the target trajectory hr).
- the state of the excavation work device 7 is displayed using the second common communication line 40 for monitoring, and data related to control is transmitted and received via the first common communication line 39 for control.
- FIG. 38 is a flowchart showing the processing procedure stored in the ROM 483 of the fourth control unit 48.
- This processing is an example of a range limit control in which the excavation work device 7 is stopped when the bucket tip reaches the set depth. The details of the processing will be described below with reference to FIG.
- the lengths Lb, La, Lc of the boom 8, arm 9, and packet 10 stored as basic data in the ROM 483 of the control unit 48, and the boom angle / 3 output by the angle meters 34, 35, 36 Calculate the tip position, depth hx, and reach hy of the bucket 10 from the arm angle ⁇ ; and the baguette angle.
- the numerical value of the depth hx is 0 on the ground and (1) in the depth direction.
- the baguette tip depth hx is subtracted from the target trajectory hr (sent from the display device 47A through the common communication line 39 (in this case, the control depth is set because the control is limited), and the deviation ⁇ is calculated.
- Whether the bucket tip position is beyond the target locus (set depth) is determined by whether the previously calculated depth deviation Ah is 0 or more. If Ah ⁇ 0, that is, if the tip of the bucket is less than the set depth, proceed to STEP 4806. Proceed. If ⁇ ⁇ 0, that is, if the packet head has not yet reached the set depth, the process proceeds to STEP 4805.
- This processing is executed when it is determined in STEP 4804 that the leading end of the bucket has a depth equal to or less than the set depth.
- the drive command Y for communicating to the control unit 33A via the first common communication line 39 is set to 0 for 3, 3, ⁇ , ⁇ , and the control unit 33 ⁇ stops driving the control valves 24, 25, 26. To do.
- FIG. 39 is a flowchart showing a processing procedure of the display device 47A.
- the difference from the display device 47 of the second embodiment shown in FIG. 26 is that, in addition to the screens 1, 2, and 3, screens 4 and 5 shown in FIGS. Is added.
- Screen 4 shown in FIG. 40 (a) displays the position of the excavator 7 calculated by the fourth control unit 48 by drawing a picture of the hydraulic excavator, and is shown in FIG. 40 (b).
- Screen 5 sets the target trajectory (set depth) for range limit control.
- the use of the switches 4703a, 4703b, and 4703c of the display device is different from that of the second embodiment. The details will be described below with reference to FIG.
- the display screen flag described above is set to screen 1, and the value of the target locus hr is set to 0.00m.
- STEP4721 Determine whether switch 4703a has been pressed. If not, the process proceeds to STEP 4 731. If it is pressed, execute steps 4722 to 4730.
- the current screen display flag is determined to be screen 1 in STEP4722, and the screen display flag is updated to screen2 in STEP4726. If the current display screen flag is screen 5, STEP 4730 is executed and the display screen flag becomes screen 1.
- FIG. 41 is a flowchart showing the details of STEP 4735. Hereinafter, the display processing of the screen 4 according to FIG. 41 will be described.
- the automatic operation command Cauto is set to OFF in this STEP.
- the bucket tip depth hx and reach hy transmitted from the fourth control unit 48 via the second common communication line 40 are converted into display character strings, characters (hx), and characters (hy).
- STEP4735-3 At the top of screen 4, "bucket tip reach”, letters (hy), “m”, “bucket tip depth”, letters (hx), "m” are displayed.
- Boom 8 arm 9, packet 10 length Lb, La, Lc, and boom angle output by each angle meter 34, 35, 36] 3, arm angle ⁇ , packet angle r from the center of screen 4 Draw a picture of the excavator from the bottom to the bottom.
- the bucket tip depth hx and reach hy transmitted from the fourth control unit 48 via the second common communication line 40 are converted into display character strings, characters (hx), and characters (hy).
- Boom 8 arm 9, baguette 10 length Lb, La, Lc, and boom angle output from each angle meter 34, 35, 36) 3, arm angle, and packet angle r from the center of screen 5
- the target locus h r is set.
- the setting is such that, for the target locus h r stored in the display device 47A, ⁇ increases when the switch 4703b is pressed, and Ah decreases when the switch 4703c is pressed.
- the increase / decrease value Ah is determined in advance as a numerical value such as 0.01 m.
- both the monitor data and the control data such as information relating to the vehicle body control can be displayed to the operator in an easy-to-understand manner.
- the control or monitor command signal is generated and transmitted in conjunction with the contents of the display screen (see STEP4718 and 4719 in Fig. 39).
- Generation and transmission of a monitor data transmission request command by operation of switch 4703a step 47 18-1 in Fig. 31 and monitor data transmission request command by operation of switches 4703b and 470 3c in step 4719-1 in Fig. 32) );
- Automatic operation command C au to and target trajectory by switches 4703a, 4703b, and 4703c in STEP4802, 4803 in Fig. 38 and STEP4736-1, 4736-5 to 9 in Fig. 38
- Generation of hr and transmission by timer interrupt processing the operation of both the fourth control unit 48 and the second monitor unit 46 from the display device 47 is enabled, and the complexity of the operation can be reduced.
- monitor data can be displayed to the operator without affecting control performance.
- the monitor data Since the monitor data is graphically displayed on the display device, the monitor data can be displayed to the operator in an easy-to-understand manner.
- the display device graphically displays at least one of the control data and the monitor data, the monitor data or the control data can be easily displayed to the operator.
- control and monitor command signals are generated and transmitted in conjunction with the contents of the display screen by operating the input device of the display device, both the control device and the monitor device can be operated from the display device And the complexity of operation can be reduced.
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/070,989 US6718245B2 (en) | 2000-07-17 | 2001-07-13 | Electronic control system for construction machinery |
KR1020027002946A KR20020035862A (ko) | 2000-07-17 | 2001-07-13 | 건설 기계의 전자 제어 시스템 |
EP01949971.4A EP1302600B1 (en) | 2000-07-17 | 2001-07-13 | Electronic control system for construction machinery |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2000-215330 | 2000-07-17 | ||
JP2000215330A JP4489258B2 (ja) | 2000-07-17 | 2000-07-17 | 建設機械の電子制御システム |
Publications (1)
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WO2002006592A1 true WO2002006592A1 (fr) | 2002-01-24 |
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ID=18710765
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP2001/006085 WO2002006592A1 (fr) | 2000-07-17 | 2001-07-13 | Systeme de commande electronique d'une machine de construction |
Country Status (6)
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US (1) | US6718245B2 (ja) |
EP (1) | EP1302600B1 (ja) |
JP (1) | JP4489258B2 (ja) |
KR (1) | KR20020035862A (ja) |
CN (1) | CN1158436C (ja) |
WO (1) | WO2002006592A1 (ja) |
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EP1492012B1 (en) * | 2002-03-25 | 2012-01-11 | Hitachi Construction Machinery Co., Ltd. | System for collecting operation data of work machine |
SE523988C2 (sv) * | 2002-04-22 | 2004-06-15 | Volvo Constr Equip Holding Se | Anordning och förfarande för styrning av en maskin |
US6994223B1 (en) * | 2002-10-29 | 2006-02-07 | Auto Crane Company | Diagnostic readout for operation of a crane |
JP4026495B2 (ja) * | 2002-12-19 | 2007-12-26 | 株式会社小松製作所 | サーバの切り換え制御装置 |
US7983820B2 (en) | 2003-07-02 | 2011-07-19 | Caterpillar Inc. | Systems and methods for providing proxy control functions in a work machine |
JP2005094744A (ja) * | 2003-08-08 | 2005-04-07 | Toshiba Corp | 制御システム |
US7099722B2 (en) * | 2004-08-26 | 2006-08-29 | Caterpillar Inc. | Work machine attachment control system |
JP4808531B2 (ja) * | 2006-03-28 | 2011-11-02 | 株式会社小松製作所 | 移動体監視装置 |
CN101506745B (zh) * | 2006-09-05 | 2013-12-25 | 罗伯特-博世有限公司 | 监测静液压传动装置的传动系统和方法 |
US8078297B2 (en) * | 2006-12-01 | 2011-12-13 | Trimble Navigation Limited | Interface for retrofitting a manually controlled machine for automatic control |
DE102007007970B4 (de) | 2007-02-17 | 2009-11-26 | Wirtgen Gmbh | Baumaschine, insbesondere Straßenbaumaschine |
WO2008120682A1 (ja) * | 2007-03-29 | 2008-10-09 | Komatsu Ltd. | 建設機械および建設機械の制御方法 |
JP5161155B2 (ja) * | 2009-06-12 | 2013-03-13 | 株式会社小松製作所 | 作業機械および作業機械の制御方法 |
US8272521B1 (en) * | 2009-10-05 | 2012-09-25 | Auto Crane Company | Crane moment load and load delivery system control and method |
US8655558B2 (en) | 2010-02-12 | 2014-02-18 | Kayaba Industry Co., Ltd. | Control system for hybrid construction machine |
CN101806079B (zh) * | 2010-04-22 | 2011-12-21 | 浙江大学 | 挖掘机负载自主识别系统 |
CN102435246B (zh) * | 2011-08-22 | 2013-01-16 | 三一重机有限公司 | 一种挖掘机自检测方法 |
DK2811173T4 (da) | 2013-06-04 | 2022-01-10 | Danfoss Power Solutions Aps | Hydraulisk system og fremgangsmåde til drift af hydraulisk system |
CN104583967B (zh) * | 2013-08-20 | 2016-08-24 | 株式会社小松制作所 | 建筑机械用控制器 |
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- 2001-07-13 CN CNB018020119A patent/CN1158436C/zh not_active Expired - Lifetime
- 2001-07-13 US US10/070,989 patent/US6718245B2/en not_active Expired - Lifetime
- 2001-07-13 EP EP01949971.4A patent/EP1302600B1/en not_active Expired - Lifetime
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Also Published As
Publication number | Publication date |
---|---|
CN1158436C (zh) | 2004-07-21 |
CN1386152A (zh) | 2002-12-18 |
JP4489258B2 (ja) | 2010-06-23 |
US6718245B2 (en) | 2004-04-06 |
US20020138188A1 (en) | 2002-09-26 |
JP2002030697A (ja) | 2002-01-31 |
EP1302600A4 (en) | 2009-04-15 |
EP1302600A1 (en) | 2003-04-16 |
EP1302600B1 (en) | 2014-09-10 |
KR20020035862A (ko) | 2002-05-15 |
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