CN111472409A - Walking control method of backhoe loader and backhoe loader - Google Patents
Walking control method of backhoe loader and backhoe loader Download PDFInfo
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- CN111472409A CN111472409A CN202010346907.9A CN202010346907A CN111472409A CN 111472409 A CN111472409 A CN 111472409A CN 202010346907 A CN202010346907 A CN 202010346907A CN 111472409 A CN111472409 A CN 111472409A
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- backhoe loader
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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
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
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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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2083—Control of vehicle braking systems
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- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention provides a walking control method of a loader digger and the loader digger, which relates to the technical field of engineering machinery and is applied to the loader digger with a controller, and the method comprises the following steps: after receiving a walking instruction of a user, the controller acquires a current operation mode of the loader-digger and judges whether the loader-digger belongs to digging operation. When the controller judges that the excavating loader is in excavating operation, the controller selects and responds to a walking instruction of a user, so that the excavating loader is directly controlled to move to a preset position according to actual requirements when an operator faces an excavating end of the excavating loader, the operation steps of firstly switching to the loading end and then moving when the excavating loader needs to move in an excavating mode are simplified, the complex operation that the operator needs to firstly rotate back to the loading end to operate the excavating loader to move and then rotate back to the excavating end to perform excavating operation is avoided, and the operation efficiency of the excavating loader during excavating operation and when the operator needs to frequently move the position is improved.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a walking control method of a loader-digger and the loader-digger.
Background
With the acceleration of urbanization construction, a large number of capital construction projects are rapidly spread, and in the construction process, large-scale engineering machinery is used as a main body of construction, so that the large-scale engineering machinery plays an indispensable role. The backhoe loader can perform not only excavation work but also soil transportation. Compared with single-function equipment (such as an excavator), the multifunctional excavator has higher operation efficiency, is more compact in size and higher in flexibility, and is widely used.
Existing backhoe loaders generally include a powertrain, a loading end, and a digging end. When the excavating operation is carried out, the machine is stopped, the seat is rotated to the excavating direction, the supporting legs are extended for supporting, and then the normal excavating operation can be carried out. Once the position of the loader-digger needs to be adjusted, the supporting legs need to be retracted, the seat rotates back to the loading direction, the position of the loader is adjusted through the steering wheel, then the preparation work before the digging work is repeated, the digging work can be carried out again, and the lower working efficiency of the loader-digger is directly caused.
Disclosure of Invention
The invention aims to provide a walking control method of an excavating and loading machine and the excavating and loading machine, aiming at overcoming the defects in the prior art and solving the problem of low working efficiency caused by complicated walking and excavating switching operation during excavating operation of the prior excavating and loading machine.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in one aspect of the embodiments of the present invention, a walking control method of a backhoe loader is provided, which is applied to a backhoe loader having a controller, and the method includes:
receiving a walking instruction of a user, and acquiring a current operation mode of the loader-digger;
and when the backhoe loader is in the excavating operation, the backhoe loader is controlled to move to the preset position in response to the walking instruction.
Optionally, the backhoe loader further comprises a support leg; before controlling the backhoe loader to move to the predetermined position, the method further comprises: acquiring the extension information of the support leg, determining the retraction parameter according to the extension information of the support leg, and controlling the support leg to retract according to the retraction parameter.
Optionally, the backhoe loader includes a parking device; before controlling the backhoe loader to move to the predetermined position, the method further comprises: and acquiring the parking brake state of the parking device and controlling the parking device to release the parking brake according to the parking brake state.
Optionally, the backhoe loader further comprises an engine and a transmission device connected with the engine; controlling the backhoe loader to move to the predetermined position includes: and controlling the engine to be at a preset rotating speed to drive the transmission device to move the backhoe loader to the preset position.
Optionally, the transmission includes running gear and the gearbox of setting between engine and running gear, and control engine is in predetermineeing the rotational speed in order to drive transmission includes: and controlling the engine to be at a preset rotating speed, and setting the gearbox to be at a preset gear so that the engine outputs the rotating speed to drive the walking device through the gearbox.
Optionally, the walking instruction includes a forward instruction and a backward instruction; setting the gearbox at a preset gear includes: and responding to the forward command, setting the preset gear as a forward gear, or setting the preset gear as a backward gear corresponding to the backward command.
Optionally, setting the gearbox in a preset gear includes: the gearbox is arranged to be in a low-speed gear.
Optionally, a brake piece electrically connected to the controller is further disposed at the digging end of the backhoe loader, and controlling the backhoe loader to move to the predetermined position further includes: and acquiring the braking parameters of the braking piece, and controlling the moving speed of the loader-digger according to the braking parameters.
Optionally, the brake member is a brake pedal; the braking parameters of the braking piece comprise: angle parameters of the brake pedal.
In another aspect of the present invention, there is provided an excavating and loading machine including a walking control method for controlling walking work using any one of the excavating and loading machines.
The beneficial effects of the invention include:
the invention provides a walking control method of a loader digger, which is applied to the loader digger with a controller and comprises the following steps: after receiving a walking instruction of a user, the controller acquires a current work mode of the backhoe loader and judges whether the current work mode belongs to the digging work (the work mode of the backhoe loader is generally divided into the digging work and the loading work). When the controller judges that the excavating loader is in excavating operation, the controller selects and responds to a walking instruction of a user, so that the excavating loader is directly controlled to move to a preset position according to actual requirements when an operator faces an excavating end of the excavating loader, the operation steps of firstly switching to the loading end and then moving when the excavating loader needs to move in an excavating mode are simplified, the complex operation that the operator needs to firstly rotate back to the loading end to operate the excavating loader to move and then rotate back to the excavating end to perform excavating operation is avoided, and the operation efficiency of the excavating loader during excavating operation and when the operator needs to frequently move the position is improved.
The invention also provides the excavating loader, the walking control method of the excavating loader is applied to the excavating loader, and the excavator is directly controlled to move to the preset position in the excavating operation mode, so that the operation efficiency is effectively improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view of a walking control method of a backhoe loader according to an embodiment of the present invention;
fig. 2 is a second schematic view of a walking control method of the backhoe loader according to the embodiment of the present invention;
fig. 3 is a third schematic view illustrating a travel control method of the backhoe loader according to the third embodiment of the present invention;
fig. 4 is a fourth schematic view illustrating a walking control method of the backhoe loader according to the embodiment of the present invention;
fig. 5 is a fifth schematic view illustrating a method for controlling the travel of the backhoe loader according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. It should be noted that, in the case of no conflict, various features in the embodiments of the present invention may be combined with each other, and the combined embodiments are still within the scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "first", "second", "third", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The digging loader is multifunctional operation equipment, which mainly comprises a power assembly, a digging end and a loading end. The digging end is primarily used for digging operations and the loading end is primarily used for loading operations, and its seat is typically rotatably disposed within the cab for the operator to switch between the two modes of operation. When the backhoe loader is in loading operation, the driver can control the backhoe loader to move at the loading end due to operation requirements, and therefore fixed-point loading is achieved. However, when the backhoe loader is used for the excavating work, in order to improve the stability of the backhoe loader and to ensure the normal progress of the excavating work, it is generally necessary to fix the backhoe loader at a certain position and then perform the excavating work through the excavating end. However, in actual use, due to complexity of working conditions and variability of working requirements, the backhoe loader in the excavating work mode often needs to be replaced and then excavating work is performed again. Therefore, the existing control mode is utilized, the operator needs to frequently rotate the seat, then the operation end is switched, and more time is usually wasted in repeated steps, so that the operation efficiency is difficult to effectively improve. The application provides a walking control method of the backhoe loader based on the defects, and the backhoe loader can be controlled to move to a preset position at the digging end.
In one aspect of the embodiments of the present invention, a walking control method of a backhoe loader is provided, which is applied to a backhoe loader having a controller, and the method includes: receiving a walking instruction of a user, and acquiring a current operation mode of the loader-digger; and when the backhoe loader is in the excavating operation, the backhoe loader is controlled to move to the preset position in response to the walking instruction.
For example, as shown in fig. 1, a controller is provided in the backhoe loader, and the controller may be provided separately or may be a main control device of the backhoe loader. A signal input device, such as a lever, a switch button, a reset switch button, a touch screen, or the like, is provided at the digging end of the backhoe loader and electrically connected to the controller. The specific control method comprises the following steps:
s010: and receiving a walking instruction of a user, and acquiring the current operation mode of the loader-digger.
When the operator faces the excavating end and needs to move the position of the excavating loader at the moment, a user command, namely a walking command, can be input through the signal input device. After the controller receives the walking instruction, the current work mode of the backhoe loader is obtained (the step can also be carried out before the controller receives the walking instruction of the user), so that the state information of the backhoe loader is determined.
S020: and when the backhoe loader is in the excavating operation, the backhoe loader is controlled to move to the preset position in response to the walking instruction.
After S010, when the controller determines that the operation mode of the loader-digger is the loading end, the controller selects not to respond to the walking command, so that the situation that the loader-digger operates mistakenly or interferes with other normal operation operations under the condition that an operator or a non-operator touches the operation mode by mistake can be avoided. And when the work mode of the backhoe loader is determined to be the digging work, responding to the walking instruction, and controlling the backhoe loader to move to the preset position. In addition, the position of the loader digger can be adjusted by continuously sending walking instructions by a user, so that the moving accuracy of the loader digger is further improved. By the control method, the position of the whole device is directly adjusted at the excavating end of the loader-digger, so that subsequent excavating operation is smoothly realized. The control method is simple, convenient and efficient, saves a large amount of time spent on switching the modes, and reduces fatigue and labor intensity of operators to a certain degree.
Optionally, the backhoe loader further comprises a support leg; before controlling the backhoe loader to move to the predetermined position, the method further comprises: acquiring the extension information of the support leg, determining the retraction parameter according to the extension information of the support leg, and controlling the support leg to retract according to the retraction parameter.
As shown in fig. 2, the support legs are generally extended from the backhoe loader and abut against the ground where the backhoe loader stays when the backhoe loader is in the backhoe work mode, and are generally four in number and distributed at four corners of the backhoe loader. In order to avoid the extended support legs from interfering with the ground or surrounding structures when the controller receives a walking command and controls the backhoe loader to move, the extended support legs can be retracted, so that the backhoe loader can be moved conveniently, and the moving safety of the backhoe loader is improved. The specific control method comprises the following steps:
s030: acquiring the extension information of the support leg, determining the retraction parameter according to the extension information of the support leg, and controlling the support leg to retract according to the retraction parameter.
Before the aforementioned step S020 of "controlling the backhoe loader to move to the predetermined position", the controller may further obtain extension information of the current support leg of the backhoe loader, where the extension information specifically may include: the extension length, extension angle, etc. of the support legs. Thereby facilitating the controller to determine the retraction parameters and, based on the parameters of retraction, control the support legs to be fully or partially retracted.
In another embodiment, the controller acquires extension information of the support legs and feeds the extension information back to the display device, selects to stop the operation when the support legs are determined to be in the extension state, manually retracts the support legs by an operator, and responds to a walking command and moves the loader-digger after the support legs are completely retracted. The operation is actively carried out by operators, the operation flexibility is improved, and meanwhile, the change of the existing loader-digger is small, so that the loader-digger is convenient to popularize and use on a large scale.
In another embodiment, an image acquisition device may be further provided, the image acquisition device acquires environmental information near the support leg, a safety distance (i.e., a minimum distance from the support leg to the obstacle) is preset in the controller, and after the controller acquires the environmental information acquired by the image acquisition device, the distance from the support leg to the obstacle is determined, so that the excavating loader is controlled to move in response to a walking instruction within a range greater than the preset safety distance. The intelligent degree of the loader-digger is further improved, and the labor intensity of operators is reduced.
Optionally, the backhoe loader includes a parking device; before controlling the backhoe loader to move to the predetermined position, the method further comprises: and acquiring the parking brake state of the parking device and controlling the parking device to release the parking brake according to the parking brake state.
For example, as shown in fig. 3, a parking device may be provided in addition to the support legs of the backhoe loader, so that the backhoe loader has better stability when in the digging operation mode, and the safety of the vehicle can be improved when the backhoe loader is stopped and is turned off.
S040: and acquiring the parking brake state of the parking device and controlling the parking device to release the parking brake according to the parking brake state.
In order to avoid serious abrasion of the parking device caused by the fact that the controller forcibly executes the traveling instruction after the backhoe loader is in the parking state, the parking brake state of the vehicle can be acquired before the controller executes S020 for controlling the backhoe loader to move to the preset position, the parking brake of the vehicle can be released according to the parking brake state, and the traveling instruction can be conveniently executed subsequently. Wherein the parking brake state of the parking device includes a braking state and a non-braking state. When the vehicle is in a braking state, executing releasing parking braking; when the vehicle is in the non-braking state, this step 040 is skipped. It should be noted that S040 and S030 may not be sequentially executed when the controller executes, and for example, in one embodiment, S030 may be executed first and then S040 is executed.
Optionally, the backhoe loader further comprises an engine and a transmission device connected with the engine; controlling the backhoe loader to move to the predetermined position includes: and controlling the engine to be at a preset rotating speed to drive the transmission device to move the backhoe loader to the preset position.
For example, as shown in fig. 4, the power assembly of the backhoe loader further comprises an engine for providing output and a transmission device connected with the engine. Through taking engine and transmission as the structure of being responsible for the backhoe loader and removing, can avoid setting up extra actuating mechanism alone, reduce the change to current backhoe loader, when reduce cost, realize higher efficient transmission. The specific control method comprises the following steps:
s050: when the backhoe loader is in excavating operation, the engine is controlled to be at a preset rotating speed to drive the transmission device to move the backhoe loader to the preset position in response to the walking instruction.
In S020, "control the backhoe loader to move to the predetermined position", specifically, the controller may first control the engine to be at a preset rotation speed, so that the output efficiency is high. Meanwhile, after the vehicle can be output to the wheels through the transmission device, the moving speed of the loader-digger accords with the ideal vehicle speed of an operator or the ideal vehicle speed based on the safety principle, a better fault tolerance rate is provided for the operation of the operator, and the operation difficulty of the vehicle is reduced. The preset rotating speed of the engine can be set by a user according to requirements. For example, in actual use, the rotation speed can be set to be low so as to ensure safety.
Optionally, the transmission includes running gear and the gearbox of setting between engine and running gear, and control engine is in predetermineeing the rotational speed in order to drive transmission includes: and controlling the engine to be at a preset rotating speed, and setting the gearbox to be at a preset gear so that the engine outputs the rotating speed to drive the walking device through the gearbox.
For example, as shown in fig. 5, a transmission device of a power assembly in the backhoe loader comprises an engine, a gearbox and a traveling device, and the speed transmitted to the traveling device is selected through the gear of the gearbox, so that the adjustable range of the speed range of the vehicle is enlarged, and the operation and the control are more flexible. The specific control mode is as follows:
s060: when the backhoe loader is in excavating operation, the engine is controlled to be at a preset rotating speed in response to a walking instruction, and the gearbox is set to be at a preset gear, so that the engine outputs the rotating speed to drive the walking device through the gearbox to enable the backhoe loader to move to a preset position.
In S050, after the transmission is provided, the controller may control the engine to be at a preset rotation speed, and then the transmission is set at a preset gear, so that power output from the engine to the transmission and then to the traveling device is completed, and the vehicle is driven to move to the target position.
The gears of the gearbox can comprise a forward gear and a reverse gear. The forward gears can be further refined into forward fast gears, forward slow gears and the like, and the reverse gears are the same. In such an embodiment, the preset gear should belong to one of the gears. The preset gear may be preset by a user.
Optionally, the walking instruction includes a forward instruction and a backward instruction; setting the gearbox at a preset gear includes: and responding to the forward command, setting the preset gear as a forward gear, or setting the preset gear as a backward gear corresponding to the backward command.
Illustratively, the walk instructions include a forward instruction and a backward instruction. The corresponding gearboxes can form a one-to-one corresponding response mode according to different walking instructions in preset gears. For example, after the controller acquires that the walking instruction is a forward instruction, the gear of the gearbox is controlled to be set to be a forward gear, and at the moment, the rotating speed output by the engine is transmitted to wheels through the gearbox to control the vehicle to move forward. And after the controller acquires a backward walking instruction, the gear of the gearbox is controlled to be set to be a backward gear, and at the moment, the rotating speed output by the engine is transmitted to wheels through the gearbox to control the vehicle to backward. And finishing the operation and control of the vehicle and driving the vehicle to move.
In another embodiment, the forward command may be further divided into a slow forward command and a fast forward command, the slow forward command corresponds to a slow forward gear, and the fast forward command corresponds to a fast forward gear. The reverse command and the reverse gear are the same and are not described again.
In addition, when the backhoe loader needs to move left and right, the operator faces the digging end, so that the direction of the backhoe loader can be adjusted by matching the backhoe working device arranged at the digging end in a forward or backward mode. For example: the excavating work apparatus of the backhoe loader generally includes a boom, an arm, and a bucket portion. The direction of the loader-digger is adjusted by combining the included angle between the movable arm and the bucket rod and matching the support of the bucket. A wider range of adjustment is achieved.
Optionally, setting the gearbox in a preset gear includes: the gearbox is arranged to be in a low-speed gear.
For example, in order to keep the speed at which the vehicle moves within a safe and controllable range, a preset gear of the gearbox is set to a low gear. It should be noted that a general backhoe loader includes a fast gear and a low gear.
Optionally, a brake piece electrically connected to the controller is further disposed at the digging end of the backhoe loader, and controlling the backhoe loader to move to the predetermined position further includes: and acquiring the braking parameters of the braking piece, and controlling the moving speed of the loader-digger according to the braking parameters.
For example, a brake piece can be arranged at the excavating end of the excavating loader, and the speed and the like of the excavating loader during moving can be controlled through the brake piece, so that the safety of the excavating loader during moving is further improved.
After a user steps on the brake piece, the brake piece is electrically connected with the controller, brake parameters are determined by acquiring state information of the brake piece, and then the moving speed of the loader-digger is controlled according to a preset program.
Optionally, the brake member is a brake pedal; the braking parameters of the braking piece comprise: angle parameters of the brake pedal.
For example, the braking parameter of the braking member may be an angle parameter of a brake pedal, and determines the braking force. Namely, the angle parameters and the braking force are in one-to-one correspondence. The braking force is different under different angles.
In another aspect of the present invention, there is provided an excavating and loading machine including a walking control method for controlling walking work using any one of the excavating and loading machines.
In an example, the method for controlling the travel of the backhoe loader is applied to the backhoe loader, and the movement of the backhoe loader to a predetermined position is directly controlled in the backhoe work mode, thereby effectively improving the work efficiency.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A travel control method of a backhoe loader, applied to a backhoe loader having a controller, the method comprising:
receiving a walking instruction of a user, and acquiring a current operation mode of the loader-digger;
and when the backhoe loader is in the excavating operation, responding to the walking instruction and controlling the backhoe loader to move to a preset position.
2. The travel control method of a backhoe loader of claim 1, wherein the backhoe loader further comprises a support leg; before the controlling the backhoe loader to move to the predetermined position, the method further comprises: acquiring the extension information of the support leg, determining a retraction parameter according to the extension information of the support leg, and controlling the support leg to retract according to the retraction parameter.
3. The travel control method of a backhoe loader of claim 1, wherein the backhoe loader comprises a parking device; before the controlling the backhoe loader to move to the predetermined position, the method further comprises: and acquiring a parking brake state of the parking device and controlling the parking device to release the parking brake according to the parking brake state.
4. The travel control method of a backhoe loader of claim 1, wherein the backhoe loader further comprises an engine and a transmission connected to the engine; the controlling the backhoe loader to move to the predetermined position includes: and controlling the engine to be at a preset rotating speed so as to drive the transmission device to move the backhoe loader to the preset position.
5. The travel control method of a backhoe loader of claim 4, wherein the transmission comprises a traveling unit and a transmission provided between the engine and the traveling unit, and the controlling the engine at a preset rotation speed to drive the transmission comprises: and controlling the engine to be at a preset rotating speed, and setting the gearbox to be at a preset gear so that the rotating speed output by the engine drives the walking device through the gearbox.
6. The travel control method of a backhoe loader of claim 5, wherein the travel command comprises a forward command and a backward command; the setting that the gearbox is in the preset gear comprises: and responding to the forward command, setting the preset gear as a forward gear, or responding to the backward command, and setting the preset gear as a backward gear.
7. The travel control method of a backhoe loader of claim 5, wherein said setting said transmission in a preset gear comprises: and setting the gearbox at a low-speed gear.
8. The travel control method of the backhoe loader of claim 1, wherein a brake electrically connected to the controller is further provided at the digging end of the backhoe loader, and the controlling the backhoe loader to move to the predetermined position further comprises: and obtaining the braking parameters of the braking piece, and controlling the moving speed of the loader digger according to the braking parameters.
9. The travel control method of a backhoe loader of claim 8, wherein the brake is a brake pedal; the braking parameters of the braking piece comprise: the angle parameter of the brake pedal.
10. A backhoe loader characterized by comprising controlling the walking work by applying the walking control method of the backhoe loader according to any one of claims 1 to 9.
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| CN202010346907.9A CN111472409A (en) | 2020-04-27 | 2020-04-27 | Walking control method of backhoe loader and backhoe loader |
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| CN202010346907.9A CN111472409A (en) | 2020-04-27 | 2020-04-27 | Walking control method of backhoe loader and backhoe loader |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113047366A (en) * | 2021-04-08 | 2021-06-29 | 江苏徐工工程机械研究院有限公司 | Control method, device and system of loader-digger and loader-digger |
| CN114658058A (en) * | 2022-02-21 | 2022-06-24 | 中联重科土方机械有限公司 | Control method and control device for excavator, controller and excavator |
| CN115182406A (en) * | 2022-06-21 | 2022-10-14 | 徐工集团工程机械股份有限公司 | A long-range unmanned remote control system and loaderdigger for loaderdigger |
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| CN113047366A (en) * | 2021-04-08 | 2021-06-29 | 江苏徐工工程机械研究院有限公司 | Control method, device and system of loader-digger and loader-digger |
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| CN114658058A (en) * | 2022-02-21 | 2022-06-24 | 中联重科土方机械有限公司 | Control method and control device for excavator, controller and excavator |
| CN115182406A (en) * | 2022-06-21 | 2022-10-14 | 徐工集团工程机械股份有限公司 | A long-range unmanned remote control system and loaderdigger for loaderdigger |
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