WO2020022297A1 - 報知装置、作業機、及び報知方法 - Google Patents
報知装置、作業機、及び報知方法 Download PDFInfo
- Publication number
- WO2020022297A1 WO2020022297A1 PCT/JP2019/028738 JP2019028738W WO2020022297A1 WO 2020022297 A1 WO2020022297 A1 WO 2020022297A1 JP 2019028738 W JP2019028738 W JP 2019028738W WO 2020022297 A1 WO2020022297 A1 WO 2020022297A1
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- WIPO (PCT)
- Prior art keywords
- notification
- rotation
- turning
- information
- unit
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
- B66C23/86—Slewing gear hydraulically actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
- B66C13/54—Operator's stands or cabins
- B66C13/56—Arrangements of handles or pedals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
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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
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
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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
- E02F9/26—Indicating devices
- E02F9/267—Diagnosing or detecting failure of vehicles
Definitions
- the present invention relates to a notification device, a working machine, and a notification method.
- Patent Literature 1 and Patent Literature 2 disclose a crane having a potentiometer as a turning angle detector.
- An object of the present invention is to provide a notification device, a working machine, and a notification method that can notify a worker that a revolving body is turning.
- an alarm device mounted on a working machine including a lower base body and a revolving body rotatably provided on the lower base body, and a drive for revolving the revolving body.
- the apparatus includes a first detection unit that detects an actual rotation amount of a driven unit driven by the device or the driving device, and a notification unit that notifies information corresponding to the rotation amount detected by the first detection unit.
- One aspect of the working machine according to the present invention includes a lower base body, a revolving body rotatably provided on the lower base body, and the above-described notification device.
- One aspect of the notification method according to the present invention is a notification method executed by a processor mounted on a working machine including a lower base body and a revolving body rotatably provided on the lower base body, The method includes a step of detecting an actual rotation amount of a driving device that rotates the body or a driven portion driven by the driving device, and a step of reporting information corresponding to the detected rotation amount.
- FIG. 1 is a circuit diagram of a hydraulic circuit and an electric circuit of a revolving superstructure of a crane provided with the turning operation notification device according to the first embodiment.
- FIG. 2 is a front view of a motor provided in a revolving superstructure of the crane provided with the turning operation notification device according to the first embodiment.
- FIG. 3 is a perspective view of a motor and a slewing bearing provided in a slewing body of the crane provided with the slewing motion notification device according to the first embodiment.
- FIG. 4 is a top view of a rotation detector included in the turning motion notification device according to the first embodiment.
- FIG. 5 is a circuit diagram of a hydraulic circuit and an electric circuit of a swing body of a crane provided with the swing motion notification device according to the second embodiment.
- FIG. 6 is a flowchart of a turning direction notification process of the turning motion notification device according to the second embodiment.
- FIG. 7 is a diagram of a turning direction table stored in a storage unit inside a controller included in the turning operation notification device according to the second embodiment.
- the front-back direction means the front-back direction with respect to a driver's seat provided in a cabin of a crane.
- the turning motion notification device 1A of the present embodiment is a turning motion notification device mounted on a crane C1 including a revolving unit 10 provided above a lower traveling unit (not shown).
- the crane C1 corresponds to an example of a work machine.
- the turning operation notification device 1A of the present embodiment outputs an operation sound at a frequency corresponding to the actual amount of rotation of the revolving body 10 when the revolving body 10 detects the revolving motion.
- a mobile crane C1 will be described as an example of a work vehicle.
- the mobile cranes are, for example, rough terrain cranes, all terrain cranes, truck cranes, and loading truck cranes (also referred to as cargo cranes).
- the work vehicle is not limited to a mobile crane, and may be various cranes including a lower base body and a revolving body rotatably provided on the lower base body.
- the lower base body may be capable of traveling or may not be capable of traveling.
- various work machines for example, hydraulic shovels having a turning function can be cited.
- FIG. 1 is a circuit diagram of a hydraulic circuit and an electric circuit of a swing body 10 provided in the crane C1 equipped with the swing operation notification device 1A.
- FIG. 2 is a front view of a motor 12 provided in the revolving superstructure 10 of the crane.
- FIG. 3 is a perspective view of the motor 12 and the slewing bearing 14 provided in the slewing body 10.
- the crane C1 includes the lower traveling unit 2, the revolving unit 10, the boom 15, a wire rope (not shown), a hook (not shown), a turning operation notification device 1A, and the like.
- the lower traveling body 2 corresponds to an example of a lower base body, and is capable of traveling.
- the lower traveling body 2 may be a lower traveling body provided with wheels or a lower traveling body provided with crawlers.
- the lower base body may be able to travel or may not be able to travel.
- the lower base body may be fixed to a fixed part such as the ground or a building.
- the revolving unit 10 is rotatably supported by a revolving base (not shown) of the lower traveling unit 2.
- the swing body 10 has a hydraulic circuit AC, a motor 12, a speed reducer 13, a swing brake 101, a swing lever 11, and the like.
- the hydraulic circuit AC has a hydraulic pump 121, a relief valve 123, a control valve 124, and the like as actuators. These actuators are provided to drive the motor 12.
- Such a hydraulic circuit AC corresponds to an example of a bleed-off circuit.
- the bleed-off circuit can increase the circuit efficiency by suppressing the power consumption of the actuator.
- the hydraulic pump 121 operates based on the power of the prime mover 125 to supply hydraulic oil from the oil tank 126 to the hydraulic circuit AC.
- the relief valve 123 opens the valve to release the hydraulic oil to the oil tank 126.
- the relief valve 123 protects the hydraulic circuit AC by preventing the supplied hydraulic oil from being at a pressure higher than the set pressure.
- the control valve 124 switches the supply path of the hydraulic oil to the motor 12 and switches the rotation direction of the motor 12. That is, the control valve 124 selectively switches between a first path for supplying hydraulic oil to the port P1 of the motor 12 and a second path for supplying hydraulic oil to the port P2.
- control valve 124 gradually narrows an oil passage (hereinafter, referred to as a bleed oil passage) that returns to the tank through the control valve 124 according to the operation amount of the turning lever 11, and finally closes the oil passage. Then, a path (first path) for supplying hydraulic oil to the port P1 of the motor 12 and a path (second path) for supplying hydraulic oil to the port P2 of the motor 12 are switched.
- a path (first path) for supplying hydraulic oil to the port P1 of the motor 12 and a path (second path) for supplying hydraulic oil to the port P2 of the motor 12 are switched.
- the pressure for operating the motor 12 depends on the pressure loss generated by passing through the bleed oil passage.
- the control valve 124 the relationship between the operation amount of the turning lever 11 and the aperture amount is uniquely determined.
- the pressure loss caused by passing through the bleed oil passage changes according to the flow rate of the hydraulic pump 121, which changes based on the accelerator operation amount for turning.
- the pressure for activating the turning varies depending on the load such as the posture of the crane, the wind, or the weight of the suspended load. For this reason, the operation amount of the swing lever 11 at which the swing body 10 starts moving changes depending on the load and the accelerator operation amount.
- the pipe L1 is connected to the port P3 of the control valve 124.
- the pipe L1 connects the port P3 of the control valve 124 and a switching valve 111 (described later) of the turning lever 11.
- the pipe L2 is connected to the port P4 of the control valve 124.
- the pipe L2 connects the port P4 of the control valve 124 and the switching valve 111 of the swing lever 11.
- the motor 12 corresponds to an example of a turning motor and a driving device.
- the motor 12 is a hydraulic motor that rotates an output shaft by flowing hydraulic oil.
- the motor 12 has ports P1 and P2 serving as an inlet or an outlet for hydraulic oil. Note that the motor may be an electric motor.
- the motor 12 has an output shaft 127.
- the output shaft 127 is connected to the speed reducer 13.
- the rotation direction of the motor 12 is switched by a control valve 124.
- the rotation of the motor 12 is transmitted to the speed reducer 13.
- the rotation of the motor 12 is transmitted to the revolving superstructure 10 via the speed reducer 13.
- the motor 12 rotates in the forward rotation direction. Further, when hydraulic oil is supplied to the port P2 via the second path, the motor 12 rotates in the reverse rotation direction.
- the speed reducer 13 includes a gear (not shown) connected to the output shaft 127 of the motor 12, an output shaft 132 (see FIG. 1) connected to the gear, a pinion gear 131 (see FIG. 3), and the like.
- the gear reduces the rotation of the output shaft 127 of the motor 12 and transmits the rotation to the output shaft 132.
- Pinion gear 131 is fixed to output shaft 132.
- the pinion gear 131 meshes with a swing bearing 14 (see FIG. 3) provided in the swing body 10.
- the pinion gear 131 functions as a planetary gear. That is, the pinion gear 131 causes the swing bearing 14 to swing by the rotation of the output shaft 132.
- the turning lever 11 corresponds to an example of an operation lever, and can swing in the front-rear direction based on an operation of an operator.
- the turning lever 11 is operated by the operator when the operator instructs the operation of the turning body 10.
- the swivel lever 11 corresponds to an example of an operation input unit that allows an operator to input an instruction regarding the operation of the swing body 10.
- the turning lever 11 is operated by an operator to be in an upright state (that is, a neutral state that is not tilted in the front-rear direction), a state that is tilted backward (also referred to as a first state of the turning lever), and a front side. State (also referred to as a second state of the turning lever).
- the turning lever 11 has a switching valve 111.
- the switching valve 111 switches the state of the control valve 124 based on an operation input input from the turning lever 11 operated by an operator.
- the switching valve 111 is connected to the port P3 of the control valve 124 via the pipe L1.
- the switching valve 111 is connected to a port P4 of the control valve 124 via a pipe L2.
- the switching valve 111 is connected to a power source 112.
- the switching valve 111 is supplied with pilot oil from a power source 112.
- the switching valve 111 is connected to the ports P3 and P4 of the control valve 124 and the power source 112, thereby forming a hydraulic circuit PC called a pilot circuit.
- the switching valve 111 is switched according to the state of the turning lever 11. Specifically, the switching valve 111 corresponds to a state corresponding to the neutral state of the turning lever 11 (also referred to as a neutral state of the switching valve) and a first state of the turning lever 11 according to the state of the turning lever 11.
- a state also referred to as a first state of the switching valve
- a state corresponding to the second state of the turning lever 11 also referred to as a second state of the switching valve
- the switching valve 111 does not apply the pilot oil pressure to either the port P3 or the port P4 of the control valve 124 in the neutral state of the switching valve corresponding to the neutral state of the turning lever 11 (control valve ).
- the control valve 124 In the neutral state of the control valve, the control valve 124 is closed, so that the hydraulic oil is not supplied to the motor 12.
- the revolving superstructure 10 is provided with a revolving brake 101.
- the swing brake 101 When the swing brake 101 is braking the swing body 10, the motor 12 does not rotate because the above-described hydraulic oil is not supplied.
- the switching valve 111 applies a pilot pressure to the port P3 of the control valve 124 in the first state of the switching valve corresponding to the state in which the turning lever 11 is tilted backward (the first state of the turning lever) (the control valve). Of the first state).
- the switching valve 111 applies a pilot pressure to the port P4 of the control valve 124 in the second state of the switching valve corresponding to the state where the turning lever 11 is inclined forward (the second state of the turning lever) (the control valve). In the second state).
- the revolving structure 10 described above revolves based on the rotation of the output shaft 132 of the speed reducer 13, in other words, the rotation of the output shaft 127 of the motor 12.
- the motor 12 is driven by a hydraulic circuit AC, which is a bleed-off circuit.
- the revolving superstructure 10 is provided with a revolving motion notifying device 1A to enhance operability.
- the configuration of the turning motion notification device 1A will be described with reference to FIGS.
- FIG. 4 is a top view of a rotation detector 20A included in the turning motion notification device 1A according to the first embodiment.
- the turning operation notification device 1A includes a rotation detector 20A, an operation sound device 30A, and the like.
- the rotation detector 20 ⁇ / b> A corresponds to an example of a first detection unit, and detects a rotation amount of the motor 12 that rotates the rotating body 10. Such a rotation detector 20 ⁇ / b> A is provided at a position facing a detection gear 128 provided on the output shaft 127 of the motor 12.
- the detection gear 128 has a diameter larger than that of the output shaft 127 to facilitate detection of rotation of the output shaft 127. This diameter is smaller than the diameter of the pinion gear 131.
- the detection gear 128 has an outer peripheral shape having a tooth tip and a tooth bottom.
- the rotation detector 20A has a rotation sensor 201 facing the tooth tip or the tooth bottom of the detection gear 128.
- the rotation sensor 201 outputs two-phase pulses (so-called A-phase and B-phase square waves) from the tooth tip and the tooth bottom.
- the rotation detector 20A detects a rotation amount and / or a rotation direction of the detection gear 128 from a two-phase pulse of the rotation sensor 201.
- the rotation detector 20A When the rotation detector 20A detects the rotation amount of the detection gear 128, the rotation detector 20A activates a direction signal indicating the rotation direction of the detection gear 128 (that is, the turning direction of the revolving unit 10) for each predetermined rotation amount. Output to the sound device 30A (see FIG. 1).
- the predetermined rotation amount may be set to a different rotation amount depending on the rotation direction.
- the rotation detector 20A When the detected rotation direction is the normal rotation direction, the rotation detector 20A outputs a first direction signal having a constant signal length for each first rotation amount.
- the rotation detector 20A When the rotation direction is the reverse rotation direction, the rotation detector 20A outputs a second direction signal having a signal length different from the first direction signal for each second rotation amount different from the first rotation amount.
- the rotation detector 20A may include a light-emitting element and a light-receiving element instead of the rotation sensor, and may have a reflective encoder that outputs a two-phase pulse from the output of the light-receiving element.
- the operation sound device 30A has a buzzer (not shown) including a diaphragm that generates sound by vibration.
- the operating sound device 30A vibrates the diaphragm of the buzzer based on the direction signal received from the rotation detector 20A.
- the operation sound device 30A receives the signal length of the first direction signal, or the second direction signal received for each first rotation amount, or the second direction signal received for each second rotation amount. Outputs the buzzer sound of the signal length of the direction signal.
- the operation sound device 30A generates and outputs a buzzer sound for each first rotation amount or every second rotation amount. That is, the operation sound device 30A generates an operation sound corresponding to the rotation direction detected by the rotation detector 20A.
- the rotation sensor 201 When the detection gear 128 rotates in the normal rotation direction or the reverse rotation direction, the tooth tip and the tooth bottom of the detection gear 128 move relatively to the rotation sensor 201 of the rotation detector 20A. As a result, the rotation sensor 201 outputs a two-phase pulse. When the detection gear 128 detects the rotation amount, the rotation detector 20A outputs a direction signal to the operation sound device 30A for each predetermined rotation amount based on the two-phase pulse.
- the operation sound device 30A When the operation sound device 30A acquires the direction signal from the rotation detector 20A, the operating sound device 30A vibrates the diaphragm of the buzzer based on the acquired direction signal. Since the direction signal is the first direction signal or the second direction signal according to the rotation direction detected by the rotation detector 20A, the operation sound device 30A generates an operation sound (buzzer sound) according to the rotation direction of the swing body 10. Is output.
- the operation sound (buzzer sound) output by the operation sound device 30A corresponds to an example of information notified by the notification unit.
- the operation sound (buzzer sound) output by the operation sound device 30 ⁇ / b> A may be regarded as information corresponding to the actual rotation amount of the rotating body 10.
- the operator outputs an operation sound (buzzer sound) according to the rotation direction of the motor 12, that is, the turning direction of the revolving unit 10, and outputs the operation sound (buzzer sound) at a frequency proportional to the rotation amount. It is better to know in advance what will be done. Thereby, the operator can recognize the magnitude of the turning speed of the turning body 10 from the frequency of the buzzer sound.
- the operating sound device 30A notifies the turning of the turning body 10 based on the rotation amount detected by the rotation detector 20A. Since the rotation amount detected by the rotation detector 20A is the rotation amount of the motor 12 for rotating the revolving unit 10, the revolving motion informing device 1A detects the revolving unit even if the revolving unit 10 makes a fine turn. To inform the operator.
- the operation sound device 30A outputs an operation sound corresponding to the rotation direction detected by the rotation detector 20A. Therefore, the operator can easily recognize the turning direction of the rotating body 10. Further, since the operation sound is a buzzer sound that is generated at predetermined rotation amounts based on the rotation amount detected by the rotation detector 20A, the operator can easily determine the magnitude of the turning speed of the revolving unit 10 from the frequency of the buzzer sound. I can recognize that. As a result, the operability of the swing body 10 is improved.
- the rotation detector 20A detects the rotation amount of the motor 12, not the rotation amount of the speed reducer 13.
- the rotation amount of the motor 12 is a rotation amount before being reduced by the speed reducer 13.
- the rotation amount of the motor 12 is proportional to the turning speed of the turning body 10. Therefore, the turning operation notifying device 1A can detect the turning operation of the turning body 10 with high accuracy.
- the turning operation notification device 1B of the present embodiment includes a controller 50 that determines whether or not the turning of the turning body 10 is operated as the operation of the turning lever 11.
- a controller 50 that determines whether or not the turning of the turning body 10 is operated as the operation of the turning lever 11.
- description of the same configuration as that of the turning motion notification device 1A of Embodiment 1 described above will be omitted.
- the same components as those of the turning motion notification device 1A are denoted by the same reference numerals as those of the turning motion notification device 1A.
- FIG. 5 is a circuit diagram of a hydraulic circuit and an electric circuit of the swing body 10 of the crane C2 equipped with the swing motion notification device 1B according to the second embodiment.
- the turning motion notification device 1B includes a rotation detector 20B, an operation direction detector 40, a controller 50, an operation sound device 30B, and the like.
- the rotation detector 20B has a rotation sensor 201 (see FIG. 4) that outputs a two-phase pulse, similarly to the rotation detector 20A of the first embodiment.
- the rotation detector 20 ⁇ / b> B detects the actual rotation amount and / or the actual rotation direction of the detection gear 128 of the motor 12 based on the output of the rotation sensor 201.
- the rotation detector 20B may detect the actual rotation amount and / or the actual rotation direction of the driven member driven by the motor 12.
- the reduction gear 13, the slewing bearing 14, the slewing body 10, and the like correspond to an example of the driven part.
- the rotation detector 20B outputs to the controller 50 information on the detected rotation amount (also referred to as rotation amount data) and / or information on the rotation direction (also referred to as rotation direction data).
- the information on the rotation direction may be regarded as information indicating any of “forward rotation direction”, “reverse rotation direction”, and “no direction”.
- the rotation detector 20 ⁇ / b> B may be regarded as not detecting the rotation. That is, when the information on the rotation direction is “no direction”, the revolving unit 10 may be regarded as stopped.
- the operation direction detector 40 corresponds to an example of a second detection unit, and detects information related to an operation input for instructing a rotation direction of the motor 12 that rotates the revolving unit 10.
- the operation input is input by the operator operating the turning lever 11.
- the information regarding the operation input is the operation direction of the turning lever 11.
- the operation direction detector 40 detects the operation direction of the turning lever 11, which is information relating to the operation input.
- the operation direction detector 40 has two limit switches 401 and 402.
- the limit switch 401 detects a state in which the turning lever 11 is inclined backward (the first state of the turning lever). When detecting the first state of the turning lever, the limit switch 401 outputs a detection value (for example, an electric signal) to the operation direction detector 40.
- a detection value for example, an electric signal
- the limit switch 402 detects a state in which the swing lever 11 is tilted forward (the second state of the swing lever). When detecting the second state of the swing lever, the limit switch 402 outputs a detection signal (for example, an electric signal) to the operation direction detector 40.
- a detection signal for example, an electric signal
- the turning lever 11 may be regarded as being in a neutral state.
- the operation direction detector 40 detects the operation direction of the turning lever 11 based on the detection signals of the limit switches 401 and 402.
- the operation direction detector 40 outputs information on the detected operation direction of the turning lever 11 to the controller 50.
- the information on the operation direction means information on the operation direction (inclination direction) of the turning lever 11 starting from the neutral state of the turning lever 11.
- the information on the operation direction may be regarded as information indicating that the operation direction of the turning lever 11 is any one of “forward”, “rearward”, and “no direction”.
- the operation direction detector 40 may be a pressure switch or a potentiometer instead of the limit switch.
- the pressure switch is a sensor that detects a pilot pressure of the pipe L1 and the pipe L2.
- the potentiometer is a sensor that detects a lever operation angle of the turning lever 11.
- the information regarding the operation input is not limited to the operation direction of the turning lever 11.
- the information on the operation input may be various information corresponding to an operation input (operation of the turning lever 11) for instructing the rotation direction of the motor 12.
- the information on the operation input may be the pressure of the pipe L1 and the pipe L2 (that is, the pilot pressure).
- the information on the operation input may be information on the state of the switching valve 111 and / or the control valve 124.
- the operation input unit for inputting the operation input is not limited to the turning lever 11.
- the operation input unit may be, for example, a button-type switch (not shown) or a touch panel provided in a driver's seat of a work vehicle (for example, a crane).
- the operator may input an operation input for instructing the operation of the swing body 10 (the rotation direction of the motor 12) by operating the switch.
- the operation input is not limited to the input based on the operation of the turning lever 11 by the operator.
- the operation input may be an input based on an operation of the button by an operator.
- the operation input may be an operation signal for controlling (instructing) the operation of the swing body 10 (the rotation direction of the motor 12) received from a remote operation terminal for remotely operating the crane C2.
- the operation input is, for example, the operation (rotation direction of the motor 12) of the revolving body 10 obtained from an external terminal in which an application such as BIM (Building Information Modeling) is installed via a network (for example, the Internet).
- An operation signal for controlling (instructing) may be used.
- the operation input is an operation signal received from an external terminal such as a server via a network (for example, the Internet) to control (instruct) the operation of the swing body 10 (the rotation direction of the motor 12). You may.
- an external terminal such as a server via a network (for example, the Internet) to control (instruct) the operation of the swing body 10 (the rotation direction of the motor 12). You may.
- the operation input is not limited to the input by the operator via the operation input unit. That is, in the automatic operation of the crane C2, an operation signal for automatically controlling the operation of the swing body 10 may be regarded as an example of the operation input.
- the controller 50 is an example of a determination unit, and based on a detection value of the operation direction detector 40 and a detection value of the rotation detector 20B, the rotation direction of the motor 12 instructed by the operation of the turning lever 11 and the motor Then, it is determined whether or not the actual rotation direction is the same as the actual rotation direction.
- the controller 50 controls the operation of the operation sound device 30B based on the determination result.
- the controller 50 acquires the outputs (detected values) of the operation direction detector 40 and the rotation detector 20B.
- the controller 50 is realized by a CPU (Central Processing Unit) executing a turning direction notification program.
- the controller 50 acquires information on the rotation direction acquired from the rotation detector 20B and information on the operation direction acquired from the operation direction detector 40. Then, the controller 50 compares the information about the rotation direction acquired from the rotation detector 20B with the information about the operation direction acquired from the operation direction detector 40, and determines the actual rotation direction of the motor 12 (the actual rotation of the detection gear 128). Is determined to correspond to the operation direction of the turning lever 11). Since the actual rotation direction of the motor 12 corresponds to the actual rotation direction of the revolving structure 10, the controller 50 determines whether the actual rotation direction of the revolving structure 10 corresponds to the operation direction of the revolving lever 11. It may be understood that it is determined. The controller 50 outputs the determination result.
- the controller 50 determines that the actual rotation direction of the motor 12 does not correspond to the operation direction of the turning lever 11, the first operation sound having a certain pulse width, that is, a certain signal length is determined.
- the signal is output to the operation sound device 30B.
- the controller 50 determines that the actual rotation direction of the motor 12 corresponds to the operation direction of the turning lever 11, the controller 50 outputs a second operation sound signal having a signal length different from the first operation sound signal. Output to 30B.
- the controller 50 generates the first operation sound signal or the second operation sound signal at a frequency corresponding to the information about the rotation amount (also referred to as rotation amount data) received from the rotation detector 20B, in other words, for each predetermined rotation amount. Output.
- the first operation sound signal or the second operation sound signal corresponds to an example of a direction signal.
- the operation sound device 30 ⁇ / b> B corresponds to an example of an alarm, and outputs an operation sound based on an output of the controller 50. Specifically, the operation sound device 30 ⁇ / b> B receives the first operation sound signal or the second operation sound signal from the controller 50. Then, the operation sound device 30 ⁇ / b> B outputs a first operation sound based on the first operation sound signal received from the controller 50. Further, the operation sound device 30 ⁇ / b> B outputs a second operation sound based on the second operation sound signal received from the controller 50.
- the operation sound device 30B When receiving the first operation sound signal, the operation sound device 30B vibrates the diaphragm to generate a first operation sound including a buzzer sound corresponding to the signal length of the first operation sound signal.
- the operation sound device 30B When receiving the second operation sound signal, the operation sound device 30B generates a second operation sound including a buzzer sound corresponding to the signal length of the second operation sound signal.
- the first operating sound signal and the second operating sound signal have different signal lengths. For this reason, the length of the buzzer sound constituting the first operation sound is different from the length of the buzzer sound constituting the second operation sound.
- the first operation sound and the second operation sound may be regarded as having different output frequency and / or sound properties (such as sound length and / or pitch).
- the operator determines whether or not the motor 12 is rotating in the direction according to the operation of the turning lever 11, that is, the turning lever 11 It is possible to recognize whether or not the revolving body 10 is turning in the same direction as the operation of.
- the first operation sound and the second operation sound correspond to an example of the notification sound.
- the first operation sound corresponds to an example of first notification information.
- the second operation sound corresponds to an example of the second notification information.
- Means for notifying the operator of the first operation sound is referred to as first notification means.
- Means for notifying the operator of the second operation sound is referred to as second notification means.
- the controller 50 outputs the first operation sound signal or the second operation sound signal to the operation sound device 30B every time the motor 12 rotates by a predetermined rotation amount. Therefore, the first operation sound and the second operation sound are output for each predetermined rotation amount of the motor 12.
- the operation sound sounds at a frequency corresponding to the turning speed of the turning body 10.
- Such an operation sound device 30B outputs an operation sound every time the motor 12 rotates by a predetermined rotation amount, thereby notifying the operator of the degree of the rotation amount of the motor 12. Since the rotation amount of the motor 12 is proportional to the rotation amount of the swing body 10, the operator can recognize the magnitude of the rotation amount of the swing body 10 from the frequency of the operation sound of the operation sound device 30B.
- FIG. 6 is a flowchart of a turning direction notification process of the turning motion notification device 1B according to the second embodiment.
- FIG. 7 is a diagram of the turning direction table 41 stored in the storage unit inside the controller 50 provided in the turning operation notification device 1B.
- the turning direction notification program starts to be executed when the PTO switch is turned on.
- the turning direction notification process shown in FIG. 6 starts.
- the turning direction notification processing may be considered to be executed by a processor mounted on the crane C2.
- the controller 50 acquires operation direction data from the operation direction detector 40 (Step S1).
- the controller 50 acquires information on the operation direction indicating “forward” from the operation direction detector 40. If the turning lever 11 is operated backward, the controller 50 acquires information on the operation direction indicating “rear” from the operation direction detector 40. If the turning lever 11 is in the neutral state, the controller 50 acquires information on the operation direction indicating “no direction” from the operation direction detector 40.
- the controller 50 acquires information on the rotation direction (also referred to as rotation direction data) from the rotation detector 20B (Step S2).
- the controller 50 acquires information on the rotation direction indicating the “forward rotation direction” from the rotation detector 20B. I do.
- the controller 50 acquires information on the rotation direction indicating the “reverse rotation direction” from the rotation detector 20B. .
- the controller 50 acquires information on the rotation direction indicating “no direction” from the rotation detector 20B.
- the controller 50 may acquire information about the rotation amount (also referred to as rotation amount data) from the rotation detector 20B.
- the step in which the rotation detector 20B detects the rotation of the speed reducer 13 is referred to as a rotation detection step.
- the controller 50 compares the information on the rotation direction acquired from the rotation detector 20B with the information on the operation direction acquired from the operation direction detector 40. At this time, the controller 50 reads the turning direction table 41 shown in FIG. 7 from the storage unit.
- the turning direction table 41 stores information relating to the operation direction (also referred to as operation direction data) in association with the direction in which the motor 12 should rotate.
- step S3 the actual rotation direction of the motor 12 indicated by the information on the rotation direction acquired from the rotation detector 20B is compared with the direction in which the motor 12 is to be rotated acquired from the turning direction table 41, as shown in FIG. It is determined whether or not these directions match (step S3).
- step S3 If the actual rotation direction of the motor 12 indicated by the information on the rotation direction does not match the direction in which the motor 12 should be rotated obtained from the rotation direction table 41 (“No” in step S3), the controller 50 It is determined that the user is turning in a direction different from the operation of the turning lever 11. Note that, in this specification, the step performed in step S3 is referred to as a determination step.
- the controller 50 outputs a first operation sound signal having a fixed signal length to the operation sound device 30B (step S4).
- the first operation sound signal is output at every predetermined number of rotations based on information about the amount of rotation acquired from the rotation detector 20B.
- the operation sound device 30B outputs the first operation sound at a frequency corresponding to the rotation amount of the motor 12. That is, the operation sound device 30B generates a first operation sound including a buzzer sound that is generated each time the first operation sound signal is received.
- the operator knows the following (1) to (4) in advance.
- Two types of sounds (first operation sound or second operation sound) having different buzzer sounds are output from the operation sound device 30B.
- the first operation sound indicates that the revolving unit 10 is turning in a direction different from the operation of the turning lever 11.
- the second operation sound indicates that the revolving unit 10 is turning in the direction corresponding to the operation of the turning lever 11.
- the frequency at which the first operation sound and the second operation sound are output is a frequency corresponding to the turning speed of the turning body 10.
- step S4 the worker can recognize that the revolving unit 10 is turning in a direction different from the operation of the turning lever 11 by listening to the first operation sound.
- step S4 the controller 50 returns the turning direction notification processing to step S1 while continuing to output the first operation sound signal (step S4). After the output of the first operating sound signal is returned to step S1, the processing from step S1 to step S3 is continued. This process is the same when outputting a second operation sound signal in step S5 described later.
- step S3 when the actual rotation direction of the motor 12 indicated by the information on the rotation direction matches the rotation direction of the motor 12 acquired from the turning direction table 41 (“Yes” in step S3), the controller 50 It is determined that 10 is turning in the direction corresponding to the operation of the turning lever 11.
- the controller 50 outputs a second operation sound signal having a shorter signal length than the first operation sound signal to the operation sound device 30B at a frequency based on the rotation amount data (Step S5).
- the controller 50 returns the turning direction notification processing to step S1.
- the turning direction notification process is performed until the turning brake 101 is switched to the ON state. For this reason, while the turning brake 101 is in the OFF state, the controller 50 repeats the processing of the above-described steps S1 to S3.
- the controller 50 always compares the information on the operation direction (operation direction data) with the information on the rotation direction (operation direction data), and compares the comparison result with the operation sound device.
- the worker is notified by the buzzer sound output by 30B.
- the turning direction notification processing ends when the switch of the turning brake 101 is turned on.
- step S5 the swing speed of the swing body 10 may be calculated based on the information (rotation amount data) on the rotation amount acquired by the controller 50.
- the controller 50 measures the time from when the previous rotation amount data was obtained to when the next rotation amount data was obtained, and calculates the revolving unit from the measured time and the fluctuation value of the rotation amount. It is advisable to calculate 10 turning speeds.
- the output of the second operation sound signal in step S5 may be stopped to interrupt the second operation sound.
- step S3 the controller 50 determines that the actual rotation direction of the motor 12 indicated by the information on the rotation direction matches the rotation direction of the motor 12 acquired from the rotation direction table 41, and When the turning speed of the body 10 satisfies a predetermined condition (for example, when the turning speed is equal to or less than a predetermined value), a second operation sound signal may be output in step S5.
- a predetermined condition for example, when the turning speed is equal to or less than a predetermined value
- step S3 the controller 50 determines that the actual rotation direction of the motor 12 indicated by the information on the rotation direction matches the rotation direction of the motor 12 acquired from the turning direction table 41. Also, when the swing speed of the swing body 10 does not satisfy the predetermined condition (for example, when the swing speed is higher than the predetermined value), the second operation sound signal does not need to be output in step S5 (that is, step S5). May be omitted.).
- the controller 50 detects the rotation direction of the detection gear 128 of the motor 12 detected by the rotation detector 20B and the operation direction detector 40. Based on the operation direction of the turning lever 11, it is determined whether the motor 12 is rotating in the same direction as the operating direction of the turning lever 11.
- the operation sound device 30B outputs the first operation sound or the second operation sound based on the determination result of the controller 50. Thereby, the operator can recognize whether the revolving superstructure 10 is revolving in accordance with the operation of the revolving lever 11 by the type of sound. Therefore, the operator can operate the swing lever 11 after recognizing the actual swing direction of the swing body 10. Therefore, the turning motion notification device 1B can improve the operability of the turning body 10.
- the rotation detector 20B detects the rotation of the motor 12 before being decelerated by the speed reducer 13, the turning operation of the turning body 10 can be detected with high accuracy, as in the first embodiment.
- the operator determines the magnitude of the turning speed of the turning body 10 based on the frequency of the buzzer sound. Can be easily recognized.
- the present invention is not limited to the above embodiment.
- the operating sound devices 30A and 30B output sound to notify the work vehicle of the turning of the revolving body 10.
- the present invention is not limited to this.
- the turning motion notification devices 1A and 1B only need to include an alarm that notifies the operator of the turning of the revolving body 10.
- the reporting means of the reporting device is optional.
- the operation sound devices 30A and 30B may be replaced with a light emitting device (for example, a lamp or a liquid crystal display device) that notifies an operator by emitting light.
- the light emitting device may blink at a frequency for each predetermined rotation amount based on the rotation amounts detected by the rotation detectors 20A and 20B.
- the turning direction of the rotating body 10 may be notified to an operator by changing the lighting time of the light emitting device.
- the information that the alarm notifies is light.
- the information left by the alarm is light
- the first alarm information and the second alarm information left by the alarm may have different light blinking frequencies.
- the information left by the annunciator may be the vibration of the swing lever 11.
- the information left by the alarm is the vibration of the turning lever 11, the first alarm information and the second alarm information left by the alarm may have different vibration frequencies.
- the alarm device of the present invention may be provided with an on / off function of an alarm device and an alarm device adjustment function (for example, volume adjustment of operation sound, lighting time adjustment of a light emitting device, and the like).
- the annunciator has a function of setting a rotation amount to be notified or a rotation amount or a speed for stopping the notification (for example, silencing) or a speed, and adjusting the set value to an arbitrary amount. Is also good.
- the alarm may have a function of notifying only when the rotation amount exceeds a certain threshold value or only when the rotation amount is lower than the certain threshold value, and a function of changing a notification frequency (frequency) for each rotation amount.
- the operating sound devices 30A and 30B may be provided on the swivel lever 11 and may be replaced with a vibration generating device that notifies an operator.
- the vibration generator may vibrate at a constant frequency for each predetermined rotation amount based on the rotation amount data detected by the rotation detectors 20A and 20B. Further, the vibration may be performed at a frequency corresponding to the rotation amount.
- the vibration generator may notify the worker of the turning direction of the rotating body 10 by changing the intensity of the vibration.
- the operation sound devices 30A and 30B generate an operation sound according to the rotation direction of the motor 12.
- the operating sound devices 30A and 30B may notify the turning of the revolving unit 10 at predetermined rotation amounts based on the rotation amount of the motor 12, and the operating sound devices 30A and 30B
- the direction, that is, whether or not to generate an operation sound according to the turning direction of the turning body 10 is arbitrary. Therefore, the same buzzer sound may be emitted when the revolving superstructure 10 makes a right turn or a left turn. In this case, the buzzer sound may be emitted every predetermined rotation amount.
- the turning motion notification devices 1A and 1B mounted on the crane are described.
- the present invention can be applied to all construction machines including the turning body 10 provided on the upper part of the lower traveling body. It is.
- the present invention is applicable to cranes such as rough terrain cranes and truck cranes, and aerial work vehicles.
- the notification device, the working machine, and the notification method according to the present invention are applicable to various working machines, not limited to the crane.
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Abstract
Description
本実施形態の旋回動作報知装置1Aは、下部走行体(不図示)の上部に設けられた旋回体10を備えるクレーンC1に装備される旋回動作報知装置である。クレーンC1は、作業機の一例に該当する。本実施形態の旋回動作報知装置1Aは、旋回体10の旋回を検出した場合に、旋回体10の実際の回転量に応じた頻度で作動音を出力する。
下部走行体2は、下部ベース体の一例に該当し、走行可能である。下部走行体2は、車輪を備えた下部走行体であってもよし、クローラを備えた下部走行体であってもよい。尚、下部ベース体は、走行可能であってもよいし、走行不可能であってもよい。下部ベース体が走行不可能な場合、下部ベース体は、例えば、地面又は建築物等の固定部に固定されてよい。
旋回体10は、下部走行体2の旋回台(不図示)に旋回自在に支持されている。旋回体10は、油圧回路AC、モータ12、減速機13、旋回ブレーキ101、及び旋回レバー11等を有する。
油圧回路ACは、アクチュエータとして、油圧ポンプ121、リリーフバルブ123、及びコントロールバルブ124等を有する。これらのアクチュエータは、モータ12を駆動するために設けられている。このような油圧回路ACは、ブリードオフ回路の一例に該当する。ブリードオフ回路は、アクチュエータの動力の消費を抑えて回路効率高めることができる。
モータ12は、旋回モータ及び駆動装置の一例に該当する。モータ12は、流入する作動油により出力軸を回転させる油圧モータである。モータ12は、作動油の流入口又は排出口となるポートP1、P2を有する。尚、モータは、電動モータであってもよい。
減速機13は、モータ12の出力軸127に接続されたギア(不図示)、ギアに接続された出力軸132(図1参照)、及びピニオンギヤ131(図3参照)等を有する。ギアは、モータ12の出力軸127の回転を減速して出力軸132に伝える。
旋回レバー11は、操作レバーの一例に該当し、作業者の操作に基づいて、前後方向に揺動可能である。旋回レバー11は、作業者が旋回体10の動作を指示する際、作業者により操作される。旋回レバー11は、作業者が旋回体10の動作に関する指示を入力するための操作入力部の一例に該当する。
図4は、実施形態1に係る旋回動作報知装置1Aが備える回転検出器20Aの上面図である。
回転検出器20Aは、第一検出部の一例に該当し、旋回体10を旋回させるモータ12の回転量を検出する。このような回転検出器20Aは、モータ12の出力軸127に設けられた検出用ギア128と対向する位置に設けられている。
次に、旋回動作報知装置1Aの動作について説明する。作業者によって旋回レバー11が前方及び後方のうちの一方に倒されると、モータ12の出力軸127は、旋回レバー11の傾斜方向に対応する方向(正回転方向又は逆回転方向)に回転する。この際、モータ12の出力軸127は、旋回レバー11の傾斜量に応じた回転速度で回転する。この結果、出力軸127とともに、出力軸127に設けられた検出用ギア128が、回転する。
図5~図7を参照して、実施形態2に係る旋回動作報知装置1Bについて説明する。本実施形態の旋回動作報知装置1Bは、旋回体10の旋回が旋回レバー11の操作どおりに操作されているか否かを判定するコントローラ50を備える。尚、以下の旋回動作報知装置1Bの説明において、既述の実施形態1の旋回動作報知装置1Aと同様の構成については、説明を省略する。又、旋回動作報知装置1Bの構成のうち旋回動作報知装置1Aと共通の構成については、旋回動作報知装置1Aと同一の符号を付す。
回転検出器20Bは、実施形態1の回転検出器20Aと同様に、2相パルスを出力する回転センサ201(図4参照)を有する。
操作方向検出器40は、第二検出部の一例に該当し、旋回体10を回転させるモータ12の回転方向を指示するための操作入力に関する情報を検出する。本実施形態の場合、操作入力は、作業者が旋回レバー11を操作することにより入力される。本実施形態の場合、操作入力に関する情報は、旋回レバー11の操作方向である。
コントローラ50は、判定部の一例であって、操作方向検出器40の検出値と回転検出器20Bの検出値とに基づいて、旋回レバー11の操作により指示されたモータ12の回転方向と、モータ12の実際の回転方向とが一致しているか否かを判定する。コントローラ50は、判定結果に基づいて、作動音装置30Bの動作を制御する。
作動音装置30Bは、報知機の一例に該当し、コントローラ50の出力に基づいて作動音を出力する。具体的には、作動音装置30Bは、コントローラ50から第一作動音信号又は第二作動音信号を受信する。そして、作動音装置30Bは、コントローラ50から受信した第一作動音信号に基づいて、第一作動音を出力する。又、作動音装置30Bは、コントローラ50から受信した第二作動音信号に基づいて、第二作動音を出力する。
次に、図6及び図7を参照して、旋回動作報知装置1Bの動作について説明する。以下の説明では、クレーンの走行が停止された状態(クレーンの走行停止状態とも称する。)、且つ、クレーンによる作業が行われている状態(クレーンの作業状態とも称する。)であることを前提とする。
(1)ブザー音の長さが異なる2種類の音(第一作動音又は第二作動音)が作動音装置30Bから出力される。
(2)第一作動音は、旋回レバー11の操作と異なる方向に旋回体10が旋回していることを報知する。
(3)第二作動音は、旋回レバー11の操作と一致する方向に旋回体10が旋回していることを報知する。
(4)第一作動音と第二作動音とが出力される頻度は、旋回体10の旋回速度に対応した頻度である。
2 下部走行体
10 旋回体
101 旋回ブレーキ
11 旋回レバー
111 切換バルブ
112 動力源
12 モータ(旋回モータ)
13 減速機
14 旋回ベアリング
15 ブーム
20A,20B 回転検出器
201 回転センサ
30A,30B 作動音装置
40 操作方向検出器
401、402 リミットスイッチ
41 旋回方向テーブル
50 コントローラ
121 油圧ポンプ
123 リリーフバルブ
124 コントロールバルブ
125 原動機
126 オイルタンク
127 出力軸
128 検出用ギア
131 ピニオンギヤ
132 出力軸
P1、P2、P3、P4 ポート
AC,PC 油圧回路
C1、C2 クレーン
Claims (12)
- 下部ベース体と、前記下部ベース体に旋回自在に設けられた旋回体と、を備える作業機に搭載される報知装置であって、
前記旋回体を旋回させる駆動装置又は前記駆動装置により駆動される被駆動部の実際の回転量を検出する第一検出部と、
前記第一検出部が検出した前記回転量に対応する情報を報知する報知部と、を備える
報知装置。 - 前記報知部は、前記第一検出部により検出された前記回転量が、所定条件を満たす場合に、前記情報を報知する、請求項1に記載の報知装置。
- 前記報知部は、前記第一検出部により検出された前記回転量が、所定の回転量に該当する場合に、前記情報を報知する、請求項2に記載の報知装置。
- 前記駆動装置と前記旋回体との間に、前記駆動装置の回転を減速して前記旋回体に伝える減速機を、更に備え、
前記第一検出部が検出する前記回転量は、前記減速機により減速される前の前記駆動装置の回転量である、請求項1~3の何れか一項に記載の報知装置。 - 前記第一検出部は、前記駆動装置又は前記被駆動部の実際の回転方向を検出し、
前記報知部は、前記第一検出部により検出された前記回転方向に対応する前記情報を報知する、請求項1~4の何れか一項に記載の報知装置。 - 前記旋回体の回転方向を指示するための操作入力に関する情報を検出する第二検出部と、
前記第一検出部の検出値と前記第二検出部の検出値とに基づいて、前記操作入力により指示された前記回転方向と、前記第一検出部により検出された前記回転方向とが対応しているか否かを判定する判定部と、を更に備え、
前記報知部は、前記判定部の判定結果に対応する情報を報知する、請求項5に記載の報知装置。 - 前記報知部は、前記判定結果に応じて、第一報知情報、又は、前記第一報知情報とは異なる第二報知情報を報知する、請求項6に記載の報知装置。
- 前記報知部は、
前記操作入力により指示された前記回転方向と、前記第一検出部により検出された前記回転方向とが対応しない場合に、前記第一報知情報を報知し、
前記操作入力により指示された前記回転方向と、前記第一検出部により検出された前記回転方向とが対応する場合、且つ、前記旋回体の旋回速度が所定条件を満たす場合に、前記第二報知情報を報知する、請求項7に記載の報知装置。 - 前記情報は、音、光、又は、前記操作入力を入力するための操作レバーの振動であり、
前記第一報知情報と前記第二報知情報とは、前記情報の性質が異なる、請求項7又は8に記載の報知装置。 - 前記第一報知情報と前記第二報知情報とは、音の頻度、音の高さ、光の点滅頻度、及び振動の振動数のうちの少なくとも一つの性質が異なる、請求項9に記載の報知装置。
- 下部ベース体と、
前記下部ベース体に旋回自在に設けられた旋回体と、
請求項1~10のいずれか一項に記載の報知装置と、を備える
作業機。 - 下部ベース体と、前記下部ベース体に旋回自在に設けられた旋回体と、を備える作業機に搭載されたプロセッサーで実行される報知方法であって、
前記旋回体を旋回させる駆動装置又は前記駆動装置により駆動される被駆動部の実際の回転量を検出するステップと、
検出した前記回転量に対応する情報を報知するステップと、を含む
報知方法。
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EP19841431.0A EP3828123A4 (en) | 2018-07-25 | 2019-07-23 | NOTIFICATION DEVICE, COMMERCIAL VEHICLE AND NOTIFICATION METHOD |
CN201980047795.2A CN112424111B (zh) | 2018-07-25 | 2019-07-23 | 通知装置、作业机、以及通知方法 |
JP2020517410A JP6737425B2 (ja) | 2018-07-25 | 2019-07-23 | 報知装置、作業機、及び報知方法 |
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EP3828123A4 (en) | 2022-06-22 |
US12030749B2 (en) | 2024-07-09 |
CN112424111A (zh) | 2021-02-26 |
JP6737425B2 (ja) | 2020-08-12 |
CN112424111B (zh) | 2023-05-09 |
JPWO2020022297A1 (ja) | 2020-08-06 |
US20210261387A1 (en) | 2021-08-26 |
EP3828123A1 (en) | 2021-06-02 |
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