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WO2025204383A1 - Système d'affichage d'un engin de chantier - Google Patents

Système d'affichage d'un engin de chantier

Info

Publication number
WO2025204383A1
WO2025204383A1 PCT/JP2025/006213 JP2025006213W WO2025204383A1 WO 2025204383 A1 WO2025204383 A1 WO 2025204383A1 JP 2025006213 W JP2025006213 W JP 2025006213W WO 2025204383 A1 WO2025204383 A1 WO 2025204383A1
Authority
WO
WIPO (PCT)
Prior art keywords
bucket
target surface
auxiliary
calculation unit
attitude
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2025/006213
Other languages
English (en)
Japanese (ja)
Inventor
宏明 田中
健太 中城
貴彦 黒瀬
枝穂 泉
駿也 小久保
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Publication of WO2025204383A1 publication Critical patent/WO2025204383A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/14—Transformations for image registration, e.g. adjusting or mapping for alignment of images

Definitions

  • the present invention relates to a display system for a work machine.
  • Patent Document 1 discloses a technology that displays the angle of the construction target surface and the angle of the bucket around a side view of the bucket to make the positional relationship between the target terrain and the excavation tool easier to understand visually.
  • the present invention aims to enable the operator to easily grasp the positional relationship between the bucket and the target surface, even when the inclination angle of the target surface changes suddenly.
  • the construction machine display system of the present invention is a construction machine display system comprising: a positioning device that measures the position of a construction machine having a bucket working on a construction target surface; an attitude measuring device that measures the attitude of the construction machine; a control device that generates a guidance image that assists in the operation of the construction machine; and a display device that displays the guidance image.
  • the operator can easily grasp the positional relationship between the bucket and the target surface, even when the inclination angle of the target surface changes suddenly.
  • the work machine 20 shown in Figure 1 has a work implement 21 including a bucket 7, and a vehicle body 22 to which the work implement 21 is rotatably connected.
  • the vehicle body 22 comprises a self-propelled running body 1 and a rotating body 2 that is rotatably mounted on top of the running body 1.
  • the rotating body 2 is provided with a counterweight 3 and a driver's cab 4.
  • the running body 1 and the rotating body 2 are connected by a rotating device 8.
  • the boom 5 is provided with a boom cylinder 5a
  • the arm 6 is provided with an arm cylinder 6a
  • the bucket 7 is provided with a bucket cylinder 7a.
  • the swing device 8 is provided with a swing motor 8a.
  • the cylinders 5a, 6a, and 7a are hydraulic actuators that perform linear motion.
  • the swing motor 8a is a hydraulic actuator that performs rotational motion.
  • the boom cylinder 5a, arm cylinder 6a, bucket cylinder 7a, and swing motor 8a are connected to a directional control valve 10.
  • the directional control valve 10 is connected to a hydraulic pump 9.
  • the hydraulic pump 9 is connected to an engine 16 used as a prime mover.
  • the hydraulic pump 9 and directional control valve 10 each consist of multiple hydraulic pumps and directional control valves.
  • angle sensors 11a, 11b, and 11c are respectively equipped with angle sensors 11a, 11b, and 11c.
  • Each of angle sensors 11a, 11b, and 11c is composed of an inclinometer or an inertial measurement unit (IMU), and measures its respective angle relative to the ground. While angle sensor 11c is shown in Figure 1 as being attached directly to the bucket 7, it is often attached to link 17 to avoid damage to angle sensor 11c during construction.
  • IMU inertial measurement unit
  • angle sensor 11a, angle sensor 11b, and angle sensor 11c are collectively referred to as the "attitude measurement device 11" that measures the attitude of the work machine 20.
  • the attitude measurement device 11 may also include an angle sensor that measures the ground angle of the vehicle body 22.
  • the attitude of the work machine 20 measured by the attitude measurement device 11 may include the ground angles of the boom 5, arm 6, bucket 7, and vehicle body 22.
  • the rotating unit 2 is equipped with a positioning device 18 that measures the position of the work machine 20.
  • the positioning device 18 is composed of a GNSS antenna that is installed on the top surface of the rotating unit 2 and receives satellite signals from positioning satellites, and a GNSS receiver that measures the position of the work machine 20 based on the satellite signals received by the GNSS antenna.
  • the GNSS antenna is composed of two antennas. By having two antennas, the positioning device 18 can measure not only the position of the work machine 20 but also its direction (azimuth angle).
  • Figure 2 is a block diagram showing the functional configuration of the display system 30 of the first embodiment.
  • the display system 30 of the work machine 20 is a machine guidance system mounted on the work machine 20.
  • the display system 30 displays guidance information that assists in the operation of the work machine 20 on the display device 101, and provides the guidance information to the operator.
  • the control device 100 includes a processor such as a CPU and memories such as ROM and RAM, and realizes various functions by the processor executing programs stored in the memory. As for these various functions, the control device 100 includes a bucket position calculation unit 110, a vehicle body information storage unit 111, a guidance calculation unit 112, a target surface storage unit 113, and an auxiliary calculation unit 114.
  • the target surface memory unit 113 stores design data, including target surface data indicating the position and shape of the construction target surface D.
  • the bucket position calculation unit 110 calculates the position PB of the bucket 7 based on the position and attitude of the work machine 20 measured by the positioning device 18 and attitude measurement device 11. Specifically, the bucket position calculation unit 110 calculates the position PB of the bucket 7 in the global coordinate system using the position and direction of the work machine 20 measured by the positioning device 18, the ground angles of the boom 5, arm 6, and bucket 7 measured by the angle sensors 11a to 11c, and the mounting position of the bucket 7 relative to the vehicle body 22 calculated from the dimensional data stored in the vehicle body information storage unit 111.
  • the position PB of the bucket 7 is, for example, the toe position of the bucket 7.
  • the guidance calculation unit 112 generates guidance information based on the position PB of the bucket 7 calculated by the bucket position calculation unit 110 and the target surface data stored in the target surface memory unit 113.
  • the guidance information includes a guidance image G that represents the positional relationship between the bucket 7 and the construction target surface D.
  • the guidance image G includes information about the position and shape of the construction target surface D (target surface data) and information about the position PB of the bucket 7.
  • the guidance information includes various information such as messages and measurement values notified to the operator to assist with operation.
  • the auxiliary calculation unit 114 generates auxiliary information that supplements the guidance information based on the guidance information including the guidance image G generated by the guidance calculation unit 112 and the attitude (ground angle) of the bucket 7 measured by the angle sensor 11c of the attitude measurement device 11.
  • the auxiliary information includes auxiliary image A representing a virtual plane V that intersects with the construction target surface D and is parallel to the bottom surface 7b of the bucket 7 at a nearby point PN, which is a point on the construction target surface D close to the bucket 7.
  • Auxiliary image A is one piece of auxiliary information related to the alignment of the bucket 7 with respect to the construction target surface D.
  • FIG. 3 is a flowchart showing the processing performed by the auxiliary calculation unit 114 shown in FIG. 2.
  • FIG. 4 is a diagram illustrating the guidance image G and auxiliary image A.
  • the auxiliary calculation unit 114 repeats the processing shown in FIG. 3 at every predetermined control cycle.
  • the auxiliary calculation unit 114 may calculate a virtual plane parallel to the bottom surface 7b of the bucket 7, and then translate the virtual plane so that it intersects with the neighboring point PN to calculate the virtual plane V. In this case, the auxiliary calculation unit 114 may perform step s20 before step s10, or may perform step s20 in parallel with step s10.
  • step s30 the auxiliary calculation unit 114 sends a control command to the display device 101 instructing the display device 101 to display the generated auxiliary image A superimposed on the guidance image G, thereby causing the auxiliary image A to be displayed superimposed on the guidance image G. Thereafter, the auxiliary calculation unit 114 ends the processing shown in FIG. 3.
  • the position PB of the bucket 7 is often located far from the construction target surface D, and the attitude of the bucket 7 is such that the angle between the bottom surface 7b and the construction target surface D is large.
  • the auxiliary calculation unit 114 generates an imaginary plane V that intersects with the nearby point PN but is at a large angle with respect to the construction target surface D as auxiliary image A, and displays it on the display device 101.
  • the distance between the position PB of the bucket 7 and the nearby point PN becomes shorter, and the angle between the bottom surface 7b of the bucket 7 and the construction target surface D becomes smaller.
  • the auxiliary calculation unit 114 generates an auxiliary image A by rotating the imaginary plane V around the nearby point PN in accordance with the change in the angle between the bottom surface 7b of the bucket 7 and the construction target surface D, and displays it on the display device 101. Then, when the alignment of the bucket 7 is complete, the distance between the position PB of the bucket 7 and the nearby point PN becomes equal to or less than the predetermined distance d, and the bottom surface 7b of the bucket 7 becomes parallel to the construction target surface D. In this case, the auxiliary calculation unit 114 generates an auxiliary image A by rotating the virtual surface V around the neighboring point PN until the virtual surface V overlaps the construction target surface D, and displays the image A on the display device 101.
  • the auxiliary calculation unit 114 when the distance between the position PB of the bucket 7 and the neighboring point PN is equal to or less than a predetermined distance d (the distance when alignment is complete) and the attitude of the bucket 7 is a predetermined attitude (the attitude when alignment is complete) in which the bottom surface 7b of the bucket 7 and the construction target surface D are parallel (right diagram in Figure 5), the auxiliary calculation unit 114 generates an auxiliary image A so that the virtual plane V is superimposed on the construction target surface D.
  • the auxiliary calculation unit 114 When the attitude of the bucket 7 has changed from the predetermined attitude (left diagram or center diagram in Figure 5), the auxiliary calculation unit 114 generates an auxiliary image A in which the virtual plane V is rotated around the neighboring point PN in accordance with the changed attitude of the bucket 7. This allows the display system 30 to easily allow the operator to grasp the angular relationship between the bucket 7 and the construction target surface D.
  • Figure 6 is a diagram illustrating the guidance image G and auxiliary image A that are displayed when the inclination angle of the construction target surface D changes suddenly.
  • the construction target surface D is composed of an inclined surface and a horizontal surface.
  • Figure 6 shows the case of alignment in which the bucket 7 moves from an inclined surface to a horizontal surface while the bottom surface 7b of the bucket 7 remains parallel to the inclined surface.
  • the position PB of the bucket 7 is located near the top of the inclined surface.
  • the auxiliary calculation unit 114 calculates the nearby point PN as a point on the inclined surface and generates an auxiliary image A in which the virtual surface V is superimposed on the inclined surface.
  • the display system 30 determines the inclination angle of the virtual surface V according to the attitude of the bucket 7, and therefore can display the auxiliary image A without changing the inclination angle of the virtual surface V, even if the inclination angle of the construction target surface D changes suddenly at the switching point S. Therefore, the display system 30 allows the operator to easily grasp the positional relationship between the bucket 7 and the construction target surface D, even if the inclination angle of the construction target surface D changes suddenly, reducing the sense of discomfort the operator may experience when performing construction while looking at the display device 101.
  • Figure 7 is a diagram illustrating the display modes of the first region R1 and the second region R2.
  • the auxiliary calculation unit 114 can generate an auxiliary image A that displays the first region R1 and the second region R2 in the guidance image G in different display modes.
  • the first region R1 is the region in the guidance image G that is closer to the bucket 7 than the virtual plane V when the bucket 7 is in the above-mentioned predetermined posture (the posture when alignment is completed) (when the virtual plane V overlaps the construction target surface D) (see the right diagram in FIG. 7).
  • the second region R2 is the region in the guidance image G that is farther from the bucket 7 than the virtual plane V when the bucket 7 is in the above-mentioned predetermined posture. For example, as shown in FIG.
  • the auxiliary calculation unit 114 generates an auxiliary image A in a display mode in which hatching H is applied to the second region R2 and no hatching H is applied to the first region R1.
  • the difference in the display mode between the first region R1 and the second region R2 is not limited to the presence or absence of hatching H; various differences in display modes, such as differences in the pattern of the hatching H or differences in the displayed color, can be adopted.
  • the auxiliary calculation unit 114 when the attitude of the bucket 7 has changed from the above-mentioned predetermined attitude, the auxiliary calculation unit 114 generates auxiliary image A by rotating the virtual surface V, first region R1, and second region R2 in accordance with the changed attitude of the bucket 7, and maintaining the display mode of the first region R1 and second region R2 when the attitude of the bucket 7 is the above-mentioned predetermined attitude.
  • the auxiliary calculation unit 114 generates auxiliary image A by rotating the virtual surface V, first region R1, and second region R2 in accordance with the attitude of the bucket 7 while maintaining the hatching H applied to the second region R2.
  • the display system 30 can more easily allow the operator to understand changes in the posture of the bucket 7 than if the auxiliary image A were displayed only on the virtual surface V, and can more effectively provide operational support when the operator is performing positioning.
  • the display system 30 of the first embodiment by being configured as described above, allows the operator to easily grasp the positional relationship between the bucket 7 and the construction target surface D, even when the inclination angle of the construction target surface D changes suddenly.
  • Second Embodiment A second embodiment of the present invention will be described with reference to Figures 8 to 12. In the second embodiment, the description of the same components as those in the first embodiment will be omitted.
  • the construction target surface D which is close to the bucket 7, is located below the bucket 7.
  • the auxiliary calculation unit 114 calculated the first intersection P1 between the first straight line L1 extending vertically downward from the position PB of the bucket 7 and the construction target surface D as the nearby point PN.
  • the first vertical intersection point P1 becomes the neighboring point PN when, for example, performing alignment suitable for forming work on a slope or horizontal surface as described in the first embodiment.
  • the first vertical intersection point P1 becomes the neighboring point PN when, for example, the inclination angle of the construction target surface D is greater than or equal to 0 degrees and less than 70 degrees.
  • the second horizontal intersection point P2 becomes the nearby point PN when, for example, performing positioning appropriate for forming work on an inclined surface that is closer to vertical than a slope. This is because when excavating an inclined surface that is close to vertical, the area in front of the bucket 7 is excavated. If the first intersection point P1 were to be the nearby point PN, an auxiliary image A would be generated in which the virtual plane V intersects with a point on the construction target surface D below that is not far from the position PB of the bucket 7 and is not excavated, making it impossible to provide the operator with an appropriate auxiliary image A.
  • the second horizontal intersection point P2 becomes the nearby point PN when, for example, the inclination angle of the construction target surface D is between 70 degrees and 90 degrees.
  • the display system 30 sets the second intersection point P2 as the nearby point PN when the construction target surface D adjacent to the bucket 7 is located in front of the bucket 7. This makes it possible to provide the operator with an auxiliary image A that appropriately reflects the construction details for the construction target surface D, even if the construction target surface D is a nearly vertically inclined surface.
  • the method of calculating the neighboring point PN can be selected by using at least one of the methods shown in Figures 8 and 9 and the methods shown in Figures 10 and 11, to select whether to calculate the first intersection point P1 in the vertical direction as the neighboring point PN or the second intersection point P2 in the horizontal direction as the neighboring point PN.
  • FIG. 8 is a flowchart showing the processing performed by the auxiliary calculation unit 114 in the second embodiment.
  • FIG. 9 is a diagram explaining steps s14 and s15 in FIG. 8.
  • the auxiliary calculation unit 114 repeats the processing shown in FIG. 8 at every predetermined control cycle.
  • step s11 the auxiliary calculation unit 114 determines whether or not the calculation method for the neighboring points PN is selected based on the input information entered by the operator. If the calculation method for the neighboring points PN is selected based on the input information entered by the operator, the auxiliary calculation unit 114 proceeds to step s12. If the calculation method for the neighboring points PN is not selected based on the input information entered by the operator, the auxiliary calculation unit 114 proceeds to step s14.
  • the auxiliary calculation unit 114 selects the calculation method specified by the operator's input information. That is, if the operator's input information specifies a method of calculating the first intersection point P1 in the vertical direction as the neighboring point PN, the auxiliary calculation unit 114 selects that method. If the operator's input information specifies a method of calculating the second intersection point P2 in the horizontal direction as the neighboring point PN, the auxiliary calculation unit 114 selects that method.
  • step s13 the auxiliary calculation unit 114 calculates the neighboring points PN using the selected calculation method.
  • the auxiliary calculation unit 114 then proceeds to step s20.
  • step s14 the auxiliary calculation unit 114 calculates the first intersection point P1 in the vertical direction and the second intersection point P2 in the horizontal direction.
  • the auxiliary calculation unit 114 sets the intersection point that is closest to the bucket 7 position PB, of the calculated first intersection point P1 and second intersection point P2, as the neighboring point PN. Specifically, if the intersection point that is closest to the bucket 7 position PB is the first intersection point P1, the auxiliary calculation unit 114 sets the first intersection point P1 as the neighboring point PN, as shown in the left diagram of Figure 9. If the intersection point that is closest to the bucket 7 position PB is the second intersection point P2, the auxiliary calculation unit 114 sets the second intersection point P2 as the neighboring point PN, as shown in the right diagram of Figure 9. The auxiliary calculation unit 114 then proceeds to step s20.
  • the auxiliary calculation unit 114 performs the same processing as steps s20 and s30 shown in Figure 3.
  • the auxiliary calculation unit 114 calculates the neighboring point PN using a calculation method that corresponds to the identified movement direction of the bucket 7. Specifically, when the bucket 7 moves in a direction approaching the vehicle body 22 (arm crowding direction), slope formation work is common, as shown in the left diagram of Figure 11. In this case, the auxiliary calculation unit 114 calculates the first intersection point P1 in the vertical direction as the neighboring point PN. When the bucket 7 moves in a direction away from the vehicle body 22 (arm dumping direction), slope formation work is common, as shown in the right diagram of Figure 11. In this case, the auxiliary calculation unit 114 calculates the second intersection point P2 in the horizontal direction as the neighboring point PN. The auxiliary calculation unit 114 then proceeds to step s20.
  • the auxiliary calculation unit 114 performs the same processing as steps s20 and s30 shown in Figure 8.
  • auxiliary image A is displayed in the cases shown in Figure 13.
  • FIG. 13 is a flowchart showing the processing performed by the auxiliary calculation unit 114 in the third embodiment.
  • the auxiliary calculation unit 114 repeats the processing shown in FIG. 13 at predetermined control intervals.
  • step s31 the auxiliary calculation unit 114 determines whether the distance between the position PB of the bucket 7 and the neighboring point PN is less than or equal to a first threshold. If the distance between the position PB of the bucket 7 and the neighboring point PN is less than or equal to the first threshold, the auxiliary calculation unit 114 proceeds to step s32. If the distance between the position PB of the bucket 7 and the neighboring point PN is not less than or equal to the first threshold, the auxiliary calculation unit 114 proceeds to step s34.
  • step s32 the auxiliary calculation unit 114 determines whether the angle between the bottom surface 7b of the bucket 7 and the construction target surface D is less than or equal to the second threshold. If the angle between the bottom surface 7b of the bucket 7 and the construction target surface D is less than or equal to the second threshold, the auxiliary calculation unit 114 proceeds to step s33. If the angle between the bottom surface 7b of the bucket 7 and the construction target surface D is not less than or equal to the second threshold, the auxiliary calculation unit 114 proceeds to step s34.
  • step s34 the auxiliary calculation unit 114 causes the display device 101 to display only the guidance image G, without displaying the auxiliary image A. Thereafter, the auxiliary calculation unit 114 ends the processing shown in FIG. 13.
  • the auxiliary calculation unit 114 may perform step s20 after both steps s31 and s32 are determined to be Yes. In other words, the auxiliary calculation unit 114 may generate auxiliary image A after it is determined that the distance between the position PB of the bucket 7 and the neighboring point PN is less than or equal to the first threshold value and that the angle between the bottom surface 7b of the bucket 7 and the construction target surface D is less than or equal to the second threshold value.
  • the auxiliary calculation unit 114 may also omit step s31 or step s32.
  • FIG. 14 is a diagram illustrating a guidance image G and an auxiliary image A in the third embodiment.
  • FIG. 14 corresponds to FIG. 7 and shows the same alignment as in FIG. 5.
  • the position PB of the bucket 7 is often located far from the construction target surface D, and the attitude of the bucket 7 is such that the angle between the bottom surface 7b and the construction target surface D is large.
  • the distance between the position PB of the bucket 7 and the neighboring point PN is longer than the first threshold, or the angle between the bottom surface 7b of the bucket 7 and the construction target surface D is greater than the second threshold, so the auxiliary calculation unit 114 does not display the auxiliary image A on the display device 101.
  • the auxiliary calculation unit 114 generates an auxiliary image A representing a virtual surface V that intersects with the neighboring point PN and is parallel to the bottom surface 7b of the bucket 7, and displays it on the display device 101.
  • the auxiliary calculation unit 114 generates an auxiliary image A by rotating the virtual surface V around the neighboring point PN until the virtual surface V overlaps the construction target surface D, and displays it on the display device 101.
  • the display system 30 of the third embodiment can display the auxiliary image A only when the alignment of the bucket 7 has progressed.
  • the display of the auxiliary image A is particularly useful for the operator when adjusting the position PB and posture of the bucket 7 after bringing the bucket 7 somewhat close to the construction target surface D.
  • displaying the auxiliary image A may be cumbersome. Therefore, displaying the auxiliary image A according to the distance between the position PB of the bucket 7 and the neighboring point PN leads to the provision of an auxiliary image A that is even easier for the operator to understand. Therefore, the display system 30 of the third embodiment can make it even easier for the operator to grasp the relationship between the position and angle of the bucket 7 and the construction target surface D.
  • the display system 30 in the first to third embodiments displays an image of the bucket 7 viewed from the side as the guidance image G, it may also display an image of the bucket 7 viewed from another direction (for example, from above) as the guidance image G.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

Le but de la présente invention est de permettre à un opérateur de déterminer facilement une relation de position entre un godet et une surface cible de construction même lorsque l'angle d'inclinaison de la surface cible de construction varie soudainement. Ledit système d'affichage comprend un dispositif de commande qui permet le fonctionnement d'un engin de chantier, et un dispositif d'affichage. Le dispositif de commande comprend : une unité de stockage de surface cible qui stocke la position et la forme d'une surface cible de construction ; une unité de calcul de position de godet qui calcule la position du godet ; une unité de calcul de guidage qui génère une image de guidage représentant la relation de position entre le godet et la surface cible de construction ; et une unité de calcul auxiliaire qui génère une image auxiliaire qui représente une surface virtuelle croisant la surface cible de construction au niveau d'un point de proximité sur la surface cible de construction et parallèle à la surface inférieure du godet. Le dispositif d'affichage affiche l'image auxiliaire superposée sur l'image de guidage.
PCT/JP2025/006213 2024-03-27 2025-02-25 Système d'affichage d'un engin de chantier Pending WO2025204383A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2024-052041 2024-03-27
JP2024052041 2024-03-27

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Publication Number Publication Date
WO2025204383A1 true WO2025204383A1 (fr) 2025-10-02

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Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014074319A (ja) * 2012-10-05 2014-04-24 Komatsu Ltd 掘削機械の表示システム、掘削機械及び掘削機械の表示用コンピュータプログラム

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014074319A (ja) * 2012-10-05 2014-04-24 Komatsu Ltd 掘削機械の表示システム、掘削機械及び掘削機械の表示用コンピュータプログラム

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