Remote debugging method, device, engineering machinery, debugging equipment and system

Abstract

The present invention relates to the technical field of engineering machinery, and in particular to a remote debugging method, device, engineering machinery, debugging equipment and system. The engineering machinery debugging method is applied to the debugging equipment, and the method comprises: obtaining a remote control command, outputting the remote control command to a simulation model of the engineering machinery, and sending the remote control command to the engineering machinery via wireless communication; in response to the remote control command, the simulation model outputs a target action of the engineering machinery; obtaining the actual action of the engineering machinery output according to the remote control command and the control parameters; determining the difference between the target action and the actual action, debugging the control parameters of the engineering machinery based on the difference and outputting the debugging command; sending the debugging command to the engineering machinery via wireless communication. The method is adopted to improve the efficiency of debugging the control parameters corresponding to the engineering machinery. No hardware connection is required, which not only reduces the cost, but also realizes remote debugging of the engineering machinery.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a remote debugging method, a device, engineering machinery, a debugging device and a system. Background Art

[0002] With the rapid development of science and technology, more and more equipment is becoming intelligent. At present, construction machinery is also becoming more and more intelligent.

[0003] In the prior art, the debugging of engineering machinery programs is done by R&D personnel compiling the programs successfully on a personal computer, downloading the control programs to the controller via a data cable at the engineering machinery end, and then debugging and operating the actions by pushing and pulling the handles; observing the corresponding movements of the working device according to the speed of the push-pull handles, modifying the control program and completing the compilation on the excavator to update the controller program, and then repeating the first step for the next debugging and operation.

[0004] This debugging method involves a lot of repetitive operations, is time-consuming, and has low efficiency. At the same time, because the debugging personnel are in the cab of the engineering machinery, the judgment of the motion state of the engineering machinery working device is not accurate enough. Especially for super-large engineering machinery, the working device is large and the cab is located in the left front of the machine, the debugging personnel's field of vision is limited, and super-large engineering machinery is generally controlled by multiple controllers. Updating the program in sequence is extremely cumbersome and prone to errors. If this method is still used, the debugging efficiency and results of R&D personnel will be deeply affected. Summary of the invention

[0005] In view of this, the embodiments of the present invention provide a remote debugging method, apparatus, engineering machinery, debugging equipment and system to solve the problem of low debugging efficiency of engineering machinery.

[0006] According to a first aspect, an embodiment of the present invention provides a remote debugging method, which is applied to a debugging device, and the method includes:

[0007] Acquiring remote control commands, outputting the remote control commands to a simulation model of the construction machinery, and sending the remote control commands to the construction machinery via wireless communication;

[0008] In response to the remote control command, the simulation model outputs a target action of the construction machinery;

[0009] Obtain the actual actions of the engineering machinery according to the remote control commands and control parameters output;

[0010] Determine the difference between the target action and the actual action according to the difference between the two, debug the control parameters of the engineering machinery based on the difference and output a debugging command;

[0011] The debugging command is sent to the construction machinery via wireless communication.

[0012] The remote debugging method provided by the embodiment of the present invention obtains a remote control command, outputs the remote control command to the simulation model of the engineering machinery, and sends the remote control command to the engineering machinery through wireless communication. Then, in response to the remote control command, the simulation model outputs the target action of the engineering machinery, and obtains the actual action of the engineering machinery output according to the remote control command and the control parameter. The difference value between the target action and the actual action is determined, and the control parameters of the engineering machinery are debugged based on the difference value and the debugging command is output. Thereby, the efficiency of debugging the control parameters corresponding to the engineering machinery is improved, and the control parameters of the engineering machinery are no longer blindly debugged, but debugged based on the target action output by the simulation model, thereby reducing the number of debugging of the control parameters corresponding to the engineering machinery and improving the efficiency of debugging the control parameters corresponding to the engineering machinery. In addition, the debugging command is sent to the engineering machinery through wireless communication, so that the remote debugging of the engineering machinery is realized, and the control parameters do not need to be downloaded to the controller through the data line at the engineering machinery end, and then the action is debugged and operated through the push-pull handle. There is no need for hardware connection, which not only reduces the cost, but also realizes the remote debugging of the engineering machinery, thereby not only improving the efficiency of debugging the engineering machinery, but also improving the accuracy of debugging the engineering machinery.

[0013] In combination with the first aspect, in a first implementation of the first aspect, determining a difference value between the target action and the actual action according to the target action and the actual action, debugging the control parameters of the engineering machinery based on the difference value and outputting a debugging command include:

[0014] Output the prompt information corresponding to the difference value and display the difference value;

[0015] receiving a debugging instruction input based on the difference value;

[0016] According to the debugging instructions, the control parameters are debugged and the debugging commands are output.

[0017] The remote debugging method provided in the embodiment of the present invention enables the user to quickly obtain the difference value between the actual action and the target action of the engineering machinery by outputting prompt information and displaying the difference value, and then receives the debugging instructions input by the user based on the difference value; according to the debugging instructions, the control parameters are debugged, and the debugging commands are output according to the results of the debugging of the control parameters, thereby improving the efficiency of debugging the control parameters of the engineering machinery.

[0018] In combination with the first aspect, in a second implementation of the first aspect, determining a difference value between the target action and the actual action according to the target action and the actual action, debugging the control parameters of the engineering machinery based on the difference value and outputting a debugging command, including:

[0019] Determine the debugging range of the target parameter in the control parameter according to the difference value;

[0020] According to the debugging scope, the target parameters are debugged and the debugging commands are output.

[0021] The remote debugging method provided by the embodiment of the present invention determines the debugging range of the target parameter in the control parameter according to the difference value; based on the debugging range, the target parameter in the control parameter is debugged instead of blindly debugging aimlessly, thereby improving the efficiency of debugging the control parameters of the engineering machinery.

[0022] In combination with the first aspect, in a third implementation of the first aspect, the method further includes:

[0023] receiving video data corresponding to the construction machinery, the video data including actual movements of the construction machinery;

[0024] Based on video data, determine whether the control parameters of the construction machinery have been debugged to meet the standards.

[0025] The remote debugging method provided in the embodiment of the present invention receives video data corresponding to the engineering machinery and assists in determining whether the control parameters of the engineering machinery have been debugged to meet the standards based on the actual movements of the engineering machinery included in the video data. This method can more accurately and quickly determine whether the control parameters corresponding to the engineering machinery have been debugged to meet the standards, thereby improving the efficiency of verifying the debugging results and further improving the efficiency of debugging the control parameters of the engineering machinery.

[0026] In combination with the first aspect, in a fourth implementation of the first aspect, obtaining an actual action of the engineering machinery according to the remote control command and the control parameter output includes:

[0027] The receiving engineering machinery outputs status information during the actual action according to the remote control command and the control parameters, and the actual action of the engineering machinery is analyzed according to the status information.

[0028] The remote debugging method provided by the embodiment of the present invention receives status information of the engineering machinery during the actual action according to the remote control command and control parameters, and then parses the actual action of the engineering machinery according to the status information, thereby ensuring the accuracy of the actual action of the engineering machinery obtained.

[0029] According to a second aspect, an embodiment of the present invention provides a remote debugging method, which is applied to engineering machinery, and the method includes:

[0030] Receive remote control commands and debugging commands sent by the debugging device;

[0031] Adjust the control parameters of the construction machinery according to the debugging command to obtain the adjusted control parameters;

[0032] According to remote control commands and control parameters, control the actual actions of engineering machinery output;

[0033] Collect the status information of the construction machinery during actual operation, including hydraulic pressure, boom posture, cylinder displacement, action signal waveform, and video data;

[0034] The status information is sent to the debugging device via wireless communication.

[0035] The remote debugging method provided by the embodiment of the present invention receives the remote control command and the debugging command sent by the debugging device, and adjusts the control parameters of the engineering machinery according to the debugging command to obtain the adjusted control parameters, so that the engineering machinery can be debugged according to the debugging command to ensure the accuracy of the adjusted control parameters. In addition, according to the remote control command and the control parameters, the engineering machinery is controlled to output the actual action; so that the debugging device can verify whether the control parameters of the engineering machinery are debugged to the standard according to the actual action of the engineering machinery. In addition, the state information during the actual action of the engineering machinery is collected, and the state information includes hydraulic pressure, boom posture, cylinder displacement, action signal waveform, and video data; the state information is sent to the debugging device through wireless communication. So that the debugging device can obtain the actual action of the engineering machinery according to the state information of the engineering machinery, and further, the debugging device can verify whether the control parameters of the engineering machinery are debugged to the standard according to the state information of the engineering machinery, thereby improving the efficiency of debugging the control parameters corresponding to the engineering machinery, no longer blindly debugging the control parameters of the engineering machinery, and reducing the number of debugging times of the control parameters corresponding to the engineering machinery. In addition, the engineering machinery sends the state information to the debugging device through wireless communication. There is no need to download the control parameters to the controller through the data cable at the engineering machinery end, and then debug and operate the action through the push-pull handle. There is no need for hardware connection, which not only reduces the cost but also realizes remote debugging of engineering machinery, thereby not only improving the efficiency of debugging of engineering machinery, but also improving the accuracy of debugging of engineering machinery.

[0036] According to a third aspect, an embodiment of the present invention provides a remote debugging device, the device comprising:

[0037] A remote control module, used to obtain remote control commands, output the remote control commands to the simulation model of the construction machinery, and send the remote control commands to the construction machinery via wireless communication;

[0038] A simulation model module, for responding to a remote control command, and the simulation model outputs a target action of the engineering machinery;

[0039] The model matching and correction module is used to obtain the actual action of the engineering machinery according to the remote control command and the control parameter output; determine the difference between the target action and the actual action, debug the control parameters of the engineering machinery based on the difference value and output the debugging command;

[0040] The wireless transmission module is used to send the debugging command to the engineering machinery through wireless communication.

[0041] The remote debugging device provided by the embodiment of the present invention obtains a remote control command, outputs the remote control command to the simulation model of the engineering machinery, and sends the remote control command to the engineering machinery through wireless communication. Then, in response to the remote control command, the simulation model outputs the target action of the engineering machinery, and obtains the actual action of the engineering machinery output according to the remote control command and the control parameter. The difference value between the target action and the actual action is determined, and the control parameters of the engineering machinery are debugged based on the difference value and the debugging command is output. Thereby, the efficiency of debugging the control parameters corresponding to the engineering machinery is improved, and the control parameters of the engineering machinery are no longer blindly debugged, but debugged based on the target action output by the simulation model, thereby reducing the number of debugging of the control parameters corresponding to the engineering machinery and improving the efficiency of debugging the control parameters corresponding to the engineering machinery. In addition, the debugging command is sent to the engineering machinery through wireless communication, so that the remote debugging of the engineering machinery is realized, and the control parameters do not need to be downloaded to the controller through the data cable at the engineering machinery end, and then the action is debugged and operated through the push-pull handle. There is no need for hardware connection, which not only reduces the cost, but also realizes the remote debugging of the engineering machinery, thereby not only improving the efficiency of debugging the engineering machinery, but also improving the accuracy of debugging the engineering machinery.

[0042] According to a fourth aspect, an embodiment of the present invention provides a remote debugging device, including:

[0043] A receiving module, used for receiving remote control commands and debugging commands sent by the debugging device;

[0044] The control module is used to adjust the control parameters of the engineering machinery according to the debugging command to obtain the adjusted control parameters; according to the remote control command and the control parameters, the engineering machinery is controlled to output actual actions;

[0045] The data acquisition module is used to collect the status information of the construction machinery during the actual operation, including hydraulic pressure, boom posture, cylinder displacement, action signal waveform, and video data;

[0046] The sending module is used to send the status information to the debugging device through wireless communication.

[0047] The remote debugging method provided by the embodiment of the present invention receives the remote control command and the debugging command sent by the debugging device, and adjusts the control parameters of the engineering machinery according to the debugging command to obtain the adjusted control parameters, so that the engineering machinery can be debugged according to the debugging command to ensure the accuracy of the adjusted control parameters. In addition, according to the remote control command and the control parameters, the engineering machinery is controlled to output the actual action; so that the debugging device can verify whether the control parameters of the engineering machinery are debugged to the standard according to the actual action of the engineering machinery. In addition, the state information of the engineering machinery during the actual action is collected, and the state information includes hydraulic pressure, boom posture, cylinder displacement, action signal waveform, and video data; the state information is sent to the debugging device through wireless communication. So that the debugging device can obtain the actual action of the engineering machinery according to the state information of the engineering machinery, and further, the debugging device can verify whether the control parameters of the engineering machinery are debugged to the standard according to the state information of the engineering machinery, thereby improving the efficiency of debugging the control parameters corresponding to the engineering machinery, no longer blindly debugging the control parameters of the engineering machinery, and reducing the number of debugging times of the control parameters corresponding to the engineering machinery. In addition, the sending module can realize remote debugging of engineering machinery by sending status information to the debugging device through wireless communication, and there is no need to download the control parameters to the controller through the data line at the engineering machinery end, and then debug and operate the action through the push-pull handle. There is no need for hardware connection, which not only reduces the cost, but also realizes remote debugging of engineering machinery, thereby improving the efficiency and accuracy of debugging of engineering machinery.

[0048] According to the fifth aspect, an embodiment of the present invention provides a debugging device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the remote debugging method in the first aspect or any one of the embodiments of the first aspect by executing the computer instructions.

[0049] According to a sixth aspect, an embodiment of the present invention provides a construction machinery, comprising the remote debugging device as described in the fourth aspect above, or the construction machinery comprises a controller, and the controller is used to execute the remote debugging method as described in any one of the second aspects above.

[0050] According to a seventh aspect, an embodiment of the present invention provides a remote debugging system, the system comprising a model simulation device, a remote control device, a data acquisition device, a model matching correction device, a communication device and an engineering machine; wherein,

[0051] A remote control device connected to the model simulation device and the engineering machinery, used to obtain remote control commands and send the remote control commands to the model simulation device and the engineering machinery through wireless communication;

[0052] A model simulation device is connected to the remote control device and the model matching correction device, and in response to the remote control command, the model simulation device outputs the target action of the engineering machinery;

[0053] A model matching correction device is connected to the model simulation device, the data acquisition device and the communication device, and obtains the target action output by the model simulation device and the actual action of the engineering machinery in response to the remote control command output by the data acquisition device; determines the difference between the target action and the actual action according to the difference between the two, debugs the control parameters of the engineering machinery and outputs the debugging command to the communication device;

[0054] The communication device sends the debugging command to the construction machinery via wireless communication;

[0055] The engineering machinery receives remote control commands and debugging commands, adjusts control parameters of the engineering machinery according to the debugging commands, and obtains adjusted control parameters; and controls the engineering machinery to output actual actions according to the remote control commands and the control parameters;

[0056] The data acquisition device is arranged in the engineering machinery to collect the status information of the engineering machinery during the actual operation and output it to the outside.

[0057] According to a seventh aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the remote debugging method in the first aspect or any one of the implementations of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0059] Figure 1 is a flowchart of a remote debugging method according to an embodiment of the present invention;

[0060] Figure 2 is a flowchart of a remote debugging method according to an embodiment of the present invention;

[0061] Figure 3 is a flowchart of a remote debugging method according to an embodiment of the present invention;

[0062] Figure 4 is a flowchart of a remote debugging method according to an embodiment of the present invention;

[0063] Figure 5is a flowchart of a remote debugging method according to an embodiment of the present invention;

[0064] Figure 6 is a structural block diagram of a remote debugging device according to an embodiment of the present invention;

[0065] Figure 7 is a structural block diagram of an engineering machinery according to an embodiment of the present invention;

[0066] Figure 8 is a structural block diagram of a remote debugging system provided by an embodiment of the present invention;

[0067] Fig. 9 It is a schematic diagram of the hardware structure of the debugging device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0069] The existing process of adjusting construction machinery is generally that the R&D personnel compile the program successfully on the personal computer, download the control program to the controller through the data cable at the construction machinery end, and then debug and operate the action by pushing and pulling the handle; observe the corresponding movement of the working device according to the speed of pushing and pulling the handle, modify the control program and complete the compilation on the excavator to update the controller program, and then repeat the first step for the next debugging and operation. This debugging method contains a lot of repetitive operations, is time-consuming, and has low efficiency.

[0070] Based on this, an embodiment of the present invention provides a remote debugging method to obtain the actual action of the engineering machinery and the target action output by the simulation model, determine the difference value according to the actual action and the target action, and debug the control parameters of the engineering machinery according to the difference value.

[0071] According to an embodiment of the present invention, a remote debugging method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a debugging device, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0072] In this embodiment, a remote debugging method is provided, which can be used to debug a device. Figure 1 is a flowchart of a remote debugging method according to an embodiment of the present invention. Figure 1As shown, the process includes the following steps:

[0073] S11, acquiring a remote control command, outputting the remote control command to a simulation model of the construction machinery, and sending the remote control command to the construction machinery via wireless communication.

[0074] Optionally, the debugging device may receive remote control commands sent by other devices, and may also generate remote control commands according to debugging requirements.

[0075] Optionally, the debugging device may also obtain a remote control command outputted by a remote control device to the debugging device. The remote control device includes but is not limited to a remote control cabin with a remote control function, a short-range remote control handle, etc. The remote control device may include a handle, a pedal, etc.

[0076] Specifically, the remote control device can convert the handle / pedal analog signal input by the debugger into a digital signal through A / D signal conversion, and transmit the signal to the debugging device through a wireless network or a remote mobile network, so that the debugging device can receive the remote control command transmitted by the remote control device.

[0077] After acquiring the remote control command, the debugging device can output the remote control command to the simulation model of the construction machinery, and send the remote control command to the construction machinery through a wireless network or a remote mobile network.

[0078] S12, in response to the remote control command, the simulation model outputs the target action of the construction machinery.

[0079] Among them, the simulation model can digitally describe the power / hydraulic system of the construction machinery, and simulate the operation and feedback collection of the control system of the construction machinery by importing the simulation model.

[0080] Among them, the simulation model can include two major parts: hydraulic system simulation model and control system simulation model. Among them, the hydraulic system simulation model mainly includes hydraulic pump simulation model curves, valve simulation model curves, and hydraulic cylinder simulation model curves; the valve simulation model includes the main valve, overflow valve, check valve, etc., and the hydraulic cylinder simulation model includes the boom cylinder, dipper cylinder, and bucket cylinder. The control system simulation model includes the main pump control model, the main valve control model, and the power control model. These simulation models simulate the ideal state of the hydraulic system and control system, and can simultaneously collect the remote control commands transmitted by the debugging equipment as input, and generate the corresponding target actions of the engineering machinery according to the simulation model.

[0081] Specifically, the debugging device can input the remote control command into the simulation model of the engineering machinery, and the power / hydraulic system in the simulation model calculates and controls the remote control command, outputs the model target curve corresponding to the engineering machinery, and determines the target action of the engineering machinery according to the model target curve. Among them, the model target curve can include model target curves such as hydraulic pump simulation model target curve, valve simulation model target curve, hydraulic cylinder simulation model target curve, main pump control model target curve, main valve control model target curve, power control model target curve, etc.

[0082] S13, obtaining the actual action of the engineering machinery according to the remote control command and the control parameter output.

[0083] Specifically, after the engineering machinery obtains the remote control command, the obtained remote control command can be input into the MCU end of the engineering machinery. The MCU end performs internal calculations on the received remote control command based on the control parameters, and transmits the calculation results to the MCU output end of the controller of the engineering machinery to output the actual action of the engineering machinery. The actual action may include but is not limited to the handle and pedal status of the engineering machinery. The actual action may also include the operating parameters of the hydraulic pump, hydraulic valve, hydraulic cylinder, etc.

[0084] S14, determining a difference value between the target action and the actual action according to the difference value, debugging the control parameters of the engineering machinery based on the difference value and outputting a debugging command.

[0085] Optionally, the debugging device may compare the actual action with the target action to determine the difference between the actual action and the target action, and then debug the control parameters of the engineering machinery according to the difference and output a debugging command.

[0086] This step will be described in detail below.

[0087] S15, sending the debugging command to the construction machinery via wireless communication.

[0088] In an optional implementation, the debugging device sends the debugging command to the engineering machine through wireless communication based on remote communication with the engineering machine, and the engineering machine can debug the control parameters accordingly according to the debugging command.

[0089] In another optional implementation, the debugging command includes the adjusted control parameters.

[0090] The debugging device transmits the debugging command to the engineering machinery through a wireless network or a mobile network, and the engineering machinery updates the control parameters of the controller in the engineering machinery according to the adjusted control parameters included in the debugging command. Subsequently, the data in the control parameters are transmitted frame by frame to the engineering machinery controller end using, but not limited to, protocols such as ISOTP and UDS, and the controller flashes the latest version of the control parameter data to the controller through the burning software, thereby completing an update of the debugging results.

[0091] The remote debugging method provided by the embodiment of the present invention obtains a remote control command, outputs the remote control command to the simulation model of the engineering machinery, and sends the remote control command to the engineering machinery through wireless communication. Then, in response to the remote control command, the simulation model outputs the target action of the engineering machinery, and obtains the actual action of the engineering machinery output according to the remote control command and the control parameter. The difference value between the target action and the actual action is determined, and the control parameters of the engineering machinery are debugged based on the difference value and the debugging command is output. Thereby, the efficiency of debugging the control parameters corresponding to the engineering machinery is improved, and the control parameters of the engineering machinery are no longer blindly debugged, but debugged based on the target action output by the simulation model, thereby reducing the number of debugging of the control parameters corresponding to the engineering machinery and improving the efficiency of debugging the control parameters corresponding to the engineering machinery. In addition, the debugging command is sent to the engineering machinery through wireless communication, so that the remote debugging of the engineering machinery is realized, and the control parameters do not need to be downloaded to the controller through the data line at the engineering machinery end, and then the action is debugged and operated through the push-pull handle. There is no need for hardware connection, which not only reduces the cost, but also realizes the remote debugging of the engineering machinery, thereby not only improving the efficiency of debugging the engineering machinery, but also improving the accuracy of debugging the engineering machinery.

[0092] In this embodiment, a remote debugging method is provided, which can be used to debug a device. Figure 2 is a flowchart of a remote debugging method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0093] S21, obtaining a remote control command, outputting the remote control command to a simulation model of the construction machinery, and sending the remote control command to the construction machinery via wireless communication.

[0094] For details, please see Figure 1 S11 of the illustrated embodiment will not be described in detail here.

[0095] S22, in response to the remote control command, the simulation model outputs a target action of the construction machinery.

[0096] For details, please see Figure 1 S12 of the illustrated embodiment will not be described in detail here.

[0097] S23, obtaining the actual action of the engineering machinery according to the remote control command and the control parameter output.

[0098] For details, please see Figure 1 S13 of the illustrated embodiment will not be described in detail here.

[0099] S24, determining a difference value between the target action and the actual action according to the difference value, debugging the control parameters of the engineering machinery based on the difference value and outputting a debugging command.

[0100] Specifically, the above S24 may include:

[0101] S241, outputting prompt information corresponding to the difference value and displaying the difference value.

[0102] Specifically, after comparing the actual action with the target action to determine the difference between the actual action and the target action, the debugging device can display the difference through the display element. The debugging device can display the difference in the form of a curve or in the form of a table.

[0103] When comparing the actual action with the target action, the debugging device may use, but is not limited to, signal transformation recognition algorithms such as time domain and frequency domain data comparison.

[0104] Exemplarily, the debugging device can compare the curves of parameters such as the pump simulation model curve, valve simulation model curve, hydraulic cylinder displacement simulation model curve, main pump control model curve, main valve control model curve, power model control curve, etc. included in the target action with the operating curves of the hydraulic pump, hydraulic valve, hydraulic cylinder, etc. in the actual action, so as to determine the difference value between the actual action and the target action.

[0105] Exemplarily, the debugging device may generate a curve image based on the pump simulation model curve included in the target action and the corresponding hydraulic pump operation curve in the actual action, thereby displaying the difference value between the actual action and the target action.

[0106] Exemplarily, the debugging device may generate a parameter table based on the pump simulation model data included in the target action and the hydraulic pump operating parameter data corresponding to the actual action, thereby displaying the difference value between the actual action and the target action.

[0107] The embodiment of the present application does not limit the specific method of displaying the difference value.

[0108] S242, receiving a debugging instruction input by a user based on the difference value.

[0109] Specifically, after receiving the difference value between the actual action and the target action displayed by the debugging device based on the display component, the user can input debugging instructions for debugging the corresponding control parameters of the engineering machinery to the debugging device according to the difference value, so that the debugging device can receive the debugging instructions input by the user.

[0110] S243, according to the debugging instruction, debug the control parameters and output the debugging command.

[0111] Specifically, the debugging device may debug at least one target parameter in the control parameters based on the received debugging instruction input by the user, thereby obtaining an adjusted control parameter, and output a debugging command according to the adjusted control parameter.

[0112] S25, sending the debugging command to the construction machinery via wireless communication.

[0113] For details, please see Figure 1 S15 of the illustrated embodiment will not be described in detail here.

[0114] The remote debugging method provided in the embodiment of the present invention enables the user to quickly obtain the difference value between the actual action and the target action of the engineering machinery by outputting prompt information and displaying the difference value, and then receives the debugging instructions input by the user based on the difference value; according to the debugging instructions, the control parameters are debugged, and the debugging commands are output according to the results of the debugging of the control parameters, thereby improving the efficiency of debugging the control parameters of the engineering machinery.

[0115] In this embodiment, a remote debugging method is provided, which can be used to debug a device. Figure 3 is a flowchart of a remote debugging method according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0116] S31, acquiring a remote control command, outputting the remote control command to a simulation model of the construction machinery, and sending the remote control command to the construction machinery via wireless communication.

[0117] For details, please see Figure 2 S21 of the illustrated embodiment will not be described in detail here.

[0118] S32, in response to the remote control command, the simulation model outputs a target action of the construction machinery.

[0119] For details, please see Figure 2 S22 of the illustrated embodiment will not be described in detail here.

[0120] S33, obtaining the actual action of the engineering machinery according to the remote control command and the control parameter output.

[0121] For details, please see Figure 2S23 of the illustrated embodiment will not be described in detail here.

[0122] S34, determining a difference value between the target action and the actual action according to the difference value, debugging the control parameters of the engineering machinery based on the difference value and outputting a debugging command.

[0123] Specifically, the above S34 may also include:

[0124] S341, determining a debugging range of a target parameter in the control parameter according to the difference value.

[0125] Specifically, after comparing the actual action with the target action to determine the difference value between the actual action and the target action, the debugging device can determine the debugging range of the target parameter in the control parameter according to the difference value.

[0126] Exemplarily, assuming that the maximum difference value between the pump simulation model curve in the target action and the hydraulic pump curve in the actual action is 10, the debugging device can determine that the debugging range corresponding to the P parameter in the PID parameter in the control parameter is 0.5-1.

[0127] S342, debugging the target parameters in the control parameters according to the debugging range and outputting the debugging command.

[0128] Specifically, the debugging device can set the corresponding step size according to the debugging range, and then debug the target parameters in the control parameters in the order of small to large or large to small. Optionally, the step size can be 0.1 or 0.05. The implementation of this application does not specifically limit the step size set by the debugging device.

[0129] S35, sending the debugging command to the construction machinery via wireless communication.

[0130] For details, please see Figure 2 S25 of the illustrated embodiment will not be described in detail here.

[0131] The remote debugging method provided by the embodiment of the present invention determines the debugging range of the target parameter in the control parameter according to the difference value; based on the debugging range, the target parameter in the control parameter is debugged instead of blindly debugging aimlessly, thereby improving the efficiency of debugging the control parameters of the engineering machinery.

[0132] In this embodiment, a remote debugging method is provided, which can be used to debug a device. Figure 4 is a flowchart of a remote debugging method according to an embodiment of the present invention. Figure 4 As shown, the process includes the following steps:

[0133] S41, acquiring a remote control command, outputting the remote control command to a simulation model of the construction machinery, and sending the remote control command to the construction machinery via wireless communication.

[0134] For details, please see Figure 3 S31 of the illustrated embodiment will not be described in detail here.

[0135] S42, in response to the remote control command, the simulation model outputs a target action of the construction machinery.

[0136] For details, please see Figure 3 S32 of the illustrated embodiment will not be described in detail here.

[0137] S43, obtaining the actual action of the engineering machinery according to the remote control command and the control parameter output.

[0138] Specifically, the above S43 may also include:

[0139] S431, receiving the state information of the engineering machinery during the actual action according to the remote control command and the control parameters, and analyzing the actual action of the engineering machinery according to the state information.

[0140] Among them, the status information includes hydraulic pressure, boom posture, cylinder displacement, action signal waveform, video data and other data.

[0141] Specifically, after the engineering machinery obtains the remote control command, the obtained remote control command can be input into the MCU end of the engineering machinery. The MCU end of the engineering machinery performs internal calculations on the received remote control command based on the control parameters, and transmits the calculation results to the MCU output end of the controller of the engineering machinery to output the status information during the actual action of the engineering machinery.

[0142] Exemplarily, the MCU of the engineering machinery performs internal calculations on the received remote control commands based on the control parameters, and obtains operating parameters of the hydraulic pump, hydraulic valve, hydraulic cylinder, etc., as well as status information such as the posture information of the engineering machinery power arm.

[0143] The debugging equipment analyzes the status information to determine the actual movement of the construction machinery.

[0144] S44, determining a difference value between the target action and the actual action according to the difference value, debugging the control parameters of the engineering machinery based on the difference value and outputting a debugging command.

[0145] For details, please see Figure 2 S24 of the illustrated embodiment and Figure 3 S34 of the illustrated embodiment will not be described in detail here.

[0146] S45, sending the debugging command to the construction machinery via wireless communication.

[0147] For details, please see Figure 3 S35 of the illustrated embodiment will not be described in detail here.

[0148] S46, receiving video data transmitted by the construction machinery; the video data includes actual movements of the construction machinery.

[0149] Specifically, after each debugging is completed, the remote control device converts the handle / pedal analog signal input by the debugger into a digital signal through A / D signal conversion, and transmits the signal to the MCU end of the construction machinery through a wireless network or a remote mobile network. The MCU end of the construction machinery is equipped with a data acquisition device that can collect the remote control commands transmitted by the remote control device, which are calculated internally by the MCU and transmitted to the output end of the controller MCU of the construction machinery to output the actual actions of the construction machinery.

[0150] The data acquisition device collects the actual movements of the construction machinery, generates video data, and transmits the video data to the debugging equipment through a wireless network or a remote mobile network.

[0151] S47, determining whether the control parameters of the construction machinery have been debugged to meet the standards based on the video data.

[0152] In an optional implementation, the debugging device compares the actual action in the video data with the ideal action corresponding to the actual action to assist in determining whether the control parameters of the engineering machinery are debugged to meet the standards.

[0153] For example, it is assumed that the actual movement of the construction machinery in the video data is to move forward 50 meters at a speed of 10 m / s, and the ideal movement corresponding to the actual movement is to move forward 45 meters at a speed of 29 m / s.

[0154] In another optional implementation, the debugging device can determine whether the debugging device has completed a preset task based on actual actions in the video data, and then assist in determining whether the control parameters of the engineering machinery have been debugged to meet the standards.

[0155] The remote debugging method provided by the embodiment of the present invention receives the state information of the engineering machinery during the actual action according to the remote control command and the control parameters, and then parses the actual action of the engineering machinery according to the state information, thereby ensuring the accuracy of the actual action of the engineering machinery obtained. In addition, by receiving the video data corresponding to the engineering machinery, and assisting in determining whether the control parameters of the engineering machinery are debugged to the standard according to the actual action of the engineering machinery included in the video data. It can more accurately and quickly determine whether the control parameters corresponding to the engineering machinery are debugged to the standard, improve the efficiency of verifying the debugging results, and further improve the efficiency of debugging the control parameters of the engineering machinery.

[0156] According to an embodiment of the present invention, a remote debugging method embodiment is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in engineering machinery, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0157] In this embodiment, a remote debugging method is provided, which can be used for engineering machinery. Figure 5 is a flowchart of a remote debugging method according to an embodiment of the present invention. Figure 5 As shown, the process includes the following steps:

[0158] S51, receiving a remote control command and a debugging command sent by a debugging device.

[0159] Specifically, the engineering machine can receive the remote control command and the debugging command sent by the debugging device based on the remote communication between the engineering machine and the debugging device.

[0160] S52, adjusting the control parameters of the construction machinery according to the debugging command to obtain adjusted control parameters.

[0161] In an optional implementation, the engineering machinery receives a debugging command sent by the debugging device through wireless communication based on remote communication with the debugging device, and debugs the control parameters accordingly according to the debugging command to obtain adjusted control parameters.

[0162] In another optional implementation, the debugging command includes the adjusted control parameters. The engineering machinery receives the debugging command transmitted by the debugging device through a wireless network or a mobile network, thereby obtaining the adjusted control parameters. The engineering machinery updates the control parameters of the controller in the engineering machinery according to the adjusted control parameters included in the debugging command. Subsequently, the data in the control parameters are transmitted frame by frame to the engineering machinery controller end using, but not limited to, protocols such as ISOTP and UDS, and the controller flashes the latest version of the control parameter data into the controller through the burning software, thereby completing an update of the debugging results.

[0163] S53, controlling the engineering machinery to output actual actions according to the remote control command and control parameters.

[0164] Specifically, after the engineering machine obtains the remote control command, it can input the obtained remote control command into the MCU end of the engineering machine, and the MCU end of the engineering machine performs internal calculations on the received remote control command based on the control parameters, and transmits the calculation results to the MCU output end of the controller of the engineering machine to output the actual action of the engineering machine. The actual action may include but is not limited to the handle and pedal status of the engineering machine. The actual action may also include the operating parameters of the hydraulic pump, hydraulic valve, hydraulic cylinder, etc.

[0165] S54, collecting status information during the actual operation of the construction machinery.

[0166] Among them, the status information includes hydraulic pressure, boom posture, cylinder displacement, action signal waveform, and video data.

[0167] Specifically, the data acquisition module of the engineering machinery can collect status information of the engineering machinery during actual operation.

[0168] S55, sending the status information to the debugging device via wireless communication.

[0169] Specifically, the engineering machinery sends the collected status information to the debugging device based on the wireless communication between the engineering machinery and the debugging device.

[0170] The remote debugging method provided by the embodiment of the present invention receives the remote control command and the debugging command sent by the debugging device, and adjusts the control parameters of the engineering machinery according to the debugging command to obtain the adjusted control parameters, so that the engineering machinery can be debugged according to the debugging command to ensure the accuracy of the adjusted control parameters. In addition, according to the remote control command and the control parameters, the engineering machinery is controlled to output the actual action; so that the debugging device can verify whether the control parameters of the engineering machinery are debugged to the standard according to the actual action of the engineering machinery. In addition, the state information during the actual action of the engineering machinery is collected, and the state information includes hydraulic pressure, boom posture, cylinder displacement, action signal waveform, and video data; the state information is sent to the debugging device through wireless communication. So that the debugging device can obtain the actual action of the engineering machinery according to the state information of the engineering machinery, and further, the debugging device can verify whether the control parameters of the engineering machinery are debugged to the standard according to the state information of the engineering machinery, thereby improving the efficiency of debugging the control parameters corresponding to the engineering machinery, no longer blindly debugging the control parameters of the engineering machinery, and reducing the number of debugging times of the control parameters corresponding to the engineering machinery. In addition, the engineering machinery sends the state information to the debugging device through wireless communication. There is no need to download the control parameters to the controller through the data cable at the engineering machinery end, and then debug and operate the action through the push-pull handle. There is no need for hardware connection, which not only reduces the cost but also realizes remote debugging of engineering machinery, thereby not only improving the efficiency of debugging of engineering machinery, but also improving the accuracy of debugging of engineering machinery.

[0171] This embodiment provides a remote debugging device 60, which is used for debugging equipment, such as Figure 6 As shown, including:

[0172] The remote control module 61 is used to obtain remote control commands, output the remote control commands to the simulation model of the engineering machinery, and send the remote control commands to the engineering machinery through wireless communication.

[0173] The simulation model module 62 is used to respond to the remote control command, and the simulation model outputs the target action of the engineering machinery.

[0174] The model matching correction module 63 is used to obtain the actual action of the engineering machinery according to the remote control command and the control parameter output; determine the difference between the target action and the actual action, debug the control parameters of the engineering machinery based on the difference value and output the debugging command.

[0175] The wireless transmission module 64 is used to send the debugging command to the engineering machine through wireless communication.

[0176] The remote debugging device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC circuit, a processor and a memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0177] The further functional description of each of the above modules is the same as that of the above corresponding embodiments and will not be repeated here.

[0178] This embodiment provides a remote debugging device 70, including:

[0179] The receiving module 71 is used to receive remote control commands and debugging commands sent by the debugging device.

[0180] The control module 72 is used to adjust the control parameters of the engineering machinery according to the debugging command to obtain the adjusted control parameters; and control the engineering machinery to output actual actions according to the remote control command and the control parameters.

[0181] The data acquisition module 73 is used to collect the state information of the engineering machinery during the actual action, and the state information includes hydraulic pressure, boom posture, cylinder displacement, action signal waveform, and video data.

[0182] The sending module 74 is used to send the status information to the debugging device through wireless communication.

[0183] This embodiment provides an engineering machine, which may include the above-mentioned remote debugging device 70. The engineering machine may also include a controller and an engineering machine body, wherein the controller is connected to the engineering machine body. The controller may be connected to the engineering machine body according to requirements, and the specific connection method and setting position are not limited here. The controller may be used to execute the above-mentioned Figure 5 Steps in .

[0184] This embodiment provides a remote debugging system 80, such as Figure 8 As shown, the system includes a model simulation device 81, a remote control device 82, a data acquisition device 83, a model matching correction device 84, a communication device 85 and an engineering machine 86; wherein,

[0185] The remote control device 82 is connected to the model simulation device 81 and the engineering machine 86, and is used to obtain remote control commands and send the remote control commands to the model simulation device 81 and the engineering machine 86 through wireless communication.

[0186] The remote control device 82 includes but is not limited to a remote control cabin with remote control function, a short-range remote control handle, etc. The remote control device may include a handle, a pedal, etc.

[0187] The model simulation device 81 is connected to the remote control device 82 and the model matching correction device 84 . In response to the remote control command, the model simulation device 81 outputs the target action of the construction machine 86 .

[0188] Among them, the execution subject of the model simulation device 81 can be a model simulation device, and the model simulation device can be realized as part or all of a computer device through software, hardware, or a combination of software and hardware, wherein the computer device can be a server or a terminal, wherein the server in the embodiment of the present application can be a single server or a server cluster composed of multiple servers, and the terminal in the embodiment of the present application can be a smart phone, personal computer, tablet computer, wearable device, smart robot and other smart hardware devices.

[0189] The model matching correction device 84 is connected to the model simulation device 81, the data acquisition device 83 and the communication device 85, and obtains the target action output by the model simulation device 81 and the actual action of the engineering machinery 86 in response to the remote control command output by the data acquisition device 83; determines the difference value between the target action and the actual action according to the target action and the actual action, debugs the control parameters of the engineering machinery 86 and outputs the debugging command to the communication device 85.

[0190] Among them, the model matching correction device 84 can be implemented as part or all of a computer device through software, hardware, or a combination of software and hardware, wherein the computer device can be a server or a terminal, wherein the server in the embodiment of the present application can be a single server or a server cluster composed of multiple servers, and the terminal in the embodiment of the present application can be a smart phone, personal computer, tablet computer, wearable device, smart robot and other smart hardware devices.

[0191] It should be noted that the model simulation device 81 and the model matching correction device 84 can be in the same computer device or in different computer devices, which is not specifically limited in the embodiment of the present application.

[0192] The communication device 85 sends the debugging command to the engineering machine 86 via wireless communication.

[0193] The communication device 85 may be an independent hardware communication device interconnected with the engineering machine 86 , or may be a communication device integrated inside the engineering machine 86 .

[0194] The engineering machine 86 receives the remote control command and the debugging command, adjusts the control parameters of the engineering machine 86 according to the debugging command, and obtains the adjusted control parameters. According to the remote control command and the control parameters, the engineering machine 86 is controlled to output actual actions.

[0195] The engineering machine 86 includes an electronic device and an engineering machine body. The electronic device is connected to the engineering machine body. The electronic device can be connected to the engineering machine body according to requirements. The specific connection method and setting position are not limited here.

[0196] The specific structure of the engineering machinery body can be set according to actual needs, and no limitation is made here. The electronic device is used to receive remote control commands and debugging commands. According to the debugging commands, the control parameters of the engineering machinery 86 are adjusted to obtain the adjusted control parameters. According to the remote control commands and the control parameters, the engineering machinery 86 is controlled to output actual actions.

[0197] The data acquisition device 83 is installed in the engineering machine 86 to collect the status information of the engineering machine 86 during the actual operation and output it to the outside.

[0198] The data acquisition device 83 may be a device externally connected to the engineering machine 86 or a device internally connected to the engineering machine 86. For example, the data acquisition device 83 may be a camera externally connected to the engineering machine 86 or a camera internally connected to the engineering machine 86.

[0199] See also Fig. 9 , Fig. 9 is a schematic diagram of the structure of a debugging device provided by an optional embodiment of the present invention, such as Fig. 9As shown, the debugging device may include: at least one processor 91, such as a CPU (Central Processing Unit), at least one communication interface 93, a memory 94, and at least one communication bus 92. The communication bus 92 is used to realize the connection and communication between these components. The communication interface 93 may include a display screen (Display) and a keyboard (Keyboard), and the optional communication interface 93 may also include a standard wired interface and a wireless interface. The memory 94 may be a high-speed RAM memory (Random Access Memory) or a non-volatile memory (non-volatile memory), such as at least one disk storage. The memory 94 may optionally be at least one storage device located away from the aforementioned processor 91. The processor 91 may be combined with Figure 5 In the described device, the memory 94 stores an application program, and the processor 91 calls the program code stored in the memory 94 to execute any of the above method steps.

[0200] The communication bus 92 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The communication bus 92 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig. 9 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0201] Among them, the memory 94 may include a volatile memory (English: volatile memory), such as a random access memory (English: random-access memory, abbreviated: RAM); the memory may also include a non-volatile memory (English: non-volatile memory), such as a flash memory (English: flash memory), a hard disk drive (English: hard disk drive, abbreviated: HDD) or a solid-state drive (English: solid-state drive, abbreviated: SSD); the memory 94 may also include a combination of the above types of memory.

[0202] The processor 91 may be a central processing unit (CPU), a network processor (NP), or a combination of a CPU and a NP.

[0203] The processor 91 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0204] Optionally, the memory 94 is also used to store program instructions. The processor 91 can call the program instructions to implement the present application Figures 1 to 4 The remote debugging method shown in the embodiment.

[0205] The embodiment of the present invention also provides a non-transitory computer storage medium, which stores computer executable instructions, and the computer executable instructions can execute the remote debugging method in any of the above method embodiments. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (Flash Memory), a hard disk (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memory.

[0206] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A remote debugging method, characterized in that: Applied to debugging equipment, the method comprises: Acquiring a remote control command, outputting the remote control command to a simulation model of the construction machinery, and sending the remote control command to the construction machinery via wireless communication; In response to the remote control command, the simulation model outputs a target action of the engineering machine; Acquire the actual action of the engineering machinery according to the remote control command and the control parameter output; Determining a difference value between the target action and the actual action according to the target action and the actual action, debugging the control parameter of the engineering machinery based on the difference value and outputting a debugging command; Sending the debugging command to the engineering machine via wireless communication; The step of determining a difference value between the target action and the actual action according to the target action and debugging the control parameters of the engineering machinery based on the difference value and outputting a debugging command includes: Outputting prompt information corresponding to the difference value and displaying the difference value; receiving a debugging instruction input based on the difference value; According to the debugging instruction, debugging the control parameter and outputting the debugging command; The outputting of the prompt information corresponding to the difference value and displaying the difference value includes: Compare the pump simulation model curve, valve simulation model curve, hydraulic cylinder displacement simulation model curve, main pump control model curve, main valve control model curve, and power model control curve included in the target action with the operation curves of the hydraulic pump, hydraulic valve, and hydraulic cylinder in the actual action, respectively, to determine the difference value between the actual action and the target action; The pump simulation model curve included in the target action is compared with the hydraulic pump operation curve corresponding to the actual action to generate a curve image to display the difference value between the actual action and the target action.

2. The remote debugging method according to claim 1, characterized in that: The step of determining a difference value between the target action and the actual action according to the target action and debugging the control parameters of the engineering machinery based on the difference value and outputting a debugging command includes: Determine the debugging range of the target parameter in the control parameter according to the difference value; According to the debugging range, the target parameter is debugged and the debugging command is output.

3. The remote debugging method according to claim 1, characterized in that: The method further comprises: receiving video data corresponding to the engineering machine, wherein the video data includes actual movements of the engineering machine; Based on the video data, it is assisted in determining whether the control parameters of the engineering machinery have been debugged to meet the standards.

4. The remote debugging method according to claim 1, characterized in that: The obtaining of the actual action of the engineering machinery according to the remote control command and the control parameter output includes: The state information of the engineering machine during the actual action is received according to the remote control command and the control parameters, and the actual action of the engineering machine is analyzed according to the state information.

5. A remote debugging method, characterized in that: Applied to construction machinery, the method comprises: Receiving a remote control command and a debugging command sent by a debugging device; the debugging device is the debugging device to which the remote debugging method according to any one of claims 1 to 4 is applied; Adjusting the control parameters of the engineering machinery according to the debugging command to obtain adjusted control parameters; According to the remote control command and the control parameters, controlling the engineering machinery to output actual actions; Collecting state information of the engineering machinery during actual motion, the state information including hydraulic pressure, boom posture, cylinder displacement, motion signal waveform, and video data; The state information is sent to the debugging device via wireless communication.

6. A remote debugging device, characterized in that: include: A remote control module, used for acquiring a remote control command, outputting the remote control command to a simulation model of the engineering machinery, and sending the remote control command to the engineering machinery via wireless communication; A simulation model module, configured to respond to the remote control command, wherein the simulation model outputs a target action of the engineering machinery; A model matching correction module is used to obtain the actual action of the engineering machinery according to the remote control command and the control parameter output; determine the difference value between the target action and the actual action according to the target action and the actual action, debug the control parameters of the engineering machinery based on the difference value and output a debugging command; wherein, determining the difference value between the target action and the actual action according to the target action and the actual action, debugging the control parameters of the engineering machinery based on the difference value and outputting a debugging command comprises: outputting prompt information corresponding to the difference value and displaying the difference value; receiving a debugging instruction input based on the difference value; debugging the control parameters according to the debugging instruction Debug and output the debugging command; wherein the outputting of the prompt information corresponding to the difference value and displaying the difference value comprises: comparing the pump simulation model curve, valve simulation model curve, hydraulic cylinder displacement simulation model curve, main pump control model curve, main valve control model curve, and power model control curve included in the target action with the operation curves of the hydraulic pump, hydraulic valve, and hydraulic cylinder in the actual action, respectively, to determine the difference value between the actual action and the target action; comparing the pump simulation model curve included in the target action with the corresponding hydraulic pump operation curve in the actual action, to generate a curve image, and to display the difference value between the actual action and the target action; The wireless transmission module is used to send the debugging command to the engineering machinery through wireless communication.

7. A remote debugging device, characterized in that: include: A receiving module, used for receiving a remote control command and a debugging command sent by a debugging device; the debugging device is the debugging device to which the remote debugging method according to any one of claims 1 to 4 is applied; A control module, used for adjusting the control parameters of the engineering machinery according to the debugging command to obtain the adjusted control parameters; According to the remote control command and the control parameters, controlling the engineering machinery to output actual actions; A data acquisition module, used to collect state information of the engineering machinery during actual motion, wherein the state information includes hydraulic pressure, boom posture, cylinder displacement, motion signal waveform, and video data; The sending module is used to send the status information to the debugging device through wireless communication.

8. A debugging device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the remote debugging method according to any one of claims 1 to 4 by executing the computer instructions.

9. An engineering machine, characterized in that: include: The remote debugging device as claimed in claim 7; Alternatively, the engineering machinery includes: a controller, and the controller is used to execute the remote debugging method as claimed in claim 5.

10. A remote debugging system, characterized in that: The system includes a model simulation device, a remote control device, a data acquisition device, a model matching correction device, a communication device and an engineering machine; wherein, The remote control device is connected to the model simulation device and the engineering machine, and is used to obtain remote control commands and send the remote control commands to the model simulation device and the engineering machine through wireless communication; The model simulation device is connected to the remote control device and the model matching correction device, and in response to the remote control command, the model simulation device outputs the target action of the engineering machinery; The model matching correction device is connected to the model simulation device, the data acquisition device and the communication device, and obtains the target action output by the model simulation device and the actual action of the engineering machinery in response to the remote control command output by the data acquisition device; determines the difference between the target action and the actual action according to the difference between the two, debugs the control parameters of the engineering machinery and outputs the debugging command to the communication device; wherein, determining the difference between the target action and the actual action according to the difference between the two, debugging the control parameters of the engineering machinery and outputting the debugging command to the communication device includes: Outputting prompt information corresponding to the difference value and displaying the difference value; receiving a debugging instruction input based on the difference value; According to the debugging instruction, the control parameters are debugged and the debugging command is output to the communication device; wherein, the outputting of the prompt information corresponding to the difference value and the display of the difference value include: comparing the pump simulation model curve, valve simulation model curve, hydraulic cylinder displacement simulation model curve, main pump control model curve, main valve control model curve, and power model control curve included in the target action with the operation curves of the hydraulic pump, hydraulic valve, and hydraulic cylinder in the actual action, respectively, to determine the difference value between the actual action and the target action; comparing the pump simulation model curve included in the target action with the corresponding hydraulic pump operation curve in the actual action, to generate a curve image, and to display the difference value between the actual action and the target action; A communication device, which sends the debugging command to the engineering machine via wireless communication; The engineering machinery receives a remote control command and a debugging command, adjusts the control parameters of the engineering machinery according to the debugging command to obtain the adjusted control parameters; and controls the engineering machinery to output actual actions according to the remote control command and the control parameters; The data acquisition device is arranged in the engineering machinery to collect the state information of the engineering machinery during the actual operation and output it to the outside.

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