Control Method, Device, Storage Medium and Processor for Engineering Equipment

Abstract

An embodiment of the present application provides a control method for engineering equipment, engineering equipment, a storage medium, and a processor. The engineering equipment includes a positioning device, and the control method includes: obtaining the current position where the engineering equipment is located through the positioning device; determining a first separation distance between the current position and an obstacle around the engineering equipment; determining a virtual space area composed of a plurality of virtual boundaries that coincides with the obstacle according to the current position and the first separation distance; when the engineering equipment moves to the next position, determining a relative space parameter between the engineering equipment and the virtual boundary; controlling the engineering equipment to execute corresponding control parameters according to the relative space parameter, so that the engineering equipment operates safely. When the position of the engineering equipment changes, it can operate within the range of the set virtual space area, avoiding the engineering equipment touching the actual obstacle, and improving the safety of the engineering equipment operation.

Description

Technical Field

[0001] The present application relates to the field of intelligent control of engineering equipment, and in particular, to a control method for engineering equipment, an engineering equipment, a storage medium, and a processor. Background Art

[0002] When an engineering equipment is operating in a complex urban environment, there will be obstacles such as wires, optical cables, and buildings around the equipment, and the operator needs to pay close attention to these obstacles during work. However, the engineering equipment often touches these obstacles, resulting in safety accidents. The current limiting positions of the electronic fence are relative to the center point of the engineering equipment, and the limiting can be effectively carried out only when the chassis of the engineering equipment is stationary and the upper vehicle does not rotate. Once the engineering equipment moves or rotates, the electronic fence must be reset, which cannot meet the actual operation requirements of the engineering equipment. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a control method for engineering equipment, an engineering equipment, a storage medium, and a processor.

[0004] To achieve the above purpose, in the first aspect of the present application, a control method for engineering equipment is provided. The engineering equipment includes a positioning device, and the method includes:

[0005] Obtaining the current position where the engineering equipment is located through the positioning device;

[0006] Determining a first separation distance between the current position and the obstacles around the engineering equipment;

[0007] Determining a virtual area for the engineering equipment according to the current position and the first separation distance, where the virtual area is a virtual space area composed of a plurality of virtual boundaries and coinciding with the obstacles;

[0008] When the engineering equipment moves from the current position to the next position, determining the relative space parameters between the engineering equipment and the virtual boundary;

[0009] Determining the control parameters of the engineering equipment according to the relative space parameters, so as to control the engineering equipment to execute the control parameters to enable the engineering equipment to operate safely.

[0010] In the second aspect of the present application, an engineering equipment is provided, including:

[0011] A positioning device for obtaining the current position where the engineering equipment is located; and

[0012] Configured to execute the above control method for engineering equipment.

[0013] In a third aspect of the present application, a machine-readable storage medium is provided. Instructions are stored on the machine-readable storage medium, and when the instructions are executed by a processor, the processor is configured to execute the above-mentioned control method for engineering equipment.

[0014] In a fourth aspect of the present application, a processor is provided, which is configured to execute the above-mentioned control method for engineering equipment.

[0015] Through the above technical solutions, the current position of the engineering equipment where the engineering equipment is located can be obtained through the positioning device, and the first separation distance between the current position and the obstacles around the engineering equipment can be determined. According to the current position and the first separation distance, a virtual space area composed of a plurality of virtual boundaries for the engineering equipment can be determined, and the virtual boundaries coincide with the actual positions of the obstacles. When the engineering equipment moves from the current position to the next position, relative space parameters such as the limit distance and limit angle between the engineering equipment and the virtual boundary can be determined. According to the relative space parameters, the control parameters of the engineering equipment can be determined to control the engineering equipment to execute the control parameters so that the engineering equipment can operate safely. When the position of the engineering equipment changes, it can operate within the range of the set virtual space area, avoiding the engineering equipment from touching the actual obstacles, and improving the operation safety of the engineering equipment.

[0016] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. Together with the following specific implementation manners, they are used to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0018] Figure 1 Schematically shows a flowchart of a control method for engineering equipment according to an embodiment of the present application;

[0019] Figure 2 Schematically shows a schematic diagram of an engineering equipment according to an embodiment of the present application;

[0020] Figure 3 Schematically shows a schematic diagram of the limit angle of an engineering equipment relative to a virtual boundary according to an embodiment of the present application;

[0021] Figure 4 Schematically shows a schematic diagram of the swing angle of an engineering equipment according to an embodiment of the present application;

[0022] Figure 5 Schematically shows a schematic diagram of the first heading angle of an engineering equipment according to an embodiment of the present application;

[0023] Figure 6 Schematically shows a schematic diagram of a third limit distance between a construction equipment and a virtual boundary according to an embodiment of the present application;

[0024] Figure 7 Schematically shows a schematic diagram of a first heading angle and a limit angle of a construction equipment according to an embodiment of the present application;

[0025] Figure 8 Schematically shows a schematic diagram of a limit point of a construction equipment according to an embodiment of the present application;

[0026] Figure 9 Schematically shows a structural block diagram of a construction equipment according to an embodiment of the present application;

[0027] Figure 10 Schematically shows a structural block diagram of a construction equipment according to another embodiment of the present application;

[0028] Figure 11 Schematically shows an internal structure diagram of a computer device according to an embodiment of the present application.

[0029] Description of reference numerals

[0030] 1 - Chassis, 2 - Rotary encoder, 3 - Boom, 4 - Arm, 5 - Bucket, 6 - Bucket tilt sensor, 7 - Arm tilt sensor, 8 - Boom tilt sensor, 9 - Camera, 10 - LiDAR, 11 - GNSS positioning device, 12 - Cab, 13 - Processor. Detailed implementation manners

[0031] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It should be understood that the specific implementation manners described herein are only for explaining and illustrating the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0032] Figure 1 Schematically shows a schematic flowchart of a control method for a construction equipment according to an embodiment of the present application. As Figure 1 shown, in an embodiment of the present application, a control method for a construction equipment is provided, including the following steps:

[0033] S102, obtaining the current position where the construction equipment is located through a positioning device.

[0034] Construction equipment refers to mechanical and electrical equipment, metal structure equipment, instrument devices, and other similar equipment and devices that constitute or are planned to constitute a part of the permanent project. For example, it can be an excavator, a crane, etc. A positioning device is an interconnected device configured to determine spatial positions. Construction equipment can be equipped with a positioning device to determine its own position information. The positioning device can be a GNSS positioning device (Global Navigation Satellite System). The Global Navigation Satellite System is a space-based radio navigation and positioning system that can provide users with all-weather three-dimensional coordinates, speed, and time information at any location on the Earth's surface or in near-Earth space. The processor can obtain the current position of the construction equipment through the positioning device. The current position includes position information such as the longitude and latitude coordinates and altitude of the location where the construction equipment is located at the current moment. As Figure 2 shown, in addition to installing the GNSS positioning device 11 on the construction equipment, a camera 9 and / or a lidar 10 can also be installed and fused with the GNSS signal to improve the performance of GNSS positioning.

[0035] S104, determine the first separation distance between the current position and the obstacles around the construction equipment.

[0036] Obstacles around the construction equipment, such as power lines, optical cables, or buildings, can interfere with the normal operation of the construction equipment. In severe cases, they may even damage the construction equipment, resulting in safety accidents. The processor can determine the first separation distance between the current position of the construction equipment and the surrounding obstacles. The first separation distance includes the separation distances between the obstacles in front of, behind, to the left, to the right, above, and below the construction equipment and the construction equipment. The first separation distance can be detected based on the driving distance, driving direction, and altitude collected by the GNSS positioning device, or can be determined by technicians using detection tools such as detectors.

[0037] S106, determine a virtual area for the construction equipment based on the current position and the first separation distance. The virtual area is a virtual spatial area composed of multiple virtual boundaries that coincides with the obstacles.

[0038] The virtual area refers to the virtual space area that allows the construction equipment and the structural components, devices, or equipment on the construction equipment to move and operate. Moreover, multiple virtual boundaries of this virtual space area coincide with the actual obstacles around the construction equipment. Among them, the processor can determine the longitude and latitude data, altitude of the multiple virtual boundaries according to the longitude and latitude data, altitude of the current position of the construction equipment, and the first separation distance. That is, the virtual boundary is the virtual electronic fence of the construction equipment, which divides the virtual area where the construction equipment can move according to the first separation distance, and is used to restrict the movement and operation of the construction equipment to avoid the construction equipment touching the actual obstacles. The operator can input the first separation distance between the construction equipment and the surrounding obstacles from the man-machine interface as the basic data for dividing the virtual area.

[0039] S108. When the construction equipment moves from the current position to the next position, determine the relative space parameters between the construction equipment and the virtual boundary.

[0040] S110. Determine the control parameters of the construction equipment according to the relative space parameters, so as to control the construction equipment to execute the control parameters to make the construction equipment operate safely.

[0041] The next position of the construction equipment is relative to the current position. When the construction equipment moves to the next position, the longitude and latitude, altitude or the spatial pose of the construction equipment will change accordingly. When the processor can determine the next position, it can determine the relative space parameters such as the movable distance and angle between the construction equipment and the virtual boundary. According to the relative space parameters such as the distance and angle, the processor can determine the control parameters of the construction equipment. The control parameters include parameters such as the output voltage and current of the construction equipment to control the moving speed of the chassis, the speed of the oil cylinder, etc. The processor controls the construction equipment to execute the above control parameters and restricts its movement in the corresponding virtual area, which can make the construction equipment operate safely.

[0042] In one embodiment, the construction equipment further includes a working device. The relative space parameters include the limit angle of the construction equipment relative to the virtual boundary at the next position. Determining the relative space parameters between the construction equipment and the virtual boundary includes: obtaining the position data of the next position through the positioning device, and the position data includes longitude and latitude data; determining the longitude and latitude data of the virtual boundary; determining the second separation distance between the construction equipment and each virtual boundary according to the longitude and latitude data of the next position and the longitude and latitude data of the virtual boundary; determining the elongation length of the working device in the horizontal direction; determining the limit angle according to the second separation distance and the elongation length.

[0043] The construction equipment further includes a working device. For example, the construction equipment is an excavator, and the working device of the excavator includes a boom. Figure 2As shown, the boom includes components such as the boom 3, the stick 4, and the bucket 5. When the excavator is in the next position, the processor can obtain the latitude and longitude data of the excavator through the GNSS positioning device 11, and determine the second separation distance between the excavator and each virtual boundary according to the latitude and longitude data of the determined virtual boundary. The second separation distance refers to the separation distance between the center position of the excavator and each virtual boundary. Moreover, the processor can also determine the extension length of the boom in the horizontal direction. The extension length refers to the separation distance between the farthest point of the boom in the horizontal direction and the center point of the excavator when in the next position. The limit angle of the excavator relative to the virtual boundary can be determined according to the second separation distance and the extension length. For example, assuming the extension length is a and the second separation distance is b, the sine value of the limit angle β can be calculated according to the ratio of the second separation distance b to the extension length a. Refer to Figure 2 , the angle between the boom of the excavator and the virtual boundary on the side of the excavator is the limit angle β. If the upper part of the excavator rotates further to the left, the boom will cross the virtual boundary on the side. That is, the boom of the excavator will collide with the actual obstacle. As Figure 3 shown, the limit angle β is the maximum angle between the boom and the virtual boundary on the side when allowing the boom of the excavator to move, so as to limit the operation of the boom of the excavator.

[0044] In one embodiment, the construction equipment further includes a slewing angle sensor. The relative spatial parameters include the traveling direction of the construction equipment. Determining the relative spatial parameters between the construction equipment and the virtual boundary at a distance includes: obtaining the position data of the next position through the positioning device, where the position data includes the first heading angle of the upper part of the construction equipment; obtaining the slewing angle of the construction equipment at the next position through the slewing angle sensor; determining the second heading angle of the lower part of the construction equipment according to the first heading angle and the slewing angle; and determining the traveling direction of the construction equipment at the next position according to the second heading angle.

[0045] The slewing angle sensor can be a slewing encoder. As Figure 2 shown, the slewing encoder 2 can be installed on the central axis of the slewing motor. As Figure 4 shown, the slewing angle sensor is used to determine the relative slewing angle α between the upper part and the lower part of the construction equipment. The lower part of the construction equipment mainly includes the chassis, which is used to control the traveling direction of the construction equipment. Refer to Figure 5, the GNSS positioning device 11 can be installed on the upper part of the engineering equipment, and the GNSS antenna can be installed at the tail of the upper part. One is the positioning antenna and the other is the direction antenna. The absolute angle of the upper part can be calculated through the included angle between the connection line of the two antennas and the earth's magnetic field. That is, the first heading angle γ. The processor can calculate the second heading angle of the lower part according to the difference between the first heading angle γ and the slewing angle α to determine the traveling direction of the engineering equipment at the next position.

[0046] In one embodiment, the relative space parameters include the first limit distance and the second limit distance that the engineering equipment can move up and down relative to the virtual area. Determining the relative space parameters between the engineering equipment and the virtual boundary includes: obtaining the position data of the next position through the positioning device, and the position data includes the altitude; determining the first altitude of the upper boundary and the second altitude of the lower boundary of the virtual area; determining the height limit value of the virtual area according to the first altitude and the second altitude; determining the first limit distance and the second limit distance according to the height limit value and the altitude of the next position. The first limit distance refers to the distance that the engineering equipment can move upward when it is at the next position, and the second limit distance refers to the distance that the engineering equipment can move downward when it is at the next position.

[0047] The first limit distance refers to the distance that the engineering equipment can move upward relative to the upper virtual boundary when it is at the next position, and the second limit distance refers to the distance that the engineering equipment can move downward relative to the lower virtual boundary when it is at the next position. The processor can determine the first altitude of the upper boundary and the second altitude of the lower boundary of the virtual area, and obtain the altitude of the center point of the engineering equipment when it is at the next position through the GNSS positioning device. The first limit distance of the engineering equipment can be determined according to the first altitude and the altitude of the engineering equipment at the next position, and the second limit distance of the engineering equipment can be determined according to the second altitude and the altitude of the engineering equipment at the next position. Thus, it is possible to prevent the engineering equipment from hitting obstacles such as overhead wires, buildings, or underground cables and pipelines during operation.

[0048] In one embodiment, the relative space parameters include the third limit distance that the engineering equipment is allowed to move towards the virtual boundary. Determining the relative space parameters between the engineering equipment and the virtual boundary includes: obtaining the position data of the next position through the positioning device, and the position data includes the longitude and latitude data and the first heading angle of the upper part of the engineering equipment; determining the second separation distance between the engineering equipment and each virtual boundary according to the longitude and latitude data of the next position and the longitude and latitude data of each virtual boundary; determining the third limit distance of the engineering equipment relative to each virtual boundary according to the second separation distance and the first heading angle.

[0049] The third limit distance refers to the distance that the engineering equipment is allowed to move towards the virtual boundary. Specifically, it is the distance that the chassis of the engineering equipment is allowed to move towards the virtual boundary. Since the upper part of the engineering equipment may include a working device that extends forward. For example, the upper part of an excavator includes a boom. Refer to Figure 6 , if the upper part of the engineering equipment does not approach the virtual boundary (front wall) vertically, then in fact, the center point of the engineering equipment can be even closer to the virtual boundary. Then, the processor can determine the longitude and latitude data of the virtual boundary, and obtain the first heading angle of the upper part of the engineering equipment at the next position through the GNSS positioning device. According to the first heading angle and the longitude and latitude data of the virtual boundary, the angle B between the direction perpendicular to the virtual boundary of the center point of the engineering equipment and the direction of the working device can be determined. According to the extension length of the working device of the engineering equipment and the angle B, the closest distance between the engineering equipment and the virtual boundary can be determined. The second separation distance refers to the separation distance between the center point of the engineering equipment and the virtual boundary at the next position, which can be determined according to the longitude and latitude data of the center point of the engineering equipment at the next position and the longitude and latitude data of each virtual boundary. Then, the processor can determine the third limit distance that the center point of the engineering equipment can move towards the virtual boundary according to the difference between the second separation distance and the closest distance. In another more specific embodiment, the limit distances of other virtual boundaries adjacent to the front wall also need to be considered to prevent the engineering equipment from exceeding other virtual boundaries and touching obstacles when approaching the front wall. Therefore, when the processor controls the engineering equipment to approach any virtual boundary, if the movement distance of the engineering equipment exceeds the third limit distance relative to one of the virtual boundaries, the engineering equipment can be controlled to stop working or move in the opposite direction of the virtual boundary.

[0050] In one embodiment, the relative space parameter includes the limit angle of the engineering equipment relative to the virtual boundary at the next position. Determining the control parameter of the engineering equipment according to the relative space parameter to control the engineering equipment to execute the control parameter to enable the engineering equipment to operate safely includes: obtaining the position data of the next position through the positioning device, and the position data includes the first heading angle of the upper part of the engineering equipment; when the difference between the limit angle and the first heading angle is less than or equal to the preset angle threshold, controlling the swing motor of the engineering equipment to stop working, or controlling the engineering equipment to move in the direction away from the virtual boundary closest to the engineering equipment, so that the engineering equipment operates safely.

[0051] When the engineering equipment is at the next position, the controller can determine the control parameter of the engineering equipment according to the relative space parameter to control the engineering equipment to execute the control parameter to enable the engineering equipment to operate safely. Refer to Figure 7, assuming that the virtual boundary and the direction of the Earth's magnetic field are in the same direction, the first heading angle γ of the upper part of the vehicle is determined by the GNSS positioning device. According to the geometric relationship, it can be determined whether the first heading angle γ exceeds the limit angle β. If the virtual boundary and the direction of the Earth's magnetic field are not in the same direction, the relative angle between the virtual boundary and the direction of the Earth's magnetic field can be determined based on the longitude and latitude data of the virtual boundary. Then, the angle difference between this relative angle and the limit angle β can be calculated to compare the first heading angle γ with the above angle difference to determine whether the upper part of the construction equipment exceeds the limit angle β. Then, the technician can set a preset angle threshold in combination with the actual working conditions. This preset angle threshold includes the above angle difference and a buffer angle reserved for the construction equipment to stop moving. Then, when the difference between the limit angle and the first heading angle is less than or equal to the preset angle threshold, the slewing motor of the construction equipment is controlled to stop working, or the construction equipment is controlled to move away from the virtual boundary closest to the construction equipment, so that the construction equipment can operate safely. Among them, the slewing motor is a braking device that realizes the slewing of any angle between the upper part and the lower part of the construction equipment and the braking after stopping the slewing at any angle. For example, the preset angle threshold can be set to 2°. When the difference between the limit angle and the first heading angle is less than or equal to 2°, the slewing motor of the construction equipment is controlled to stop working, or the construction equipment is controlled to move away from the virtual boundary closest to the construction equipment.

[0052] In one embodiment, the construction equipment includes inclination sensors installed corresponding to each monitoring point. Determining the control parameters of the construction equipment according to the relative space parameters to control the construction equipment to execute the control parameters so that the construction equipment operates safely includes: determining the pose of the construction equipment at the next position through the inclination sensors; determining the third separation distance between each monitoring point and the center point of the construction equipment according to the pose; determining the monitoring point with the largest third separation distance value as the limit point; determining the fourth separation distance between the limit point and the virtual boundary closest to the construction equipment; when the fourth separation distance is less than or equal to the preset distance threshold, controlling the cylinder speed of the construction equipment to decrease until it becomes zero, or controlling the construction equipment to move away from the virtual boundary closest to the construction equipment, so that the construction equipment can operate safely.

[0053] The construction equipment includes inclination sensors installed corresponding to each monitoring point. For example, the construction equipment can be an excavator, and the working device of the excavator includes a boom. Refer to Figure 2 and Figure 8, the inclination sensors can detect the inclination angles corresponding to each component of the boom, and are installed corresponding to the monitoring points (G points) of the boom, including the bucket inclination sensor 6, the arm inclination sensor 7, the boom inclination sensor 8, etc. The monitoring points (G points) can be any one or more of the hinge points of the boom, arm, bucket, rocker, bucket link of the boom, or the bucket tip point, etc. By collecting multiple inclination angles through multiple inclination sensors, the spatial pose of the boom of the excavator can be determined. The processor can determine the three-dimensional spatial coordinates of each monitoring point with the center point of the excavator as the origin according to the spatial pose of the boom, so as to determine the fourth separation distance between each monitoring point and the center point of the engineering equipment. The third separation distance is the straight-line distance between each monitoring point and the center point of the engineering equipment. The processor can determine the monitoring point with the largest third separation distance value as the limit point. Then, at the next position, according to the separation distance between the center point of the excavator and the virtual boundary and the third separation distance, the fourth separation distance between the limit point and the virtual boundary closest to the engineering equipment can be determined. Technicians can set a preset distance threshold in combination with the actual working conditions. When the fourth separation distance is less than or equal to the preset distance threshold, the oil cylinder speed of the engineering equipment can be controlled to decrease until it is reduced to zero, or the engineering equipment can be controlled to move in a direction away from the virtual boundary closest to the engineering equipment, so that the engineering equipment can operate safely. Among them, the oil cylinder of the engineering equipment is correspondingly arranged with the boom and can drive the structural members of the engineering equipment to move through its own expansion and contraction. For example, the preset distance threshold can be set to 50 cm. When the limit point is less than or equal to 50 cm away from the virtual boundary, the oil cylinder speed of the engineering equipment can be controlled to decrease until it is reduced to zero, or the engineering equipment can be controlled to move in a direction away from the virtual boundary closest to the engineering equipment.

[0054] In one embodiment, when the engineering equipment moves from the current position to the next position, all relative spatial parameters between the engineering equipment and the virtual boundary need to be considered simultaneously to avoid the engineering equipment touching an obstacle by crossing the virtual boundary during the moving operation as much as possible. The relative spatial parameters include the limiting angle of the engineering equipment relative to the virtual boundary, the traveling direction, the first limiting distance that can move up and down, the second limiting distance that can move up and down, and the third limiting distance that can move in the direction of the virtual boundary. The processor can obtain the position data of the engineering equipment at the next position through the GNSS positioning device. The position data includes longitude and latitude data, altitude, and the first heading angle of the upper part of the engineering equipment.

[0055] According to the longitude and latitude data of the engineering equipment at the next position and the longitude and latitude data of the virtual boundary, the second separation distance between the center position of the engineering equipment and each virtual boundary can be determined. According to the second separation distance and the elongation length of the boom in the horizontal direction, the limit angle β of the engineering equipment relative to the virtual boundary can be determined. Wherein, the elongation length refers to the interval distance between the farthest point of the boom in the horizontal direction and the center point of the engineering equipment. For example, assuming the elongation length is a and the second separation distance is b, the sine value of the limit angle β can be calculated according to the ratio of the second separation distance b to the elongation length a.

[0056] The slewing angle sensor is used to determine the relative slewing angle α between the upper part and the lower part of the engineering equipment. The lower part of the engineering equipment mainly includes a chassis, which is used to control the traveling direction of the engineering equipment. Refer to Figure 5 , the GNSS positioning device 11 can be installed on the upper part of the engineering equipment, and a GNSS antenna can be installed at the tail of the upper part. One is a positioning antenna and the other is a direction antenna. The absolute angle of the upper part can be calculated through the included angle between the connection line of the two antennas and the earth's magnetic field. That is, the first course angle γ. The processor can calculate the second course angle when the lower part is at the next position according to the difference between the first course angle γ and the slewing angle α, so as to determine the traveling direction of the engineering equipment at the next position.

[0057] According to the first altitude of the upper boundary of the virtual area and the altitude of the engineering equipment at the next position, the first limit distance of the engineering equipment can be determined. According to the second altitude of the lower boundary of the virtual area and the altitude of the engineering equipment at the next position, the second limit distance of the engineering equipment can be determined. Thus, it is possible to prevent the engineering equipment from hitting obstacles such as overhead wires, buildings, or underground cables and pipes during operation.

[0058] Since the upper part of the engineering equipment may include a working device that extends forward. For example, the upper part of an excavator includes a boom. Refer to Figure 6 , if the upper part of the engineering equipment does not approach the virtual boundary (front fence) vertically, then in fact the center point of the engineering equipment can be closer to the virtual boundary. Then, the processor can determine the included angle B between the direction perpendicular to the virtual boundary of the center point of the engineering equipment and the direction of the working device according to the first course angle and the longitude and latitude data of the virtual boundary. According to the elongation length of the working device of the engineering equipment and the included angle B, the closest distance allowed between the engineering equipment and the virtual boundary can be determined. The processor can determine the third limit distance that the center point of the engineering equipment can move towards the virtual boundary according to the difference between the second separation distance and the closest distance.

[0059] Through the above technical solution, the current position of the construction equipment can be obtained by the positioning device, and the first separation distance between the current position and the obstacles around the construction equipment can be determined. According to the current position and the first separation distance, a virtual space area composed of multiple virtual boundaries for the construction equipment can be determined, and the virtual boundaries coincide with the actual positions of the obstacles. When the construction equipment moves from the current position to the next position, according to the tilt sensor, slewing angle sensor, GNSS positioning device, etc., the relative space parameters such as the limit distance, limit angle between the construction equipment and its working device and the virtual boundary, and the traveling direction of the construction equipment can be determined. According to the relative space parameters, the control parameters of the construction equipment can be determined to control devices such as the slewing motor and the oil cylinder to execute the control parameters so that the construction equipment can operate safely. When the position of the construction equipment changes, the position of the construction equipment and the pose of the working device are monitored in real time, so that the construction equipment can operate within the set virtual space area range, avoiding the construction equipment touching the actual obstacles, and improving the operation safety of the construction equipment.

[0060] Figure 1 It is a schematic flowchart of a control method for construction equipment in an embodiment. It should be understood that although Figure 1 the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 1 at least a part of the steps in

[0061] In an embodiment, as Figure 9 shown, a construction equipment 900 is provided, including:

[0062] A positioning device 902 for obtaining the current position of the construction equipment.

[0063] A processor 904 configured to execute the above control method for construction equipment.

[0064] The positioning device 902 can be a GNSS positioning device (Global Navigation Satellite System). For example, it can be the Beidou Satellite Navigation System (BDS), the Galileo Satellite Navigation System (GALILEO), or the Global Positioning System (GPS), etc. The Global Navigation Satellite System is a space-based radio navigation positioning system that can provide users with all-weather three-dimensional coordinates, speed, and time information at any location on the Earth's surface or near-Earth space. The positioning device 902 can transmit the position information of the current position and the next position where the engineering equipment is located to the processor 904, including the longitude and latitude coordinates and altitude of the location where the engineering equipment is located, etc. The processor 904 can determine a virtual area composed of multiple virtual boundaries based on the received position information of the current position and the determined first separation distance to restrict the movement and operation of the engineering equipment and prevent the engineering equipment from touching actual obstacles. Further, after the spatial position of the engineering equipment changes, the processor 904 can also determine the relative spatial parameters between the engineering equipment and the virtual boundary when determining the next position according to the divided virtual area.

[0065] In one embodiment, as Figure 10 shown, the engineering equipment 900 further includes: a slewing angle sensor 906, configured to obtain the slewing angle of the engineering equipment at the next position and transmit the slewing angle to the processor 904; the processor 904 is further configured to: receive the position data of the next position transmitted by the positioning device, where the position data includes the first heading angle of the upper part of the engineering equipment; determine the second heading angle of the lower part of the engineering equipment according to the first heading angle and the slewing angle; and determine the traveling direction of the engineering equipment at the next position according to the second heading angle.

[0066] The slewing angle sensor 906 can be a slewing encoder, configured to obtain the relative slewing angle α between the upper part and the lower part of the engineering equipment at the next position and transmit the slewing angle α to the processor 904. Specifically, the slewing encoder can be installed on the central axis of the slewing motor 908. The lower part of the excavator mainly includes a chassis, which is used to control the traveling direction of the engineering equipment. Referring to Figure 4 , the positioning device 902 can be installed on the upper part of the engineering equipment, and a GNSS antenna can be installed at the tail of the upper part. One is a positioning antenna and the other is a direction antenna. The absolute angle of the upper part can be calculated through the included angle between the connection line of the two antennas and the Earth's magnetic field. That is, the first heading angle γ. The processor 904 can calculate the second heading angle of the lower part according to the difference between the first heading angle γ and the slewing angle α to determine the traveling direction of the engineering equipment at the next position.

[0067] In one embodiment, as Figure 10As shown, the engineering equipment 900 further includes: a working device 910 for controlling the engineering equipment to perform operations; a plurality of inclination sensors 912, each inclination sensor is installed corresponding to each monitoring point, for obtaining a plurality of inclinations corresponding to the monitoring points and transmitting the inclinations to the processor 904; the processor 904 is further configured to: determine the pose of the engineering equipment at the next position according to the plurality of inclinations; determine the third separation distance between each monitoring point and the center point of the engineering equipment according to the pose; determine the monitoring point with the largest third separation distance value as the limit point; determine the fourth separation distance between the limit point and the virtual boundary closest to the engineering equipment; in the case where the fourth separation distance is less than or equal to the preset distance threshold, control the speed of the oil cylinder 914 of the engineering equipment to decrease until it decreases to zero, or control the engineering equipment to move in a direction away from the virtual boundary closest to the engineering equipment, so that the engineering equipment can operate safely.

[0068] The engineering equipment further includes a working device 910. For example, the engineering equipment is an excavator, and the working device 910 of the excavator includes a boom. Refer to Figure 2 and Figure 8, the boom includes a boom, an arm, a bucket, a rocker and a bucket link. A plurality of inclination sensors 912 can detect the inclination angles corresponding to the respective components of the boom, and are correspondingly installed with the monitoring points (G points) of the boom, including a bucket inclination sensor 6, an arm inclination sensor 7, a boom inclination sensor 8, etc. The monitoring points (G points) can be any one or more of the hinge points of the boom, arm, bucket, rocker and bucket link of the boom, or the bucket tip point, etc. The plurality of inclination sensors collect a plurality of inclination angles and transmit them to the processor 904. The processor 904 can determine the spatial pose of the boom of the excavator. The processor can determine the three-dimensional spatial coordinates of each monitoring point with the center point of the excavator as the origin, so as to determine the third separation distance between each monitoring point and the center point of the engineering equipment. The third separation distance is the straight-line distance between each monitoring point and the center point of the engineering equipment. The processor can determine the monitoring point with the largest third separation distance value as the extreme point. Then, at the next position, according to the difference between the separation distance between the center point of the excavator and the virtual boundary and the third separation distance, the fourth separation distance between the extreme point and the virtual boundary closest to the engineering equipment can be determined. Technicians can set a preset distance threshold in combination with the actual working conditions. When the fourth separation distance is less than or equal to the preset distance threshold, the speed of the oil cylinder 914 of the engineering equipment is controlled to decrease until it drops to zero, or the engineering equipment is controlled to move away from the virtual boundary closest to the engineering equipment, so that the engineering equipment can operate safely. Among them, the oil cylinder 914 of the engineering equipment is correspondingly arranged with the working device 910. The oil cylinder 914 can drive the working device 910 to move through its own expansion and contraction. In order to implement complex control strategies, the operation input and control output signals of the excavator can be electrical signals or electro-hydraulic control signals. The processor 904 can control the oil cylinder 914 of the engineering equipment to move through the electro-hydraulic main valve 916 according to the corresponding control parameters. For example, the preset distance threshold can be set to 50 cm. When the extreme point is less than or equal to 50 cm away from the virtual boundary, the speed of the oil cylinder 912 of the engineering equipment is controlled to decrease until it drops to zero, or the engineering equipment is controlled to move away from the virtual boundary closest to the engineering equipment.

[0069] In one embodiment, as Figure 10 shown, the engineering equipment 900 further includes a swing motor 918. The processor 904 is further configured to: obtain the position data of the next position through the positioning device 902, and the position data includes the first heading angle of the upper part of the engineering equipment; when the difference between the limit angle and the first heading angle is less than or equal to the preset angle threshold, control the swing motor 918 of the engineering equipment to stop working, or control the engineering equipment to move away from the virtual boundary closest to the engineering equipment, so that the engineering equipment can operate safely.

[0070] When the construction equipment is in the next position, the processor 904 can determine the control parameters of the construction equipment according to the relative space parameters, so as to control the construction equipment to execute the control parameters to enable the construction equipment to operate safely. Refer to Figure 7 , assuming that the virtual boundary and the direction of the earth's magnetic field are in the same direction, the first heading angle γ of the upper carriage is determined by the positioning device 902. According to the geometric relationship, it can be determined whether the first heading angle γ exceeds the limit angle β. If the virtual boundary and the direction of the earth's magnetic field are not in the same direction, the relative angle between the virtual boundary and the direction of the earth's magnetic field can be determined based on the longitude and latitude data of the virtual boundary. Then, the angular difference between the relative angle and the limit angle β can be calculated to compare the first heading angle γ with the above angular difference to determine whether the upper carriage of the construction equipment exceeds the limit angle β. Then, the technician can set a preset angle threshold in combination with the actual working conditions. The preset angle threshold includes the above angular difference and a buffer angle reserved for the construction equipment to stop moving. Then, when the difference between the limit angle and the first heading angle is less than or equal to the preset angle threshold, the swing motor 918 of the construction equipment is controlled to stop working, or the construction equipment is controlled to move away from the virtual boundary closest to the construction equipment, so as to enable the construction equipment to operate safely. Among them, the swing motor 918 is a braking device that realizes the swing of any angle between the upper carriage and the lower carriage of the construction equipment and the braking after stopping the swing of any angle. The processor 904 can control the swing motor 918 of the construction equipment to move through the electro-hydraulic main valve 916 according to the corresponding control parameters.

[0071] In one embodiment, as Figure 10 shown, the construction equipment 900 further includes a human-machine interaction interface 920. The operator can input relevant data from the human-machine interaction interface, such as the first separation distance between the construction equipment and the obstacle. The processor 904 can receive the first separation distance transmitted by the human-machine interaction interface 920 as the basic data for dividing the virtual area.

[0072] The processor contains a kernel, and the kernel retrieves the corresponding program units from the memory. One or more kernels can be set, and the control method for the construction equipment is realized by adjusting the kernel parameters.

[0073] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of, for example, read-only memory (ROM) or flash memory (flash RAM). The memory includes at least one memory chip.

[0074] The embodiment of the present application provides a storage medium, on which a program is stored, and when the program is executed by a processor, the above control method for construction equipment is realized.

[0075] An embodiment of the present application provides a processor for running a program, where when the program runs, it executes the above control method for engineering equipment.

[0076] In one embodiment, a computer device is provided. The computer device can be a server, and its internal structural diagram can be as Figure 11 shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure), and a database (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store control data for engineering equipment. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, it implements a control method for engineering equipment.

[0077] Those skilled in the art can understand that Figure 11 the structure shown in

[0078] is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0079] The present application also provides a computer program product, which is adapted to execute a program initialized with the steps of a control method for engineering equipment when executed on a data processing device.

[0080] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0081] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce means for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0082] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufacture including instruction means that implement the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0083] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0084] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0085] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of computer-readable media.

[0086] A computer-readable medium includes permanent and non-permanent, removable and non-removable media that can store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transitory medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer-readable medium does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0087] It should also be noted that the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article or apparatus comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or apparatus. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising the element.

[0088] The above are only embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A control method for engineering equipment, characterized in that, The construction equipment includes a positioning device and a slewing angle sensor, and the control method includes: Obtaining the current position where the construction equipment is located through the positioning device; Determining a first separation distance between the current position and an obstacle around the construction equipment; Determining a virtual area for the construction equipment according to the current position and the first separation distance, where the virtual area is a virtual space area that coincides with the obstacle and is composed of a plurality of virtual boundaries; When the construction equipment moves from the current position to the next position, determining relative space parameters between the construction equipment and the virtual boundary, where the relative space parameters include the traveling direction of the construction equipment and the limiting angle of the construction equipment relative to the virtual boundary at the next position, including: Obtaining position data of the next position through the positioning device, where the position data includes a first heading angle of the upper part of the construction equipment; Obtaining the slewing angle of the construction equipment at the next position through the slewing angle sensor; Determining a second heading angle of the lower part of the construction equipment according to the first heading angle and the slewing angle; Determining the traveling direction of the construction equipment at the next position according to the second heading angle; Determining control parameters of the construction equipment according to the relative space parameters to control the construction equipment to execute the control parameters so that the construction equipment operates safely, including: Obtaining position data of the next position through the positioning device, where the position data includes a first heading angle of the upper part of the construction equipment; When the difference between the limiting angle and the first heading angle is less than or equal to a preset angle threshold, controlling the slewing motor of the construction equipment to stop working, or controlling the construction equipment to move in a direction away from the virtual boundary closest to the construction equipment, so that the construction equipment operates safely.

2. The control method for engineering equipment according to claim 1, wherein, The construction equipment further includes a working device, the relative space parameters include the limiting angle of the construction equipment relative to the virtual boundary at the next position, and determining the relative space parameters between the construction equipment and the virtual boundary includes: Obtaining position data of the next position through the positioning device, where the position data includes longitude and latitude data; Determining the longitude and latitude data of the virtual boundary; Determining a second separation distance between the construction equipment and each virtual boundary according to the longitude and latitude data of the next position and the longitude and latitude data of the virtual boundary; Determining the elongation length of the working device in the horizontal direction; Determining the limiting angle according to the second separation distance and the elongation length.

3. The control method for engineering equipment according to claim 1, characterized in that, The relative space parameters include a first limiting distance and a second limiting distance that the construction equipment can move up and down relative to the virtual area, and determining the relative space parameters between the construction equipment and the virtual boundary includes: Obtaining position data of the next position through the positioning device, where the position data includes the altitude; Determining a first altitude of the upper boundary and a second altitude of the lower boundary of the virtual area; Determine the height limit value of the virtual area according to the first altitude and the second altitude; Determine the first limit distance and the second limit distance according to the height limit value and the altitude of the next position. The first limit distance refers to the distance that the construction equipment can move upward when at the next position, and the second limit distance refers to the distance that the construction equipment can move downward when at the next position.

4. The control method for engineering equipment according to claim 1, wherein, The relative space parameter includes a third limit distance that the construction equipment is allowed to move towards the virtual boundary direction. Determining the relative space parameter between the construction equipment and the virtual boundary includes: Obtain the position data of the next position through the positioning device. The position data includes longitude and latitude data and the first heading angle of the upper vehicle part of the construction equipment; Determine the second separation distance between the construction equipment and each virtual boundary according to the longitude and latitude data of the next position and the longitude and latitude data of each virtual boundary; Determine the third limit distance of the construction equipment relative to each virtual boundary according to the second separation distance and the first heading angle.

5. The control method for engineering equipment according to any one of claims 1 to 4, characterized in that, The construction equipment includes an inclination sensor installed corresponding to each monitoring point. The method further includes: Determine the pose of the construction equipment at the next position through the inclination sensor; Determine the third separation distance between each monitoring point and the center point of the construction equipment according to the pose; Determine the monitoring point with the largest third separation distance value as the extreme point; Determine the fourth separation distance between the extreme point and the virtual boundary closest to the construction equipment; In the case where the fourth separation distance is less than or equal to a preset distance threshold, control the cylinder speed of the construction equipment to decrease until it becomes zero, or control the construction equipment to move in a direction away from the virtual boundary closest to the construction equipment, so that the construction equipment operates safely.

6. A processor, characterized in that, Is configured to execute the control method for construction equipment according to any one of claims 1 to 5.

7. An engineering device, characterized in that, Includes: A positioning device for obtaining the current position where the construction equipment is located; and, A processor as described in claim 6.

8. The engineering equipment according to claim 7, wherein Further includes: A slewing angle sensor for obtaining the slewing angle of the construction equipment at the next position and transmitting the slewing angle to the processor; The processor is further configured to: Receive the position data of the next position transmitted by the positioning device. The position data includes the first heading angle of the upper vehicle part of the construction equipment; Determine the second heading angle of the lower vehicle part of the construction equipment according to the first heading angle and the slewing angle; Determine the traveling direction of the construction equipment at the next position according to the second heading angle.

9. The engineering equipment according to claim 7, characterized in that, Further includes: A working device for controlling the construction equipment to perform operations; Multiple inclination sensors, each inclination sensor is installed corresponding to each monitoring point, for obtaining multiple inclinations corresponding to the monitoring point and transmitting the inclinations to the processor; The processor is further configured to: Determine the pose of the construction equipment at the next position according to multiple inclinations; Determine a third separation distance between each monitoring point and the center point of the engineering equipment according to the pose; Determine the monitoring point with the largest third separation distance value as the limit point; Determine a fourth separation distance between the limit point and the virtual boundary closest to the engineering equipment; When the fourth separation distance is less than or equal to a preset distance threshold, control the cylinder speed of the engineering equipment to decrease until it is reduced to zero, or control the engineering equipment to move away from the virtual boundary closest to the engineering equipment, so that the engineering equipment operates safely.

10. A machine-readable storage medium having instructions stored thereon, characterized in that, When executed by a processor, the instruction causes the processor to be configured to execute the control method for an engineering equipment according to any one of claims 1 to 5.

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