Methods, systems, and computer equipment for adjusting the attitude of attachments in engineering equipment.

Abstract

This invention provides a method, system, and computer device for adjusting the attitude of attachments on engineering equipment, belonging to the field of engineering machinery technology. The method for adjusting the attitude of attachments on engineering equipment includes: determining the working condition of the engineering equipment when it is in automatic control mode and the equipment is in motion; if the working condition is a transfer condition, determining the current attitude of the attachments, acquiring the ground tilt angle, and adjusting the current attitude of the attachments based on the ground tilt angle and a preset attitude. By judging the state of the engineering equipment, the attitude of the attachments can be adjusted when necessary, improving the safety of the engineering equipment traveling on slopes. Furthermore, after adjusting the attachment attitude, the traveling speed of the engineering equipment on slopes no longer needs to be limited under extreme conditions, increasing the traveling speed of the engineering equipment on steeper slopes and further improving the working efficiency of the engineering equipment.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and more specifically to a method, system, and computer device for adjusting the attitude of attachments of engineering equipment. Background Technology

[0002] When construction machinery travels or operates on slopes, it is crucial to prevent overturning. Combined machinery consisting of a main unit and working attachments often faces greater risks when moving on slopes than during actual operation. Firstly, the transfer speed of combined machinery is generally relatively high, resulting in greater impact forces from bumps and greater centrifugal forces from turning. Secondly, during transfers, the working attachments are often raised to their highest position, raising the overall center of gravity of the machine compared to its working state, making overturning more likely. Given a fixed structure, current technology primarily ensures the safety of combined machinery on slopes by limiting its speed. However, the speed set in this method is mainly determined based on the machinery's extreme operating conditions, and is typically quite low. In actual applications, construction equipment rarely operates under extreme conditions, and directly limiting speed will negatively impact the equipment's efficiency. Summary of the Invention

[0003] To address the aforementioned shortcomings in the prior art, the purpose of this invention is to provide a method, system, and computer device for adjusting the attitude of attachments in engineering equipment.

[0004] To achieve the above objectives, a first aspect of the present invention provides a method for adjusting the attitude of attachments in engineering equipment, comprising:

[0005] Determine the operating condition of the engineering equipment when it is in automatic control mode and in motion.

[0006] When the working condition is a transfer condition, determine the current attitude of the attachment;

[0007] Obtain the ground tilt angle;

[0008] The current attitude of the attachment is adjusted based on the ground tilt angle and preset attitude.

[0009] In this embodiment of the invention, adjusting the current attitude of the attachment based on the ground tilt angle and a preset attitude includes:

[0010] Determine the relationship between the ground tilt angle and the first preset tilt angle and the second preset tilt angle, wherein the first preset tilt angle is smaller than the second preset tilt angle;

[0011] When the ground tilt angle is greater than or equal to the second preset tilt angle, the current attitude of the attachment is adjusted based on the preset attitude.

[0012] In this embodiment of the invention, it further includes:

[0013] Determine the travel speed of the engineering equipment when the ground tilt angle is greater than the first preset tilt angle and less than or equal to the second preset tilt angle;

[0014] If the travel speed is greater than the preset speed, the current posture of the attachment will be adjusted based on the preset posture.

[0015] In this embodiment of the invention, adjusting the current posture of the attachment based on a preset posture includes:

[0016] Determine the current position information corresponding to the current posture and the preset position information corresponding to the preset posture, respectively;

[0017] Determine the displacement difference between the current location information and the preset location;

[0018] Adjust the current attitude of the attachment based on the displacement difference.

[0019] In this embodiment of the invention, it further includes:

[0020] If the ground tilt angle is less than the first preset tilt angle, the system will enter non-automatic control mode.

[0021] In this embodiment of the invention, it further includes:

[0022] Determine the model of the attachment;

[0023] The first preset tilt angle, the second preset tilt angle, and the preset speed are determined based on the model.

[0024] In this embodiment of the invention, it further includes:

[0025] When the operating condition is a work condition, it enters the non-automatic control mode.

[0026] In this embodiment of the invention, it further includes:

[0027] When entering non-automatic control mode, it will re-enter automatic control mode based on a preset interval.

[0028] A second aspect of the present invention provides a system for adjusting the attitude of attachments of engineering equipment, comprising:

[0029] The status determination module is used to determine whether the engineering equipment is in a moving state in automatic control mode;

[0030] The attitude acquisition module is used to determine the current attitude of the attachment when the engineering equipment is in motion;

[0031] Tilt angle acquisition module, used to acquire ground tilt angle;

[0032] The attitude adjustment module is used to adjust the current attitude of the attachment based on the ground tilt angle and preset attitude.

[0033] A third aspect of the present invention provides a computer device, characterized in that it includes a memory and a processor, the memory storing a computer program, the computer program executing, when run on the processor, a method for adjusting the attitude of engineering equipment attachments as described in the above embodiments.

[0034] Through the above technical solution, when the engineering equipment is in automatic control mode and in motion, the operating condition of the equipment is determined. If the operating condition is a transfer condition, the current attitude of the attachments is determined, the ground tilt angle is obtained, and the current attitude of the attachments is adjusted based on the ground tilt angle and the preset attitude. By judging the state of the engineering equipment, the attachment state can be adjusted when necessary, improving the safety of the engineering equipment traveling on slopes. Furthermore, after adjusting the attachment attitude, the traveling speed of the engineering equipment on slopes no longer needs to be limited under extreme conditions, increasing the traveling speed of the engineering equipment on steeper slopes. This ensures the safety of the engineering equipment while further improving its working efficiency.

[0035] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0036] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0037] Figure 1 This is a flowchart illustrating a method for adjusting the attitude of an attachment for engineering equipment according to an embodiment of the present invention.

[0038] Figure 2 This is a schematic diagram of a scenario showing the first current posture of an accessory according to an embodiment of the present invention;

[0039] Figure 3 This is a scene diagram illustrating the second current posture of an attachment according to an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of a scenario where a attachment is in a preset posture according to an embodiment of the present invention.

[0041] Explanation of reference numerals in the attached figures

[0042] 1. Main unit; 11. Ground tilt detection device; 12. Travel speed sensor; 2. Attachments. Detailed Implementation

[0043] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0044] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0045] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0046] Figure 1 This is a flowchart illustrating a method for adjusting the attitude of attachments for engineering equipment according to an embodiment of the present invention. Figure 1 As shown in the embodiment of the present invention, a method for adjusting the attitude of attachments of engineering equipment is provided. Taking the application of this method to a processor as an example, the method may include the following steps:

[0047] Step S100: When the equipment is in automatic control mode and is in motion, determine the operating condition of the equipment.

[0048] In this embodiment, it should be noted that the engineering equipment refers to a combination of machinery including the main unit and attachments. When the engineering equipment is working, the attachments typically occupy different postures due to varying work requirements. When the engineering equipment is traveling on a slope, if the attachments are in their highest position, it may cause the center of gravity of the entire equipment to shift, resulting in overturning. Therefore, it is necessary to adjust the posture of the attachments in a timely manner. Automatic control mode refers to the mode of automatically adjusting the posture of the attachments. When the engineering equipment is working, there are two states: a stationary state, where the equipment operates in a fixed position without moving; and a traveling state, where the equipment travels in a certain direction, performing work or not performing work simultaneously. Overturning usually does not occur in the stationary state. This embodiment mainly focuses on adjusting the posture of the attachments when the engineering equipment is in the traveling state. The working conditions of the engineering equipment include operational working conditions and transfer working conditions. The working conditions of the engineering equipment will limit whether the posture of the attachments can be automatically adjusted. Specifically, when the processor is in automatic control mode, it determines the working condition of the engineering equipment when it is in the traveling state.

[0049] Step S200: If the working condition is a transfer working condition, determine the current attitude of the attachment;

[0050] In this embodiment, it should be noted that the transitional working condition refers to a working condition in which the engineering equipment only includes walking movements and does not include operational movements. Engineering equipment is typically in a transitional state when changing work sites. The current posture includes the current shape of the attachments, representing the current position of the attachments. Specifically, when the processor determines that the engineering equipment is in a transitional working condition, it determines the current posture of the attachments of the engineering equipment.

[0051] Step S300: Obtain the ground tilt angle;

[0052] Step S400: Adjust the current attitude of the attachment based on the ground tilt angle and preset attitude.

[0053] In this embodiment, it should be noted that the ground tilt angle refers to the angle between the ground where the engineering equipment is located and the horizontal line. The magnitude of the ground tilt angle has a direct impact on whether the engineering equipment is at risk of overturning. The preset attitude refers to the attachment attitude that will not cause the engineering equipment to overturn when a ground tilt angle exists. The preset attitude can be determined based on operational experience and a large number of tests. Adjusting the current attitude means adjusting the current attitude to the preset attitude.

[0054] It is understood that, in one embodiment, the preset posture can also have different postures based on the ground tilt angle; the preset posture can also have different postures based on different engineering equipment.

[0055] The aforementioned method for adjusting the attitude of engineering equipment attachments determines the working condition of the engineering equipment when it is in automatic control mode and in motion. If the working condition is a transfer condition, the current attitude of the attachments is determined, the ground tilt angle is obtained, and the current attitude of the attachments is adjusted based on the ground tilt angle and a preset attitude. By judging the state of the engineering equipment and adjusting the attachment state when necessary, the safety of the engineering equipment traveling on slopes is improved. Furthermore, after adjusting the attachment attitude, the traveling speed of the engineering equipment on slopes no longer needs to be limited under extreme conditions, increasing the traveling speed of the engineering equipment on steeper slopes and further improving the working efficiency of the engineering equipment.

[0056] Please refer to the above. Figure 2 , Figure 3 and Figure 4 In one application scenario, the engineering equipment includes a main unit 1, a ground tilt angle detection device 11, a travel speed sensor 12, and attachments 2. The main unit 1 and attachments 2 are mechanically connected. The ground tilt angle detection device 11 is mounted on the main unit 1 to detect the ground tilt angle, and the travel speed sensor 12 is mounted on the wheels of the main unit 1 to obtain the travel speed of the engineering equipment. Figure 2 The first current position of attachment 2, which includes engineering equipment, is low. Figure 3 The second current posture of the middle-class 2 is at a high position. Figure 4 The attachment 2, including the engineering equipment, is in the preset neutral position. When adjusting the current position of attachment 2 to the preset position, Figure 2 The first current posture is adjusted to the preset posture, which is to adjust attachment 2 from the low position to the middle position; Figure 3 The second current posture is adjusted to the preset posture, which is to adjust attachment 2 from the high position to the middle position.

[0057] In one embodiment, adjusting the current attitude of the attachment based on the ground tilt angle and a preset attitude includes:

[0058] Step a: Determine the relationship between the ground tilt angle and the first preset tilt angle and the second preset tilt angle, wherein the first preset tilt angle is smaller than the second preset tilt angle;

[0059] Step b: When the ground tilt angle is greater than or equal to the second preset tilt angle, adjust the current attitude of the attachment based on the preset attitude.

[0060] In this embodiment, it should be noted that the first preset tilt angle and the second preset tilt angle refer to reference angles for determining whether to adjust the attitude of the attachments of the engineering equipment. The first preset tilt angle is smaller than the second preset tilt angle. After obtaining the ground tilt angle, the processor compares this ground tilt angle with the first preset tilt angle and the second preset tilt angle respectively to determine the relationship between the ground tilt angle and the first and second preset tilt angles. If the ground tilt angle is determined to be greater than or equal to the second preset tilt angle, the processor will adjust the current attitude of the attachments based on the preset attitude.

[0061] Specifically, the method for adjusting the attitude of engineering equipment attachments also includes:

[0062] Step c: Determine the model of the attachment;

[0063] Step d: Determine the first preset tilt angle, the second preset tilt angle, and the preset speed based on the model.

[0064] It should be noted that the size and weight of attachments significantly affect whether engineering equipment equipped with those attachments will overturn at a given ground inclination angle. The size and weight of attachments are typically characterized by their model number. Different engineering equipment uses different attachment models, or a single piece of equipment may be compatible with different attachment models. Therefore, different first and second preset inclination angles are set for different attachment models. The preset speed refers to the reference speed at which to adjust the attitude of the engineering equipment's attachments. Different attachment models have different acceptable travel speeds; therefore, the preset speed must be determined based on the attachment model to improve the adaptability of the engineering equipment's attachment attitude adjustment.

[0065] In this embodiment, the first preset tilt angle, the second preset tilt angle, and the preset speed are determined by the model of the attachment, thereby improving the effectiveness of safety protection for engineering equipment.

[0066] In one embodiment, the method for adjusting the attitude of an engineering equipment attachment further includes:

[0067] Step e: When the ground tilt angle is greater than the first preset tilt angle and less than or equal to the second preset tilt angle, determine the travel speed of the engineering equipment;

[0068] Step f: If the travel speed is greater than the preset speed, the current posture of the attachment is adjusted based on the preset posture.

[0069] In this embodiment, it should be noted that whether to adjust the attachment's posture when the current ground tilt angle is greater than the first preset tilt angle and less than the second preset tilt angle depends on the current travel speed of the engineering equipment. If the current travel speed of the engineering equipment is too high, there is a high risk of tipping over; conversely, if the current travel speed is too low, it will affect the work efficiency of the engineering equipment. The preset speed is a critical reference value for travel speed. When the travel speed is greater than the preset speed, the processor adjusts the current posture of the attachment based on the preset posture to reduce the risk of tipping over. When the travel speed is less than or equal to the preset speed, it enters a non-automatic control mode to avoid negative effects from automatically adjusting the attachment's posture.

[0070] In this embodiment, the need to adjust the attachment posture is limited based on the travel speed of the engineering equipment during the transfer process, so as to ensure the safety of the engineering equipment while ensuring its working efficiency.

[0071] In one embodiment, adjusting the current posture of the attachment based on a preset posture includes:

[0072] Step g: Determine the current position information corresponding to the current pose and the preset position information corresponding to the preset pose, respectively;

[0073] Step h: Determine the displacement difference between the current position information and the preset position;

[0074] Step i: Adjust the current attitude of the attachment based on the displacement difference.

[0075] In this embodiment, it should be noted that the current position information represents the position representation of the current posture; the preset position information represents the position representation of the preset posture. The current position information and the preset position information are relative positions in the same coordinate system. This same coordinate system can be specifically determined according to the actual situation, as long as it can reflect the relative positions of the current position information and the preset position information. The processor compares the current position information with the preset position information to obtain the displacement difference between the two, and adjusts the current posture of the attachment according to the displacement difference. It can be understood that the adjustment of the attachment posture can be achieved by controlling the hydraulic system used to drive the attachment's movement.

[0076] In this embodiment, the attachment state is adjusted by determining the displacement difference between the current position information and the preset position, thereby improving the accuracy of attachment adjustment.

[0077] In one embodiment, the method for adjusting the attitude of an engineering equipment attachment further includes:

[0078] Step j: If the ground tilt angle is less than the first preset tilt angle, enter the non-automatic control mode.

[0079] In this embodiment, it should be noted that when the ground tilt angle is less than the first preset tilt angle, the risk of overturning is relatively small, and the engineering equipment may be in the operation memory state, which makes it easy to directly enter the operation next time it is started. At this time, there is no need to automatically adjust the attachment posture, and the non-automatic control mode is entered. In specific scenarios, manual adjustment of the attachment posture can be realized.

[0080] In this embodiment, when the ground tilt angle is less than the first preset tilt angle, the system enters a non-automatic control mode to reduce system energy consumption.

[0081] Furthermore, the method for adjusting the attitude of engineering equipment attachments also includes:

[0082] Step k: When the working condition is a work condition, enter the non-automatic control mode.

[0083] It should be noted that "operating condition" refers to the condition in which the engineering equipment includes not only walking movements but also operational movements. For example, engineering equipment engaged in weeding needs to traverse a designated grassy area to complete the weeding work. In non-automatic control mode, the attachment posture cannot be automatically adjusted, and manual control is required. If the attachment posture were automatically adjusted during operating conditions, the operational movements might be impossible to complete, thus affecting the completion of the task. Therefore, in this embodiment, when the engineering equipment is in operating condition, non-automatic control mode is used.

[0084] Furthermore, the method for adjusting the attitude of engineering equipment attachments also includes:

[0085] Step 1: If the system enters the non-automatic control mode, it will re-enter the automatic control mode based on a preset interval.

[0086] It should be noted that if the equipment is in non-automatic control mode for an extended period, the operator needs to maintain constant focus and adjust the attachment's posture, which is not an easy task for less experienced operators. In this embodiment, a preset interval is set to re-enter automatic control mode after the preset interval of entering non-automatic control mode, thereby improving the operational safety of the equipment.

[0087] This invention provides a system for adjusting the attitude of attachments in engineering equipment, comprising:

[0088] The status determination module is used to determine whether the engineering equipment is in a moving state in automatic control mode;

[0089] The attitude acquisition module is used to determine the current attitude of the attachment when the engineering equipment is in motion;

[0090] Tilt angle acquisition module, used to acquire ground tilt angle;

[0091] The attitude adjustment module is used to adjust the current attitude of the attachment based on the ground tilt angle and preset attitude.

[0092] The system for adjusting the attitude of engineering equipment attachments includes a processor and a memory. The aforementioned state determination module, attitude acquisition module, tilt angle acquisition module, and attitude adjustment module are all stored as program units in the memory. The processor executes the aforementioned program units stored in the memory to implement the corresponding functions.

[0093] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters allows for automated adjustment of the attitude of engineering equipment attachments.

[0094] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0095] The system for adjusting the attitude of engineering equipment attachments provided in this application embodiment can achieve... Figure 1 The various processes of the method for adjusting the attitude of engineering equipment attachments in the method embodiments are the same and can achieve the same technical effect. To avoid repetition, they will not be described again here.

[0096] This invention provides a computer device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements... Figure 1 The methods described in this embodiment for adjusting the attitude of engineering equipment attachments are all processes that achieve the same technical effect, and will not be repeated here to avoid repetition. The equipment mentioned in this document can be a server, PC, PAD, mobile phone, etc.

[0097] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied 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.

[0098] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0099] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0100] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0101] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0102] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0103] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0104] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0105] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for adjusting the attitude of attachments in engineering equipment, characterized in that, include: When the engineering equipment is in automatic control mode and in motion, determine the operating condition of the engineering equipment; If the working condition is a transfer working condition, determine the current attitude of the attachment; Obtain the ground tilt angle; The current attitude of the attachment is adjusted based on the ground tilt angle and the preset attitude; Determine the model number of the attachment; Based on the aforementioned model, determine the first preset tilt angle and the second preset tilt angle; The adjustment of the attachment's current attitude based on the ground tilt angle and preset attitude includes: Determine the relationship between the ground tilt angle and the first preset tilt angle and the second preset tilt angle, wherein the first preset tilt angle is smaller than the second preset tilt angle; When the ground tilt angle is greater than or equal to the second preset tilt angle, the current attitude of the attachment is adjusted based on the preset attitude.

2. The method according to claim 1, characterized in that, Also includes: When the ground inclination angle is greater than a first preset inclination angle and less than or equal to a second preset inclination angle, the travel speed of the engineering equipment is determined; If the travel speed is greater than the preset speed, the current posture of the attachment is adjusted based on the preset posture.

3. The method according to claim 2, characterized in that, The adjustment of the current posture of the attachment based on a preset posture includes: Determine the current position information corresponding to the current posture and the preset position information corresponding to the preset posture, respectively; Determine the displacement difference between the current position information and the preset position; The current posture of the attachment is adjusted based on the displacement difference.

4. The method according to claim 1, characterized in that, Also includes: If the ground tilt angle is less than the first preset tilt angle, the system enters a non-automatic control mode.

5. The method according to claim 1, characterized in that, Also includes: The preset speed is determined based on the model number.

6. The method according to claim 1, characterized in that, Also includes: When the operating condition is a working condition, the system enters a non-automatic control mode.

7. The method according to claim 4 or 6, characterized in that, Also includes: When entering the non-automatic control mode, the system will re-enter the automatic control mode based on a preset interval.

8. A system for adjusting the attitude of attachments in engineering equipment, characterized in that, include: The status determination module is used to determine whether the engineering equipment is in a moving state in automatic control mode; The attitude acquisition module is used to determine the current attitude of the attachment when the engineering equipment is in motion; Tilt angle acquisition module, used to acquire ground tilt angle; The attitude adjustment module is used to adjust the current attitude of the attachment based on the ground tilt angle and the preset attitude. The attitude adjustment module is also used for: Determine the model number of the attachment; Based on the aforementioned model, determine the first preset tilt angle and the second preset tilt angle; Determine the relationship between the ground tilt angle and the first preset tilt angle and the second preset tilt angle, wherein the first preset tilt angle is smaller than the second preset tilt angle; When the ground tilt angle is greater than or equal to the second preset tilt angle, the current attitude of the attachment is adjusted based on the preset attitude.

9. A computer device, characterized in that, The device includes a memory and a processor, the memory storing a computer program that, when executed on the processor, performs the method for adjusting the attitude of an engineering equipment attachment as described in any one of claims 1 to 7.

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