A control method and device for construction equipment, construction equipment and storage medium

Abstract

The present application discloses a control method, device, construction equipment and storage medium for construction equipment, and relates to the field of intelligent control technology. The method includes: obtaining the change in the pitch angle of the blade of the construction equipment within a preset period; determining the initial adjustment amount for adjusting the control parameters of the blade controller based on the change; correcting the initial adjustment amount based on the elevation information of the left and right blade tips to obtain the target adjustment amount; determining the initial control parameters of the blade controller, and adjusting the initial control parameters based on the target adjustment amount to obtain the target control parameters, so that the blade controller controls the blade to perform construction operations based on the target control parameters. The technical solution provided by the present application can dynamically and adaptively adjust the control parameters, which can further improve the operation accuracy of the construction equipment and improve the robustness of the control system.

Description

Technical Field

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

[0002] Global Navigation Satellite System (GNSS) sensors have been widely used in the construction industry, mainly in construction equipment based on automatic blade control of earth-moving machinery, such as motor graders. Motor graders are used to remove small amounts of soil with high precision.

[0003] At present, the control methods of graders mostly adopt the following two schemes. Scheme 1: adopt the blade center point elevation + blade inclination control strategy, that is, first calculate the center point position of the target elevation on both sides of the blade, as well as the left and right elevation angle values, and control the blades on both sides to achieve elevation and inclination respectively. Scheme 2: bilateral elevation control, that is, after the left and right target elevations are issued, the elevation arrival control is directly performed in a way that the cylinders on both sides are decoupled. However, in these two schemes, the control parameters of the grader automatic control system are generally determined after the initial calibration. If there are factors such as the calibration scenario not fully meeting the conditions or improper operation of the calibration personnel, it will lead to inaccurate calibration, which will greatly affect the subsequent operation accuracy. The existing control system cannot adaptively adjust to deal with this problem. Therefore, how to adaptively adjust the control parameters to improve the operation accuracy of construction equipment has become an urgent problem to be solved. Summary of the invention

[0004] The present application provides a control method, device, construction equipment and storage medium for construction equipment, which can dynamically and adaptively adjust control parameters, further improve the operating accuracy of the construction equipment, and improve the robustness of the control system.

[0005] In a first aspect, the present application provides a control method for construction equipment, which is applied to the construction equipment, wherein the construction equipment is equipped with a blade and a blade controller for controlling the blade, the method comprising:

[0006] Obtaining a change in the pitch angle of the blade of the construction equipment within a preset period;

[0007] Determining an initial adjustment amount for adjusting a control parameter of the blade controller based on the change amount;

[0008] Based on the elevation information of the left and right shovel tips of the shovel blade, the initial adjustment amount is corrected to obtain a target adjustment amount;

[0009] An initial control parameter of the blade controller is determined, and the initial control parameter is adjusted based on the target adjustment amount to obtain a target control parameter, so that the blade controller controls the blade to perform construction work based on the target control parameter.

[0010] The embodiment of the present application provides a control method for construction equipment. By determining the change in the pitch angle of the blade, the control parameters of the blade can be actively adjusted to obtain the initial adjustment amount, which can avoid the defects of blade control shaking or large waves on the working surface under hard soil or heavy load. In addition, by setting up bilateral blades to check and optimize each other, the control parameters can be dynamically and adaptively adjusted, which can further improve the operating accuracy of the construction equipment and improve the robustness of the control system.

[0011] Furthermore, the construction equipment is also configured with a first main auxiliary antenna and a second main auxiliary antenna, the first main auxiliary antenna is configured on the left shovel tip of the blade, and the second main auxiliary antenna is configured on the right shovel tip of the blade; the initial adjustment amount is corrected based on the elevation information of the left and right shovel tips of the blade to obtain the target adjustment amount, including: determining the first elevation information of the left shovel tip based on the first coordinate information obtained by the first main auxiliary antenna, and determining the second elevation information of the right shovel tip based on the second coordinate information obtained by the second main auxiliary antenna; determining the first elevation error of the left shovel tip based on the first elevation information and the target elevation information of the blade, and determining the second elevation error of the right shovel tip based on the second elevation information and the target elevation information; determining whether to correct the initial adjustment amount based on the first elevation error and the second elevation error; if corrected, the initial adjustment amount is corrected based on the first elevation error and the second elevation error to obtain the target adjustment amount.

[0012] Further, the determining whether to correct the initial adjustment amount based on the first elevation error and the second elevation error includes at least one of the following methods: determining whether the first elevation error and the second elevation error are both smaller than a first error limit, and if so, not correcting the initial adjustment amount; if not, correcting the initial adjustment amount; determining whether the first elevation error or the second elevation error is smaller than a second error limit, and if so, not correcting the initial adjustment amount; if not, correcting the initial adjustment amount; wherein the second error limit is smaller than the first error limit.

[0013] Furthermore, the initial adjustment amount includes a first adjustment amount of the left shovel tip and a second adjustment amount of the right shovel tip; and the target adjustment amount is obtained by correcting the initial adjustment amount based on the first elevation error and the second elevation error, including: determining the smaller of the first elevation error and the second elevation error; if the smaller is the first elevation error, using the first adjustment amount as the target adjustment amount of the right shovel tip; if the smaller is the second elevation error, using the second adjustment amount as the target adjustment amount of the left shovel tip.

[0014] Furthermore, the method of obtaining the change in the pitch angle of the blade of the construction equipment within a preset period includes: obtaining the initial pitch angle of the blade at the first moment of the construction equipment's construction operation; obtaining the current pitch angle of the blade after a preset period has passed after the first moment; and determining the change in the pitch angle based on the current pitch angle and the initial pitch angle.

[0015] Furthermore, the determining of the initial control parameters of the blade controller includes: determining the load of the blade based on the initial pitch angle; and determining the initial control parameters of the blade controller based on the load.

[0016] Furthermore, before determining the initial adjustment amount for adjusting the control parameters of the blade controller based on the change amount, it also includes: determining whether the change amount is greater than a preset value; if greater, executing the operation of determining the initial adjustment amount for adjusting the control parameters of the blade controller based on the change amount.

[0017] In a second aspect, the present application provides a control device for construction equipment, which is integrated in the construction equipment, wherein the construction equipment is equipped with a blade and a blade controller for controlling the blade, and the device comprises:

[0018] A variation determination module, used for obtaining a variation of the pitch angle of the blade of the construction equipment within a preset period;

[0019] An adjustment amount determination module, used to determine an initial adjustment amount for adjusting a control parameter of the blade controller based on the change amount;

[0020] An adjustment amount correction module, used for correcting the initial adjustment amount based on the elevation information of the left and right shovel tips of the shovel blade to obtain a target adjustment amount;

[0021] The equipment control module is used to determine the initial control parameters of the blade controller, and adjust the initial control parameters based on the target adjustment amount to obtain the target control parameters, so that the blade controller controls the blade to perform construction operations based on the target control parameters.

[0022] In a third aspect, the present application provides a construction device, the construction device comprising:

[0023] at least one processor; and

[0024] a memory communicatively connected to the at least one processor; wherein,

[0025] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method of the construction equipment described in any embodiment of the present application.

[0026] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method of the construction equipment described in any embodiment of the present application when executed.

[0027] It should be noted that the above-mentioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer-readable storage medium may be packaged together with the processor of the control device of the construction equipment, or may be packaged separately from the processor of the control device of the construction equipment, and this application does not limit this.

[0028] The description of the second, third and fourth aspects in this application can refer to the detailed description of the first aspect; and the beneficial effects of the description of the second, third and fourth aspects can refer to the beneficial effect analysis of the first aspect, which will not be repeated here.

[0029] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description.

[0030] It is understandable that before using the technical solutions disclosed in the embodiments of this application, the type, scope of use, and usage scenarios of the personal information involved in this application should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1A first flow chart of a control method for construction equipment provided in an embodiment of the present application;

[0033] Figure 2 A second flow chart of a control method for construction equipment provided in an embodiment of the present application;

[0034] Figure 3 A schematic diagram of the structure of a control device for construction equipment provided in an embodiment of the present application;

[0035] Figure 4 It is a block diagram of construction equipment used to implement a construction equipment control method according to an embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0037] It should be noted that the terms "first", "second", "target" and "original" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable in appropriate circumstances, so that the embodiments of the present application described herein can implement the order except for the order shown or described here. In addition, the terms "including", "having" and any of their variations are intended to cover non-exclusive inclusions, for example, the process, method, system, product or equipment comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0038] Figure 1This is a first flow chart of a control method for construction equipment provided in an embodiment of the present application. This embodiment can be applied to controlling a motor grader to automatically complete a construction task during the leveling process of a work area. The control method for construction equipment provided in this embodiment can be executed by a control device for construction equipment provided in an embodiment of the present application. The device can be implemented in software and / or hardware and integrated in an electronic device that executes the method. Preferably, the electronic device in the embodiment of the present application can be a construction equipment, such as a motor grader for 3D or laser road construction, a paddy field satellite motor grader, or other ground leveling equipment. The method of the present application is used for motion control of GNSS dual-cylinder equipment. The embodiment of the present application takes a motor grader as an example to explain the control method for construction equipment of the present application.

[0039] See also Figure 1 The method of this embodiment includes but is not limited to the following steps:

[0040] S110, obtaining a change in the pitch angle of the blade of the construction equipment within a preset period.

[0041] Among them, the main components of the construction equipment include a blade and a blade controller for controlling the blade. This application does not limit the type of the blade controller. The optional blade controller can be a proportional-integral-derivative (PID) controller or a linear quadratic regulator (LQR).

[0042] The automatic control system of the construction equipment is equipped with a blade inertial measurement unit (IMU) sensor, which can be used to measure the three-axis attitude angle and acceleration of the object. In this application, the blade pitch angle can be identified by the blade IMU sensor.

[0043] During the operation of the existing grader blade, the blade will have different pitch angle changes due to soil quality, earth accumulation, earth volume of a single operation or earth humidity, etc. In this application, the change of the blade pitch angle is detected at every preset period, and the control parameters of the blade controller are adjusted according to the change of the pitch angle, so that the blade can adapt to the random changes of the working environment and improve the operating accuracy of the construction equipment.

[0044] Specifically, obtaining the change in the pitch angle of the blade of the construction equipment within a preset period includes: obtaining the initial pitch angle of the blade at the first moment of the construction equipment's construction operation; obtaining the current pitch angle of the blade after a preset period has passed after the first moment; and determining the change in the pitch angle based on the current pitch angle and the initial pitch angle. The first moment may be the moment when the construction equipment is started, or the moment when each preset period begins. This application does not limit the length of the preset period.

[0045] Optionally, the present application may also obtain the current pitch angle of the blade when the additional mileage of the construction equipment reaches a preset value after the first moment.

[0046] In actual work, the change in the pitch angle of the grader blade may reach 0° to 30°. Optionally, the angle change granularity can be set to 5°, and the pitch angle change can be divided into 6 levels. Furthermore, before determining the initial adjustment amount for adjusting the control parameters of the blade controller based on the change amount, determine whether the change amount is greater than a preset value (such as 5°); if greater, perform the operation of determining the initial adjustment amount for adjusting the control parameters of the blade controller based on the change amount. If not, there is no need to adjust the control parameters of the blade controller.

[0047] S120: Determine an initial adjustment amount for adjusting a control parameter of a blade controller based on the change amount.

[0048] In the embodiment of the present application, a calibration parameter table for pitch angle variation and control parameter adjustment is prepared in advance, and the calibration parameter table is stored in a storage unit of the blade controller. When the pitch angle variation within a preset period is determined, the calibration parameter table can be retrieved from the storage unit, and the corresponding control parameter adjustment amount can be found based on the pitch angle variation, and used as the initial adjustment amount. The method for formulating the calibration parameter table can be obtained by testing actual application scenarios.

[0049] S130, correcting the initial adjustment amount based on the elevation information of the left and right shovel tips of the shovel blade to obtain a target adjustment amount.

[0050] The construction equipment is also equipped with two oil cylinders, which are respectively arranged on the left and right shovel tips of the shovel blade to control the elevation of the shovel blade. The construction equipment is also equipped with two GNSS antennas, which are respectively arranged on the left and right shovel tips of the shovel blade.

[0051] In an embodiment of the present application, after determining the initial adjustment amount of the control parameter, the GNSS antennas on both sides of the blade can be used to identify the elevation changes during the operation of the blade, and the initial adjustment amount can be corrected by the elevation information of the left and right shovel tips of the blade to obtain the target adjustment amount, that is, a bilateral blade is set to verify and optimize the control parameters with each other.

[0052] The loads of the left and right shovel tips of the same shovel blade are most likely the same, so based on the elevation information of the left and right shovel tips in the shovel blade, it is possible to determine which shovel tip has higher control accuracy; then, based on the PID control parameters of the shovel tip with higher control accuracy, the PID control parameters of the other side are corrected to obtain the target adjustment amount for adjusting the control parameters of the shovel controller, for example: assigning the PID control parameters corresponding to the shovel tip with higher control accuracy to the PID control parameters corresponding to the shovel tip with lower control accuracy. This application utilizes a method of adjusting parameters of bilateral shovels against each other and comparing and optimizing, which can dynamically fine-tune the current control parameters, further improve the operating accuracy of the construction equipment, and improve the robustness of the control system.

[0053] Optionally, a plus / minus strategy may be set to fine-tune the initial adjustment amount to obtain target adjustment amounts of the blade control parameters on both sides, and the amplitude of each fine-tuning of the initial adjustment amount may be a preset percentage of the corresponding value of the initial adjustment amount, such as 5%.

[0054] S140, determining initial control parameters of the blade controller, and adjusting the initial control parameters based on the target adjustment amount to obtain target control parameters, so that the blade controller controls the blade to perform construction work based on the target control parameters.

[0055] Furthermore, determining initial control parameters of the blade controller includes: at the first moment of construction equipment operation, determining the load of the blade based on the acquired initial pitch angle of the blade; and determining initial control parameters of the blade controller based on the load.

[0056] In an embodiment of the present application, the target adjustment amount for adjusting the control parameters of the blade controller is determined through the above step S130, and then the initial control parameters are adjusted based on the target adjustment amount to obtain the target control parameters, so that the blade controller controls the blade to perform construction operations based on the target control parameters.

[0057] The technical solution provided by this embodiment obtains the change in the pitch angle of the blade of the construction equipment within a preset period; determines the initial adjustment amount for adjusting the control parameters of the blade controller based on the change; corrects the initial adjustment amount based on the elevation information of the left and right blade tips to obtain the target adjustment amount; determines the initial control parameters of the blade controller, and adjusts the initial control parameters based on the target adjustment amount to obtain the target control parameters, so that the blade controller controls the blade to perform construction operations based on the target control parameters. By determining the change in the pitch angle of the blade, the present application can actively adjust the control parameters of the blade to obtain the initial adjustment amount, which can avoid the defects of blade control jitter or large waves on the working surface under hard soil or heavy loads. In addition, by setting up bilateral blades for mutual verification and optimization, the control parameters can be dynamically and adaptively adjusted, which can further improve the operating accuracy of the construction equipment and improve the robustness of the control system.

[0058] The following further describes the control method of the construction equipment provided by the embodiment of the present application. Figure 2 The second flow chart of a control method for construction equipment provided in the embodiment of the present application is as follows: The embodiment of the present application is optimized on the basis of the above embodiment, and the specific optimization is as follows: the process of correcting the initial adjustment amount to obtain the target adjustment amount is explained in detail in the embodiment.

[0059] See also Figure 2 The method of this embodiment includes but is not limited to the following steps:

[0060] S210. Determine first elevation information of the left shovel tip based on the first coordinate information of the first main and auxiliary antennas obtained, and determine second elevation information of the right shovel tip based on the second coordinate information of the second main and auxiliary antennas obtained.

[0061] Among them, the construction equipment is also equipped with a first main auxiliary antenna and a second main auxiliary antenna. The first main auxiliary antenna is configured on the left tip of the blade, and can provide high-precision satellite positioning data of the left tip of the blade; the second main auxiliary antenna is configured on the right tip of the blade, and can provide high-precision satellite positioning data of the right tip of the blade.

[0062] In an embodiment of the present application, GNSS elevation information and antenna real-time positioning are collected through the first main and auxiliary antennas, and the GNSS elevation information and antenna real-time positioning protocol are transmitted to the GNSS module in the main control box of the construction equipment; the first coordinate information of the first main and auxiliary antennas is calculated through the GNSS module; the first coordinate information is calculated based on the posture conversion method to obtain the posture information of the left shovel tip; by comparing the tip position of the left shovel blade, the posture information of the left shovel tip is calculated to obtain the first elevation information of the left shovel tip.

[0063] GNSS elevation information and antenna real-time positioning are collected through the second main and auxiliary antennas, and the GNSS elevation information and antenna real-time positioning protocol are transmitted to the GNSS module in the main control box of the construction equipment; the second coordinate information of the second main and auxiliary antennas is calculated through the GNSS module; the posture information of the right shovel tip is calculated based on the posture conversion method; by comparing the tip position of the right shovel blade, the posture information of the right shovel tip is calculated to obtain the second elevation information of the right shovel tip.

[0064] S220: Determine a first elevation error of the left shovel tip based on the first elevation information and the target elevation information of the shovel blade, and determine a second elevation error of the right shovel tip based on the second elevation information and the target elevation information.

[0065] In the embodiment of the present application, the construction task is the construction task of the construction equipment to perform construction on the work area. The construction task may include the scope of the work area, and the elevation data of the leveling and the elevation data of the blade when the work area is leveled. The construction task can be sent to the host computer through an external device, or the construction task can be configured in the host computer. The main control box of the construction equipment obtains the construction task from the host computer, and then parses the construction task to obtain the target elevation information of the grader blade.

[0066] The first elevation information of the left shovel tip and the second elevation information of the right shovel tip corresponding to each sampling point (e.g., 100 sampling points) within a preset period can be obtained through the above step S220. After sliding filtering or smoothing a plurality of first elevation information within the preset period, the first elevation error of the left shovel tip is determined by calculation according to a preset calculation method and the target elevation information of the shovel blade. According to this method, the second elevation error of the right shovel tip can be determined.

[0067] S230: Determine whether to correct the initial adjustment amount based on the first elevation error and the second elevation error.

[0068] In the embodiment of the present application, determining whether to correct the initial adjustment amount based on the first elevation error and the second elevation error includes at least one of the following methods: 1. Determine whether both the first elevation error and the second elevation error are less than the first error limit (such as 1 cm). If so, do not correct the initial adjustment amount; if not, correct the initial adjustment amount, i.e., execute step S240. 2. Determine whether the first elevation error or the second elevation error is less than the second error limit (such as 0.5 cm). If so, do not correct the initial adjustment amount; if not, correct the initial adjustment amount, i.e., execute step S240; wherein the second error limit is less than the first error limit.

[0069] Optionally, the method for determining whether the initial adjustment amount should be corrected may also be: based on the first elevation information of the left shovel tip and the second elevation information of the right shovel tip corresponding to each sampling point (such as 100 sampling points) within a preset period, determine whether a preset percentage (such as 80%) of the first elevation error and the second elevation error are both less than a certain error threshold; if so, the initial adjustment amount is not corrected; if not, the initial adjustment amount is corrected.

[0070] S240: If the correction is required, determine the smaller one of the first elevation error and the second elevation error.

[0071] In the embodiment of the present application, the first elevation error and the second elevation error are compared in numerical value to determine the smaller one of the first elevation error and the second elevation error.

[0072] S250: If the smaller one is the first elevation error, the first adjustment amount is used as the target adjustment amount of the right shovel tip.

[0073] The initial adjustment amount includes a first adjustment amount of the left shovel tip and a second adjustment amount of the right shovel tip. The present application decouples the synchronous control method of the two shovel tips (i.e., two cylinders) of the traditional grader blade control system. By setting the control parameters of the left shovel tip or the right shovel tip separately, the operating efficiency of the cylinder can be improved, and the service life of the construction equipment can be increased.

[0074] In the embodiment of the present application, if the smaller one is the first elevation error, indicating that the control accuracy of the left shovel tip is high, then the first adjustment amount of the left shovel tip is used as the target adjustment amount of the right shovel tip, and the first adjustment amount of the left shovel tip can be directly used as the target adjustment amount of the left shovel tip (that is, the initial adjustment amount of the left shovel tip is not corrected).

[0075] S260: If the smaller one is the second elevation error, the second adjustment amount is used as the target adjustment amount of the left shovel tip.

[0076] In the embodiment of the present application, if the smaller one is the second elevation error, indicating that the control accuracy of the right shovel tip is high, then the second adjustment amount of the right shovel tip is used as the target adjustment amount of the left shovel tip, and the second adjustment amount of the right shovel tip can be directly used as the target adjustment amount of the right shovel tip (that is, the initial adjustment amount of the right shovel tip is not corrected).

[0077] Preferably, after executing step S250 or step S260, the control parameters of the blade controller need to be adjusted in the next preset cycle, and the control error is continuously optimized in the direction of reducing the control error until the control error is reduced to below the preset threshold. The present application can actively adjust the control parameters when the blade control parameters are not optimal due to limited control parameter calibration conditions, ensure timely convergence of the operation accuracy, and solve the problem of reduced operation accuracy due to insufficient control parameter calibration conditions or operator errors.

[0078] The technical solution provided by this embodiment determines the first elevation information of the left shovel tip based on the first coordinate information of the first main and auxiliary antennas obtained, and determines the second elevation information of the right shovel tip based on the second coordinate information of the second main and auxiliary antennas obtained; determines the first elevation error of the left shovel tip based on the first elevation information and the target elevation information of the blade, and determines the second elevation error of the right shovel tip based on the second elevation information and the target elevation information; determines whether to correct the initial adjustment amount based on the first elevation error and the second elevation error; if corrected, determines the smaller of the first elevation error and the second elevation error; if the smaller is the first elevation error, uses the first adjustment amount as the target adjustment amount for the right shovel tip; if the smaller is the second elevation error, uses the second adjustment amount as the target adjustment amount for the left shovel tip. This application determines the elevation information of the left and right shovel tips by respectively configuring GNSS antennas on the left and right shovel tips of the construction equipment, and then determines the elevation errors of the left and right shovel tips, and further corrects the initial adjustment amount based on the elevation errors of the left and right shovel tips to obtain the target adjustment amount. The present application can dynamically and adaptively adjust control parameters, which can further improve the operating accuracy of construction equipment and enhance the robustness of the control system.

[0079] Figure 3 A schematic diagram of the structure of a control device for construction equipment provided in an embodiment of the present application, which is integrated into the construction equipment, wherein the construction equipment is equipped with a blade and a blade controller for controlling the blade, such as Figure 3 As shown, the device 300 may include:

[0080] The variation determination module 310 is used to obtain the variation of the pitch angle of the blade of the construction equipment within a preset period;

[0081] An adjustment amount determination module 320, for determining an initial adjustment amount for adjusting a control parameter of the blade controller based on the change amount;

[0082] An adjustment amount correction module 330 is used to correct the initial adjustment amount based on the elevation information of the left and right blade tips in the blade to obtain a target adjustment amount;

[0083] The equipment control module 340 is used to determine the initial control parameters of the blade controller, and adjust the initial control parameters based on the target adjustment amount to obtain target control parameters, so that the blade controller controls the blade to perform construction operations based on the target control parameters.

[0084] Optionally, the construction equipment is further configured with a first main auxiliary antenna and a second main auxiliary antenna, the first main auxiliary antenna is configured on the left shovel tip of the shovel blade, and the second main auxiliary antenna is configured on the right shovel tip of the shovel blade;

[0085] Furthermore, the above-mentioned adjustment amount correction module 330 can be specifically used to: determine the first elevation information of the left shovel tip based on the first coordinate information of the first main and auxiliary antennas obtained, and determine the second elevation information of the right shovel tip based on the second coordinate information of the second main and auxiliary antennas obtained; determine the first elevation error of the left shovel tip based on the first elevation information and the target elevation information of the shovel blade, and determine the second elevation error of the right shovel tip based on the second elevation information and the target elevation information; determine whether to correct the initial adjustment amount based on the first elevation error and the second elevation error; if corrected, correct the initial adjustment amount based on the first elevation error and the second elevation error to obtain the target adjustment amount.

[0086] Furthermore, the above-mentioned adjustment amount correction module 330 can also be specifically used to: determine whether to correct the initial adjustment amount based on the first elevation error and the second elevation error, including at least one of the following methods: determine whether the first elevation error and the second elevation error are both smaller than a first error limit, if so, do not correct the initial adjustment amount; if not, correct the initial adjustment amount; determine whether the first elevation error or the second elevation error is smaller than a second error limit, if so, do not correct the initial adjustment amount; if not, correct the initial adjustment amount; wherein, the second error limit is smaller than the first error limit.

[0087] Optionally, the initial adjustment amount includes a first adjustment amount of the left shovel tip and a second adjustment amount of the right shovel tip;

[0088] Furthermore, the above-mentioned adjustment amount correction module 330 can be specifically used to: determine the smaller of the first elevation error and the second elevation error; if the smaller one is the first elevation error, then use the first adjustment amount as the target adjustment amount of the right shovel tip; if the smaller one is the second elevation error, then use the second adjustment amount as the target adjustment amount of the left shovel tip.

[0089] Furthermore, the above-mentioned change amount determination module 310 can be specifically used to: obtain the initial pitch angle of the blade at the first moment of the construction equipment's construction operation; obtain the current pitch angle of the blade after a preset period has passed after the first moment; and determine the change amount of the pitch angle based on the current pitch angle and the initial pitch angle.

[0090] Furthermore, the above-mentioned equipment control module 340 can be specifically used to: determine the load of the blade based on the initial pitch angle; and determine the initial control parameters of the blade controller based on the load.

[0091] Furthermore, the adjustment amount determination module 320 may be specifically used to: determine whether the change amount is greater than a preset value; if so, execute the operation of determining an initial adjustment amount for adjusting the control parameters of the blade controller based on the change amount.

[0092] The control device for construction equipment provided in this embodiment can be applied to the control method for construction equipment provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0093] Figure 4 1 is a block diagram of a construction device for implementing a control method of a construction device of an embodiment of the present application. Construction device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Construction device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0094] like Figure 4 As shown, the construction equipment 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. Various programs and data required for the operation of the construction equipment 10 can also be stored in the RAM 13. The processor 11, ROM 12 and RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0095] A number of components in the construction equipment 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the construction equipment 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0096] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a control method for construction equipment.

[0097] In some embodiments, the control method of the construction equipment may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the construction equipment 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method of the construction equipment described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the control method of the construction equipment in any other appropriate manner (e.g., by means of firmware).

[0098] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0099] The computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer programs are executed by the processor, the functions / operations specified in the flow charts and / or block diagrams are implemented. The computer programs may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0100] In the context of the present application, a computer readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device or equipment. A computer readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer readable storage medium may be a machine readable signal medium. A more specific example of a machine readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0101] To provide interaction with a user, the systems and techniques described herein may be implemented on construction equipment having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) through which a user can provide input to the construction equipment. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0102] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0103] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0104] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution of this application can be achieved, and this document is not limited here.

[0105] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A control method for construction equipment, characterized in that: Applied to construction equipment, the construction equipment is equipped with a blade and a blade controller for controlling the blade, the method comprising: Obtaining a change in the pitch angle of the blade of the construction equipment within a preset period; Determining an initial adjustment amount for adjusting a control parameter of the blade controller based on the change amount; Based on the elevation information of the left and right shovel tips of the shovel blade, the initial adjustment amount is corrected to obtain a target adjustment amount; Determining an initial control parameter of the blade controller, and adjusting the initial control parameter based on the target adjustment amount to obtain a target control parameter, so that the blade controller controls the blade to perform construction work based on the target control parameter; The construction equipment is further configured with a first main auxiliary antenna and a second main auxiliary antenna, the first main auxiliary antenna is configured on the left shovel tip of the shovel blade, and the second main auxiliary antenna is configured on the right shovel tip of the shovel blade; the initial adjustment amount is corrected based on the elevation information of the left and right shovel tips of the shovel blade to obtain the target adjustment amount, including: Determine the first elevation information of the left shovel tip based on the first coordinate information of the first main and auxiliary antennas obtained, and determine the second elevation information of the right shovel tip based on the second coordinate information of the second main and auxiliary antennas obtained; Determine a first elevation error of the left shovel tip based on the first elevation information and the target elevation information of the shovel blade, and determine a second elevation error of the right shovel tip based on the second elevation information and the target elevation information; Determining whether to correct the initial adjustment amount based on the first elevation error and the second elevation error includes at least one of the following methods: determining whether the first elevation error and the second elevation error are both less than a first error limit, and if so, not correcting the initial adjustment amount; if not, correcting the initial adjustment amount; determining whether the first elevation error or the second elevation error is less than a second error limit, and if so, not correcting the initial adjustment amount; if not, correcting the initial adjustment amount; wherein the second error limit is less than the first error limit; If correction is required, the initial adjustment amount is corrected based on the first elevation error and the second elevation error to obtain the target adjustment amount.

2. The control method of construction equipment according to claim 1, characterized in that: The initial adjustment amount includes a first adjustment amount of the left shovel tip and a second adjustment amount of the right shovel tip; and the target adjustment amount is obtained by correcting the initial adjustment amount based on the first elevation error and the second elevation error, including: determining the smaller of the first elevation error and the second elevation error; If the smaller one is the first elevation error, the first adjustment amount is used as the target adjustment amount of the right shovel tip; If the smaller one is the second elevation error, the second adjustment amount is used as the target adjustment amount of the left shovel tip.

3. The control method of construction equipment according to claim 1, characterized in that: The step of obtaining a change in the pitch angle of the blade of the construction equipment within a preset period includes: At the first moment of the construction equipment's construction operation, obtaining an initial pitch angle of the blade; After a preset period has passed since the first moment, obtaining a current pitch angle of the blade; The change amount of the pitch angle is determined based on the current pitch angle and the initial pitch angle.

4. The control method of construction equipment according to claim 3, characterized in that: The determining of the initial control parameters of the blade controller comprises: determining a load of the blade based on the initial pitch angle; Initial control parameters of the blade controller are determined based on the load.

5. The control method of construction equipment according to claim 1, characterized in that: Before determining the initial adjustment amount for adjusting the control parameter of the blade controller based on the change amount, the method further includes: Determining whether the change amount is greater than a preset value; If it is greater than, the operation of determining an initial adjustment amount for adjusting the control parameter of the blade controller based on the change amount is performed.

6. A control device for construction equipment, characterized in that: Integrated in a construction equipment, the construction equipment is equipped with a blade and a blade controller for controlling the blade, the device comprising: A variation determination module, used for obtaining a variation of the pitch angle of the blade of the construction equipment within a preset period; An adjustment amount determination module, used to determine an initial adjustment amount for adjusting a control parameter of the blade controller based on the change amount; An adjustment amount correction module, used for correcting the initial adjustment amount based on the elevation information of the left and right shovel tips of the shovel blade to obtain a target adjustment amount; An equipment control module, used for determining an initial control parameter of the blade controller, adjusting the initial control parameter based on the target adjustment amount to obtain a target control parameter, so that the blade controller controls the blade to perform construction work based on the target control parameter; The construction equipment is further provided with a first main auxiliary antenna and a second main auxiliary antenna, wherein the first main auxiliary antenna is provided on the left shovel tip of the shovel blade, and the second main auxiliary antenna is provided on the right shovel tip of the shovel blade; The adjustment amount correction module is specifically used to determine the first elevation information of the left shovel tip based on the first coordinate information of the first main and auxiliary antennas obtained, and determine the second elevation information of the right shovel tip based on the second coordinate information of the second main and auxiliary antennas obtained; determine the first elevation error of the left shovel tip based on the first elevation information and the target elevation information of the blade, and determine the second elevation error of the right shovel tip based on the second elevation information and the target elevation information; determine whether to correct the initial adjustment amount based on the first elevation error and the second elevation error; if corrected, correct the initial adjustment amount based on the first elevation error and the second elevation error to obtain the target adjustment amount; The adjustment amount correction module is also specifically used to determine whether to correct the initial adjustment amount based on the first elevation error and the second elevation error, including at least one of the following methods: determining whether the first elevation error and the second elevation error are both smaller than a first error limit, and if so, not correcting the initial adjustment amount; if not, correcting the initial adjustment amount; determining whether the first elevation error or the second elevation error is smaller than a second error limit, and if so, not correcting the initial adjustment amount; if not, correcting the initial adjustment amount; wherein the second error limit is smaller than the first error limit.

7. A construction equipment, characterized in that: The construction equipment includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method of the construction equipment described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the construction equipment control method described in any one of claims 1 to 5 when executed by a processor.

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