Method and device for controlling engineering machinery to perform operations, and engineering machinery

Abstract

The present invention relates to the field of engineering machinery and discloses a method and device for controlling the operation of an engineering machine, as well as the engineering machine. The method comprises determining the end resistance experienced by a working device of the engineering machine; and, if the operation of the working device is obstructed, adjusting the operating parameters of the engineering machine based on the end resistance. This alleviates problems such as slow movement of the working device and tilting of the chassis below the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of engineering machinery, and in particular to a method and device for controlling engineering machinery to perform operations, and the engineering machinery. Background Art

[0002] The automatic control system of an excavator is designed to automate operations during the excavation process, ensuring that the bucket's position follows a set curve. However, current excavator automation primarily focuses on motion under no-load conditions, specifically motion planning in a contactless space. This involves planning and precision control under no-load conditions, and currently lacks automated excavator operation under loaded conditions.

[0003] When the current automation of excavators is applied to actual operations, such as slope-brushing operations, they are affected by changes in excavation resistance during movement, and are prone to problems such as slow movement of the working device and tilting of the chassis. Summary of the Invention

[0004] An object of the present invention is to provide a method and device for controlling an engineering machine to perform operations, and the engineering machine, which can solve or at least partially solve the above-mentioned problems.

[0005] In order to achieve the above-mentioned purpose, one aspect of the present invention provides a method for controlling engineering machinery to perform operations, the method comprising: determining the end resistance experienced by the working device of the engineering machinery; and adjusting the operating parameters of the engineering machinery according to the end resistance when the operation of the working device is obstructed.

[0006] Optionally, before adjusting the operating parameters of the engineering machinery according to the terminal resistance when the operation of the working device is obstructed, the method also includes: determining the terminal movement speed of the working device; and determining that the operation of the working device is obstructed when the terminal movement speed and the preset terminal movement speed meet a preset speed condition.

[0007] Optionally, before adjusting the operating parameters of the engineering machinery according to the terminal resistance when the operation of the working device is obstructed, the method also includes: determining the cylinder pressure of the working device; if the terminal movement speed and the preset terminal movement speed meet the preset speed condition, and the cylinder pressure of the working device meets the preset pressure condition, it is determined that the operation of the working device is obstructed.

[0008] Optionally, adjusting the operating parameters of the engineering machinery according to the terminal resistance includes: obtaining the current power gear of the engineering machinery and the maximum load force corresponding to the current power gear; adjusting the operating parameters of the engineering machinery according to the terminal resistance, the current power gear and the maximum load force corresponding to the current power gear.

[0009] Optionally, adjusting the operating parameters of the engineering machinery according to the terminal resistance, the current power gear and the maximum load force corresponding to the current power gear includes: when the current power gear is not the maximum power gear of the engineering machinery and the terminal resistance is greater than the maximum load force, increasing the power gear of the engineering machinery, and the operating parameters of the engineering machinery include the power gear.

[0010] Optionally, adjusting the operating parameters of the engineering machinery according to the terminal resistance, the current power gear and the maximum load force corresponding to the current power gear includes: when the current power gear is the maximum power gear and the terminal resistance is greater than the maximum load force, adjusting the operating posture of the working device, and the operating parameters of the engineering machinery include the operating posture.

[0011] Optionally, adjusting the operating parameters of the engineering machinery according to the terminal resistance, the current power gear and the maximum load force corresponding to the current power gear includes: adjusting the operating posture of the working device when the terminal resistance is less than or equal to the maximum load force, and the operating parameters of the engineering machinery include the operating posture.

[0012] Optionally, determining the end resistance encountered by the working device of the engineering machinery includes: obtaining the posture of the working device and the cylinder pressure of each cylinder in the working device; determining the lever arm of the cylinder relative to the target point and the lever arm of the end of the working device relative to the target point based on the posture; determining the end resistance based on the cylinder pressure, the lever arm of the cylinder relative to the target point and the lever arm of the end of the working device relative to the target point, where the target point is the hinge point between the working device and the body of the engineering machinery.

[0013] Correspondingly, another aspect of the present invention provides a device for controlling engineering machinery to perform operations, the device comprising: a terminal resistance determination module for determining the terminal resistance experienced by the working device of the engineering machinery; and an operation parameter adjustment module for adjusting the operating parameters of the engineering machinery according to the terminal resistance when the operation of the working device is obstructed.

[0014] Optionally, the device also includes: an operation obstruction determination module, which is used to determine the terminal movement speed of the working device before adjusting the operating parameters of the engineering machinery according to the terminal resistance when the operation of the working device is obstructed; when the terminal movement speed and the preset terminal movement speed meet the preset speed condition, it is determined that the operation of the working device is obstructed.

[0015] Optionally, the operation obstruction determination module is also used to: determine the cylinder pressure of the working device before adjusting the operating parameters of the engineering machinery according to the terminal resistance when the operation of the working device is obstructed; if the terminal movement speed and the preset terminal movement speed meet the preset speed condition, and the cylinder pressure of the working device meets the preset pressure condition, it is determined that the operation of the working device is obstructed.

[0016] Optionally, the operating parameter adjustment module adjusts the operating parameters of the engineering machinery according to the terminal resistance, including: obtaining the current power gear of the engineering machinery and the maximum load force corresponding to the current power gear; and adjusting the operating parameters of the engineering machinery according to the terminal resistance, the current power gear and the maximum load force corresponding to the current power gear.

[0017] Optionally, adjusting the operating parameters of the engineering machinery according to the terminal resistance, the current power gear and the maximum load force corresponding to the current power gear includes: when the current power gear is not the maximum power gear of the engineering machinery and the terminal resistance is greater than the maximum load force, increasing the power gear of the engineering machinery, and the operating parameters of the engineering machinery include the power gear.

[0018] Optionally, adjusting the operating parameters of the engineering machinery according to the terminal resistance, the current power gear and the maximum load force corresponding to the current power gear includes: when the current power gear is the maximum power gear and the terminal resistance is greater than the maximum load force, adjusting the operating posture of the working device, and the operating parameters of the engineering machinery include the operating posture.

[0019] Optionally, adjusting the operating parameters of the engineering machinery according to the terminal resistance, the current power gear and the maximum load force corresponding to the current power gear includes: adjusting the operating posture of the working device when the terminal resistance is less than or equal to the maximum load force, and the operating parameters of the engineering machinery include the operating posture.

[0020] Optionally, the terminal resistance determination module determines the terminal resistance experienced by the working device of the engineering machinery, including: obtaining the posture of the working device and the cylinder pressure of each cylinder in the working device; determining the lever arm of the cylinder relative to the target point and the lever arm of the end of the working device relative to the target point based on the posture; determining the terminal resistance based on the cylinder pressure, the lever arm of the cylinder relative to the target point and the lever arm of the end of the working device relative to the target point, where the target point is the hinge point between the working device and the body of the engineering machinery.

[0021] In addition, another aspect of the present invention provides an engineering machine, which includes: the above-mentioned device.

[0022] In addition, another aspect of the present invention provides a machine-readable storage medium, on which instructions are stored. When the instructions are executed by a processor, the processor is configured to execute the above method.

[0023] Through the above technical solution, when the operation of the working device is obstructed, the operating parameters of the engineering machinery are adjusted according to the terminal resistance, so that the working device can operate, thereby alleviating problems such as slow movement of the working device and tilting of the chassis when getting off the vehicle.

[0024] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0026] Figure 1 This is a flow chart of a method for controlling an engineering machine to perform operations provided by one embodiment of the present invention;

[0027] Figure 2 is a logic diagram of a method for controlling an engineering machine to perform operations provided by another embodiment of the present invention;

[0028] Figure 3 is a torque calculation schematic diagram provided by another embodiment of the present invention; and

[0029] Figure 4 It is a structural block diagram of a device for controlling engineering machinery to perform operations provided by another embodiment of the present invention.

[0030] Description of Reference Numerals

[0031] 1. Terminal resistance determination module 2. Operation parameter adjustment module DETAILED DESCRIPTION

[0032] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0033] One aspect of an embodiment of the present invention provides a method for controlling a construction machine to perform an operation.

[0034] Figure 1 FIG. 1 is a flow chart of a method for controlling an engineering machine to perform operations provided by an embodiment of the present invention. Figure 1 As shown, the method includes the following contents.

[0035] In step S10, the end resistance experienced by the working device of the construction machinery is determined. The end resistance refers to the resistance experienced by the working surface due to contact with the working surface during operation. The working device of the construction machinery may be a boom. For example, an excavator is an engineering machinery. The working device includes joints such as a boom, an arm, and a bucket, as well as cylinders for driving each joint.

[0036] In step S11, when the working device is blocked, the working parameters of the engineering machine are adjusted according to the end resistance, wherein the working parameters may include power gear or working posture.

[0037] Through the above technical solution, when the operation of the working device is obstructed, the operating parameters of the engineering machinery are adjusted according to the terminal resistance, so that the working device can operate, thereby alleviating problems such as slow movement of the working device and tilting of the chassis when getting off the vehicle.

[0038] Optionally, in an embodiment of the present invention, it is also possible to determine whether the working device is obstructed. Obstructed operation means that the working device cannot perform the operation. For example, if the operation is a bucket brushing a slope, obstructed operation means that the brushing operation cannot be performed. Optionally, in an embodiment of the present invention, whether the working device is obstructed can be determined based on the terminal motion speed of the working device; it can also be determined based on time, for example, if the position of the working device does not move for more than a preset time. Specifically, before adjusting the operating parameters of the engineering machinery according to the terminal resistance when the working device operation is obstructed, the method also includes the following content. Determine the terminal motion speed of the working device. The terminal motion speed is the motion speed at the point where the working device contacts the working surface. Specifically, the terminal motion speed can be determined according to the following content. Use an angle sensor to determine the angle of each joint of the boom of the engineering machinery, obtain the angular velocity of each joint by differential, and obtain the terminal motion speed based on positive kinematics. When the terminal motion speed and the preset terminal motion speed meet the preset speed condition, it is determined that the working device operation is obstructed. The preset speed condition may be that the terminal motion speed is less than a preset value times the preset terminal motion speed, for example, the preset value may be 0.5; or the preset speed condition may be that the absolute value of the difference between the terminal motion speed and the preset terminal motion speed is greater than a preset speed difference threshold, and the terminal motion speed is less than the preset terminal motion speed. The preset speed difference threshold may be set such that, when the preset speed condition is met, the terminal motion speed is significantly less than the preset terminal motion speed. Specifically, the terminal motion speed is compared with the preset terminal motion speed to determine whether the preset speed condition is met, thereby determining whether the working device is obstructed. If the preset speed condition is met, the working device operation is determined to be obstructed; if the preset speed condition is not met, the working device operation is determined to be unobstructed.

[0039] Optionally, in an embodiment of the present invention, when determining whether the working device is obstructed, it can also be based on the cylinder pressure to make the judgment more accurate. Specifically, before adjusting the operating parameters of the engineering machinery according to the terminal resistance when the operation of the working device is obstructed, the method also includes the following content. Determine the cylinder pressure of the working device. If the terminal movement speed and the preset terminal movement speed meet the preset speed condition, and the cylinder pressure of the working device meets the preset pressure condition, it is determined that the operation of the working device is obstructed. In the case where the working device includes multiple cylinders, the cylinder pressure can be determined for at least one cylinder. As long as the cylinder pressure of one cylinder meets the preset pressure condition, it is determined that the operation of the working device is obstructed. For example, for any cylinder, the cylinder pressure can be determined according to the following content. Determine the large chamber pressure of the large chamber and the small chamber pressure of the small chamber of the hydraulic cylinder, for example, by installing pressure sensors in the large chamber and the small chamber to obtain the large chamber pressure and the small chamber pressure. Determine the cylinder pressure based on the large chamber pressure, the small chamber pressure and the hydraulic cylinder parameters. Specifically, the cylinder pressure is determined according to the following formula: Where P1 and P2 are the large and small chamber pressures, respectively; D and d are the areas of the large and small chambers, respectively; and F is the cylinder pressure. Furthermore, the preset pressure condition can be that the difference between the average values of the cylinder pressures determined within two adjacent pressure determination cycles is greater than a preset pressure difference threshold. The pressure determination cycle can be determined based on specific circumstances. If the difference between the average values of the cylinder pressures determined within two adjacent pressure determination cycles is greater than the preset pressure difference threshold, it indicates a sudden change in cylinder pressure, hindering operation.

[0040] Optionally, in an embodiment of the present invention, adjusting the operating parameters of the construction machinery based on the end resistance may include the following: Obtaining the current power level of the construction machinery and the maximum load capacity corresponding to the current power level. The maximum load capacity corresponding to the current power level is the maximum load resistance capacity that the construction machinery can provide at the current power level. Adjusting the operating parameters of the construction machinery based on the end resistance, the current power level, and the maximum load capacity corresponding to the current power level.

[0041] Optionally, in an embodiment of the present invention, adjusting the operating parameters of the construction machinery based on the end resistance, the current power level, and the maximum load capacity corresponding to the current power level may include the following: If the current power level is not the maximum power level of the construction machinery and the end resistance is greater than the maximum load capacity, the power level of the construction machinery is increased, and the operating parameters of the construction machinery include the power level. If the operation is obstructed, the power level is increased to enable the working device to operate, alleviate the chassis tilting phenomenon, and avoid danger.

[0042] Optionally, in an embodiment of the present invention, adjusting the operating parameters of the engineering machinery according to the terminal resistance, the current power gear and the maximum load force corresponding to the current power gear may include the following. When the current power gear is the maximum power gear and the terminal resistance is greater than the maximum load force, the operating posture of the working device is adjusted, and the operating parameters of the engineering machinery include the operating posture. In addition, in an embodiment of the present invention, adjusting the operating posture of the engineering machinery is to adjust the posture of the boom of the engineering machinery to reduce the operating intensity, that is, to reduce the terminal resistance. Specifically, the posture of the engineering machinery can be adjusted by adjusting the joints. For example, in the case of using a bucket to brush the slope, the posture adjustment can be a recovery posture, specifically, recovering at least one joint (for example, recovering at least one of the stick and the boom) to reduce the thickness of the brushed slope. In the case of obstruction in the operation, by adjusting the posture, the working device can be enabled to operate, the chassis tilting phenomenon is alleviated, and danger is avoided.

[0043] Optionally, in an embodiment of the present invention, adjusting the operating parameters of the engineering machinery according to the terminal resistance, the current power gear and the maximum load force corresponding to the current power gear may include the following: when the terminal resistance is less than or equal to the maximum load force, adjusting the operating posture of the working device, the operating parameters of the engineering machinery include the operating posture.

[0044] Optionally, in an embodiment of the present invention, determining the end resistance experienced by the working device of the engineering machinery may include the following. Obtain the posture of the working device and the cylinder pressure of each cylinder in the working device. Determine the cylinder pressure of the cylinders in the working device of the engineering machinery respectively, wherein each joint in the working device of the engineering machinery can be connected in sequence, and each cylinder can be used to drive the corresponding joint. The cylinder pressure of the corresponding cylinder can be determined for each joint. For example, for any cylinder, the cylinder pressure can be determined by the following content. Determine the large chamber pressure of the large chamber and the small chamber pressure of the small chamber of the cylinder, for example, by installing pressure sensors in the large chamber and the small chamber respectively to obtain the large chamber pressure and the small chamber pressure. Determine the cylinder pressure based on the large chamber pressure, the small chamber pressure and the cylinder parameters. Specifically, the cylinder pressure is determined according to the following formula: Where P1 and P2 are the pressures in the large and small chambers, respectively; D and d are the areas of the large and small chambers, respectively; and F is the cylinder pressure. It is worth emphasizing that the cylinder pressure referred to in this application may refer to the force output by the cylinder's piston rod. The moment arm of the cylinder relative to the target point and the moment arm of the end of the working device relative to the target point are determined based on the posture. The target point is the hinge point between the working device and the body of the construction machine. Regardless of the number of cylinders involved, the moment arm relative to the target point is determined for all cylinders and each end of the working device. For example, the moment arm of the cylinder or end relative to the target point can be determined based on forward kinematics and trigonometric functions. The end resistance is determined based on the cylinder pressure, the moment arm of the cylinder relative to the target point, and the moment arm of the end of the working device relative to the target point. For example, this can be determined based on moment balance. Specifically, the product of the end resistance and its corresponding stress arm equals the sum of the products of the cylinder pressures and their corresponding stress arms of the joints. If the cylinder pressures of several joints are determined, the product of the cylinder pressures and their moment arms of the joints is included in the calculation.

[0045] Optionally, in an embodiment of the present invention, the method may further include the following: If the working device is operating unobstructed, determining whether the working device has completed the preset planned working trajectory for the current working surface. For example, determining the end position of the working device, where the end position is the position at which the working device contacts the working surface; comparing the determined end position with the target end position in the preset planned working trajectory, and determining whether the determined end position has reached the target end position, thereby determining whether the working device has completed the preset planned working trajectory for the current working surface. If the determined end position has reached the target end position, the working device has completed the preset planned working trajectory; if the determined end position has not reached the target end position, the working device has not completed the preset planned working trajectory. Optionally, the end position of the working device may be determined by the following: using an angle sensor to determine the angles of each joint of the boom of the construction machinery, and determining the end position of the working device based on the determined angles and forward kinematics, where the boom corresponds to the aforementioned working device. If the working device has completed the preset planned working trajectory for the current working surface, the working device terminates its operation on the current working surface. For example, the operation may be terminated or the work may be carried out on the next working surface after the current working surface. By judging whether the working device has completed the preset planned working trajectory of the current working surface, more precise control of the operation can be achieved.

[0046] The following combination Figure 2 and Figure 3 Taking the slope-brushing operation of an excavator as an example, the technical solution provided by the embodiment of the present invention is exemplified. The working device may include a boom, a bucket arm, and a bucket.

[0047] During excavator operations (such as leveling, digging, sloping, and trenching), an excavator experiences excavation resistance from the work surface. Traditional manual operations rely on the operator's experience to adjust the posture of each joint or the control handle range to ensure operational accuracy. However, during automatic control, since the excavator's automation involves motion planning in a contactless space, ensuring no-load sloping accuracy, ground resistance during actual sloping reduces operational accuracy, and can even cause the chassis to tilt during sloping. Furthermore, current load control methods use load estimation to achieve power matching to reduce fuel consumption, but this approach is not used for precise control.

[0048] To solve the above problems, an embodiment of the present invention provides a force position control method suitable for automatic slope brushing operation of an excavator, that is, a method for controlling engineering machinery to perform operations as described in an embodiment of the present invention, wherein the control logic diagram is as follows: Figure 2 shown.

[0049] Determine the end resistance and attitude angle. Install pressure sensors in the large and small chambers of the hydraulic cylinders of the boom, arm, and bucket, respectively. Obtain the large and small chamber pressures for each cylinder corresponding to the boom, arm, and bucket. Determine the cylinder pressure using the following formula: Among them, P1 and P2 are the large cavity pressure and the small cavity pressure respectively; D and d are the area of the large cavity and the area of the small cavity; F is the cylinder pressure. In addition, the attitude angle includes the angle of each joint on the excavator arm. For example, the angle of the joint can be determined by an angle sensor; each joint of the arm is equipped with an angle sensor, which can detect the attitude of the excavator working device at this time, that is, to obtain the attitude angle. The end resistance of the excavator working device is calculated according to the cylinder pressure to control the excavator movement. Specifically, according to the cylinder pressure and the attitude of the working device, based on the torque balance, the torque calculation converts the pressure of each cylinder into the end resistance at the bucket. Specifically, determine the cylinder pressure of the cylinder corresponding to the boom, the cylinder corresponding to the bucket arm, the cylinder corresponding to the bucket, and the force arm of the end relative to the boom hinge point (that is, the above-mentioned target point). As Figure 3 As shown, F 动臂 F is the oil cylinder pressure of the boom corresponding to the oil cylinder; 斗杆 F is the cylinder pressure of the cylinder corresponding to the boom; 铲斗 is the oil cylinder pressure of the bucket; L1 is the lever arm of the boom cylinder relative to the boom hinge point; L2 is the lever arm of the arm cylinder relative to the boom hinge point; L3 is the lever arm of the bucket cylinder relative to the boom hinge point; L4 is the lever arm of the end relative to the boom hinge point. 负载 *L4=F 动臂 *L1+F 斗杆 *L2+F 铲斗 *L3, get the end resistance, where F 负载 The end resistance.

[0050] The terminal motion speed at this time is obtained by differentially obtaining the angle sensors of each joint. Specifically, the angle of each joint is obtained by the angle sensors of each joint, the angular velocity of each joint is obtained by differential, and the terminal motion speed is obtained based on positive kinematics. It is judged whether the terminal motion speed is within the normal range, that is, whether the terminal motion speed and the preset terminal motion speed meet the preset speed condition, so as to judge whether the bucket operation is obstructed at this time. Among them, the preset terminal motion speed can be determined according to the specific situation. In this embodiment, the terminal motion speed is much smaller than the preset terminal motion speed when the preset speed condition is met. If the terminal motion speed is not within the normal motion range, that is, the terminal motion speed and the preset terminal motion speed meet the preset speed condition, it is considered that the bucket operation is obstructed and cannot continue to move. If the terminal motion speed is within the normal motion range, that is, the terminal motion speed and the preset terminal motion speed do not meet the preset speed condition, it is determined that the operation of the working device is not obstructed.

[0051] If the end-of-slope speed is within the normal range, the end position of the bucket is determined to have reached the end of the planned trajectory. In other words, it is determined whether the end position of the bucket has reached the target end position in the preset planned operation trajectory of the current working surface. If the end position of the bucket has reached the end of the planned trajectory, the preset planned operation trajectory of the current working surface is completed and the next slope operation is carried out. If the end position of the bucket has not reached the end of the planned trajectory, the operation is continued and the end-of-slope speed is re-determined to be within the normal range.

[0052] When the terminal movement speed is not within the normal movement range, check the current power level of the bucket in the current state to determine whether the terminal resistance exceeds (is greater than) the maximum load force of the bucket's current power level. When the terminal resistance exceeds (is greater than) the maximum load force of the current power level, determine whether the current power level is the maximum power level of the bucket. When the current power level is not the maximum power level, it is considered that the movement of the working device is restricted due to insufficient power level. At this time, the working device can continue to move by increasing the power level. When the current power level is the maximum power level, continue to brush the slope by adjusting the brushing posture. Specifically, retract the bucket arm to gradually reduce the brushing thickness, thereby reducing the size of the terminal resistance. When the terminal resistance does not exceed (is less than or equal to) the maximum load force of the current power level, adjust the brushing posture to continue to brush the slope.

[0053] After adjusting the brushing posture or increasing the power level, continue working and re-evaluate whether the terminal motion speed is within the normal range. Repeat this cycle until all planned brushing trajectories on the working surface are successfully completed.

[0054] Current excavator automation involves motion planning in a contactless space, meaning planning and precision control under no-load conditions. When applied to actual operations, such as slope-brushing operations, the excavator's movement is affected by resistance and its own posture, leading to problems such as inability to bruise, reduced precision, and dangerous chassis tilting. The technical solution provided in this embodiment of the present invention identifies the excavator's end resistance and controls its motion planning. This can avoid problems such as slow movement of the working device and tilting of the chassis when subjected to soil reaction forces, thereby improving precision during actual operations.

[0055] Accordingly, another aspect of an embodiment of the present invention provides a device for controlling an engineering machine to perform operations.

[0056] Figure 4 FIG. 1 is a block diagram of a device for controlling an engineering machine to perform operations according to another embodiment of the present invention. Figure 4As shown, the device includes a terminal resistance determination module 1 and an operation parameter adjustment module 2. The terminal resistance determination module 1 is used to determine the terminal resistance of the working device of the engineering machine; the operation parameter adjustment module 2 is used to adjust the operation parameters of the engineering machine according to the terminal resistance when the operation of the working device is obstructed.

[0057] Optionally, in an embodiment of the present invention, the device further includes: an operation obstruction determination module, which is used to determine the terminal movement speed of the working device before adjusting the operating parameters of the engineering machinery according to the terminal resistance when the operation of the working device is obstructed; when the terminal movement speed and the preset terminal movement speed meet the preset speed condition, it is determined that the operation of the working device is obstructed.

[0058] Optionally, in an embodiment of the present invention, the operation obstruction determination module is also used to: determine the cylinder pressure of the working device before adjusting the operating parameters of the engineering machinery according to the terminal resistance when the operation of the working device is obstructed; if the terminal movement speed and the preset terminal movement speed meet the preset speed condition, and the cylinder pressure of the working device meets the preset pressure condition, it is determined that the operation of the working device is obstructed.

[0059] Optionally, in an embodiment of the present invention, the operating parameter adjustment module adjusts the operating parameters of the engineering machinery according to the terminal resistance, including: obtaining the current power level of the engineering machinery and the maximum load force corresponding to the current power level; and adjusting the operating parameters of the engineering machinery according to the terminal resistance, the current power level and the maximum load force corresponding to the current power level.

[0060] Optionally, in an embodiment of the present invention, adjusting the operating parameters of the engineering machinery according to the terminal resistance, the current power gear and the maximum load force corresponding to the current power gear includes: when the current power gear is not the maximum power gear of the engineering machinery and the terminal resistance is greater than the maximum load force, increasing the power gear of the engineering machinery, and the operating parameters of the engineering machinery include the power gear.

[0061] Optionally, in an embodiment of the present invention, adjusting the operating parameters of the engineering machinery according to the terminal resistance, the current power gear and the maximum load force corresponding to the current power gear includes: when the current power gear is the maximum power gear and the terminal resistance is greater than the maximum load force, adjusting the operating posture of the working device, and the operating parameters of the engineering machinery include the operating posture.

[0062] Optionally, in an embodiment of the present invention, adjusting the operating parameters of the engineering machinery according to the terminal resistance, the current power gear and the maximum load force corresponding to the current power gear includes: when the terminal resistance is less than or equal to the maximum load force, adjusting the operating posture of the working device, and the operating parameters of the engineering machinery include the operating posture.

[0063] Optionally, in an embodiment of the present invention, the terminal resistance determination module determines the terminal resistance experienced by the working device of the engineering machinery, including: obtaining the posture of the working device and the cylinder pressure of each cylinder in the working device; determining the lever arm of the cylinder relative to the target point and the lever arm of the end of the working device relative to the target point based on the posture; determining the terminal resistance based on the cylinder pressure, the lever arm of the cylinder relative to the target point and the lever arm of the end of the working device relative to the target point, where the target point is the hinge point between the working device and the body of the engineering machinery.

[0064] The specific working principle and benefits of the device for controlling engineering machinery to perform operations provided by an embodiment of the present invention are similar to the specific working principle and benefits of the method for controlling engineering machinery to perform operations provided by an embodiment of the present invention, and will not be repeated here.

[0065] In addition, another aspect of the embodiments of the present invention further provides an engineering machine, which includes: the device described in the above embodiments.

[0066] In addition, another aspect of the embodiments of the present invention further provides a machine-readable storage medium, on which instructions are stored. When the instructions are executed by a processor, the processor is configured to execute the method described in the above embodiments.

[0067] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the scope of protection of the present invention.

[0068] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. To avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0069] In addition, the various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A method for controlling an engineering machine to perform an operation, characterized in that: The method includes: determining the end resistance experienced by the working device of the engineering machinery; and When the working device is blocked, the operating parameters of the engineering machine are adjusted according to the end resistance. Wherein, adjusting the operating parameters of the engineering machinery according to the terminal resistance includes: Obtaining a current power level of the engineering machinery and a maximum load force corresponding to the current power level; and The operating parameters of the engineering machinery are adjusted according to the terminal resistance, the current power gear and the maximum load force corresponding to the current power gear.

2. The method according to claim 1, characterized in that Before adjusting the operating parameters of the engineering machine according to the terminal resistance when the operation of the working device is blocked, the method further includes: determining a speed of movement of an end portion of the working device; and When the terminal movement speed and the preset terminal movement speed meet a preset speed condition, it is determined that the operation of the working device is obstructed.

3. The method according to claim 2, characterized in that Before adjusting the operating parameters of the engineering machine according to the terminal resistance when the operation of the working device is blocked, the method further includes: determining the oil cylinder pressure of the working device; If the terminal movement speed and the preset terminal movement speed meet a preset speed condition, and the oil cylinder pressure of the working device meets a preset pressure condition, it is determined that the operation of the working device is obstructed.

4. The method according to claim 1, wherein The step of adjusting the operation parameters of the engineering machine according to the terminal resistance, the current power gear, and the maximum load force corresponding to the current power gear includes: When the current power gear is not the maximum power gear of the engineering machine and the terminal resistance is greater than the maximum load force, the power gear of the engineering machine is increased, and the operating parameters of the engineering machine include the power gear.

5. The method according to claim 1, wherein The step of adjusting the operation parameters of the engineering machine according to the terminal resistance, the current power gear, and the maximum load force corresponding to the current power gear includes: When the current power gear is the maximum power gear of the engineering machine and the terminal resistance is greater than the maximum load force, the working posture of the working device is adjusted, and the working parameters of the engineering machine include the working posture.

6. The method according to claim 1, characterized in that The step of adjusting the operation parameters of the engineering machine according to the terminal resistance, the current power gear, and the maximum load force corresponding to the current power gear includes: When the end resistance is less than or equal to the maximum load force, the working posture of the working device is adjusted, and the working parameters of the engineering machine include the working posture.

7. The method according to claim 1, characterized in that Determining the end resistance of the working device of the engineering machinery includes: Acquiring the posture of the working device and the cylinder pressure of each cylinder in the working device; Determining the moment arm of the cylinder relative to the target point and the moment arm of the end of the working device relative to the target point according to the posture; The end resistance is determined based on the cylinder pressure, the cylinder's lever arm relative to a target point, and the end arm of the working device relative to the target point, where the target point is a hinge point between the working device and the body of the engineering machine.

8. A device for controlling an engineering machine to perform operations, characterized in that: The device includes: a terminal resistance determination module, configured to determine the terminal resistance experienced by the working device of the engineering machinery; and An operating parameter adjustment module is used to adjust the operating parameters of the engineering machinery according to the terminal resistance when the operation of the working device is blocked. The operation parameter adjustment module adjusts the operation parameters of the engineering machine according to the terminal resistance, including: Obtaining a current power level of the engineering machinery and a maximum load force corresponding to the current power level; and The operating parameters of the engineering machinery are adjusted according to the terminal resistance, the current power gear and the maximum load force corresponding to the current power gear.

9. An engineering machine, characterized in that: The construction machinery includes: The device according to claim 8.

10. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by a processor, the processor is configured to perform the method according to any one of claims 1 to 7.

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