A method, apparatus and system for controlling a construction machine

Abstract

The application relates to the technical field of engineering machinery control, and discloses an engineering machinery control method, device and system, wherein a data frame ID is arranged in a remote controller transceiver, frame information associated with each data frame ID comprises a page number of a remote control page, and a remote control page method is prearranged in the remote controller and comprises the following steps: receiving a target remote control page sent by the remote controller through the remote controller transceiver; determining one or more target data frame IDs associated with a target page number according to the target page number of the target remote control page through the remote controller transceiver, and generating corresponding target data frames by using operation data of the target remote control page and the target data frame IDs; and then feeding back the target data frames to a crane on-board controller through the remote controller transceiver. The application breaks through the limitation of the remote controller on the communication data volume.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of engineering machinery control, and in particular to an engineering machinery control method, device and system. BACKGROUND

[0002] In order to protect the safety of engineering machinery drivers and to provide drivers with a more open operating field of view, the technology of remotely controlling the operation of engineering machinery such as cranes and excavators through remote controllers is a research hotspot. Taking a crane as an example, the same applies to other engineering machinery. At present, the remote controller and the remote controller transceiver in the crane controller generally use wireless communication, and the crane controller generally uses a CAN bus. As shown in Figure 1 , it is the data frame format of the CAN bus. In order to realize the function of wireless remote control, the related technology will solidify the frame ID on the application layer of the remote controller, and different operation functions correspond to different frame IDs. As shown in Figure 2 , when the user remotely operates through the remote controller, the remote controller sends data to the remote controller transceiver according to the frame ID, the remote controller transceiver receives the data and feeds back the data to the crane controller for corresponding control. In a frame of data sent, the data used for actual operation occupies at most 8 bytes, such as Figure 1 bytes 4 to 11. Each frame of data also includes other information about the frame. Limited by the communication data volume of the remote controller itself, at most 8 frames of data are sent at a time. Crane long angle sensor calibration, throttle pedal sensor calibration and force limiter no-load calibration require a certain amount of data, and a large amount of data needs to be transmitted through a remote control operation. However, the current communication data volume limitation of the remote controller makes it impossible to complete the crane long angle sensor calibration, throttle pedal sensor calibration and force limiter no-load calibration through the remote controller. SUMMARY

[0003] Therefore, the present application provides an engineering machinery control method, device and system to solve the problem of communication data volume limitation of the engineering machinery remote controller.

[0004] In a first aspect, the present application provides an engineering machine control method, the method is applied to a host vehicle control system, the host vehicle control system comprises a remote control transceiver, the remote control transceiver is pre-deployed with a data frame ID, the remote control transceiver is in communication connection with a remote control, the remote control is pre-deployed with a remote control page, frame information associated with the data frame ID comprises a page number of the remote control page, and the method comprises the following steps: receiving, by the remote control transceiver, a target remote control page sent by the remote control, the target remote control page is a remote control page corresponding to an operation function of a current remote control operation received by the remote control, and the target remote control page comprises operation data generated by the remote control in response to the received current remote control operation; determining, by the remote control transceiver, one or more target data frame IDs associated with a target page number of the target remote control page according to the target page number; generating, by the remote control transceiver, corresponding target data frames by using the operation data in the target remote control page and the target data frame IDs; and sending, by the remote control transceiver, the target data frames to an upper vehicle controller in the host vehicle control system.

[0005] According to the above technical means, since a plurality of remote control pages capable of writing a large number of data frames at the same time are deployed in the remote control, and the data frame ID is not stored in the remote control but is fixed in the remote control transceiver, and the frame information associated with each data frame ID saves the page number of the corresponding remote control page. When a user performs a remote control operation through the remote control, a plurality of remote control data can be transmitted to the remote control transceiver through the remote control page at the same time, the remote control transceiver determines which data frame ID the operation data in the remote control page should belong to according to the transmitted page number, thereby generating a large number of target data frames at one time by using the matched data frame ID and the transmitted operation data. Since the page can transmit hundreds of bytes at one time, the actual number of transmitted data frames can reach dozens of frames, thereby breaking through the limitation of the related art on the communication data volume of the remote control, solving the demand for data volume in the calibration operation, and further enabling remote calibration of the engineering machine.

[0006] In an optional implementation, the method further comprises: correcting, by the upper vehicle controller, a reference speed of the oil pump motor according to the operation data; receiving, by the upper vehicle controller, an accelerator input quantity of the upper vehicle accelerator pedal; and calculating, by the upper vehicle controller, an output speed of the oil pump motor by using the reference speed and the accelerator input quantity.

[0007] According to the above technical means, the reference speed of the oil pump motor is corrected according to the operation of the user on the remote control, so that the speed of the oil pump motor is more matched with the demand of the user. When the user operates less or does not operate, a lower reference speed is adopted to achieve the effect of energy saving of the engineering machine. When the user operates more, a higher reference speed is adopted, so that when the user needs to speed up the operation of the remote control through the accelerator pedal, the accelerator can respond faster, and thus the response of the upper vehicle machinery is faster, and the fast action of the engineering machine is achieved.

[0008] In an alternative embodiment, the method for correcting the reference speed of the oil pump motor according to the operation data by the on-board controller comprises: setting the reference speed as the minimum speed of the oil pump motor when the remote controller is off; calculating a reference speed adjustment value according to the preset speed coefficient and the remote controller operation output represented by the operation data when the remote controller is on, and adding the reference speed adjustment value and the minimum speed of the oil pump motor as the reference speed.

[0009] According to the above technical means, when the remote controller is not enabled, the remote controller page has no operation, and the corresponding reference speed is set as the minimum speed of the oil pump motor, thereby achieving the effect of energy saving. When the remote controller is on, the reference speed adjustment value that should be adjusted upward is calculated by superimposing the preset speed coefficient and the remote controller operation output represented by the operation data, thereby adding the reference speed adjustment value and the minimum speed of the oil pump motor to improve the reference speed, so that the user can accelerate the remote controller operation through the accelerator pedal, the accelerator responds faster, and the action of the on-board machinery responds faster, thereby realizing the fast action of the engineering machinery.

[0010] In an alternative embodiment, setting the reference speed as the minimum speed of the oil pump motor comprises: when the crane is in the energy-saving mode, the minimum speed of the oil pump motor is the idle speed of the oil pump motor; and when the engineering machinery is not in the energy-saving mode, the minimum speed of the oil pump motor is a preset speed value.

[0011] In an alternative embodiment, calculating the reference speed adjustment value according to the preset speed coefficient and the remote controller operation output represented by the operation data comprises: when the remote controller operation output comprises a reference speed gear parameter, taking the product of the reference speed gear parameter and a first preset speed coefficient as a first speed adjustment value, the first preset speed coefficient is the speed change amount corresponding to each increase or decrease of a gear; when the remote controller operation output comprises the directional output of the remote control handle in the X-axis or Y-axis, reading the maximum directional output of the remote control handle, and calculating a second speed adjustment value by using the product of the maximum directional output and a second preset speed coefficient; comparing the second speed adjustment value with a preset speed increment threshold value; when the second speed adjustment value is less than or equal to the preset speed increment threshold value, calculating the sum of the second speed adjustment value and the first speed adjustment value as the reference speed adjustment value; and when the second speed adjustment value is greater than the preset speed increment threshold value, calculating the sum of the preset speed increment threshold value and the first speed adjustment value as the reference speed adjustment value.

[0012] According to the above technical means, the reference speed of the oil pump motor is divided into three parts, the first part is the minimum speed of the oil pump motor, the second part is the first speed adjustment value, and the third part is the second speed adjustment value. The first speed adjustment value is that the user adjusts the reference speed according to the preset first preset speed coefficient, thereby directly adjusting the reference speed according to the user demand. The second speed adjustment value is that the maximum output of the remote control handle in the X axis or Y axis of the remote control in the remote control is detected in real time, thereby judging whether the user has a large amplitude movement demand for the engineering machinery arm, thereby further calculating a parameter for increasing the reference speed by multiplying the maximum direction output and the second preset speed coefficient. Finally, the minimum speed of the oil pump motor, the first speed adjustment value and the second speed adjustment value are added to obtain the reference speed, which takes into account the two factors of energy saving and fast response, and plays the effect of fast action of the engineering machinery.

[0013] In an alternative embodiment, the output speed of the oil pump motor is calculated by the cab controller using the reference speed and the throttle input, including: calculating the input percentage of the throttle input in the full range of the throttle by the full range of the throttle and the throttle input; calculating the speed difference value between the upper limit of the speed of the oil pump motor and the reference speed; determining the speed adjustment value by multiplying the speed difference value and the input percentage; and determining the output speed of the oil pump motor by the sum of the speed adjustment value and the reference speed.

[0014] According to the above technical means, since the adjustment of the reference speed, the oil pump motor does not start accelerating from 0 speed by the throttle pedal signal, so the embodiment calculates the input percentage of the throttle pedal input in the full range in advance, and then calculates the actual speed up value between the upper limit of the speed and the reference speed by using the input percentage, that is, the speed adjustment value, and finally determines the output speed of the oil pump motor by the sum of the speed adjustment value and the reference speed, thereby improving the accuracy of the actual output speed of the oil pump motor.

[0015] In a second aspect, the present application provides an engineering machinery control method, the method is applied to a remote control, the remote control is pre-deployed with a remote control page, the remote control is in communication connection with a remote control transceiver in a main vehicle control system, the remote control transceiver is pre-deployed with a data frame ID, the frame information associated with the data frame ID includes the page number of the remote control page, and the method includes: receiving a current remote control operation, and in response to the current remote control operation, generating operation data of the current remote control operation in a target remote control page, the target remote control page being the remote control page corresponding to the operation function of the current remote control operation; sending the target remote control page to the remote control transceiver, so that the remote control transceiver determines one or more target data frame IDs associated with the target page number according to the target page number of the target remote control page, and generates a corresponding target data frame by using the operation data in the target remote control page and the target data frame ID.

[0016] In a third aspect, the present application provides an engineering machinery control device, which is applied to a host vehicle control system, the host vehicle control system comprising a remote controller transceiver, the remote controller transceiver being pre-provisioned with data frame IDs, the remote controller transceiver being in communication connection with a remote controller, the remote controller being pre-provisioned with remote control pages, frame information associated with the data frame IDs comprising page numbers of the remote control pages, the device comprising: a data receiving module, configured to receive a target remote control page sent by the remote controller through the remote controller transceiver, the target remote control page being a remote control page corresponding to an operation function of a current remote control operation received by the remote controller, the target remote control page comprising operation data generated by the remote controller in response to the received current remote control operation; an ID matching module, configured to determine one or more target data frame IDs associated with a target page number of the target remote control page through the remote controller transceiver according to the target page number; a data frame generating module, configured to generate a corresponding target data frame by using the operation data in the target remote control page and the target data frame IDs through the remote controller transceiver; and a data feedback module, configured to send the target data frame to an upper vehicle controller in the host vehicle control system through the remote controller transceiver.

[0017] In a fourth aspect, the present application provides an engineering machinery control device, which is applied to a remote controller, the remote controller being pre-provisioned with remote control pages, the remote controller being in communication connection with a remote controller transceiver in a host vehicle control system, the remote controller transceiver being pre-provisioned with data frame IDs, frame information associated with the data frame IDs comprising page numbers of the remote control pages, the device comprising: an operation data generating module, configured to receive a current remote control operation, and in response to the current remote control operation, generate operation data of the current remote control operation in a target remote control page, the target remote control page being a remote control page corresponding to an operation function of the current remote control operation; and a page sending module, configured to send the target remote control page to the remote controller transceiver, so that the remote controller transceiver determines one or more target data frame IDs associated with a target page number of the target remote control page according to the target page number, and generates a corresponding target data frame by using the operation data in the target remote control page and the target data frame IDs, and then feeds back the target data frame to an upper vehicle controller in the host vehicle control system.

[0018] In a fifth aspect, the present application provides an engineering machinery control system, comprising: a host vehicle control system and a remote controller, the host vehicle control system comprising a remote controller transceiver, the remote controller being in wireless communication connection with the remote controller transceiver; the host vehicle control system and the remote controller respectively storing computer instructions, the host vehicle control system executing the computer instructions to execute the method provided in any of the optional implementation manners of the first aspect, and the remote controller executing the computer instructions to execute the method of the second aspect. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the prior art, the drawings needed to be used in the specific embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0020] Figure 1 is a schematic diagram of a CAN bus data frame structure of the related art;

[0021] Figure 2 is a schematic diagram of a remote controller and remote controller transceiver data transmission format of the related art;

[0022] Figure 3 is a schematic diagram of a hardware structure of an engineering machinery control system according to an embodiment of the present application;

[0023] Figure 4 is a schematic diagram of a flow of an engineering machinery control method according to an embodiment of the present application;

[0024] Figure 5 is a schematic diagram of a configuration flow of a remote control page and data frame ID according to an embodiment of the present application;

[0025] Figure 6 is a schematic diagram of a remote controller and remote controller transceiver data transmission format according to an embodiment of the present application;

[0026] Figure 7 is a second schematic diagram of a flow of an engineering machinery control method according to an embodiment of the present application;

[0027] Figure 8 is a third schematic diagram of a flow of an engineering machinery control method according to an embodiment of the present application;

[0028] Figure 9 is a fourth schematic diagram of a flow of an engineering machinery control method according to an embodiment of the present application;

[0029] Figure 10 is a fifth schematic diagram of a flow of an engineering machinery control method according to an embodiment of the present application;

[0030] Figure 11 is a sixth schematic diagram of a flow of an engineering machinery control method according to an embodiment of the present application;

[0031] Figure 12 is a seventh schematic diagram of a flow of an engineering machinery control method according to an embodiment of the present application;

[0032] Figure 13This is a schematic diagram of the structure of an engineering machinery control device according to an embodiment of the present invention;

[0033] Figure 14 This is another structural schematic diagram of an engineering machinery control device according to an embodiment of the present invention. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] like Figure 3 As shown, this embodiment of the invention provides a control system for engineering machinery, specifically including: a main vehicle control system M1 and a remote controller A3. The main vehicle control system M1 includes an abutment controller VCU, an electric drive controller A1, an upper vehicle oil pump motor A2, a power management system P1, a T-BOX, a remote controller transceiver A4, a long-angle sensor A5, an upper vehicle controller A6, and a gateway A7. The abutment controller VCU, electric drive controller A1, upper vehicle oil pump motor A2, power management system P1, T-BOX, remote controller transceiver A4, and upper vehicle controller A6 are connected to the gateway A7 via a CAN bus. The long-angle sensor A5 is communicatively connected to the upper vehicle controller A6 via a CAN bus. The remote controller A3 is wirelessly connected to the remote controller transceiver A4.

[0036] Specifically, the main vehicle control system M1 refers to the control system of the engineering machinery itself, the hardware devices contained in the main vehicle control system M1 are all installed on the engineering machinery, and the remote controller A3 is independent of the engineering machinery. The lower vehicle controller VCU is connected to the gateway A7 through the CAN bus and communicates with other hardware modules. Generally, the engineering machinery is divided at the slewing support (a typical application is a crane, which is only an example and is not limited to this). The part above the slewing support is the upper vehicle, and the part below the slewing support is the lower vehicle. In addition to being able to realize the control functions of traditional vehicles such as controlling the wheels, steering, and windows, the lower vehicle controller VCU can also control the hydraulic outriggers of the engineering machinery. Among them, the electric drive controller A1 and the upper vehicle oil pump motor A2 form a drive control system. The electric drive controller A1 is used to control the speed of the upper vehicle oil pump motor A2, and the upper vehicle oil pump motor A2 is used to provide power for the hydraulic system, so that the hydraulic system can work normally. The power management system P1 is used to manage the battery current, battery voltage, and real-time detection of the battery status. The T-BOX, which is a Telematics-BOX, is a vehicle networking control unit used for remote upgrading and real-time data monitoring, facilitating remote fault handling and real-time monitoring of vehicle information. The remote controller transceiver A4 is used to receive the remote control signals of the remote controller A3 or to feed back the enable signals to the remote controller A3. When the remote controller transceiver A4 locally enables the remote controller A3, the remote controller A3 can obtain control of the engineering machinery. In this embodiment, the remote controller A3 has priority control. When the remote controller transceiver A4 is not communicating with the remote controller A3, the local control can be obtained by pressing the local enable button, and the upper vehicle of the engineering machinery can be operated through the hydraulic handle in the cab. In this embodiment, Rola wireless communication is used between the remote controller A3 and the remote controller transceiver A4, and CAN communication is used between the remote controller transceiver A4 and the upper vehicle controller A6. The upper vehicle controller A6 reads or sends the required data to the remote controller transceiver A4 through CAN communication. In this embodiment, the remote controller transceiver A4, the long-angle sensor A5, and the upper vehicle controller A6 form an upper vehicle control system. The remote controller A3 can realize functions such as calibration of vehicle sensors and no-load calibration, realize remote operation and real-time information monitoring of the vehicle, and realize boom stretching, boom slewing, boom amplitude changing, and winch operation under the cooperation of the hydraulic system. In addition, the remote controller A3 is provided with a buzzer to prevent excessive noise during operation from affecting the judgment of the operator. When an abnormal condition occurs, the buzzer installed on the upper vehicle and the buzzer of the remote controller A3 can remind the operator in the first time. The long-angle sensor A5 is a sensor that detects the position of an object by measuring the distance between the object and the sensor. It is a non-contact sensor with a working principle similar to radar. The long-angle sensor A5 is used to monitor the length of the boom and the angle of the amplitude in real time. The relevant data are interacted with the force limiter in real time to prevent the vehicle from overturning. Figure 3The lower vehicle controller VCU, the electric drive controller A1, and the upper vehicle oil pump motor A2 are connected to the CAN2 interface of the gateway A7, the power management system P1 is connected to the gateway A7 through the CAN3 interface, the T-BOX and the upper vehicle controller A6 are connected to the gateway A7 through the CAN4, the remote control transceiver A4 is connected to the upper vehicle controller A6 through the CAN0 bus, and the long-angle sensor A5 is connected to the upper vehicle controller A6 through the CAN1 bus.

[0037] In the embodiment of the present application, in order to solve the problem of the communication data volume limit of the remote control of the engineering machinery, the instruction program is deployed in the remote control and the remote control transceiver respectively, so that the remote control and the remote control transceiver execute the corresponding engineering machinery control method by running the instruction program to break through the communication data volume limit of the remote control. The engineering machinery control method provided in the embodiment of the present application is specifically described below.

[0038] According to the embodiment of the present application, an engineering machinery control method is also provided. It should be noted that the steps shown in the flowchart of the drawings can be executed in a computer system such as a group of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0039] In the embodiment, an engineering machinery control method is provided, wherein the remote control transceiver pre-deploys one or more data frame IDs, and the remote control deploys one or more remote control pages, and the frame information associated with each data frame ID saves the page number of different remote control pages. In the embodiment of the present application, steps S101-S104 are applied to the main vehicle control system, and steps S201-S202 are applied to the remote control. Figure 4 The flowchart of the engineering machinery control method according to the embodiment of the present application includes the following steps:

[0040] In step S201, the current remote control operation is received through the remote control, and in response to the current remote control operation, operation data of the current remote control operation is generated in a target remote control page, and the target remote control page is a remote control page corresponding to the operation function of the current remote control operation.

[0041] In step S202, the target remote control page is sent to the remote control transceiver through the remote control.

[0042] Specifically, the embodiment of the present application pre-deploys a plurality of remote control pages in the remote controller, the remote control page refers to the display page of the remote controller, the byte capacity of the remote control page is large, the byte capacity of each remote control page can support the operation data of writing a plurality of data frames (in the embodiment, only the operation data is generated according to the actual operation of the user in the remote control page, and other irrelevant data such as data frame ID and frame information is not written in the remote control page), since one page corresponds to a plurality of data frames, the functions corresponding to each remote control page are also different, in the embodiment, different instruction data needs to be input to the same or different remote control pages according to the actual operation function of the input data, for example: the instruction data needs to be input on the first remote control page for the first operation to the tenth operation, the instruction data needs to be input on the second remote control page after page turning for the eleventh operation to the twentieth operation. The data frame ID is no longer fixed in the application layer of the remote controller, when the operation data is sent, the data is transmitted to the remote controller transceiver in units of pages. Each remote control page has a different page number, before the remote controller is put into use, the remote controller information to be sent and received corresponding to each page number needs to be planned, according to the transmission protocol and the page number, the remote controller application layer program sends and receives the corresponding data, so that the page number of the remote control page serves as an index of the query data, and plays a role of matching the corresponding data frame ID in the remote controller transceiver.

[0043] Step S101, receiving the target remote control page sent by the remote controller through the remote controller transceiver.

[0044] Step S102, determining one or more target data frame IDs associated with the target page number according to the target page number of the target remote control page through the remote controller transceiver.

[0045] Step S103, generating the corresponding target data frame by using the operation data in the target remote control page and the target data frame ID through the remote controller transceiver.

[0046] Step S104, sending the target data frame to the on-board controller in the main vehicle control system through the remote controller transceiver.

[0047] Specifically, the remote controller transceiver receives and sends related data through the Rola wireless transmission protocol, the embodiment of the present application only writes the data frame ID on the bottom layer program of the remote controller transceiver, for example, as shown in the data frame structure of Figure 1 , considering that the operation functions corresponding to different remote control pages are different, so that each data frame ID fills the page number of the corresponding remote control page in the associated frame information according to the responsible operation function, as shown in Figure 5 , it is a configuration flow chart of the remote control page and the data frame ID. After the configuration work is completed, when the remote controller transceiver receives the target remote control page sent by the remote controller, as shown in Figure 6As shown, the target page number of the target remote control page is used to query and match the page number in the frame information associated with each local data frame ID, to determine which target data frame ID matches the target remote control page, so that the operation data in the target remote control page is filled into the data structure of the target data frame ID to generate a target data frame, and finally the target data frame is returned to the upper controller to perform a corresponding control action. According to the above technical means, since a plurality of remote control pages capable of writing a large number of data frames at the same time are deployed in the remote controller, and the data frame ID is not stored in the remote controller, but is fixed in the remote controller transceiver, and the frame information associated with each data frame ID saves the page number of the corresponding remote control page. When the user performs a remote control operation through the remote controller, multiple remote control data can be transmitted to the remote controller transceiver through the remote control page at the same time, and the remote controller transceiver determines which data frame ID the operation data in the remote control page should belong to according to the transmitted page number, so that a large number of target data frames are generated at one time by using the matched data frame ID and the transmitted operation data. Since the page can transmit hundreds of bytes at one time, the actual number of transmitted data frames can reach dozens of frames, thereby breaking through the related technical limitation on the communication data volume of the remote controller, solving the demand for data volume in the calibration operation, and thereby enabling the remote calibration operation of the engineering machinery.

[0048] In some optional embodiments, the engineering machinery control method provided by the embodiment of the present application further includes the following steps:

[0049] Step a1, correcting the reference speed of the oil pump motor by the upper controller according to the operation data;

[0050] Step a2, receiving the throttle input of the upper throttle pedal by the upper controller;

[0051] Step a3, calculating the output speed of the oil pump motor by the upper controller using the reference speed and the throttle input.

[0052] Specifically, the current remote operation scheme of the remote controller cannot quickly adjust the rotation speed of the oil pump motor according to the rotation speed given by the remote controller, and the rotation speed of the oil pump motor still needs to be adjusted in the cab, and the rotation speed of the oil pump motor does not support adaptive adjustment, and can only be adjusted by the accelerator pedal, so that the response of the quick action of the engineering machinery during operation is not timely enough. Based on this, when the remote controller transceiver receives the operation data sent by the remote controller through the remote control page, the embodiment of the application also corrects the reference speed (the reference speed is the lower limit of the rotation speed of the oil pump motor) of the oil pump motor through the actual operation amount of the remote controller represented by the operation data in the on-board controller, so that the rotation speed of the oil pump motor is more matched with the user's demand, so that a lower reference speed is used when the user's remote control operation is less or not, and the effect of energy saving of the engineering machinery is achieved. When the user operates more, a higher reference speed is used, so that when the user needs to speed up the remote controller operation through the accelerator pedal, the accelerator response is faster, and the action response of the on-board machinery is faster, realizing the quick action of the engineering machinery in remote control.

[0053] In some optional embodiments, the above step a1 specifically comprises:

[0054] Step b1, when the remote controller is turned off, setting the reference speed as the minimum rotation speed of the oil pump motor;

[0055] Step b2, when the remote controller is turned on, calculating the reference speed adjustment value according to the preset speed coefficient and the remote controller operation output represented by the operation data, and taking the sum of the reference speed adjustment value and the minimum rotation speed of the oil pump motor as the reference speed.

[0056] Specifically, as Figure 7As shown, when the remote control is enabled on the operation page, the remote control is off, and in this embodiment, the oil pump motor runs at its lowest speed, saving energy. When the remote control is enabled on the operation page, the remote control is on. To achieve rapid remote control action, a base speed adjustment value needs to be calculated based on a preset speed coefficient and the remote control operation output represented by operation data. In this embodiment, the preset speed coefficient is an empirical parameter set by the user. That is, based on the user's output to the remote control (generally without units), the preset speed coefficient is used to convert the output to units, obtaining the speed amount that the base speed should be adjusted. Then, by using the preset speed coefficient and the remote control operation output represented by operation data, addition or multiplication operations are performed to determine the accurate base speed adjustment value. Finally, the sum of the base speed adjustment value and the minimum speed of the oil pump motor is calculated to obtain the adjusted base speed. This increases the base speed of the oil pump motor under remote control enabled conditions, and the increase is adaptive based on the user's actual operation, rather than a simply and crudely prescribed increase in speed, thus achieving energy saving. On this basis, the oil pump motor speed can be further increased under a higher base speed condition based on the input signal of the accelerator pedal, making the construction machinery move faster, achieving both energy saving and rapid action effects. In addition, in this embodiment, the remote control's main page can also switch the oil pump motor on and off by selecting a button. Real-time vehicle information is displayed on the main page, and alarm information indicates abnormal vehicle conditions. The cause of the fault can be quickly located by viewing the alarm information.

[0057] In some alternative implementations, step b1 specifically includes:

[0058] Step c1: When the construction machinery is in energy-saving mode, the minimum speed of the oil pump motor is the idle speed of the oil pump motor.

[0059] Step c2: When the construction machinery is not in energy-saving mode, the minimum speed of the oil pump motor is the preset speed value.

[0060] Specifically, such as Figure 8 As shown, in the energy-saving mode of the construction machinery, the minimum speed of the oil pump motor is set to the idle speed. In the non-energy-saving mode, the minimum speed is set to a user-defined preset speed value, which the user can set based on the experienced operating conditions of the construction machinery (the preset speed value is denoted as the base speed of 0). The solution provided in this embodiment achieves flexible setting of the minimum speed of the oil pump motor, thereby further reducing the energy consumption of the construction machinery.

[0061] In some alternative implementations, step b2 specifically includes:

[0062] Step d1, when the remote controller operation output quantity includes the reference speed gear parameter, the first rotation speed adjustment value is calculated by using the product of the reference speed gear parameter and the first preset speed coefficient, and the first preset speed coefficient is the rotation speed change amount corresponding to each increase or decrease of a gear.

[0063] Step d2, when the remote controller operation output quantity includes the direction output quantity of the remote control handle in the X axis or Y axis, the maximum direction output quantity of the remote control handle is read, and the second rotation speed adjustment value is calculated by using the product of the maximum direction output quantity and the second preset speed coefficient.

[0064] Step d3, the second rotation speed adjustment value is compared with the preset speed increment threshold value.

[0065] Step d4, when the second rotation speed adjustment value is less than or equal to the preset speed increment threshold value, the sum of the second rotation speed adjustment value and the first rotation speed adjustment value is calculated as the reference rotation speed adjustment value.

[0066] Step d5, when the second rotation speed adjustment value is greater than the preset speed increment threshold value, the sum of the preset speed increment threshold value and the first rotation speed adjustment value is calculated as the reference rotation speed adjustment value.

[0067] Specifically, in the embodiment, the reference rotation speed of the oil pump motor is divided into three parts, the first part is the minimum rotation speed of the oil pump motor (denoted as reference speed 0), the second part is the first rotation speed adjustment value (denoted as reference speed 1), and the third part is the second rotation speed adjustment value (denoted as reference speed 2), wherein the sum of the second part and the third part is the reference rotation speed adjustment value, which is used to adjust the first part. The first rotation speed adjustment value is directly adjusted according to the user's demand by increasing or decreasing the reference rotation speed according to the preset first preset speed coefficient. For example Figure 9 As shown, the gear β adjustment can be directly realized on the remote controller operation page by the first key F1 and the second key F2 of the remote controller, and pressing F1 once represents increasing one gear, and pressing F2 once represents decreasing one gear. When the gear is determined, the first preset speed coefficient and the gear are multiplied to obtain the rotation speed change amount corresponding to each gear, and the rotation speed change amount corresponding to each gear is represented by the first preset speed coefficient K1, for example, K1 is 100 revolutions / min, and each gear corresponds to adjusting the reference rotation speed by 100 revolutions / min. In the embodiment, the second rotation speed adjustment value is obtained by detecting the maximum output quantity of the remote control handle in the X axis or Y axis of the remote control handle in real time, so as to determine whether the user has a large amplitude movement demand for the force arm of the crane, for example Figure 10As shown, the maximum value P of the absolute values of the outputs of the left and right handles on the X and Y axes respectively is taken as the maximum directional output, and a parameter for increasing the reference speed is calculated using the product of the maximum directional output and a second preset speed coefficient K2 (K2 is an empirical parameter, a unit conversion parameter set by the user according to the operating conditions of the construction machinery, used to convert the maximum directional output without units into a speed adjustment amount with a speed unit). As shown, Figure 11 As shown, the minimum speed of the oil pump motor (denoted as reference speed 0), the first speed adjustment value (denoted as reference speed 1), and the second speed adjustment value (denoted as reference speed 2) are finally added to obtain the reference speed, taking into account both energy saving and fast response, and achieving the effect of fast action of the construction machinery. It should be noted that the reference speed of the oil pump motor often has an upper limit and cannot be set too high, so the embodiment also sets a preset speed increment threshold. If the second speed adjustment value exceeds the preset speed increment threshold, the preset speed increment threshold is taken as the third part, to avoid overshooting of the reference speed and ensure the stability of the oil pump motor.

[0068] In some optional embodiments, the above step a3 comprises:

[0069] Step e1, calculating the input percentage of the accelerator input quantity to the full-scale accelerator by the full-scale accelerator and the accelerator input quantity.

[0070] Step e2, calculating the speed difference between the speed upper limit of the oil pump motor and the reference speed.

[0071] Step e3, determining the speed adjustment value using the product of the speed difference and the input percentage.

[0072] Step e4, determining the output speed of the oil pump motor by the sum of the speed adjustment value and the reference speed.

[0073] Specifically, as shown, Figure 12 Due to the adjustment of the reference speed, the oil pump motor is not accelerated from 0 speed after being triggered by the accelerator pedal signal, but is accelerated from the adjusted reference speed, so the acceleration interval is the difference between the speed upper limit and the reference speed. Therefore, the embodiment calculates the input percentage of the accelerator input quantity to the full-scale accelerator in advance, for example, 50%. Then, the actual speed up value is calculated between the speed upper limit and the reference speed using the input percentage, that is, the speed adjustment value calculated using the product of the speed difference and the input percentage. Finally, the output speed of the oil pump motor is determined by the sum of the speed adjustment value and the reference speed, improving the accuracy of the actual output speed of the oil pump motor.

[0074] There is also provided in the present embodiment a construction machine control device for implementing the above-described embodiments and preferred embodiments, which have been described above. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

[0075] The present embodiment also provides a construction machine control device, as shown in Figure 13 The device is applied to a host vehicle control system, which includes a remote controller transceiver, the remote controller transceiver is pre-provisioned with a data frame ID, the remote controller transceiver is in communication connection with a remote controller, the remote controller is pre-provisioned with a remote control page, frame information associated with the data frame ID includes a page number of the remote control page, and the device includes:

[0076] The data receiving module 1301 is configured to receive, by the remote controller transceiver, a target remote control page sent by the remote controller, the target remote control page being a remote control page corresponding to an operation function of a current remote control operation received by the remote controller, and the target remote control page including operation data generated by the remote controller in response to the received current remote control operation. For details, see the related description of step S101 in the above method embodiment, which will not be described here again.

[0077] The ID matching module 1302 is configured to determine, by the remote controller transceiver, one or more target data frame IDs associated with the target page number according to the target page number of the target remote control page. For details, see the related description of step S102 in the above method embodiment, which will not be described here again.

[0078] The data frame generating module 1303 is configured to generate, by the remote controller transceiver, a corresponding target data frame using the operation data in the target remote control page and the target data frame ID. For details, see the related description of step S103 in the above method embodiment, which will not be described here again.

[0079] The data feedback module 1304 is configured to send, by the remote controller transceiver, the target data frame to an upper vehicle controller in the host vehicle control system. For details, see the related description of step S104 in the above method embodiment, which will not be described here again.

[0080] The present embodiment also provides a construction machine control device, as shown in Figure 14 The device is applied to a remote controller, and the device includes:

[0081] The operation data generation module 1401 is configured to receive a current remote control operation, and generate operation data of the current remote control operation in a target remote control page corresponding to an operation function of the current remote control operation in response to the current remote control operation. For details, refer to the related description of step S201 in the method embodiments, which will not be repeated here.

[0082] The page sending module 1402 is configured to send the target remote control page to a remote control transceiver, so that the remote control transceiver determines one or more target data frame IDs associated with the target page number according to the target page number of the target remote control page, and generates a corresponding target data frame by using the operation data in the target remote control page and the target data frame ID, and then feeds back the target data frame to an on-board controller in the main vehicle control system. For details, refer to the related description of step S202 in the method embodiments, which will not be repeated here.

[0083] Further function descriptions of the above-mentioned modules and units are the same as those in the corresponding embodiments, which will not be repeated here.

[0084] The construction machinery control device in the embodiment is presented in the form of a functional unit. The unit herein refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory executing one or more software or fixed programs, and / or other devices that can provide the above-mentioned functions.

[0085] The embodiment of the present application also provides a computer readable storage medium. The method according to the embodiment of the present application can be implemented in hardware, firmware, or recorded in a storage medium, or stored in a remote storage medium or a non-transitory machine readable storage medium and stored in a local storage medium by downloading through a network, so that the method described herein can be processed by such software on a storage medium using a general-purpose computer, a special-purpose processor or programmable or special-purpose hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk or a solid state disk, etc. Further, the storage medium can also include a combination of the above-mentioned types of memories. It can be understood that the computer, processor, microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code, which is accessed and executed by the computer, processor or hardware when the software or computer code is accessed and executed, to implement the method shown in the above embodiments.

[0086] Although the embodiments of the present application are described in conjunction with the accompanying drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A method of controlling a construction machine, characterized by, The method is applied to a host vehicle control system, the host vehicle control system comprising a remote control transceiver, the remote control transceiver being pre-deployed with data frame IDs, the remote control transceiver being in communication connection with a remote control, the remote control being pre-deployed with remote control pages, each of the data frame IDs being filled with a page number of a corresponding remote control page in associated frame information according to a responsible operation function, the method comprising: receiving, by the remote control transceiver, a target remote control page sent by the remote control, the target remote control page being a remote control page corresponding to an operation function of a current remote control operation received by the remote control, the target remote control page comprising operation data generated by the remote control in response to the received current remote control operation; determining, by the remote control transceiver, one or more target data frame IDs associated with a target page number of the target remote control page according to the target page number; generating, by the remote control transceiver, a corresponding target data frame by using the operation data in the target remote control page and the target data frame IDs, the generating, by the remote control transceiver, the corresponding target data frame by using the operation data in the target remote control page and the target data frame IDs comprising: filling the operation data in the target remote control page into a data structure of the target data frame IDs to generate the target data frame; sending, by the remote control transceiver, the target data frame to an on-board controller in the host vehicle control system.

2. The method of claim 1, wherein, The method further comprises: correcting, by the on-board controller, a reference speed of an oil pump motor according to the operation data; receiving, by the on-board controller, an accelerator input of an on-board accelerator pedal; calculating, by the on-board controller, an output speed of the oil pump motor by using the reference speed and the accelerator input.

3. The method of claim 2, wherein, The correcting, by the on-board controller, the reference speed of the oil pump motor according to the operation data comprises: setting the reference speed as a minimum speed of the oil pump motor when the remote control is off; calculating a reference speed adjustment value according to a preset speed coefficient and a remote control operation output represented by the operation data when the remote control is on, and taking a sum of the reference speed adjustment value and the minimum speed of the oil pump motor as the reference speed.

4. The method of claim 3, wherein, The setting the reference speed as the minimum speed of the oil pump motor comprises: the minimum speed of the oil pump motor being an idle speed of the oil pump motor when the engineering machinery is in an energy-saving mode; the minimum speed of the oil pump motor being a preset speed value when the engineering machinery is not in the energy-saving mode.

5. The method of claim 3, wherein, The calculating the reference speed adjustment value according to the preset speed coefficient and the remote control operation output represented by the operation data comprises: when the remote control operation output comprises a reference speed gear parameter, taking a product of the reference speed gear parameter and a first preset speed coefficient as a first speed adjustment value, the first preset speed coefficient being a speed change amount corresponding to an increase or decrease of one gear; when the remote control operation output comprises a directional output of a remote control handle in an X-axis or a Y-axis, reading a maximum directional output of the remote control handle, and calculating a second speed adjustment value by using a product of the maximum directional output and a second preset speed coefficient. The second speed adjustment value is compared with a preset speed increment threshold value; When the second speed adjustment value is less than or equal to the preset speed increment threshold value, the sum of the second speed adjustment value and the first speed adjustment value is calculated as the reference speed adjustment value; When the second speed adjustment value is greater than the preset speed increment threshold value, the sum of the preset speed increment threshold value and the first speed adjustment value is calculated as the reference speed adjustment value.

6. The method of claim 5, wherein, The calculation of the output speed of the oil pump motor by the on-board controller using the reference speed and the throttle input quantity comprises: The input quantity percentage of the throttle input quantity in the full-scale range of the throttle is calculated by the full-scale range of the throttle and the throttle input quantity; The speed difference value between the upper limit of the speed of the oil pump motor and the reference speed is calculated; The speed adjustment value is determined by the product of the speed difference value and the input quantity percentage; The output speed of the oil pump motor is determined by the sum of the speed adjustment value and the reference speed.

7. A method of controlling a construction machine, characterized by, The method is applied to a remote controller, the remote controller is pre-deployed with a remote control page, the remote controller is in communication connection with a remote controller transceiver in a main vehicle control system, the remote controller transceiver is pre-deployed with a data frame ID, each data frame ID fills in the page number of the corresponding remote control page in the associated frame information according to the responsible operation function, and the method comprises: Receiving a current remote control operation, and in response to the current remote control operation, generating operation data of the current remote control operation in a target remote control page, the target remote control page being the remote control page of the operation function corresponding to the current remote control operation; Sending the target remote control page to the remote controller transceiver, so that the remote controller transceiver determines one or more target data frame IDs associated with the target page number according to the target page number of the target remote control page, and generates a corresponding target data frame by using the operation data in the target remote control page and the target data frame ID; wherein the generation of the corresponding target data frame by the remote controller transceiver using the operation data in the target remote control page and the target data frame ID comprises: filling the operation data in the target remote control page into the data structure of the target data frame ID to generate the target data frame.

8. A control device for a construction machine, characterized by The device is applied to a main vehicle control system, the main vehicle control system comprises a remote controller transceiver, the remote controller transceiver is pre-deployed with a data frame ID, the remote controller transceiver is in communication connection with a remote controller, the remote controller is pre-deployed with a remote control page, each data frame ID fills in the page number of the corresponding remote control page in the associated frame information according to the responsible operation function, and the device comprises: A data receiving module is configured to receive a target remote control page sent by a remote controller through the remote controller transceiver, the target remote control page being a remote control page of an operation function corresponding to a current remote control operation received by the remote controller, and the target remote control page comprising operation data generated by the remote controller in response to the received current remote control operation; An ID matching module is configured to determine one or more target data frame IDs associated with a target page number of the target remote control page according to the target page number of the target remote control page through the remote controller transceiver; a data frame generation module configured to generate a target data frame corresponding to the operation data in the target remote control page and the target data frame ID by using the remote control transceiver; a data feedback module configured to send the target data frame to an on-board controller in the main vehicle control system by using the remote control transceiver.

9. A control device for a construction machine, characterized by The device is applied to a remote control, the remote control is pre-deployed with a remote control page, the remote control is in communication connection with a remote control transceiver in a main vehicle control system, the remote control transceiver is pre-deployed with a data frame ID, each data frame ID is filled with a page number of a corresponding remote control page in associated frame information according to a responsible operation function, and the device comprises: an operation data generation module configured to receive a current remote control operation, and in response to the current remote control operation, generate operation data of the current remote control operation in a target remote control page, the target remote control page being a remote control page corresponding to an operation function of the current remote control operation; a page sending module configured to send the target remote control page to the remote control transceiver, so that the remote control transceiver determines one or more target data frame IDs associated with a target page number of the target remote control page according to the target page number, and generates a target data frame corresponding to the operation data in the target remote control page and the target data frame ID, and then feeds back the target data frame to an on-board controller in the main vehicle control system; wherein the remote control transceiver generates a target data frame corresponding to the operation data in the target remote control page and the target data frame ID by using the target data frame ID, which includes filling the operation data in the target remote control page into a data structure of the target data frame ID to generate the target data frame.

10. A control system for a construction machine, characterized in that The device comprises: a main vehicle control system and a remote control, the main vehicle control system comprising a remote control transceiver, the remote control being in wireless communication connection with the remote control transceiver; the main vehicle control system and the remote control respectively store computer instructions, the main vehicle control system executes the computer instructions to perform the method of any one of claims 1-6, and the remote control executes the computer instructions to perform the method of claim 7.

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