Method and device for controlling a water hose reel of a work machine, and work machine

Abstract

The application provides a water hose storage control method and device of a working machine and the working machine, and the method comprises the following steps: obtaining operation information and water hose characteristic parameters of a target water hose to be stored; determining a storage strategy of the target water hose in a storage area of the working machine according to the operation information and the water hose characteristic parameters, and controlling the target water hose to be stored in the storage area according to the storage strategy. According to the water hose characteristic parameters of the target water hose to be stored, the storage strategy of the target water hose in the storage area is determined, and the target water hose is automatically stored in the storage area according to the storage strategy, so that the efficiency of water hose storage is improved, and the diversity demand of customers for the water hose storage process is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, and in particular to a water hose collecting and arranging control method and device of a working machine and the working machine. BACKGROUND

[0002] With the continuous development of technology, the current water hose laying vehicle mainly has two categories of reel type and compartment type. The existing water hose laying vehicle is generally only equipped with a water hose collecting system, and the water hose arranging process needs manual assistance. Although certain automatic equipment can be used in the arranging process, there are still problems such as limited operation space, low arranging efficiency, and single collecting and arranging mode, which cannot meet the diversity needs of customers. SUMMARY

[0003] The present application provides a water hose collecting and arranging control method and device of a working machine and the working machine to solve the defects of low automation and inability to realize fully automatic collecting and arranging in the existing collecting and arranging process.

[0004] According to a water hose collecting and arranging control method of a working machine provided by the present application, the method comprises the following steps:

[0005] Obtaining operation information and water hose characteristic parameters of a target water hose collected and arranged by the working machine;

[0006] Determining a collecting and arranging strategy of the target water hose in a storage area of the working machine according to the operation information and the water hose characteristic parameters, and controlling the target water hose to be collected and arranged in the storage area according to the collecting and arranging strategy.

[0007] According to an embodiment of the present application, the water hose characteristic parameters at least include a size parameter of the target water hose, and the size parameter at least includes a length of the target water hose.

[0008] The determining of the collecting and arranging strategy of the target water hose in the storage area according to the water hose characteristic parameters specifically comprises:

[0009] Based on the size parameter, a collecting and arranging decision of the target water hose in the storage area is determined, and the collecting and arranging strategy is generated according to the collecting and arranging decision.

[0010] Specifically, the present embodiment provides an embodiment of determining the collecting and arranging strategy of the target water hose in the storage area according to the water hose characteristic parameters.

[0011] According to an embodiment of the present application, the collecting and arranging decision includes a first collecting and arranging mode and / or a second collecting and arranging mode of the target water hose in the storage area.

[0012] In the first storage mode, the target hose is controlled to be stored according to a first preset path in the storage area, and the first preset path comprises that the target hose is stored from an initial position to a terminal position along a first direction, then moves perpendicularly to the first direction by a width of the target hose, is stored from the terminal position to the initial position along a second direction, and then moves perpendicularly to the first direction by the width of the target hose again, and the direction of the second movement is the same as that of the first movement;

[0013] In the second storage mode, the target hose is controlled to be stored according to a second preset path in the storage area, and the second preset path comprises that the target hose is stored from an initial position to a terminal position along the first direction, and then is stored from the terminal position to the initial position along the second direction;

[0014] The first direction and the second direction are opposite.

[0015] Specifically, the embodiment provides an implementation of the first storage mode and the second storage mode.

[0016] According to an embodiment of the present application, the first storage mode further comprises:

[0017] Based on the first preset path, it is determined that a first preset condition is met, the target hose is controlled to be stored according to a third preset path in the storage area, and the storage path of the third preset path is opposite to that of the first preset path;

[0018] Based on the third preset path, it is determined that the first preset condition is met, and the target hose is controlled to be stored according to the first preset path in the storage area;

[0019] The above steps are repeated until all the target hoses are stored in the storage area;

[0020] The first preset condition comprises that the target hose storage area formed by the storage of the target hose is equal to the hose storage area of the storage area, or the remaining hose storage area cannot complete single storage along the first direction or the second direction.

[0021] Specifically, the embodiment provides an implementation of the first storage mode.

[0022] According to an embodiment of the present application, the size parameter further comprises a stacking thickness of the target hose after being stored in the storage area.

[0023] The second storage mode further comprises:

[0024] Based on the size parameter, it is determined that the superposition thickness of the target hose does not satisfy a safety threshold, the target hose is controlled to move vertically to the first direction by a width of the target hose, and the target hose is stored according to a fourth preset path, a storage path of the fourth preset path being opposite to a storage path of the second preset path.

[0025] Specifically, the embodiment provides an implementation of a second storage mode.

[0026] According to an embodiment of the present application, the hose characteristic parameter at least includes a category parameter of the target hose, and the category parameter at least includes a category number and a hose strip number of the target hose.

[0027] The storage strategy of the target hose in the storage area is determined according to the hose characteristic parameter, and specifically includes:

[0028] Based on the category parameter, a partition decision of the target hose in the storage area is determined, and a partition number of the partition decision corresponds to the category number and / or the hose strip number of the target hose.

[0029] The storage strategy is generated according to the partition decision.

[0030] Specifically, the embodiment provides another implementation of determining the storage strategy of the target hose in the storage area according to the hose characteristic parameter.

[0031] According to an embodiment of the present application, the working machine includes a hose collecting mechanism, a hose arranging mechanism and a moving mechanism.

[0032] The hose collecting mechanism is arranged on one side of the storage area.

[0033] The hose arranging mechanism is connected with the moving mechanism and moves in the storage area, and is used for storing the target hose collected by the hose collecting mechanism in the storage area.

[0034] The operation information is acquired, and specifically includes:

[0035] Based on the operation information, it is determined that the storage of the target hose is in an automatic storage mode or a manual storage mode.

[0036] If it is determined that the automatic storage mode, the operation of the hose collecting mechanism, the hose arranging mechanism and the moving mechanism is controlled according to a storage process of the automatic storage mode, and the storage process includes an action sequence of the hose collecting mechanism, the hose arranging mechanism and the moving mechanism.

[0037] If the manual winding mode is determined, the winding node of the manual winding mode is used to control the operation of the winding mechanism, the unwinding mechanism and the moving mechanism, and the winding node is a preset standby position of the winding mechanism, the unwinding mechanism and the moving mechanism.

[0038] Specifically, the embodiment provides an implementation of obtaining operation information.

[0039] According to an embodiment of the present application, based on the operation information, it is determined that the winding and unwinding of the target water hose is in an automatic winding mode, and specifically, the determination includes:

[0040] Based on the automatic winding mode, it is determined that the winding and unwinding of the target water hose includes a return instruction, and the winding mechanism, the unwinding mechanism and the moving mechanism are controlled to return to the initial position after the winding and unwinding of the target water hose is completed, and the initial position is the position of the winding mechanism, the unwinding mechanism and the moving mechanism when they are started;

[0041] Based on the automatic winding mode, it is determined that the winding and unwinding of the target water hose does not include a return instruction, and the winding mechanism, the unwinding mechanism and the moving mechanism are controlled to stay at the terminal position after the winding and unwinding of the target water hose is completed, and the terminal position is used as the starting position for the next winding and unwinding.

[0042] Specifically, the embodiment provides an implementation of determining that the winding and unwinding of the target water hose is in an automatic winding mode.

[0043] According to an embodiment of the present application, the operation information and the water hose characteristic parameters are used to determine the winding and unwinding strategy of the target water hose in the storage area of the working machine, and specifically, the determination includes:

[0044] Based on the operation information, it is determined that the winding and unwinding operation parameters of the target water hose meet a safety threshold, and then the winding and unwinding strategy is generated based on the winding and unwinding operation parameters and the water hose characteristic parameters;

[0045] Based on the operation information, it is determined that the winding and unwinding operation parameters of the target water hose do not meet a safety threshold, and then an alarm information is sent.

[0046] Specifically, the embodiment provides another implementation of determining the winding and unwinding strategy of the target water hose in the storage area of the working machine.

[0047] According to an embodiment of the present application, the working machine includes a winding mechanism, an unwinding mechanism and a moving mechanism.

[0048] The winding mechanism is arranged on one side of the storage area.

[0049] The arranging mechanism is connected with the moving mechanism and reciprocally moves in the first direction and the second direction in the storage area, and is used for arranging the target hose conveyed by the collecting mechanism in the storage area;

[0050] The collecting mechanism is arranged at the starting end of the storage area in the first direction, and the first direction and the second direction are opposite.

[0051] The determining that the arranging operation parameter of the target hose satisfies the safety threshold value specifically comprises:

[0052] Based on the arranging operation parameter of the target hose, a first collecting parameter of the collecting mechanism and a return collecting coefficient are obtained, and the first collecting parameter is a collecting speed of the collecting mechanism in the first direction.

[0053] Based on the first collecting parameter and the return collecting coefficient, an actual average collecting speed is generated, and according to the fact that the actual average collecting speed satisfies a preset collecting speed, it is determined that the arranging operation parameter satisfies the safety threshold value.

[0054] Specifically, the embodiment provides an implementation manner for determining that the arranging operation parameter of the target hose satisfies the safety threshold value.

[0055] According to an embodiment of the present application, the generating the arranging operation parameter according to the first collecting parameter and the return collecting coefficient specifically comprises:

[0056] Based on the first collecting parameter, a first arranging parameter of the arranging mechanism and a first moving parameter of the moving mechanism are determined, wherein the first arranging parameter is an arranging speed of the arranging mechanism in the first direction, and the first moving parameter is a moving speed of the moving mechanism in the first direction.

[0057] The arranging operation parameter is generated according to the first collecting parameter, the first arranging parameter, the first moving parameter and the return collecting coefficient.

[0058] Specifically, the embodiment provides an implementation manner for generating the arranging operation parameter according to the first collecting parameter and the return collecting coefficient.

[0059] According to an embodiment of the present application, the generating the arranging operation parameter according to the first collecting parameter and the return collecting coefficient specifically comprises:

[0060] determining, based on the first take-up parameter and the backhaul take-up coefficient, a second take-up parameter of the take-up mechanism, a second strip parameter of the strip mechanism and a second movement parameter of the movement mechanism, wherein the second take-up parameter is a take-up speed of the take-up mechanism in the second direction, the second strip parameter is a strip speed of the strip mechanism in the second direction, and the second movement parameter is a movement speed of the movement mechanism in the second direction;

[0061] generating the take-up and strip operation parameter according to the second take-up parameter, the second strip parameter and the second movement parameter.

[0062] Specifically, the embodiment provides another implementation manner of generating the take-up and strip operation parameter according to the first take-up parameter and the backhaul take-up coefficient.

[0063] According to the second aspect of the present application, a water hose take-up and strip control device of a working machine is provided, comprising:

[0064] an acquisition module configured to acquire operation information and a water hose characteristic parameter of a target water hose to be taken up and stripped by the working machine;

[0065] a strategy module configured to determine a take-up and strip strategy of the target water hose in a storage area of the working machine according to the operation information and the water hose characteristic parameter, and control the target water hose to be taken up and stripped in the storage area according to the take-up and strip strategy.

[0066] According to the third aspect of the present application, a working machine is provided, which executes control by using the water hose take-up and strip control method of the working machine or has the water hose take-up and strip control device of the working machine.

[0067] The above one or more technical solutions in the present application have at least one of the following technical effects: the water hose take-up and strip control method, device and working machine provided by the present application determine a take-up and strip strategy of a target water hose in a storage area according to a water hose characteristic parameter of the target water hose to be taken up and stripped, and realize full-automatic take-up and strip of the target water hose in the storage area according to the take-up and strip strategy, thereby improving the efficiency of water hose take-up and strip and meeting the diversity demand of customers on the water hose take-up and strip process. BRIEF DESCRIPTION OF DRAWINGS

[0068] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. 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 any creative effort on the basis of these drawings.

[0069] Figure 1is a flowchart of the water hose collecting and arranging control method of the work machine provided by the present application;

[0070] Figure 2 is one of the arrangement schematic diagrams of the hose collecting mechanism, the hose arranging mechanism and the moving mechanism provided by the present application;

[0071] Figure 3 is another of the arrangement schematic diagrams of the hose collecting mechanism, the hose arranging mechanism and the moving mechanism provided by the present application;

[0072] Figure 4 is a schematic diagram of the storage area partition provided by the present application;

[0073] Figure 5 is a component schematic diagram of the control system provided by the present application;

[0074] Figure 6 is a control flowchart of the manual collecting and arranging mode and the automatic collecting and arranging mode provided by the present application;

[0075] Figure 7 is a flowchart of the water hose subprogram of the water hose collecting and arranging control method of the work machine provided by the present application;

[0076] Figure 8 is a flowchart of the back-to-original position state subprogram of the water hose collecting and arranging control method of the work machine provided by the present application;

[0077] Figure 9 is one of the flowcharts of the automatic hose arranging program of the water hose collecting and arranging control method of the work machine provided by the present application;

[0078] Figure 10 is another of the flowcharts of the automatic hose arranging program of the water hose collecting and arranging control method of the work machine provided by the present application;

[0079] Figure 11 is a third of the flowcharts of the automatic hose arranging program of the water hose collecting and arranging control method of the work machine provided by the present application;

[0080] Figure 12 is a flowchart of the collecting and arranging speed matching of the water hose collecting and arranging control method of the work machine provided by the present application;

[0081] Figure 13 is a structure schematic diagram of the water hose collecting and arranging control device of the work machine provided by the present application;

[0082] Figure 14 is a structure schematic diagram of the electronic device provided by the present application.

[0083] Reference signs:

[0084] 10, take-up mechanism; 20, striping mechanism; 30, moving mechanism

[0085] 40, obtaining module; 50, strategy module;

[0086] 810, processor; 820, communication interface; 830, memory; 840, communication bus. DETAILED DESCRIPTION

[0087] To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0088] The present application will be described below in detail with reference to the drawings in the description. The specific operation methods in the method embodiments can also be applied to the device embodiments or the system embodiments. In the description of the present application, unless otherwise specified, “at least one” includes one or more. “Multiple” refers to two or more. For example, at least one of A, B and C includes: A alone, B alone, A and B together, A and C together, B and C together, and A, B and C together. In the present application, “ / ” means or, for example, A / B can mean A or B; “and / or” in this document only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone.

[0089] The present application will be described below in detail with reference to the drawings in the description. The specific operation methods in the method embodiments can also be applied to the device embodiments or the system embodiments. In the description of the present application, unless otherwise specified, “at least one” includes one or more. “Multiple” refers to two or more. For example, at least one of A, B and C includes: A alone, B alone, A and B together, A and C together, B and C together, and A, B and C together. In the present application, “ / ” means or, for example, A / B can mean A or B; “and / or” in this document only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. Figures 1 to 12 The present application will be described below in detail with reference to the drawings in the description. The specific operation methods in the method embodiments can also be applied to the device embodiments or the system embodiments. In the description of the present application, unless otherwise specified, “at least one” includes one or more. “Multiple” refers to two or more. For example, at least one of A, B and C includes: A alone, B alone, A and B together, A and C together, B and C together, and A, B and C together. In the present application, “ / ” means or, for example, A / B can mean A or B; “and / or” in this document only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone.

[0090] In some specific embodiments of the present application, as shown in Figures 1 to 12 The present application provides a water hose taking and stripping control method of a working machine, comprising:

[0091] Obtaining operation information and water hose characteristic parameters of a target water hose of the working machine;

[0092] Determining a taking and stripping strategy of the target water hose in a storage area of the working machine according to the operation information and the water hose characteristic parameters, and controlling the target water hose to be taken and stripped in the storage area according to the taking and stripping strategy.

[0093] It should be noted that the water hose characteristic parameter includes the characteristic information of the target water hose collected by the working machine, the characteristic information facilitates the classification of the target water hose and the determination of the collection mode according to the storage area and operation information, so that the collection process of the target water hose in the storage area is fully automated, the efficiency is improved, the experience of the user in the collection process of the target water hose is ensured, and the participation of manual work is reduced.

[0094] In possible embodiments, the water hose characteristic parameter includes characteristic information identifying the size, type, function, etc. of the target water hose, and the collection strategy of the target water hose in the storage area is set according to the size, type, function, etc. of the target water hose to realize automatic collection of the target water hose.

[0095] In possible embodiments, the water hose characteristic parameter further includes characteristic information of the interface type of the target water hose, and the target water hose can be collected and stored by placing the same interface type in the same area or in a specific order.

[0096] In possible embodiments, the operation information includes information of the speed of the collection process, the arrangement mode of the target water hose, the collection mode, etc. set by the user during the collection process, and the collection of the target water hose is realized in combination with the operation information, so that the user can obtain a more comfortable and diverse experience during the collection of the target water hose.

[0097] In possible embodiments, the working machine includes a storage area for storing water hoses, the target water hose moves in the storage area according to the corresponding collection route, and the target water hose is collected in the storage area to realize storage of the target water hose. When in use, the target water hose is moved out of the storage area in a route opposite to that in the collection process to realize external laying.

[0098] In some possible embodiments of the present application, the water hose characteristic parameter at least includes a size parameter of the target water hose, and the size parameter at least includes a length of the target water hose;

[0099] The collection strategy of the target water hose in the storage area is determined according to the water hose characteristic parameter, and specifically includes:

[0100] Based on the size parameter, a collection decision of the target water hose in the storage area is determined, and the collection strategy is generated according to the collection decision.

[0101] Specifically, the embodiment provides an implementation of determining the collection strategy of the target water hose in the storage area according to the water hose characteristic parameter. According to the length of the target water hose, it is determined that which form is more reasonable for collection in the storage area, and then the collection decision is determined, and the collection strategy is generated according to the collection decision.

[0102] It can be understood that the storage space and area of the storage area are limited, so it is necessary to plan the path and storage scheme according to the length of the target water hose, and then make the most reasonable storage decision for the target water hose in the limited space to meet the storage demand of the target water hose.

[0103] In some possible embodiments of the present application, the storage decision includes a first storage mode and / or a second storage mode of the target water hose in the storage area;

[0104] In the first storage mode, the target water hose is controlled to perform storage in the storage area according to a first preset path, the first preset path including that the target water hose is stored from the initial position to the terminal position along the first direction, then moves one width of the target water hose perpendicular to the first direction, is stored from the terminal position to the initial position along the second direction, and moves one width of the target water hose again perpendicular to the first direction, the direction of the second movement being the same as that of the first movement;

[0105] In the second storage mode, the target water hose is controlled to perform storage in the storage area according to a second preset path, the second preset path including that the target water hose is stored from the initial position to the terminal position along the first direction, and is stored from the terminal position to the initial position along the second direction;

[0106] Wherein, the first direction and the second direction are opposite.

[0107] Specifically, the present embodiment provides an implementation of the first storage mode and the second storage mode, and determines the storage mode of the target water hose in the storage area according to the storage decision, so that the target water hose can be efficiently stored in the storage area.

[0108] It should be noted that, in order to facilitate the storage of the target water hose in the storage area, the first direction and the second direction of the movement of the target water hose in the storage area are set, the first direction and the second direction are opposite to each other, and the target water hose is stored along the first direction or along the second direction by the storage-related equipment, so that the target water hose can be stored in the storage area.

[0109] It can be understood that the storage-related equipment is a device provided on the working machine for storing the target water hose, which stores the target water hose on one hand and drives the target water hose to move in the storage area while storing the target water hose on the other hand, so that the target water hose can be stored in the storage area under the action of the storage-related equipment.

[0110] In possible embodiments, the storage-related equipment at least includes a storage mechanism 10, a storage mechanism 20 and a moving mechanism 30; the storage mechanism 10 is arranged on one side of the storage area; the storage mechanism 20 is connected with the moving mechanism 30 and moves in the storage area, and is used for storing the target water hose delivered by the storage mechanism 10 in the storage area.

[0111] In a possible embodiment, in the first storage mode, the target hose is moved in the storage area according to a first preset path, and the storage track of the target hose in the first storage mode can be understood as a route approximately in the shape of a "Z" letter. Specifically, the target hose walks along the first direction and the second direction in the first column by the hose stacking and storage mode for one round, and then the target hose walks along a column width (160 mm) perpendicular to the first direction under the action of the storage-related equipment, and then the target hose walks along the first direction and the second direction in the second column for one round, and so on, until all the columns in the storage area complete one round of hose storage.

[0112] In a possible embodiment, in the second storage mode, the target hose is moved in the storage area according to a second preset path, and the storage track of the target hose in the second storage mode can be understood as a route of single-column stacking. Specifically, the target hose walks along the first direction and the second direction in the first column for N rounds of hose storage and collection, N is a positive integer greater than or equal to 1, and the first column is completed.

[0113] In some possible embodiments of the present application, the first storage mode further includes:

[0114] Based on the first preset path, it is determined that the first preset condition is met, and the target hose is controlled to be stored and collected in the storage area according to a third preset path, and the storage path of the third preset path is opposite to the storage path of the first preset path.

[0115] Based on the third preset path, it is determined that the first preset condition is met, and the target hose is controlled to be stored and collected in the storage area according to the first preset path.

[0116] The above steps are repeated until all the target hoses are stored and collected in the storage area.

[0117] The first preset condition includes that the hose storage area formed by the target hose storage and collection is equal to the hose storage area of the storage area, or the remaining hose storage area cannot complete single storage and collection along the first direction or the second direction.

[0118] Specifically, the embodiment provides an implementation of a first storage mode. If the length of the target hose is too long during the storage of the target hose in the storage area according to the first preset path, the storage area cannot store the target hose in the same layer, and thus the target hose needs to be stored in the second layer after the storage of the target hose in the first layer is completed. At this time, the target hose needs to be stored according to a third preset path, and the storage path of the third preset path is opposite to that of the first preset path, so as to store the target hose in the second layer in the storage area. In this way, if the length of the target hose cannot be completely stored in the second layer, the target hose is stored in the third layer.

[0119] It can be understood that, after the target hose is stored in the storage area according to the first preset path, if the target hose cannot be completely stored in one layer, the target hose needs to be stored in the second layer again, and at this time, the target hose needs to be stored according to the third preset path opposite to the first preset path, so as to stack and store the target hose in the storage area according to a route similar to a "Z" shape.

[0120] In a possible embodiment, after the first layer of the hose is stored, the hose is stored in the same way from the last column, until the first column also completes one round of the hose storage, that is, the second layer of the hose storage is completed. In this way, until the storage area is stacked layer by layer or the target hose is completely stored.

[0121] In some possible embodiments of the present application, the size parameter further includes a stacking thickness of the target hose after the storage in the storage area.

[0122] The second storage mode further includes:

[0123] Based on the size parameter, it is determined that the stacking thickness of the target hose does not satisfy a safety threshold, the target hose is controlled to move one width of the target hose vertically to the first direction, and the target hose is stored according to a fourth preset path. The storage path of the fourth preset path is opposite to that of the second preset path.

[0124] Specifically, the embodiment provides an implementation of a second storage mode. In addition to the length, the target hose also includes a stacking thickness. When the target hose is repeatedly placed in one position for multiple times, there are potential safety hazards such as dumping, and thus the stacking thickness of the target hose after the storage in the storage area needs to be determined to ensure that the target hose is stored in the storage area and safety is ensured.

[0125] It can be understood that after the target hose is stacked according to the second preset path for N times, the height of the stacked target hose is too high, and the stacked target hose may fall, which brings safety hazards and disrupts the arrangement order of the target hose in the storage area. Therefore, it is necessary to determine whether the stacking thickness of the target hose meets the safety threshold. When the stacking thickness of the target hose does not meet the safety threshold, the storage position of the target hose is adjusted to realize the storage of the target hose in a new area.

[0126] In a possible embodiment, the target hose moves in the storage area according to the second preset path, and the storage track of the target hose in the second storage mode can be understood as the route of single-column stacking. Specifically, the target hose walks in the first column along the first direction and the second direction for N times, N is a positive integer greater than or equal to 1, to complete the first column storage. Then, after it is determined that the stacking thickness of the target hose does not meet the safety threshold, the target hose walks a column width perpendicular to the first direction under the action of the storage related equipment. Then, the target hose walks in the second column along the first direction and the second direction for M times, M is a positive integer greater than or equal to 1, and so on, until all columns in the area are completed, that is, the first layer of the hose is completed.

[0127] In some possible embodiments of the present application, the hose characteristic parameters at least include a category parameter of the target hose, and the category parameter at least includes a category number of the target hose and a hose strip number;

[0128] According to the hose characteristic parameters, a storage strategy of the target hose in the storage area is determined, and the specific steps include:

[0129] Based on the category parameter, a partition decision of the target hose in the storage area is determined, and the number of partitions of the partition decision corresponds to the category number of the target hose and / or the hose strip number;

[0130] According to the partition decision, a storage strategy is generated.

[0131] Specifically, the embodiment provides another embodiment of determining a storage strategy of a target hose in a storage area according to hose characteristic parameters. The category parameter of the target hose is obtained and confirmed, the partition decision of the target hose in the storage area is made according to the category number of the target hose and the hose strip number, and the storage strategy of the target hose is generated according to the partition decision.

[0132] In a possible embodiment, as Figure 4As shown, the target water hose has multiple types, and in actual application, the target water hose is classified and stored according to the type of the target water hose, so that the target water hose is more convenient to use, specifically, the storage area is divided into multiple sub-areas along the direction perpendicular to the first direction, and the target water hose is stored in each sub-area independently, and the entire storage area can be set as a sub-area, that is, the storage area is not partitioned.

[0133] In possible embodiments, for the multiple sub-areas divided by the storage area, each sub-area corresponds to a different type of target water hose, or each sub-area corresponds to an independent target water hose.

[0134] In possible embodiments, in addition to the classification of the target water hose according to the category parameter, the target water hose can also be classified according to the interface type of each target water hose.

[0135] In possible embodiments, as shown, Figure 4 The partition decision includes a partitioned storage mode including a partitioned storage and a full compartment storage. The partitioned storage divides the storage area into two areas, and the target water hose is stored by selecting the area until the area is full (or the water hose is stored). The full compartment storage is not partitioned in the storage area, and the target water hose is stored in the entire storage area until the target water hose is stored.

[0136] It should be noted that the Figure 4 Two partitioning situations are provided, one of which is that the entire storage area is one partition, and the other is that it is divided into two areas. In actual application, multiple partitions can be set according to the actual situation of the target water hose, and are not limited to Figure 4 The two situations shown.

[0137] In some possible embodiments of the present application, the working machine includes a storage mechanism 10, a storage mechanism 20 and a moving mechanism 30;

[0138] The storage mechanism 10 is arranged on one side of the storage area;

[0139] The storage mechanism 20 is connected with the moving mechanism 30 and moves in the storage area, and is used to store the target water hose transported by the storage mechanism 10 in the storage area;

[0140] Obtaining operation information, specifically including:

[0141] Based on the operation information, the storage of the target water hose is determined to be an automatic storage mode or a manual storage mode;

[0142] If it is determined to be an automatic storage mode, the operation of the storage mechanism 10, the storage mechanism 20 and the moving mechanism 30 is controlled according to the storage process of the automatic storage mode, and the storage process includes the action sequence of the storage mechanism 10, the storage mechanism 20 and the moving mechanism 30;

[0143] If it is determined that the manual winding and stacking mode is selected, the winding mechanism 10, the stacking mechanism 20 and the moving mechanism 30 are controlled according to the winding and stacking node of the manual winding and stacking mode, and the winding and stacking node is the preset standby position of the winding mechanism 10, the stacking mechanism 20 and the moving mechanism 30.

[0144] Specifically, the embodiment provides an implementation of obtaining operation information, by identifying information of a target water hose winding and stacking mode in the operation information, and controlling corresponding mechanisms according to the winding and stacking mode, so that the entire winding and stacking process of the target water hose can be more in line with the actual needs of the user, and the user experience is improved.

[0145] In possible embodiments, as shown in Figure 2 and Figure 3 , the working machine includes a movable vehicle body, the vehicle body includes a vehicle compartment, a storage area is arranged on the top of the vehicle compartment, and the winding mechanism 10 is arranged on the top of the vehicle compartment and located on one side of the storage area.

[0146] Preferably, the winding mechanism 10 is arranged on the side close to the front of the vehicle body.

[0147] Further, the moving mechanism 30 is arranged in the storage area and can move in the X and Y directions, wherein the X direction is the first direction, the -X direction is the second direction, and the Y direction is perpendicular to the X direction. The moving mechanism 30 can reciprocate in the X and Y directions to adjust the position of the stacking mechanism 20 and realize the winding and stacking of the target water hose in the storage area.

[0148] Preferably, the X direction is the length direction of the vehicle body, and the Y direction is the width direction of the vehicle body.

[0149] Further, the stacking mechanism 20 is installed on the moving mechanism 30 and moves on the top of the vehicle compartment through the moving mechanism 30, so as to realize flexible position adjustment at any position in the storage area, and further realize the stacking of the target water hose in the storage area on the top of the vehicle compartment.

[0150] In possible embodiments, as shown in Figure 2 and Figure 3 , the winding mechanism 10 includes at least a working position and a retracted position. When in the working position, the winding mechanism 10 rotates and extends to realize the winding of the target water hose. When in the retracted position, the winding mechanism 10 is retracted to one side of the storage area, so that the working machine remains in the retracted state during the non-winding and stacking operation (during the parking garage and transportation to the working site). The winding mechanism 10 is in the retracted position on the top of the vehicle compartment, and the width does not exceed the vehicle width.

[0151] Further, during the winding operation, the winding mechanism 10 is rotated 90 degrees by the bottom rotating mechanism, and is switched from the retracted position to the working position, i.e., the winding mechanism 10 is parallel to the length direction of the vehicle body, and then the winding mechanism 10 is extended to a state above the front end of the cab of the vehicle body by the internal telescopic mechanism, so as to realize the winding of the hose.

[0152] In a possible embodiment, the working machine further comprises a power supply device connected with the winding mechanism 10, the winding mechanism 20 and the moving mechanism 30 respectively, so as to supply power to the winding mechanism 10, the winding mechanism 20 and the moving mechanism 30 respectively.

[0153] Preferably, the power supply device is arranged inside the vehicle cabin and close to one side of the vehicle cabin.

[0154] In a possible embodiment, as shown in Figure 5 the working machine further comprises a control system, and main components of the control system include a servo motor, a three-phase asynchronous motor, a cylinder and a control valve thereof, a frequency converter, a servo driver, an indicator light, an encoder and a position monitoring sensor, etc., and the above-mentioned electrical execution components are controlled by a PLC. The servo driver, the frequency converter and the PLC are installed in an electrical control cabinet inside the vehicle body. The servo motor, the three-phase asynchronous motor, the cylinder and the control valve thereof, the encoder and the position monitoring sensor are installed on the moving mechanism 30, the winding mechanism 20 and the winding mechanism 10.

[0155] It can be understood that the control system adopts PLC control, and the motors and the cylinders adopted by all the moving mechanisms are equipped with servo drivers, encoders and position sensors, so as to solve the problems of position monitoring, speed matching and whole-process state monitoring.

[0156] Further, the winding mechanism 10, the winding mechanism 20 and the moving mechanism 30 all adopt electric drive mode, and power is provided by the power supply device. The winding device and the winding device are both driven by motors, so that the system has high running precision and fast response speed.

[0157] In one application scenario, as shown in Figure 6 after the user selects the automatic winding and unwinding mode, the control system controls the winding and unwinding of the target hose according to the winding and unwinding program of the automatic winding and unwinding mode. The winding and unwinding program mainly includes a hose connection program, an automatic unwinding program and a reset program after the unwinding of the hose is completed.

[0158] In one application scenario, as shown in Figure 6 after the user selects the manual winding and unwinding mode, the control system controls the parking positions of the winding mechanism 10, the winding mechanism 20 and the moving mechanism 30 according to the winding and unwinding nodes set in the manual winding and unwinding mode.

[0159] It can be understood that the receiving node is a pause position set for the system, for example, the stop position after the winding mechanism 10 rotates to the working position, that is, the winding mechanism 10 is in standby after moving to the working position in the manual winding and arranging mode, waiting for the user's instruction.

[0160] It can be understood that the preset stop position is a single instruction operation limit of each execution element in the winding mechanism 10, the arranging mechanism 20 and the moving mechanism 30, for example, the moving mechanism 30 moves a preset distance each time in the manual winding and arranging mode, and waits for the user's further instruction.

[0161] In some possible embodiments of the present application, based on the operation information, it is determined that the winding and arranging of the target water hose is in the automatic winding and arranging mode, which specifically includes:

[0162] Based on the automatic winding and arranging mode, it is determined that the winding and arranging of the target water hose includes a return instruction, which controls the winding mechanism 10, the arranging mechanism 20 and the moving mechanism 30 to return to the initial position after the winding and arranging of the target water hose is completed, and the initial position is the position when the winding mechanism 10, the arranging mechanism 20 and the moving mechanism 30 are started;

[0163] Based on the automatic winding and arranging mode, it is determined that the winding and arranging of the target water hose does not include a return instruction, which controls the winding mechanism 10, the arranging mechanism 20 and the moving mechanism 30 to stay in the termination position after the winding and arranging of the target water hose is completed, and the termination position is used as the starting position for the next winding and arranging.

[0164] Specifically, the embodiment provides an implementation of determining that the winding and arranging of the target water hose is in the automatic winding and arranging mode, and after the winding and arranging of the target water hose is completed in the automatic winding and arranging mode, whether the user selects a return instruction to execute an ending program, which meets the user's demand for winding and arranging diversity.

[0165] It can be understood that during the winding and arranging of the target water hose, there are various working conditions, part of which is that after the winding and arranging of the target water hose, the initial position of each mechanism is returned, and the whole arranging operation is completed, and part of which is that after the winding and arranging of part of the target water hose, the current position of each mechanism needs to be paused or reserved to realize the winding and arranging of other target water hoses or moving to other areas to perform the operation, so that each mechanism needs to be in standby at the current position.

[0166] In one application scenario, as shown in Figure 6 According to whether the user selects a return instruction in the automatic winding and arranging mode, the position of each mechanism is adjusted after the winding and arranging of the target water hose is completed, so as to meet the winding and arranging of the target water hose in the next operation.

[0167] In one application scenario, a storage area is arranged in the carriage of the working machine, and a vehicle door capable of being opened and closed is arranged at the position of the storage area.

[0168] In the application scenario, as shown in Figure 7As shown, the flow of the hose receiving subroutine is as follows: before collecting the target hose, the hose receiving work is required. The hose receiving mechanism 10 receives the target hose through the hose receiving subroutine. Specifically, the hose receiving mechanism 10 is guided by the program to open the hose door of the vehicle body, rotate and extend the hose receiving mechanism 10 to the working state, move the hose receiving mechanism 10 and the hose handling mechanism 20 laterally along the Y-axis to the initial position of the set area, and operate the remote control command to open the pressure roller and rotate the motor forward and reverse, thereby realizing the hose receiving and placing on the ground and pulling the target hose into the storage area inside the vehicle.

[0169] Understandably, Figure 7 Each step in the process can be understood as a collection and processing node. When the user selects the manual collection and processing mode, Figure 7 After each step is completed, each mechanism will enter standby mode, awaiting further instructions from the user.

[0170] In an application scenario, such as Figure 8 As shown, the flow of the return-to-original-position subroutine is as follows: After the target hose is collected, according to the return command selected by the user, the motors of the hose collection mechanism 10, the hose handling mechanism 20 and the moving mechanism 30 are stopped, the hose collection mechanism 10 is extended and retracted and rotated to the recovery position, i.e. the initial position. After each mechanism returns to the initial position, the door of the working machine is closed, and the entire collection operation is completed.

[0171] Understandably, Figure 8 Each step in the process can be understood as a collection and processing node. When the user selects the manual collection and processing mode, Figure 8 After each step is completed, each mechanism will enter standby mode, awaiting further instructions from the user.

[0172] In an application scenario, such as Figures 9 to 11 As shown, the automatic tape sorting program has pre-set procedures for zoned tape sorting, full storage area tape sorting, "Z"-shaped layer-by-layer tape sorting, and single-column stacking tape sorting. The program executes the corresponding automatic tape sorting procedure according to the preset parameters. The main process of the program execution is that the tape sorting device and the tape handling device move to the designated position and repeatedly cycle through the preset tape sorting method ("Z"-shaped layer-by-layer tape sorting or single-column stacking tape sorting) to complete the tape sorting.

[0173] In possible embodiments, such as Figure 9 As shown, the automatic control of the conveyor belt starts, and the "Z" shaped conveyor belt mode is selected. That is, the target water hose is collected in the storage area along an approximately "Z" route. The collection mechanism 10, the conveyor belt mechanism 20 and the moving mechanism 30 move from the initial position to the end position, and then move to the adjacent column. After that, they move from the end position back to the initial position. The above steps are repeated until all the target water hoses are collected in the storage area.

[0174] Further, as shown in Figure 9 the tape collecting mechanism 10 and the tape arranging mechanism 20 approach the initial position and the terminal position, the motors of the tape collecting mechanism 10 and the tape arranging mechanism 20 are decelerated to avoid collision and other safety problems.

[0175] Further, as shown in Figure 9 when the tape collecting mechanism 10, the tape arranging mechanism 20 and the moving mechanism 30 fail to return to the position, the tape collecting mechanism 10, the tape arranging mechanism 20 and the moving mechanism 30 are first moved to the stop position for positioning, and after the tape collecting mechanism 10, the tape arranging mechanism 20 and the moving mechanism 30 reach the corresponding stop position, the return operation is performed.

[0176] As can be understood, as shown in Figure 9 the interpolation operation of the tape collecting mechanism 10, the tape arranging mechanism 20 and the moving mechanism 30 is a compensation for the position error of the tape collecting mechanism 10, the tape arranging mechanism 20 and the moving mechanism 30.

[0177] It should be noted that the embodiment is only an introduction of the selection of the "Z" type tape arranging mode, and in actual application, the zone arranging can be used in cooperation.

[0178] In a possible embodiment, as shown in Figure 10 the tape arranging automatic control is started, the zone arranging mode is selected, the target hose is arranged in the zone in the storage area, the tape collecting mechanism 10, the tape arranging mechanism 20 and the moving mechanism 30 are moved in the independent zone from the initial position to the terminal position, and the target hose is arranged, after the target hose is arranged in the same zone, the target hose is moved to the adjacent column, and the corresponding arrangement step is repeated to arrange another target hose in another zone.

[0179] Further, as shown in Figure 10 the tape collecting mechanism 10 and the tape arranging mechanism 20 approach the initial position and the terminal position, the motors of the tape collecting mechanism 10 and the tape arranging mechanism 20 are decelerated to avoid collision and other safety problems.

[0180] Further, as shown in Figure 10 when the tape collecting mechanism 10, the tape arranging mechanism 20 and the moving mechanism 30 fail to return to the position, the tape collecting mechanism 10, the tape arranging mechanism 20 and the moving mechanism 30 are first moved to the stop position for positioning, and after the tape collecting mechanism 10, the tape arranging mechanism 20 and the moving mechanism 30 reach the corresponding stop position, the return operation is performed.

[0181] As can be understood, as shown in Figure 10As shown, the collecting mechanism 10, the arranging mechanism 20 and the moving mechanism 30 perform interpolation actions, and running to the stop position is a compensation for the position error of the collecting mechanism 10, the arranging mechanism 20 and the moving mechanism 30.

[0182] In possible embodiments, as shown, Figure 11 As shown, the arranging automatic control starts, and the single-column arranging mode is selected, that is, the target hoses are arranged layer by layer in the same column of the storage area, and the collecting mechanism 10, the arranging mechanism 20 and the moving mechanism 30 are moved from the initial position to the terminal position, and then from the terminal position to the initial position, and the above steps are repeated until all the target hoses are arranged in the storage area.

[0183] Further, as shown, Figure 11 As shown, when the collecting mechanism 10 and the arranging mechanism 20 approach the initial position and the terminal position, the motors of the collecting mechanism 10 and the arranging mechanism 20 are decelerated to avoid safety problems such as collision.

[0184] Further, as shown, Figure 11 As shown, when the collecting mechanism 10, the arranging mechanism 20 and the moving mechanism 30 do not return to the position or do not return to the position, the collecting mechanism 10, the arranging mechanism 20 and the moving mechanism 30 are first moved to the stop position for positioning, and after determining that the collecting mechanism 10, the arranging mechanism 20 and the moving mechanism 30 reach the corresponding stop position, the return operation is performed.

[0185] As shown, Figure 11 As shown, the collecting mechanism 10, the arranging mechanism 20 and the moving mechanism 30 perform interpolation actions, and running to the stop position is a compensation for the position error of the collecting mechanism 10, the arranging mechanism 20 and the moving mechanism 30.

[0186] In some possible embodiments of the present application, the arranging strategy of the target hose in the storage area of the working machine is determined according to the operation information and the hose characteristic parameters, and specifically includes:

[0187] Based on the operation information, it is determined that the arranging operation parameters of the target hose meet the safety threshold, and then the arranging strategy is generated according to the arranging operation parameters and the hose characteristic parameters;

[0188] Based on the operation information, it is determined that the arranging operation parameters of the target hose do not meet the safety threshold, and then an alarm information is sent.

[0189] Specifically, the present embodiment provides another embodiment of determining the arranging strategy of the target hose in the storage area of the working machine. When the user performs the arranging operation of the target hose, the user will select to input the arranging operation parameters of the arranging operation. Whether the arranging operation parameters meet the threshold is judged, and the user experience is improved.

[0190] It should be noted that the collection and management operation parameters at least include the speed, time, power, operation level and other parameters of the target water hose, and whether the collection and management operation parameters meet the safety threshold is judged, which can ensure the smooth progress of the target water hose collection and management, and the working machine can also keep moving during the collection and management process, so that the speed of the working machine and the target water hose collection and management can be matched, and the running of the working machine during the collection and management is avoided, so as to avoid bumping and other conditions, and affect the experience of the user.

[0191] In some possible embodiments of the present application, the working machine comprises a belt collecting mechanism 10, a belt management mechanism 20 and a moving mechanism 30.

[0192] The belt collecting mechanism 10 is arranged on one side of the storage area.

[0193] The belt management mechanism 20 is connected with the moving mechanism 30 and reciprocally moves along the first direction and the second direction in the storage area, and is used for collecting and managing the target water hose delivered by the belt collecting mechanism 10 in the storage area.

[0194] Among them, the belt collecting mechanism 10 is arranged at the starting end of the first direction of the storage area, and the first direction and the second direction are opposite.

[0195] The collection and management operation parameters of the target water hose meet the safety threshold, and specifically include:

[0196] Based on the collection and management operation parameters of the target water hose, the first belt collecting parameter and the return belt collecting coefficient of the belt collecting mechanism 10 are obtained, and the first belt collecting parameter is the belt collecting speed of the belt collecting mechanism 10 along the first direction.

[0197] The actual average belt collecting speed is generated based on the first belt collecting parameter and the return belt collecting coefficient, and the collection and management operation parameters meet the safety threshold according to the actual average belt collecting speed meeting the preset belt collecting speed.

[0198] Specifically, the embodiment provides an implementation manner for determining that the collection and management operation parameters of the target water hose meet the safety threshold, by obtaining the first belt collecting parameter and the return belt collecting coefficient of the target water hose input by the user, and then converting the operation parameters of the belt collecting mechanism 10, the belt management mechanism 20 and the moving mechanism 30, and judging, it is determined that the first belt collecting parameter and the return belt collecting coefficient input by the user can meet the safety threshold, and the range of the safety threshold at least includes the stability and comfort of the working machine during the collection and management of the target water hose.

[0199] It should be noted that the moving mechanism 30 is arranged in the storage area and can move along the X and Y directions, wherein the X direction is the first direction, the -X direction is the second direction, and the Y direction is perpendicular to the X direction. The moving mechanism 30 can reciprocally move in the X and Y directions to adjust the position of the belt management mechanism 20 and realize the collection and management of the target water hose in the storage area.

[0200] Preferably, the X direction is the length direction of the vehicle body, and the Y direction is the width direction of the vehicle body.

[0201] In some possible embodiments of the present application, the take-up operation parameters are generated according to the first take-up parameter and the return take-up coefficient, specifically including:

[0202] Based on the first take-up parameter, the first take-up parameter of the take-up mechanism 10 and the first take-up parameter of the moving mechanism 30 are determined, the first take-up parameter being the take-up speed of the take-up mechanism 10 along the first direction, and the first take-up parameter being the moving speed of the moving mechanism 30 along the first direction;

[0203] The take-up operation parameters are generated according to the first take-up parameter, the first take-up parameter, the first take-up parameter and the return take-up coefficient;

[0204] The determination of the first take-up parameter and the first take-up parameter is based on the following formula:

[0205]

[0206] In the formula, V1 + is the first take-up parameter, V2 + is the first take-up parameter, V3 + is the first take-up parameter.

[0207] Specifically, the embodiment provides an implementation of generating take-up operation parameters according to the first take-up parameter and the return take-up coefficient, which realizes the determination of the first take-up parameter and the first take-up parameter according to the input first take-up parameter and the return take-up coefficient.

[0208] In some possible embodiments of the present application, the take-up operation parameters are generated according to the first take-up parameter and the return take-up coefficient, specifically including:

[0209] Based on the first take-up parameter and the return take-up coefficient, the second take-up parameter of the take-up mechanism 10, the second take-up parameter of the take-up mechanism 20 and the second take-up parameter of the moving mechanism 30 are determined, the second take-up parameter being the take-up speed of the take-up mechanism 10 along the second direction, the second take-up parameter being the take-up speed of the take-up mechanism 20 along the second direction, and the second take-up parameter being the moving speed of the moving mechanism 30 along the second direction;

[0210] The take-up operation parameters are generated according to the second take-up parameter, the second take-up parameter and the second take-up parameter;

[0211] The determination of the second take-up parameter is based on the following formula:

[0212] V1 - =kV1 +

[0213] In the formula, V1+ For the first receive parameter, V1 - Here, k is the second take-up parameter, and k is the return take-up coefficient.

[0214] The second rational band parameter is determined based on the following formula:

[0215] V2 - =(1+k)V1 +

[0216] In the formula, V1 + For the first receive parameter, V2 - Here, k is the second reasonable belt parameter, and k is the return belt take-up coefficient;

[0217] The second movement parameter is determined based on the following formula:

[0218] V3 - =V1 +

[0219] In the formula, V1 + For the first receive parameter, V3 - This is the second movement parameter.

[0220] Specifically, this embodiment provides another implementation method for generating receiving and handling operation parameters based on the first receiving parameter and the return receiving coefficient, thereby realizing the determination of the second receiving parameter, the second handling parameter, and the second movement parameter based on the input first receiving parameter and the return receiving coefficient.

[0221] In a possible embodiment, the take-up speed of the take-up mechanism 10 is V1; the winding speed of the winding mechanism 20 is V2; and the winding travel speed of the moving mechanism 30 is V3, wherein V1, V2, and V3 are all vectors.

[0222] Furthermore, during the process of winding the tape from the head to the tail of the storage area, the first winding parameter is V1. + The relationship between the speeds of the conveyor belt and the speed of the receiving belt is: V1 + =V2 + +V3 + During the process of the rear end pulling the belt towards the vehicle, the second take-up parameter is V1. - The speed relationship of the conveyor belt is V1 = V2 - -V3 - ;

[0223] Average take-up speed is

[0224]

[0225] Where k is the tape take-up coefficient, which ranges from 0 to 1. The smaller the value of k, the lower the average tape take-up speed, but the neater the tape handling effect.

[0226] It can be understood that by setting the take-up speed V1 + and the take-up coefficient k value, and through the above matching relationship of the take-up speed, the take-up speed and the take-up effect are optimally controlled.

[0227] It should be noted that the head of the storage area can be understood as the initial position, and the tail of the storage area can be understood as the terminal position.

[0228] In one application scenario, as shown in Figure 12 , the working machine is a fire truck, the head is close to the front side of the fire truck, and the tail is close to the rear side of the fire truck.

[0229] For the specific steps of determining the first take-up parameter, the first take-up parameter, the second take-up parameter, the second take-up parameter and the second moving parameter according to the first take-up parameter and the return take-up coefficient, as follows:

[0230] Further, the take-up mechanism 20 goes back: one-way time t1, vehicle travel distance S1

[0231] V1 + =V2 + +V3 +

[0232] The speed matching ensures that there is no accumulation of the target water hose, so

[0233] Further, the take-up mechanism 20 goes back: one-way time t2, vehicle travel distance S2

[0234] V1-=V2 - -V3 -

[0235] V2 - >V3 - In this case, there is accumulation in the storage area, which affects the take-up effect;

[0236] V2 - and V3 - The greater the difference, the more serious the accumulation in the storage area, that is, the worse the take-up effect;

[0237] Therefore, in order to ensure the take-up effect as much as possible, the return take-up coefficient k is introduced, and k takes a value in the range of 0-1;

[0238] V1 - =k*V1 + =V2 - -V3 -

[0239] Let V3 - =x k*V1 + , x takes a value in the range of 0-1;

[0240] The smaller the k value, the better the banding effect, but the return speed V1 - of the tape is also smaller, and the change in vehicle speed causes the tape to be collected at a non-uniform speed, making the driver less comfortable.

[0241] Further, for the calculation of the tape collection time T:

[0242] t1 = L / V3 + = L / (1 / 2 * V1 + ) = 2L / V1 +

[0243] t2 = L / V3 - = L / (x * V1 + )

[0244] T = t1 + t2 = (2 + 1 / x) * L / V1 +

[0245] L is the length of the tape collection path from front to back or from back to front.

[0246] Further, for the calculation of the tape collection length S:

[0247] s1 = V1 + * t1 = 2L

[0248] s2 = V1 - * t2 = (k * V1 + ) * t2 = (k / x) L

[0249] S = s1 + s2 = (2 + k / x) L

[0250] Further, for the calculation of the average tape collection speed (one cycle of tape collection and banding):

[0251]

[0252] That is,

[0253] Further, the value analysis of the speed matching coefficient:

[0254] Limiting condition: the maximum speed V1 of the motor is less than or equal to 1 m / s, and V3 is less than or equal to 1 m / s

[0255] It can be understood that V is proportional to k and x, the greater the values of k and x, the greater the result of V, x is at most 1, and k is determined according to the banding effect, at this time V3 - = V1 + , V2 - = (1 + k) V1 +

[0256] Further, the average take-up speed simplification formula:

[0257]

[0258] In one application scenario, for the above-mentioned related formula, after the test, k is 0.3 to 0.4, and the effect of the take-up is relatively good. The take-up and horizontal movement time + motor acceleration and deceleration time accounts for about 1 / 3 of the total take-up time, that is, the actual average take-up speed is:

[0259]

[0260] Unit: m / s, V1 + In the program, the first take-up parameter input by the user in use is set.

[0261] In one application scenario, for the above-mentioned related formula, the verification process is as follows:

[0262] V1 + = V2 + + V3 + ;

[0263] V1- = k*V1 + = V2 - -V3 -

[0264] The actual average take-up speed is:

[0265]

[0266] When the target water hose adopts the uniform speed take-up, V1 + = V1 - , at this time k = 1, the national standard take-up speed V ≥ 1.5 km / h, and V1 + = V1 - = 0.625

[0267] At this time, when returning, V2 - -V3 - = 0.625, the take-up effect is poor;

[0268] Further, when the actual average speed V = 2 km / h

[0269] At this time, when returning, V2 - -V3 - = 0.833, the take-up effect is poor;

[0270] Further, when V2 - -V3 -When the ratio is 0.35, the actual average hose collecting speed V is 0.84 km / h, which does not meet the requirement of the national standard.

[0271] In some embodiments of the present application, as shown in Figure 13 The present application provides a hose collecting and arranging control device of a working machine, comprising:

[0272] The acquisition module 40 is configured to acquire operation information and a hose characteristic parameter of a target hose to be arranged in the working machine.

[0273] The strategy module 50 is configured to determine a collecting and arranging strategy of the target hose in a storage area of the working machine according to the operation information and the hose characteristic parameter, and control the target hose to be arranged in the storage area according to the collecting and arranging strategy.

[0274] Optionally, the hose characteristic parameter at least includes a size parameter of the target hose, and the size parameter at least includes a length of the target hose.

[0275] The strategy module 50 is configured to determine a collecting and arranging strategy of the target hose in a storage area of the working machine according to the operation information and the hose characteristic parameter, and control the target hose to be arranged in the storage area according to the collecting and arranging strategy.

[0276] Based on the size parameter, a collecting and arranging decision of the target hose in the storage area is determined, and the collecting and arranging strategy is generated according to the collecting and arranging decision.

[0277] Specifically, the present embodiment provides an implementation manner of determining a collecting and arranging strategy of a target hose in a storage area according to a hose characteristic parameter.

[0278] Optionally, the collecting and arranging decision includes a first collecting and arranging mode and a second collecting and arranging mode of the target hose in the storage area.

[0279] In the first collecting and arranging mode, the target hose is controlled to be arranged in the storage area according to a first preset path, the first preset path includes that the target hose is arranged from an initial position to a terminal position along a first direction, then moves a width of the target hose perpendicularly to the first direction, is arranged from the terminal position to the initial position along a second direction, and moves the width of the target hose perpendicularly to the first direction again, and the direction of the second movement is the same as the direction of the first movement.

[0280] In the second collecting and arranging mode, the target hose is controlled to be arranged in the storage area according to a second preset path, the second preset path includes that the target hose is arranged from an initial position to a terminal position along a first direction, and is arranged from the terminal position to the initial position along a second direction.

[0281] The first direction and the second direction are opposite to each other.

[0282] Specifically, the present embodiment provides an implementation manner of the first collecting and arranging mode and the second collecting and arranging mode.

[0283] Optionally, the first storage mode further comprises:

[0284] Based on the first preset path, it is determined that the first preset condition is met, and the target hose is controlled to be stored according to a third preset path in the storage area, and the storage path of the third preset path is opposite to the storage path of the first preset path.

[0285] Based on the third preset path, it is determined that the first preset condition is met, and the target hose is controlled to be stored according to the first preset path in the storage area.

[0286] The above steps are repeated until all target hoses are stored in the storage area.

[0287] The first preset condition includes that the hose storage area formed by the target hose storage is equal to the hose storage area of the storage area, or the remaining hose storage area cannot complete single storage in the first direction or the second direction.

[0288] Specifically, the embodiment provides an implementation of a first storage mode.

[0289] Optionally, the size parameter further comprises a stacking thickness of the target hose after storage in the storage area.

[0290] The second storage mode further comprises:

[0291] Based on the size parameter, it is determined that the stacking thickness of the target hose does not meet the safety threshold, the target hose is controlled to move a width of the target hose vertically to the first direction, and the target hose is stored according to a fourth preset path, and the storage path of the fourth preset path is opposite to the storage path of the second preset path.

[0292] Specifically, the embodiment provides an implementation of a second storage mode.

[0293] Optionally, the hose characteristic parameter at least comprises a category parameter of the target hose, and the category parameter at least comprises a category number and a hose number of the target hose.

[0294] The storage strategy of the target hose in the storage area is determined according to the hose characteristic parameter, and specifically comprises:

[0295] Based on the category parameter, a partition decision of the target hose in the storage area is determined, and the number of partitions of the partition decision corresponds to the category number and / or the hose number of the target hose.

[0296] The storage strategy is generated according to the partition decision.

[0297] Specifically, the embodiment provides another implementation of determining the storage strategy of the target hose in the storage area according to the hose characteristic parameter.

[0298] Optionally, the working machine comprises a collecting mechanism 10, a sorting mechanism 20 and a moving mechanism 30.

[0299] The collecting mechanism 10 is arranged at one side of the storage area.

[0300] The sorting mechanism 20 is connected with the moving mechanism 30 and moves in the storage area to sort the target water hose delivered by the collecting mechanism 10.

[0301] The operation information is obtained, specifically comprising:

[0302] Based on the operation information, it is determined that the sorting of the target water hose is in an automatic sorting mode, and the operation of the collecting mechanism 10, the sorting mechanism 20 and the moving mechanism 30 is controlled according to the sorting process of the automatic sorting mode, and the sorting process comprises the action sequence of the collecting mechanism 10, the sorting mechanism 20 and the moving mechanism 30.

[0303] Based on the operation information, it is determined that the sorting of the target water hose is in a manual sorting mode, and the operation of the collecting mechanism 10, the sorting mechanism 20 and the moving mechanism 30 is controlled according to the sorting node of the manual sorting mode, and the sorting node is a preset standby position of the collecting mechanism 10, the sorting mechanism 20 and the moving mechanism 30.

[0304] Specifically, the embodiment provides an implementation manner of obtaining operation information.

[0305] Optionally, based on the operation information, it is determined that the sorting of the target water hose is in an automatic sorting mode, specifically comprising:

[0306] Based on the automatic sorting mode, it is determined that the sorting of the target water hose comprises a return instruction, and the collecting mechanism 10, the sorting mechanism 20 and the moving mechanism 30 are controlled to return to the initial position after the sorting of the target water hose is completed, and the initial position is the position of the collecting mechanism 10, the sorting mechanism 20 and the moving mechanism 30 when starting;

[0307] Based on the automatic sorting mode, it is determined that the sorting of the target water hose does not comprise a return instruction, and the collecting mechanism 10, the sorting mechanism 20 and the moving mechanism 30 are controlled to stay at the termination position after the sorting of the target water hose is completed, and the termination position is used as the starting position for the next sorting.

[0308] Specifically, the embodiment provides an implementation manner of determining that the sorting of the target water hose is in an automatic sorting mode.

[0309] Optionally, the sorting strategy of the target water hose in the storage area of the working machine is determined according to the operation information and the water hose characteristic parameters, specifically comprising:

[0310] Based on the operation information, it is determined that the sorting operation parameters of the target water hose meet a safety threshold, and then the sorting strategy is generated according to the sorting operation parameters and the water hose characteristic parameters;

[0311] Based on the operation information, it is determined that the storage operation parameter of the target water hose does not meet the safety threshold, and an alarm information is sent out.

[0312] Specifically, the embodiment provides another implementation of determining the storage strategy of the target water hose in the storage area of the working machine.

[0313] Optionally, the working machine comprises a winding mechanism 10, a winding mechanism 20 and a moving mechanism 30;

[0314] The winding mechanism 10 is arranged on one side of the storage area;

[0315] The winding mechanism 20 is connected with the moving mechanism 30 and reciprocally moves in the first direction and the second direction in the storage area, for winding the target water hose in the storage area;

[0316] Among them, the winding mechanism 10 is arranged at the starting end of the storage area in the first direction, and the first direction and the second direction are opposite;

[0317] It is determined that the storage operation parameter of the target water hose meets the safety threshold, specifically including:

[0318] Based on the storage operation parameter of the target water hose, the first winding parameter of the winding mechanism 10 and the return winding coefficient are obtained, and the first winding parameter is the winding speed of the winding mechanism 10 in the first direction;

[0319] The actual average winding speed is generated based on the first winding parameter and the return winding coefficient, and according to the actual average winding speed meeting the preset winding speed, it is determined that the storage operation parameter meets the safety threshold.

[0320] Specifically, the embodiment provides an implementation of determining that the storage operation parameter of the target water hose meets the safety threshold.

[0321] Optionally, the storage operation parameter is generated according to the first winding parameter and the return winding coefficient, specifically including:

[0322] Based on the first winding parameter, the first winding parameter of the winding mechanism 20 and the first moving parameter of the moving mechanism 30 are determined, the first winding parameter is the winding speed of the winding mechanism 20 in the first direction, and the first moving parameter is the moving speed of the moving mechanism 30 in the first direction;

[0323] The storage operation parameter is generated according to the first winding parameter, the first winding parameter, the first moving parameter and the return winding coefficient;

[0324] Among them, the determination of the first winding parameter and the first moving parameter is based on the following formula:

[0325]

[0326] V1 + is a first take-up parameter, V2 + is a first winding parameter, V3 + is a first movement parameter.

[0327] Specifically, the embodiment provides an implementation of generating a take-wind operation parameter according to a first take-up parameter and a backhaul take-up coefficient.

[0328] Optionally, the generating of the take-wind operation parameter according to the first take-up parameter and the backhaul take-up coefficient specifically comprises:

[0329] determining, based on the first take-up parameter and the backhaul take-up coefficient, a second take-up parameter of the take-up mechanism 10, a second winding parameter of the winding mechanism 20, and a second movement parameter of the movement mechanism 30, the second take-up parameter being a take-up speed of the take-up mechanism 10 along a second direction, the second winding parameter being a winding speed of the winding mechanism 20 along the second direction, and the second movement parameter being a movement speed of the movement mechanism 30 along the second direction;

[0330] generating the take-wind operation parameter according to the second take-up parameter, the second winding parameter, and the second movement parameter;

[0331] wherein the determination of the second take-up parameter is based on the following formula:

[0332] V1 - =kV1 +

[0333] V1 + is a first take-up parameter, V1 - is a second take-up parameter, and k is a backhaul take-up coefficient;

[0334] the determination of the second winding parameter is based on the following formula:

[0335] V2 - =(1+k)V1 +

[0336] V1 + is a first take-up parameter, V2 - is a second winding parameter, and k is a backhaul take-up coefficient;

[0337] the determination of the second movement parameter is based on the following formula:

[0338] V3 - =V1 +

[0339] V1 + is a first take-up parameter, V3 - is a second movement parameter.

[0340] Specifically, this embodiment provides another implementation method for generating receiving and handling operation parameters based on the first receiving parameter and the return receiving coefficient.

[0341] In some specific embodiments of the present invention, this solution provides a working machine that, when performing control, employs the above-mentioned working machine hose reeling control method, or has the above-mentioned working machine hose reeling control device.

[0342] In a possible embodiment, the working machinery is a fire truck with a belt take-up mechanism 10, a belt straightening mechanism 20 and a moving mechanism 30. The fire truck has a compartment inside, and a storage area is formed on the top of the compartment.

[0343] In a possible embodiment, the working machinery is a special vehicle that needs to lay water hoses. The interior of the special vehicle is equipped with a carriage and a driver's cab. A storage area is formed on the top of the carriage. The hose reeling mechanism 10, the hose handling mechanism 20 and the moving mechanism 30 are set in the storage area to realize the reeling and handling of the target water hose.

[0344] Figure 14 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 14 As shown, the electronic device may include a processor 810, a communication interface 820, a memory 830, and a communication bus 840. The processor 810, communication interface 820, and memory 830 communicate with each other via the communication bus 840. The processor 810 can call logic instructions from the memory 830 to execute the hose reel control method for the working machinery.

[0345] It should be noted that the electronic device in this embodiment can be a server, a PC, or other devices, as long as its structure includes, for example, a server. Figure 14 The processor 810, communication interface 820, memory 830, and communication bus 840 shown are interconnected via the communication bus 840. The processor 810 can call logical instructions stored in the memory 830 to execute the aforementioned method. This embodiment does not limit the specific implementation of the electronic device.

[0346] The server can be a single server or a group of servers. The server group can be centralized or distributed (for example, the servers can be a distributed system).

[0347] In some embodiments, the server can be local or remote with respect to the terminal. For example, the server can access information stored in the user terminal, the database, or any combination thereof via a network.

[0348] As another example, the server can be directly connected to at least one of the user terminal and the database to access information and / or data stored therein.

[0349] In some embodiments, the server can be implemented on a cloud platform; by way of example only, the cloud platform can include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an inter-cloud, a multi-cloud, etc., or any combination thereof.

[0350] In some embodiments, the server and the user terminal can be implemented on an electronic device having one or more components in the embodiments of the present application.

[0351] Further, the network can be used for exchange of information and / or data.

[0352] In some embodiments, one or more components in the interaction scenario (e.g., the server, the user terminal, and the database) can send information and / or data to other components.

[0353] In some embodiments, the network can be any type of wired or wireless network, or a combination thereof. By way of example only, the network can include a wired network, a wireless network, a fiber optic network, a telecommunications network, an intranet, the Internet, a Local Area Network (LAN), a Wide Area Network (WAN), a Wireless Local Area Network (WLAN), a Metropolitan Area Network (MAN), a Wide Area Network (WAN), a Public Switched Telephone Network (PSTN), a Bluetooth network, a ZigBee network, or a Near Field Communication (NFC) network, etc., or any combination thereof.

[0354] In some embodiments, the network can include one or more network access points. For example, the network can include wired or wireless network access points, such as base stations and / or network switching nodes, through which one or more components in the interaction scenario can connect to the network to exchange data and / or information.

[0355] In addition, the logic instructions in the memory 830 described above can be implemented in the form of software functional units and sold or used as independent products, and can be stored in a computer readable storage medium.

[0356] Based on such understanding, the technical solutions of the present application, essentially or in part, or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods according to the embodiments of the present application. The aforementioned storage medium includes: various memories (such as a read-only memory, a random access memory, a flash memory, or the like) and a disk storage medium (such as a disk, a magnetic disk, or an optical disk, etc.).

[0357] In possible implementation manners, the embodiments of the present application further provide a non-transitory computer-readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the water hose collecting and arranging control method of the working machine provided by the above-mentioned embodiments.

[0358] In possible implementation manners, the embodiments of the present application further provide a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the method provided by the above-mentioned method embodiments.

[0359] The device embodiments described above are merely illustrative, wherein the units shown as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0360] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above description of the embodiments, and the various embodiments can be implemented by means of software with the necessary general hardware platforms, and of course can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods of the various embodiments or some parts of the embodiments.

[0361] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling the hose reeling of a work machine, characterized in that, include: Acquire operational information and the water hose characteristic parameters of the target water hose collected by the operating machinery; Based on the operation information and the hose characteristic parameters, a collection strategy for the target hose in the storage area of ​​the operating machinery is determined, and the target hose is collected in the storage area according to the collection strategy. The water hose characteristic parameters include at least the size parameters of the target water hose, and the size parameters include at least the length of the target water hose; The step of determining the collection strategy for the target water hose in the storage area based on the water hose characteristic parameters specifically includes: Based on the size parameters, a collection decision for the target water hose within the storage area is determined, and a collection strategy is generated based on the collection decision. The collection decision includes a first collection mode and a second collection mode for the target water hose in the storage area; In the first collection mode, the target water hose is controlled to be collected in the storage area according to a first preset path. The first preset path includes collecting the target water hose from the initial position along a first direction to the end position, then moving it perpendicular to the first direction by the width of the target water hose, collecting it from the end position to the initial position along a second direction, and then moving it again perpendicular to the first direction by the width of the target water hose. The direction of the second movement is the same as the direction of the first movement by the width of the target water hose. In the second collection mode, the target water hose is controlled to be collected in the storage area according to a second preset path. The second preset path includes collecting the target water hose from the initial position along the first direction to the end position, and then collecting it from the end position to the initial position along the second direction. Wherein, the first direction and the second direction are opposite in direction; The first collection and processing mode also includes: Based on the first preset path, it is determined that the first preset condition is met, and the target water hose is controlled to be collected in the storage area according to the third preset path, the collection path of the third preset path being the opposite of the collection path of the first preset path. Based on the third preset path, if the first preset condition is met, the target water hose is controlled to be collected and processed in the storage area according to the first preset path. Repeat the above steps until all the target water hoses have been collected in the storage area; The first preset condition includes that the water hose collection area formed by the target water hose collection is equal to the water hose storage area of ​​the storage area, or that the remaining water hose storage area cannot complete a single collection along the first direction or the second direction.

2. The hose reel control method for operating machinery according to claim 1, characterized in that, The dimensional parameters also include the superimposed thickness of the target water hose after it has been processed in the storage area; The second collection and processing mode also includes: Based on the size parameters, it is determined that the superposition thickness of the target water hose does not meet the safety threshold. The target water hose is then moved perpendicularly to the first direction by the width of the target water hose and collected according to a fourth preset path. The collection path of the fourth preset path is opposite to the collection path of the second preset path.

3. The hose reel control method for operating machinery according to claim 1 or 2, characterized in that, The water hose characteristic parameters include at least the category parameters of the target water hose, and the category parameters include at least the number of types of the target water hose and the number of water hoses; The step of determining the collection strategy for the target water hose in the storage area based on the water hose characteristic parameters specifically includes: Based on the category parameters, a zoning decision is made for the target water line within the storage area, and the number of zoning decisions corresponds to the number of types and / or the number of water lines of the target water line. The collection strategy is generated based on the partitioning decision.

4. The hose reel control method for operating machinery according to claim 1 or 2, characterized in that, The operating machinery includes: a belt take-up mechanism (10), a belt straightening mechanism (20), and a moving mechanism (30); The strapping mechanism (10) is located on one side of the storage area; The belt handling mechanism (20) is connected to the moving mechanism (30) and moves within the storage area to collect the target water belt conveyed by the belt collection mechanism (10) within the storage area; The acquisition of operation information specifically includes: Based on the operational information, it is determined whether the target water hose is collected in automatic collection mode or manual collection mode. If the automatic collection mode is determined, the operation of the collection mechanism (10), the strip handling mechanism (20) and the moving mechanism (30) are controlled according to the collection process of the automatic collection mode. The collection process includes the action sequence of the collection mechanism (10), the strip handling mechanism (20) and the moving mechanism (30). If the manual collection mode is determined, the operation of the collection mechanism (10), the strip handling mechanism (20), and the moving mechanism (30) is controlled according to the collection node of the manual collection mode. The collection node is the preset standby position of the collection mechanism (10), the strip handling mechanism (20), and the moving mechanism (30).

5. The hose reel control method for operating machinery according to claim 4, characterized in that, The step of determining that the target water hose is to be collected in automatic collection mode based on the operation information specifically includes: Based on the automatic collection mode, the collection of the target water hose is determined to include a return command, which controls the collection mechanism (10), the shunting mechanism (20), and the moving mechanism (30) to return to their initial positions after the target water hose is collected. The initial position is the position when the collection mechanism (10), the shunting mechanism (20), and the moving mechanism (30) are started. Based on the automatic collection mode, it is determined that the collection of the target water hose does not include the return command. The collection mechanism (10), the hose handling mechanism (20), and the moving mechanism (30) are controlled to stay at the termination position after the collection of the target water hose is completed, and the termination position is used as the starting position for the next collection.

6. The hose reel control method for operating machinery according to claim 1 or 2, characterized in that, The step of determining the collection strategy for the target water hose in the storage area of ​​the operating machinery based on the operation information and the water hose characteristic parameters specifically includes: Based on the operational information, if it is determined that the collection and handling operation parameters of the target water hose meet the safety threshold, then the collection and handling strategy is generated according to the collection and handling operation parameters and the water hose characteristic parameters. Based on the operational information, if it is determined that the handling parameters of the target water hose do not meet the safety threshold, an alarm message is issued.

7. The hose reel control method for operating machinery according to claim 6, characterized in that, The operating machinery includes: a belt take-up mechanism (10), a belt straightening mechanism (20), and a moving mechanism (30); The strapping mechanism (10) is located on one side of the storage area; The belt handling mechanism (20) is connected to the moving mechanism (30) and moves back and forth in the storage area along the first and second directions to collect the target water belt conveyed by the belt taking mechanism (10) in the storage area; The strapping mechanism (10) is located at the starting end of the storage area in the first direction, which is opposite to the second direction. The determination that the collection and operation parameters of the target water hose meet the safety threshold specifically includes: Based on the target water hose's handling operation parameters, the first hose-taking parameter and return hose-taking coefficient of the hose-taking mechanism (10) are obtained. The first hose-taking parameter is the hose-taking speed of the hose-taking mechanism (10) along the first direction. Based on the first take-up parameters and the return take-up coefficient, an actual average take-up speed is generated. If the actual average take-up speed meets the preset take-up speed, it is determined that the take-up operation parameters meet the safety threshold.

8. The hose reel control method for operating machinery according to claim 7, characterized in that, The step of generating the receiving and processing operation parameters based on the first receiving parameters and the return receiving coefficient specifically includes: Based on the first take-up parameter, the first strip-gathering parameter of the strip-gathering mechanism (20) and the first movement parameter of the moving mechanism (30) are determined, wherein the first strip-gathering parameter is the strip-gathering speed of the strip-gathering mechanism (20) along the first direction, and the first movement parameter is the movement speed of the moving mechanism (30) along the first direction; The receiving and handling operation parameters are generated based on the first receiving parameters, the first handling parameters, the first movement parameters, and the return receiving coefficient.

9. The hose reeling control method for operating machinery according to claim 7, characterized in that, The step of generating the receiving and processing operation parameters based on the first receiving parameters and the return receiving coefficient specifically includes: Based on the first take-up parameter and the return take-up coefficient, the second take-up parameter of the take-up mechanism (10), the second take-up parameter of the take-up mechanism (20), and the second movement parameter of the moving mechanism (30) are determined. The second take-up parameter is the take-up speed of the take-up mechanism (10) along the second direction, the second take-up parameter is the take-up speed of the take-up mechanism (20) along the second direction, and the second movement parameter is the movement speed of the moving mechanism (30) along the second direction. The receiving and processing operation parameters are generated based on the second receiving parameter, the second processing parameter, and the second movement parameter.

10. A hose reel control device for a work machinery, characterized in that, include: The acquisition module (40) is used to acquire operation information and the water hose characteristic parameters of the target water hose collected by the operating machinery; The strategy module (50) is used to determine the collection strategy of the target water hose in the storage area of ​​the working machinery according to the operation information and the water hose characteristic parameters, and to control the collection of the target water hose in the storage area according to the collection strategy; The water hose characteristic parameters include at least the size parameters of the target water hose, and the size parameters include at least the length of the target water hose; The step of determining the collection strategy for the target water hose in the storage area based on the water hose characteristic parameters specifically includes: Based on the size parameters, a collection decision for the target water hose within the storage area is determined, and a collection strategy is generated based on the collection decision. The collection decision includes a first collection mode and a second collection mode for the target water hose in the storage area; In the first collection mode, the target water hose is controlled to be collected in the storage area according to a first preset path. The first preset path includes collecting the target water hose from the initial position along a first direction to the end position, then moving it perpendicular to the first direction by the width of the target water hose, collecting it from the end position to the initial position along a second direction, and then moving it again perpendicular to the first direction by the width of the target water hose. The direction of the second movement is the same as the direction of the first movement by the width of the target water hose. In the second collection mode, the target water hose is controlled to be collected in the storage area according to a second preset path. The second preset path includes collecting the target water hose from the initial position along the first direction to the end position, and then collecting it from the end position to the initial position along the second direction. Wherein, the first direction and the second direction are opposite in direction; The first collection and processing mode also includes: Based on the first preset path, it is determined that the first preset condition is met, and the target water hose is controlled to be collected in the storage area according to the third preset path, the collection path of the third preset path being the opposite of the collection path of the first preset path. Based on the third preset path, if the first preset condition is met, the target water hose is controlled to be collected and processed in the storage area according to the first preset path. Repeat the above steps until all the target water hoses have been collected in the storage area; The first preset condition includes that the water hose collection area formed by the target water hose collection is equal to the water hose storage area of ​​the storage area, or that the remaining water hose storage area cannot complete a single collection along the first direction or the second direction.

11. A type of operating machinery, characterized in that, When performing control, the hose reeling control method of the operating machinery as described in any one of claims 1 to 9 is adopted, or the hose reeling control device of the operating machinery as described in claim 10 is adopted.

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