Control method and control arrangement for a working machine, processor and working machine

Abstract

The embodiment of the application provides a control method and a control device for an engineering machine, a processor and the engineering machine, and belongs to the field of engineering machines. The engineering machine comprises a boom, the boom comprises a plurality of working mechanisms connected through hinge points in sequence, and the control method for the engineering machine comprises the following steps: acquiring the distance between each preset convex point on the boom and an electronic fence; determining the preset convex point with a distance less than a distance threshold value as a target convex point; acquiring a target connecting line between the target convex point and each hinge point; and determining the limiting action direction of the working mechanism corresponding to the hinge point connected by each target connecting line according to the angle direction of each target connecting line relative to a target line, wherein the target line is perpendicular to the electronic fence. The embodiment of the application can improve safety.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery, and more specifically to a control method and control device, processor and engineering machinery for engineering machinery. Background Technology

[0002] Construction machinery (such as excavators or concrete pump trucks) often faces limited spatial movement due to environmental factors during operation, potentially causing damage to both the environment and the machinery itself. Therefore, electronic fencing is typically used to restrict the movement of the machinery's various working mechanisms. In existing technologies, when the boom of a construction machine exceeds its limits, if the boom still needs to move, the restriction strategy is usually determined by whether the differential velocity direction after the boom's movement matches the differential velocity direction before the movement. If they match, the boom's movement is restricted; otherwise, it is not. However, this method requires the boom to continue moving after exceeding its limits to determine the restriction strategy, which presents a safety risk. Summary of the Invention

[0003] The purpose of this invention is to provide a control method and control device, processor and engineering machinery for use in engineering machinery, so as to solve the problem of low safety in the prior art.

[0004] To achieve the above objectives, a first aspect of the present invention provides a control method for construction machinery, the construction machinery including a boom, the boom including a plurality of working mechanisms connected sequentially via hinge points, the control method including:

[0005] Obtain the distance between each of the multiple preset protrusions on the boom and the electronic fence;

[0006] Define the preset bumps whose corresponding distance is less than the distance threshold as target bumps;

[0007] Obtain the target connection lines between the target protrusion and each hinge point;

[0008] Based on the angle between each target line and the target line, determine the restricted action direction of the working mechanism corresponding to the hinge point connected by each target line. The target line is perpendicular to the electronic fence.

[0009] In this embodiment of the invention, when the target line is a horizontal line, the restricted movement direction of the working mechanism corresponding to the hinge point connected by each target line is determined according to the angle direction of each target line relative to the target line. This includes: when the angle direction of each target line relative to the horizontal line with the hinge point as the reference is upward, or the angle direction of the horizontal line with the target protrusion as the reference is downward, the restricted movement direction of the working mechanism corresponding to the hinge point connected by each target line is determined to be downward; when the angle direction of each target line relative to the horizontal line with the hinge point as the reference is downward, or the angle direction of the horizontal line with the target protrusion as the reference is upward, the restricted movement direction of the working mechanism corresponding to the hinge point connected by each target line is determined to be upward.

[0010] In this embodiment of the invention, the control method further includes: when there are multiple target protrusions, determining a set of restricted action directions for each working mechanism based on the multiple target protrusions; when there is at least one target working mechanism, controlling the engineering machinery to move away from the electronic fence, wherein the set of restricted action directions for the target working mechanism includes all possible action directions of the target working mechanism.

[0011] In this embodiment of the invention, the control method further includes: during the process of controlling the movement of the boom, in response to a first confirmation command input by the user, obtaining a first position of the boom end; in response to a second confirmation command input by the user, obtaining a second position of the boom end; and constructing an electronic fence based on the straight line where the first position and the second position are located.

[0012] In this embodiment of the invention, the electronic fence includes a restricted access electronic fence and a restricted touch electronic fence. The restricted access electronic fence is used to restrict the movement direction of the chassis of the construction machinery, and the restricted touch electronic fence is used to restrict the movement direction of the chassis and boom of the construction machinery.

[0013] In this embodiment of the invention, the control method further includes: constructing a buffer wall based on the electronic fence, wherein the buffer wall is located between the electronic fence and the engineering machinery; and decelerating the first movement speed of the chassis and / or the second movement speed of the boom when the preset protrusions on the chassis and / or boom of the engineering machinery are located between the buffer wall and the electronic fence.

[0014] In this embodiment of the invention, the buffer wall includes a first buffer wall and a second buffer wall. The first distance between the first buffer wall and the electronic fence is greater than the second distance between the second buffer wall and the electronic fence. When the preset protrusion on the chassis and / or boom of the construction machinery is located between the buffer wall and the electronic fence, the first movement speed of the chassis and / or the second movement speed of the boom are decelerated. This includes: when the preset protrusion on the chassis and / or boom of the construction machinery is located between the first buffer wall and the second buffer wall, multiplying the first movement speed of the chassis and / or the second movement speed of the boom by a preset deceleration coefficient to obtain the decelerated first movement speed and / or the decelerated second movement speed, and then determining the decelerated first movement speed and / or the decelerated second movement speed based on the decelerated first movement speed and / or the decelerated second movement speed. The system controls the chassis movement based on a first movement speed and / or controls the boom movement based on a second movement speed after deceleration. When a preset protrusion on the chassis and / or boom of the construction machinery is located between a second buffer wall and an electronic fence, the system obtains the current distance between the chassis and / or the preset protrusion and the electronic fence. Based on the pre-stored correspondence between distance and deceleration coefficient, the system determines the current deceleration coefficient corresponding to the current distance. The system multiplies the first movement speed of the chassis and / or the second movement speed of the boom by the current deceleration coefficient to obtain the first movement speed and / or the second movement speed after deceleration. The system then controls the chassis movement based on the first movement speed after deceleration and / or controls the boom movement based on the second movement speed after deceleration.

[0015] A second aspect of the present invention provides a processor configured to execute the control method for engineering machinery described above.

[0016] A third aspect of the present invention provides a control device for construction machinery, the construction machinery including a boom, the boom including a plurality of working mechanisms connected sequentially by hinge points, the control device including:

[0017] The distance acquisition module is used to acquire the distance between each of the multiple preset protrusions on the boom and the electronic fence;

[0018] The target bump determination module is used to determine the preset bumps whose corresponding distance is less than the distance threshold as target bumps;

[0019] The target connection acquisition module is used to acquire the target connection between the target protrusion and each hinge point;

[0020] The constraint direction determination module is used to determine the constraint action direction of the working mechanism corresponding to the hinge point connected by each target line based on the angle direction of each target line relative to the target line. The target line is perpendicular to the electronic fence.

[0021] A fourth aspect of the present invention provides an engineering machinery, comprising: a boom, the boom including a plurality of working mechanisms connected sequentially by hinge points; and a processor according to the above or a control device for engineering machinery according to the above.

[0022] The above technical solution obtains the distance between each preset protrusion on the boom and the electronic fence, and identifies the preset protrusions whose distances are less than a distance threshold as target protrusions. It then obtains the target lines connecting the target protrusions to each hinge point, and determines the restricted movement direction of the working mechanism corresponding to each hinge point based on the angle between each target line and the target line. This technical solution can determine the restricted movement strategy of the boom without requiring any action after the boom exceeds its limits. When the boom exceeds its limits or is about to exceed them, the restricted movement direction of the working mechanism corresponding to each hinge point can be determined based on the angle between the target protrusion and the target line connecting each hinge point and the target line, thereby restricting each working mechanism from moving in the corresponding restricted movement direction. This improves the operational safety of the construction machinery, ensures safe operation, speeds up the determination of the restricted movement strategy, and increases the working efficiency of the construction machinery.

[0023] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0025] Figure 1 The schematic diagram illustrates a flow chart of a control method for engineering machinery according to an embodiment of the present invention;

[0026] Figure 2 The schematic diagram illustrates a flow chart of a control method for engineering machinery according to another embodiment of the present invention;

[0027] Figure 3 The schematic diagram illustrates an electronic fence according to one embodiment of the present invention;

[0028] Figure 4 The schematic diagram illustrates a target line and a horizontal line in one embodiment of the present invention;

[0029] Figure 5 The illustration shows a scenario in which there are multiple target protrusions according to an embodiment of the present invention;

[0030] Figure 6 The schematic diagram illustrates a buffer wall in one embodiment of the present invention;

[0031] Figure 7 The schematic diagram illustrates the structure of a control device for engineering machinery according to an embodiment of the present invention. Detailed Implementation

[0032] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0033] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0034] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0035] Figure 1 The illustration schematically shows a flow chart of a control method for engineering machinery according to an embodiment of the present invention. For example... Figure 1 As shown, in this embodiment of the invention, a control method for construction machinery is provided. The construction machinery includes a boom, and the boom includes multiple working mechanisms connected sequentially through hinge points. Taking the application of this control method to a processor as an example, the control method may include the following steps:

[0036] Step S102: Obtain the distance between each preset protrusion on the boom and the electronic fence.

[0037] Step S104: Determine the preset bumps whose distance is less than the distance threshold as target bumps.

[0038] Step S106: Obtain the target connection lines between the target protrusion and each hinge point.

[0039] Step S108: Based on the angle between each target line and the target line, determine the restricted action direction of the working mechanism corresponding to the hinge point connected by each target line, with the target line perpendicular to the electronic fence.

[0040] It is understood that preset protrusions are pre-determined points on the boom that may touch the electronic fence, and there can be multiple of them. The distance threshold is the minimum distance between the preset protrusions and the electronic fence. Target protrusions are preset protrusions whose distance from the electronic fence is less than the distance threshold. Target lines are lines connecting the target protrusions to each hinge point. It is understood that construction machinery can include excavators, pump trucks, concrete placing booms, cranes, aerial work platforms, or aerial fire trucks, etc. Taking an excavator as an example, the working mechanism can include the boom, stick, and bucket; taking a pump truck as an example, the working mechanism can include each boom section. The target line is perpendicular to the electronic fence and can be a horizontal line or a vertical line. If the electronic fence is the front or rear wall, the target line can be a horizontal line perpendicular to the electronic fence; if the electronic fence is the top or bottom wall, the target line can be a vertical line perpendicular to the electronic fence. The specific line can be determined according to the actual application scenario. Taking the target line as a horizontal line as an example, the angle between the target connecting line and the target line can be upward or downward. The horizontal line can be a horizontal line established with the hinge point as the reference or a horizontal line established with the target convex point as the reference. The angle between the target connecting line and the horizontal line will change depending on the position of the horizontal line. Furthermore, the angle can be calculated based on the attitude of each working mechanism. For example, angle detection devices such as tilt sensors or angle sensors can be set on each working mechanism and the chassis. Based on the angle detected by these angle detection devices, the inherent dimensions of the working mechanism, and the connection relationship between each working mechanism, the position coordinates of the target convex point and each hinge point can be calculated. Based on these position coordinates, the angle between the target connecting line and the horizontal line can be obtained.

[0041] Specifically, the processor can obtain the distance between each of the multiple preset protrusions on the boom and the electronic fence through the distance detection device, and compare it with the distance threshold. When the distance corresponding to the preset protrusion is less than the distance threshold, the preset protrusion is determined to be the target protrusion. In this way, the target connection line between the target protrusion and each hinge point can be obtained. Then, based on the angle direction of each target connection line relative to the target line, the restricted action direction of the working mechanism corresponding to the hinge point connected by each target connection line can be determined.

[0042] The following embodiments primarily use a horizontal target line as an example. Further, in one embodiment, when the target line is horizontal, taking the horizontal line with the hinge point as a reference as an example, determining the limiting action direction of the working mechanism corresponding to the hinge point connected by each target line based on the angle direction of each target line relative to the target line can include: when the angle direction of each target line relative to the horizontal line with the hinge point as a reference is upward, determining the limiting action direction of the working mechanism corresponding to the hinge point connected by each target line as downward; when the angle direction of each target line relative to the horizontal line with the hinge point as a reference is downward, determining the limiting action direction of the working mechanism corresponding to the hinge point connected by each target line as upward.

[0043] Specifically, taking the target protrusion as the tip of the bucket tooth and the working mechanism as the bucket as an example, the target connection line can be the line connecting the tip of the tooth and the corresponding hinge point of the bucket. A horizontal line is established with the corresponding hinge point of the bucket as the reference. If the angle between the target connection line and the horizontal line is upward, that is, the target connection line is above the horizontal line, that is, the angle between the target connection line and the horizontal line is positive. At this time, it can be determined that the restricted movement direction of the bucket is downward. Conversely, if the angle between the target connection line and the horizontal line is downward, that is, the target connection line is below the horizontal line, that is, the angle between the target connection line and the horizontal line is negative. At this time, it can be determined that the restricted movement direction of the bucket is upward. In another example, the target protrusion can be the tip of the bucket tooth, and the working mechanism can be the stick. The target line can be the line connecting the tip of the tooth and the corresponding hinge point of the stick. A horizontal line is established with the hinge point of the stick as the reference. If the angle between the target line and the horizontal line is upward, that is, the target line is above the horizontal line, the angle between the target line and the horizontal line is positive. At this time, the restricted movement direction of the stick can be determined to be downward. Conversely, if the angle between the target line and the horizontal line is downward, that is, the target line is below the horizontal line, the angle between the target line and the horizontal line is negative. At this time, the restricted movement direction of the stick can be determined to be upward. Other working mechanisms can be deduced in the same way.

[0044] In another embodiment, when the target line is a horizontal line, taking the horizontal line with the target protrusion as a reference as an example, the restricted movement direction of the working mechanism corresponding to the hinge point connected by each target line is determined according to the angle direction of each target line relative to the target line. This can include: when the angle direction of each target line relative to the horizontal line with the target protrusion as a downward direction, the restricted movement direction of the working mechanism corresponding to the hinge point connected by each target line is determined to be downward; when the angle direction of each target line relative to the horizontal line with the target protrusion as a upward direction, the restricted movement direction of the working mechanism corresponding to the hinge point connected by each target line is determined to be upward.

[0045] Specifically, taking the target protrusion as the tip of the bucket tooth and the working mechanism as the bucket as an example, the target connection line can be the line connecting the tip of the tooth and the corresponding hinge point of the bucket. A horizontal line is established with the tip of the tooth as the reference. If the angle between the target connection line and the horizontal line is downward, that is, the target connection line is below the horizontal line, that is, the angle between the target connection line and the horizontal line is negative. At this time, it can be determined that the restricted action direction of the bucket is downward. Conversely, if the angle between the target connection line and the horizontal line is upward, that is, the target connection line is above the horizontal line, that is, the angle between the target connection line and the horizontal line is positive. At this time, it can be determined that the restricted action direction of the bucket is upward. In another example, the target protrusion can be the tip of the bucket tooth, and the working mechanism can be the boom. The target line can be the line connecting the tip of the tooth and the corresponding hinge point of the boom. A horizontal line is established with the tip of the tooth as the reference. If the angle between the target line and the horizontal line is downward, that is, the target line is below the horizontal line, the angle between the target line and the horizontal line is negative. At this time, the restricted movement direction of the boom can be determined to be downward. Conversely, if the angle between the target line and the horizontal line is upward, that is, the target line is above the horizontal line, the angle between the target line and the horizontal line is positive. At this time, the restricted movement direction of the boom can be determined to be upward. Other working mechanisms can be deduced in the same way.

[0046] The aforementioned control method for construction machinery obtains the distance between each of multiple preset protrusions on the boom and the electronic fence, and identifies the preset protrusions whose distances are less than a distance threshold as target protrusions. This allows for the acquisition of target lines connecting the target protrusions to each hinge point. Furthermore, based on the angle between each target line and the target line, the restricted movement direction of the working mechanism corresponding to each hinge point connected by the target line is determined. This technical solution can determine the restricted movement strategy of the boom without requiring any action after the boom exceeds its limits. When the boom exceeds its limits or is about to exceed them, the restricted movement direction of the working mechanism corresponding to each hinge point can be determined based on the angle between the target protrusion and the target line connecting each hinge point and the target line, thereby restricting each working mechanism from moving in the corresponding restricted movement direction. This improves the operational safety of the construction machinery, ensures safe operation, accelerates the judgment speed of the restricted movement strategy, and increases the working efficiency of the construction machinery.

[0047] In one embodiment, the control method for engineering machinery further includes: when there are multiple target protrusions, determining a set of restricted motion directions for each working mechanism based on the multiple target protrusions; and when there is at least one target working mechanism, controlling the engineering machinery to move away from the electronic fence, wherein the set of restricted motion directions for the target working mechanism includes all possible motion directions of the target working mechanism.

[0048] It is understandable that when there are multiple target protrusions, each working mechanism has a corresponding restricted movement direction under different target protrusions, thus forming a set of restricted movement directions for each working mechanism, i.e., a set of restricted motion directions. It is also understandable that when there is only one target protrusion, each working mechanism corresponds to one target connection line, and each working mechanism has only one restricted motion direction (up or down); when there are two or more target protrusions, each working mechanism can correspond to multiple target connections, and each working mechanism has a corresponding set of restricted motion directions. This set of restricted motion directions can include one or two restricted motion directions, i.e., at least one restricted motion direction and at most two restricted motion directions (because the boom typically only has two movable directions, up and down). A target working mechanism is a working mechanism whose set of restricted motion directions includes all its movable directions. In this technical solution, a working mechanism containing two restricted motion directions is a target working mechanism. The number of target working mechanisms can be one or more.

[0049] Specifically, when there are multiple target bumps, the processor can determine the set of restricted motion directions for each working mechanism based on these target bumps. That is, it can determine the restricted motion directions for each working mechanism under each target bump separately, and then summarize these into a set of restricted motion directions for each working mechanism. When it is determined that there is at least one target working mechanism among the multiple working mechanisms (the set of restricted motion directions includes all possible motion directions), the processor can control the construction machinery to move away from the electronic fence, for example, controlling the chassis of the construction machinery to move away from the electronic fence.

[0050] In this embodiment of the invention, when there are multiple target protrusions and multiple working mechanisms include target action mechanisms that cover all possible action directions, the action directions of the working mechanisms of the construction machinery are too restricted. By controlling the construction machinery to move away from the electronic fence, the position of the construction machinery is adjusted to reduce the action restrictions, thereby reducing the number of restricted action directions of the working mechanisms, and thus reducing the number of target working mechanisms, thereby ensuring safe operation and achieving the effect of ensuring that the operating performance of the construction machinery does not decline.

[0051] In one embodiment, the control method for construction machinery further includes: during the process of controlling the movement of the boom, obtaining a first position of the boom end in response to a first confirmation command input by the user; obtaining a second position of the boom end in response to a second confirmation command input by the user; and constructing an electronic fence based on the straight line where the first position and the second position are located.

[0052] It can be understood that the first confirmation command and the second confirmation command are respectively the instructions for confirming the position entered by the user. Specifically, they can be obtained by the user pressing the button on the control handle. The first confirmation command can correspond to the first position, and the second confirmation command can correspond to the second position.

[0053] Specifically, during the process of controlling the movement of the boom, the processor can respond to the first confirmation command input by the user to obtain the first position of the boom end (e.g., the tip of the bucket's teeth), and respond to the second confirmation command input by the user to obtain the second position of the boom end (e.g., the tip of the bucket's teeth). Thus, an electronic fence can be constructed based on the straight line where the first and second positions are located. In other words, the electronic fence does not take the first and second positions as its starting and ending boundary points, but rather extends infinitely along a straight line where the first and second positions are located, which can be adapted to objects or obstacles such as rivers, building walls, etc.

[0054] In some embodiments, the electronic fence can also be a plane connected to the ground, composed of numerous straight lines parallel to the lines where the first and second positions are located. In other embodiments, the electronic fence can also be a cubic electronic fence determined based on the first and second positions. For example, when the user presses the shortcut button on the handle for the first time, the processor can obtain the first confirmation command input by the user, obtain and record the coordinates (x1, y1, z1) of the tooth tip in the vehicle coordinate system. When the user presses the shortcut button on the handle for the second time, the processor can obtain the second confirmation command input by the user, obtain and record the coordinates (x2, y2, z2) of the tooth tip in the vehicle coordinate system. Combined with preset rules, a cubic electronic fence can be constructed. The preset rules can be, for example, x1≤x≤x2, y1≤y≤y2, z1≤z≤z2, or y1≤y≤y2, z≤min(z1,z2), etc.

[0055] Furthermore, in some embodiments, the processor can obtain the location of obstacles in a geodetic coordinate system and determine a first position corresponding to a first point and a second position corresponding to a second point based on the obstacle location. The first and second points are located at the left and right ends, respectively, and an electronic fence can be constructed based on these positions. In other words, the first and second positions can be directly determined by the obstacle location. The obstacle can be an object such as a building or high-voltage line around which an electronic fence needs to be built. For example, the coordinates k1 and k2 of at least two points where an electronic fence needs to be built can be located using GPS, and the electronic fence can be generated based on these coordinates.

[0056] In this embodiment of the invention, unlike the existing method of determining the electronic fence based on the distance between the object (or obstacle) and the construction machinery, the electronic fence does not change position as the construction machinery moves. That is, the electronic fence does not move with the vehicle body, so that the established electronic fence is in the geodetic coordinate system. After the construction machinery moves, the electronic fence remains in place, which is more realistic and the restriction is more precise, making the setting of the electronic fence more practical.

[0057] In one embodiment, the electronic fence includes a restricted access electronic fence and a restricted touch electronic fence, wherein the restricted access electronic fence is used to restrict the movement direction of the chassis of the construction machinery, and the restricted touch electronic fence is used to restrict the movement direction of the chassis and boom of the construction machinery.

[0058] It's understandable that electronic fencing can be divided into restricted-access electronic fencing and restricted-touch electronic fencing, depending on the object being restricted. Restricted-access electronic fencing limits the movement direction of the chassis of construction machinery; that is, it only prevents the chassis from crossing over certain areas. Restricted-touch electronic fencing limits the movement direction of both the chassis and the boom of construction machinery; that is, it restricts both the chassis and the boom from crossing certain areas. In other words, restricted-access electronic fencing primarily prevents the chassis of construction machinery from crossing certain areas, while the superstructure, such as the boom, is not restricted. Taking excavators as an example, in mining operations, there are dedicated dump truck lanes. During the excavator loading process, these lanes are prohibited from being crossed, but the boom needs to be able to move within these areas. Similarly, during excavator operations, if there are temporarily buried power lines or pipes on site, the excavator chassis is prohibited from running over them. In all these situations, restricted-access electronic fencing is necessary. The no-touch electronic fence not only restricts the chassis of construction machinery, but also restricts the upper parts of construction machinery, such as the boom, from exceeding the limit. For example, when working in confined spaces such as next to buildings or high-voltage lines, the no-touch electronic fence needs to be set up.

[0059] In this embodiment of the invention, by setting different electronic fences, construction machinery can be assisted in adapting to diverse application scenarios, improving the intelligence level of construction machinery, and meeting the needs of different work scenarios.

[0060] In one embodiment, the control method for construction machinery further includes: constructing a buffer wall based on an electronic fence, wherein the buffer wall is located between the electronic fence and the construction machinery; and decelerating a first movement speed of the chassis and / or a second movement speed of the boom when a preset protrusion on the chassis and / or boom of the construction machinery is located between the buffer wall and the electronic fence.

[0061] It is understandable that the buffer wall is designed to slow down the chassis and / or boom of the construction machinery before it reaches the electronic fence. It is located between the electronic fence and the construction machinery, and there can be one or more buffer walls. The first movement speed is the chassis speed, and the second movement speed is the boom speed.

[0062] Specifically, the processor can construct a buffer wall (located between the electronic fence and the construction machinery) based on the electronic fence. When the preset protrusions on the chassis and / or boom of the construction machinery are located between the buffer wall and the electronic fence, the processor can decelerate the first movement speed of the chassis and / or the second movement speed of the boom, i.e., control the chassis and / or boom to decelerate before reaching the electronic fence. Furthermore, in some embodiments, if the electronic fence is a restricted electronic fence, the processor can control the chassis to decelerate before reaching the electronic fence; that is, when the chassis is located between the buffer wall and the electronic fence, the processor decelerates the first movement speed of the chassis. If the electronic fence is a non-touch electronic fence, the processor can control the chassis and boom to decelerate before reaching the electronic fence; that is, when the preset protrusions on the chassis and boom are located between the buffer wall and the electronic fence, the processor decelerates the first movement speed of the chassis and the second movement speed of the boom.

[0063] In this embodiment, by constructing a buffer wall between the electronic fence and the construction machinery, the chassis or boom of the construction machinery can decelerate in advance before reaching the electronic fence, optimizing the error in the distance between the chassis or boom and the electronic fence when it stops moving, which facilitates subsequent movement direction restriction.

[0064] In one embodiment, the buffer wall includes a first buffer wall and a second buffer wall, wherein a first distance between the first buffer wall and the electronic fence is greater than a second distance between the second buffer wall and the electronic fence; when a preset protrusion on the chassis and / or boom of the construction machinery is located between the buffer wall and the electronic fence, the first movement speed of the chassis and / or the second movement speed of the boom are decelerated, including: when the preset protrusion on the chassis and / or boom of the construction machinery is located between the first buffer wall and the second buffer wall, multiplying the first movement speed of the chassis and / or the second movement speed of the boom by a preset deceleration coefficient to obtain the decelerated first movement speed and / or the decelerated second movement speed, and according to the decelerated first movement speed and / or the second movement speed... The system controls the chassis movement based on a first movement speed and / or controls the boom movement based on a second movement speed after deceleration. When a preset protrusion on the chassis and / or boom of the construction machinery is located between a second buffer wall and an electronic fence, the system obtains the current distance between the chassis and / or the preset protrusion and the electronic fence. Based on the pre-stored correspondence between distance and deceleration coefficient, the system determines the current deceleration coefficient corresponding to the current distance. The system multiplies the first movement speed of the chassis and / or the second movement speed of the boom by the current deceleration coefficient to obtain the first movement speed and / or the second movement speed after deceleration. The system then controls the chassis movement based on the first movement speed after deceleration and / or controls the boom movement based on the second movement speed after deceleration.

[0065] It can be understood that there can be two buffer walls, specifically a first buffer wall and a second buffer wall. The first distance is the distance between the first buffer wall and the electronic fence, and the second distance is the distance between the second buffer wall and the electronic fence. The first distance is greater than the second distance, meaning the first buffer wall is farther from the electronic fence than the second buffer wall. The preset deceleration coefficient is a pre-set deceleration coefficient to buffer speed, also called a buffer coefficient, and its specific value can be, for example, between 0 and 1. The pre-stored relationship between distance and deceleration coefficient is a pre-determined relationship between the distance between the preset protrusions on the chassis and / or boom and the electronic fence and the deceleration coefficient. This relationship is positively correlated, for example, it can be a positively correlated function relationship. The closer the preset protrusions on the chassis and / or boom are to the electronic fence, the smaller the deceleration coefficient, that is, the slower the speed.

[0066] Specifically, when the preset protrusions on the chassis and / or boom of the construction machinery are located between the first buffer wall and the second buffer wall, the processor can multiply the first movement speed of the chassis and / or the second movement speed of the boom by a preset deceleration coefficient to obtain the decelerated first movement speed and / or the decelerated second movement speed, thereby controlling the movement of the chassis according to the decelerated first movement speed and / or controlling the movement of the boom according to the decelerated second movement speed. When the preset protrusions on the chassis and / or boom of the construction machinery are located between the second buffer wall and the electronic fence, the processor can obtain the current distance between the chassis and / or preset protrusions and the electronic fence, and determine the current deceleration coefficient corresponding to the current distance based on the pre-stored correspondence between distance and deceleration coefficient. The processor multiplies the first movement speed of the chassis and / or the second movement speed of the boom by the current deceleration coefficient to obtain the first movement speed and / or the second movement speed after deceleration. The processor then controls the movement of the chassis based on the first movement speed after deceleration, and / or controls the movement of the boom based on the second movement speed after deceleration. In other words, when the preset protrusions on the chassis and / or boom are located between the second buffer wall and the electronic fence, the current deceleration coefficient needs to be determined based on the current distance between the preset protrusions on the chassis and / or boom and the electronic fence and the pre-stored correspondence between distance and deceleration coefficient.

[0067] In this embodiment of the invention, by setting a first buffer wall and a second buffer wall, when a preset protrusion on the chassis and / or boom is located between the first and second buffer walls, the decelerated speed of the chassis and / or boom is determined based on the product of the chassis and / or boom's movement speed and a preset deceleration coefficient. When the preset protrusion on the chassis and / or boom is located between the second buffer wall and the electronic fence, the current deceleration coefficient is determined based on the current distance between the preset protrusion on the chassis and / or boom and the electronic fence, and the pre-stored correspondence between the distance and the deceleration coefficient. The decelerated speed of the chassis and / or boom is then determined based on the product of the chassis and / or boom's movement speed and the current deceleration coefficient. The optimized buffer strategy can more accurately control the construction machinery to stop before the electronic fence. By combining a fixed deceleration coefficient with a dynamic deceleration coefficient that is inversely proportional to the distance, it inherits the advantages of both buffer strategies. Compared with the prior art, the stopping position is more precise, and the machinery will not exceed the electronic fence or stop far from it.

[0068] In one embodiment, the control method for engineering machinery further includes: determining the number and position of preset protrusions on the boom by means of an envelope point connection method.

[0069] Understandably, existing technologies tend to determine an excessive number of preset protrusions, which places an undue burden on the computing power of hardware. This invention employs an envelope point connection method to determine the number and location of preset protrusions, minimizing their number while ensuring these points encompass the entire boom. Using this method, the number of preset protrusions can be controlled to within 10, though this number may vary depending on the attachments. Taking an excavator boom as an example, although the boom is irregularly shaped, it can be enveloped by several simple straight lines. Since the electronic fencing accuracy requires protrusions to stop within the virtual wall, the envelope of the preset protrusions can be larger than the excavator's shape. Establishing the bucket protrusions is the most complex, especially in the curved section of the bucket back, where multiple points are often needed to encompass the bucket. However, the envelope point connection method described herein makes determining protrusions particularly simple and practical. The preset protrusion determination method proposed in this invention simplifies the determination of preset protrusions and ensures a safer range.

[0070] Taking excavators as an example of construction machinery, excavators often face limitations in their operation due to environmental factors such as rocks, buildings, utility poles, and vehicles. Operators in such environments are prone to operational errors, leading to collisions between the excavator's mechanism and obstacles, causing property damage and potentially threatening personal safety. The electronic fencing function was developed to prevent these situations. However, existing electronic fencing technology lacks rigorous theoretical basis in many aspects and suffers from numerous practical problems, including wasted computing power, inappropriate limitation ranges, and limited applicability to various working conditions. Therefore, this paper proposes a novel electronic fencing function with significant improvements in its setup and implementation methods, adapting to more working conditions and ensuring reliable functionality.

[0071] like Figure 2 As shown, taking an excavator as an example of construction machinery, a specific embodiment of the present invention provides a control method for construction machinery that may include the following steps:

[0072] Step 1: Establish a geodetic coordinate system based on GPS signals.

[0073] Step 2: Determine the number and position of the preset protrusions using the envelope point connection method.

[0074] Step 3: Establish the forward kinematic model for each preset convex point.

[0075] Step 4: Establish electronic fencing, including no-entry fencing and no-touch fencing.

[0076] Step 5: After determining that a preset protrusion has exceeded or is about to exceed the limit, the strategy of drawing circles at the articulated points is used to determine the restricted movement direction of each mechanism. For example, after determining that the vehicle body has exceeded the restricted passage wall, the movement of the tracks in the direction of approaching the wall is restricted.

[0077] Step 6: Multi-level buffering until stopping.

[0078] The specific implementation process of each step can be as follows:

[0079] Step 1: Establish a geodetic coordinate system based on GPS signals. Specifically, a coordinate system is established in the host computer (intelligent display screen) of the electronic fence system. This coordinate system is fixed to the ground, and the position and attitude of the excavator in the coordinate system are determined through differential GPS signals. There is no precedent for incorporating GPS signals in existing electronic fence establishment methods; instead, the coordinate system is fixed to the excavator's body.

[0080] Step 2: Determine the number and location of preset protrusions using the envelope point connection method. Specifically, current technology tends to identify too many points exceeding the limit, which places an excessive burden on the hardware's computing power. This embodiment uses the envelope point connection method to determine the number and location of "protrusions," minimizing their number while ensuring these points encompass the entire excavator boom. Using this method, the number of preset protrusions can be controlled to within 10, though this number may vary depending on the attachments. Taking a certain model of excavator boom as an example, although the boom is irregularly shaped, it can be enveloped by several simple straight lines. Since the electronic fencing accuracy requires the preset protrusions to stop within the virtual wall, the envelope of the preset protrusions can be larger than the excavator's shape. Establishing the preset protrusions for the bucket is the most complex, especially in the curved area of ​​the bucket back, where multiple points often need to be established to encompass the bucket. However, the envelope point connection method described in this paper makes determining the preset protrusions particularly simple and practical. Compared to existing preset protrusion determination methods, the method proposed in this embodiment is more concise and has a safer range.

[0081] Step 3: Establish the forward kinematic model for each preset convex point. Specifically, the transformation matrix of the geodetic coordinate system {G} relative to the chassis coordinate system {0} is: The transformation matrix of the turntable coordinate system {1} relative to the chassis coordinate system {0} is: The transformation matrix from the turntable coordinate system {1} to the boom coordinate system {2} is: The transformation matrix from boom coordinate system {2} to stick coordinate system {3} is: The transformation matrix from the boom coordinate system {3} to the bucket coordinate system {4} is: The coordinate transformation matrix from the bucket coordinate system {4} to the tooth tip coordinate system {5} is: Therefore, the transformation matrix of the tooth tip coordinate system {5} relative to the chassis coordinate system {0}, i.e., the tooth tip convex point A, is:

[0082]

[0083] The calculation methods for other preset bumps can be obtained by referring to the calculation method for preset bump A.

[0084] Step Four: Establish Electronic Fences. Specifically, depending on the object being restricted, electronic fences can be divided into "no-entry electronic fences" and "no-touch electronic fences." No-entry electronic fences primarily restrict the excavator chassis from crossing, while the excavator's boom is not restricted. For example, in mining operations, there are designated dump truck lanes. During excavator loading, these lanes are prohibited for the excavator to cross, but the boom needs to be able to operate within these areas. Another example is when excavators are operating on temporarily buried power lines or pipes; these areas also prohibit excavators from driving over them. In these situations, no-entry electronic fences are required. No-touch electronic fences not only restrict the excavator chassis but also prevent the boom from crossing. For example, when operating in confined spaces such as near buildings or high-voltage lines, no-touch electronic fences are necessary.

[0085] After activating the electronic fence function on the screen, select either a no-entry or no-touch fence type. Then, place the toothed edge at the end w1 where you want to establish the electronic fence, press the shortcut button on the handle, move the toothed edge to the other end w2, and press the shortcut button again to complete the fence setup. The straight line connecting w1 and w2 will then form an electronic fence fixed to the geodetic coordinate system. Alternatively, you can use GPS to locate the coordinates k1 and k2 of the desired fence point and directly generate the electronic fence based on k1 and k2. Figure 3 As shown.

[0086] Step 5: Determine the restricted movement direction of each mechanism using the articulated point circle method. Specifically, during excavator operation, the host computer will judge the position of each protrusion. Once it is calculated that a protrusion is touching or about to touch the electronic fence, the information will be sent to the slave computer (vehicle controller), which will then calculate the movement restriction strategy.

[0087] Existing technologies often limit movement by recording the differential velocity direction of each boom before exceeding the limit and then imposing a reverse restriction. This method has drawbacks: 1. Movement is required to determine the differential velocity; even after exceeding the limit, movement is still required before the restriction direction can be determined, but movement is not allowed after exceeding the limit. 2. Reverse velocity rebound caused by vibration or inertia can interfere with the determination.

[0088] This invention proposes a strategy of using the articulated point circle method to determine the restriction of the action direction of each mechanism, which can avoid the drawbacks of existing algorithms.

[0089] The articulation point circle method involves calculating the angle between the line connecting the articulation points of the boom, stick, and bucket to the target protrusion and the horizontal line. The sign (direction) of this angle is then used to limit boom movement. Tilt sensors must be installed on the boom, stick, and bucket. Taking tooth tip over-limit as an example... Figure 4 As shown, A, B, and C are the hinge points of the bucket, stick, and boom, respectively, and point P is the target protrusion. By determining that the target line AP is below the horizontal line with hinge point A as the reference (negative angle), it is concluded that the upward movement of the bucket needs to be restricted; the target line BP is below the horizontal line with hinge point B as the reference (negative angle), it is concluded that the upward movement of the stick needs to be restricted; the target line CP is above the horizontal line with hinge point C as the reference (positive angle), it is concluded that the downward movement of the boom needs to be restricted, and so on for other target protrusions.

[0090] The front wall control strategy is as follows (the top wall and bottom wall strategies are similar in principle):

[0091]

[0092] The above describes the angle calculation method and control strategy when the tooth tip exceeds the limit. The calculation and control strategies for other exceeding points are the same as those for the tooth tip, and will not be repeated here.

[0093] Additionally, when two or more points are about to exceed the limit, the intersection of the constraint logic for each point is solved. If one or more mechanisms are restricted in both directions, the chassis is moved to move these points away from the electronic fence. Figure 5 As shown, for example, in the following situations: points A and B are close to the electronic fence, meaning the target protrusion includes points A and B, and point G is the hinge point. Since GB is higher than the horizontal line based on hinge point G, and GA is lower than the horizontal line based on hinge point G, the movement of the bucket in both directions of opening and retracting will be restricted. Alternatively, when the top wall and front wall open simultaneously, a situation of bidirectional restriction on the mechanism will also occur. This embodiment of the invention proposes that, when it is determined that moving away from the electronic fence will not touch other prohibited or non-touching fences, the movement of the chassis away from the electronic fence can be controlled to reduce the restricted directions of each mechanism, thereby achieving the effect of ensuring safe operation while maintaining the excavator's operability.

[0094] Step Six: Multi-level buffering until stopping. (e.g.) Figure 6 As shown, adding two buffer walls in front of the electronic fence helps the mechanism decelerate in advance, thus optimizing the error in the distance between the mechanism and the wall when it stops. For example, when the preset protrusion is between buffer wall 1 and buffer wall 2, the output of the mechanism that needs to be limited (e.g., the opening size of the hydraulic cylinder valve corresponding to the working mechanism) obtained in the previous step is multiplied by a buffer coefficient q1 (i.e., the preset deceleration coefficient) between 0 and 1. This helps the mechanism decelerate quickly when it is near the electronic fence during rapid operation. When the preset protrusion is between buffer wall 2 and the electronic fence, the buffer coefficient (i.e., the current deceleration coefficient) can be a function f(d) of the distance d between the protrusion and the electronic fence. This allows the speed to decrease as the preset protrusion gets closer to the electronic fence.

[0095] In summary, the technical solution provided by the embodiments of the present invention has the following advantages compared with the prior art:

[0096] 1. More precise restrictions, better suited for actual operations. Existing technologies establish electronic fencing within the excavator's own coordinate system, without considering the excavator's position and attitude. This causes the electronic fencing to move with the excavator, thus losing its restrictive function. This invention incorporates GPS signals when establishing the coordinate system, placing the electronic fencing within a geodetic coordinate system. A geodetic kinematic model is created, ensuring the electronic fencing remains in place even after the excavator moves. This is more realistic, provides more precise restrictions, and makes the electronic fencing function more practical and accurate.

[0097] 2. The selection of preset protrusions is more streamlined and scientific, reducing the computational burden. Existing technologies involve excessive redundancy in determining preset protrusions, and the coordinates of each preset protrusion need to be calculated in real time after the electronic fence function is activated, which undoubtedly increases the computational burden. This invention uses an envelope point connection method to determine preset protrusions more quickly and accurately, and the number of preset protrusions is far less than that determined in existing technologies. The envelope point connection method scientifically determines the number and position of protrusions, saving computational power and simplifying the program.

[0098] 3. The mechanism constraint strategy is more scientific. Existing technology determines the movable direction of the constraint by differentiating the velocity direction of each mechanism before exceeding the limit. This is prone to errors in direction judgment due to sensor data jitter, and differential action is required after exceeding the limit, reducing safety. This invention uses a method of drawing circles at hinge points to scientifically and accurately calculate the constraint mechanism, which is safer and faster, avoiding the drawbacks of existing constraint strategies. In other words, the embodiments of this invention innovatively propose a more scientific mechanism constraint strategy algorithm after exceeding the limit, making the function safer and more reliable. Moreover, this algorithm can be easily ported to the front, top, bottom, left, and right electronic fences.

[0099] 4. The innovative addition of an active adaptive electronic fence function reduces restrictions when movement is excessively limited. This allows for the adjustment of the machinery's position by actively controlling the chassis movement, ensuring both safe operation and the machinery's performance.

[0100] 5. Optimized buffering strategy enables more precise stopping within the electronic fence. This embodiment of the invention combines a fixed buffering coefficient with a dynamic buffering coefficient inversely proportional to the distance, inheriting the advantages of both buffering strategies. Compared with existing technologies, the stopping position is more precise, ensuring it does not exceed the electronic fence or stop too far from it. In other words, it optimizes the convex point stopping strategy and establishes a buffering function, making the stopping smoother and more precise when encountering over-limit situations during operation.

[0101] This invention also provides a processor configured to execute the control method for engineering machinery according to the above embodiments.

[0102] like Figure 7 As shown, this embodiment of the invention also provides a control device 700 for construction machinery. The construction machinery includes a boom, and the boom includes a plurality of working mechanisms connected sequentially through hinge points. The control device 700 may include:

[0103] The distance acquisition module 710 is used to acquire the distance between each of the multiple preset protrusions on the boom and the electronic fence.

[0104] The target bump determination module 720 is used to determine the preset bumps whose corresponding distance is less than the distance threshold as target bumps.

[0105] The target connection acquisition module 730 is used to acquire the target connection between the target protrusion and each hinge point.

[0106] The restriction direction determination module 740 is used to determine the restriction action direction of the working mechanism corresponding to the hinge point connected by each target line based on the angle direction of each target line relative to the target line, wherein the target line is perpendicular to the electronic fence.

[0107] The aforementioned control device 700 for construction machinery acquires the distance between each of multiple preset protrusions on the boom and the electronic fence, and identifies the preset protrusions whose distances are less than a distance threshold as target protrusions. This allows for the acquisition of target lines connecting the target protrusions to each hinge point. Furthermore, based on the angle between each target line and the target line, the restricted movement direction of the working mechanism corresponding to each hinge point connected by the target line is determined. This technical solution allows for the determination of the restricted movement strategy of the boom without requiring any action after the boom exceeds its limits. When the boom exceeds its limits or is about to exceed them, the restricted movement direction of the working mechanism corresponding to each hinge point can be determined based on the angle between the target protrusion and the target line connecting each hinge point and the target line, thereby restricting each working mechanism from moving in the corresponding restricted movement direction. This improves the operational safety of the construction machinery, ensures safe operation, accelerates the judgment speed of the restricted movement strategy, and increases the working efficiency of the construction machinery.

[0108] In one embodiment, the limiting direction determination module 740 is further configured to: when the target line is a horizontal line, and when the angle between each target line and the horizontal line based on the hinge point is upward, or the angle between the horizontal line based on the target convex point is downward, determine that the limiting action direction of the working mechanism corresponding to the hinge point connected by each target line is downward; and when the angle between each target line and the horizontal line based on the hinge point is downward, or the angle between the horizontal line based on the target convex point is upward, determine that the limiting action direction of the working mechanism corresponding to the hinge point connected by each target line is upward.

[0109] In one embodiment, the control device 700 for construction machinery further includes an electronic fence distancing module, used for: determining a set of restricted movement directions for each working mechanism based on multiple target protrusions when there are multiple target protrusions; and controlling the construction machinery to move away from the electronic fence when there is at least one target working mechanism, wherein the set of restricted movement directions for the target working mechanism includes all possible movement directions of the target working mechanism.

[0110] In one embodiment, the control device 700 for construction machinery further includes an electronic fence construction module, used for: during the control of boom movement, in response to a first confirmation command input by a user, obtaining a first position of the boom end; in response to a second confirmation command input by a user, obtaining a second position of the boom end; and constructing an electronic fence based on the straight line where the first and second positions are located.

[0111] In one embodiment, the electronic fence includes a restricted access electronic fence and a restricted touch electronic fence, wherein the restricted access electronic fence is used to restrict the movement direction of the chassis of the construction machinery, and the restricted touch electronic fence is used to restrict the movement direction of the chassis and boom of the construction machinery.

[0112] In one embodiment, the control device 700 for construction machinery further includes a buffer module for: constructing a buffer wall based on an electronic fence, wherein the buffer wall is located between the electronic fence and the construction machinery; and decelerating a first movement speed of the chassis and / or a second movement speed of the boom when a preset protrusion on the chassis and / or boom of the construction machinery is located between the buffer wall and the electronic fence.

[0113] In one embodiment, the buffer wall includes a first buffer wall and a second buffer wall, wherein a first distance between the first buffer wall and the electronic fence is greater than a second distance between the second buffer wall and the electronic fence; the buffer module is further configured to: when a preset protrusion on the chassis and / or boom of the construction machinery is located between the first buffer wall and the second buffer wall, multiply the first movement speed of the chassis and / or the second movement speed of the boom by a preset deceleration coefficient to obtain a decelerated first movement speed and / or a decelerated second movement speed, and control the chassis movement according to the decelerated first movement speed, and / or control the movement according to the decelerated second movement speed. Boom movement; when the preset protrusions on the chassis and / or boom of the construction machinery are located between the second buffer wall and the electronic fence, the current distance between the chassis and / or the preset protrusions and the electronic fence is obtained, and based on the pre-stored correspondence between distance and deceleration coefficient, the current deceleration coefficient corresponding to the current distance is determined. The current deceleration coefficient is multiplied by the first movement speed of the chassis and / or the second movement speed of the boom to obtain the first movement speed and / or the second movement speed after deceleration. The chassis movement is controlled according to the first movement speed after deceleration, and / or the boom movement is controlled according to the second movement speed after deceleration.

[0114] This invention also provides an engineering machinery, including: a boom, the boom including a plurality of working mechanisms connected sequentially by hinge points; and a processor according to the above embodiments or a control device for engineering machinery according to the above embodiments.

[0115] This invention also provides a machine-readable storage medium on which a program or instruction is stored, which, when executed by a processor, implements the control method for engineering machinery according to the above embodiments.

[0116] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0117] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0118] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0119] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0120] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0121] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0122] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0123] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0124] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for engineering machinery, characterized in that, The construction machinery includes a boom, the boom comprising multiple working mechanisms connected sequentially via hinge points, and the control method includes: Obtain the distance between each of the multiple preset protrusions on the boom and the electronic fence; Define the preset bumps whose corresponding distance is less than the distance threshold as target bumps; Obtain the target connection lines between the target protrusion and each of the hinge points; Based on the angle direction between each target line and the target line, the limiting action direction of the working mechanism corresponding to the hinge point connected by each target line is determined, and the target line is perpendicular to the electronic fence.

2. The control method according to claim 1, characterized in that, When the target line is horizontal, determining the restricted movement direction of the working mechanism corresponding to the hinge point connected by each target line based on the angle direction between each target line and the target line includes: When the angle between each of the target connecting lines and the horizontal line based on the hinge point is upward, or the angle between the horizontal line based on the target protrusion is downward, the restricted action direction of the working mechanism corresponding to the hinge point connected by each of the target connecting lines is determined to be downward. When the angle between each of the target connecting lines and the horizontal line based on the hinge point is downward, or the angle between the horizontal line based on the target protrusion is upward, the restricted action direction of the working mechanism corresponding to the hinge point connected by each of the target connecting lines is determined to be upward.

3. The control method according to claim 1, characterized in that, The control method further includes: When there are multiple target protrusions, a set of restricted action directions for each working mechanism is determined based on the multiple target protrusions. In the presence of at least one target working mechanism, the engineering machinery is controlled to move in a direction away from the electronic fence, wherein the set of restricted movement directions of the target working mechanism includes all possible movement directions of the target working mechanism.

4. The control method according to claim 1, characterized in that, The control method further includes: During the process of controlling the movement of the boom, in response to the first confirmation command input by the user, the first position of the boom end is obtained; In response to a second confirmation command input by the user, the second position of the boom end is obtained; Construct an electronic fence based on the straight line between the first and second positions.

5. The control method according to claim 1, characterized in that, The electronic fence includes a restricted access electronic fence and a restricted touch electronic fence. The restricted access electronic fence is used to restrict the movement direction of the chassis of the construction machinery, and the restricted touch electronic fence is used to restrict the movement direction of the chassis and the boom of the construction machinery.

6. The control method according to claim 1, characterized in that, The control method further includes: A buffer wall is constructed based on the electronic fence, wherein the buffer wall is located between the electronic fence and the engineering machinery; When the preset protrusions on the chassis and / or boom of the construction machinery are located between the buffer wall and the electronic fence, the first movement speed of the chassis and / or the second movement speed of the boom are decelerated.

7. The control method according to claim 6, characterized in that, The buffer wall includes a first buffer wall and a second buffer wall, wherein the first buffer wall is at a first distance greater than the second buffer wall is at a second distance greater than the electronic enclosure; when the preset protrusions on the chassis and / or the boom of the engineering machinery are located between the buffer wall and the electronic enclosure, the deceleration of the first movement speed of the chassis and / or the second movement speed of the boom includes: When the preset protrusions on the chassis and / or boom of the construction machinery are located between the first buffer wall and the second buffer wall, a preset deceleration coefficient is multiplied by the first movement speed of the chassis and / or the second movement speed of the boom to obtain the decelerated first movement speed and / or the decelerated second movement speed, and the chassis movement is controlled according to the decelerated first movement speed, and / or the boom movement is controlled according to the decelerated second movement speed; When the preset protrusion on the chassis and / or the boom of the construction machinery is located between the second buffer wall and the electronic fence, the current distance between the chassis and / or the preset protrusion and the electronic fence is obtained. Based on the pre-stored correspondence between distance and deceleration coefficient, the current deceleration coefficient corresponding to the current distance is determined. The current deceleration coefficient is multiplied by the first movement speed of the chassis and / or the second movement speed of the boom to obtain the decelerated first movement speed and / or the decelerated second movement speed. The chassis movement is controlled according to the decelerated first movement speed, and / or the boom movement is controlled according to the decelerated second movement speed.

8. A processor, characterized in that, It is configured to perform the control method for engineering machinery according to any one of claims 1 to 7.

9. A control device for engineering machinery, characterized in that, The construction machinery includes a boom, the boom comprising multiple working mechanisms connected sequentially via hinge points, and the control device includes: The distance acquisition module is used to acquire the distance between each of the multiple preset protrusions on the boom and the electronic fence. The target bump determination module is used to determine the preset bumps whose corresponding distance is less than the distance threshold as target bumps; The target connection acquisition module is used to acquire the target connection between the target protrusion and each of the hinge points; The restriction direction determination module is used to determine the restricted action direction of the working mechanism corresponding to the hinge point connected by each of the target lines based on the angle direction of each target line relative to the target line, wherein the target line is perpendicular to the electronic fence.

10. An engineering machinery, characterized in that, include: A boom, comprising a plurality of working mechanisms connected sequentially via hinge points; and The processor according to claim 8 or the control device for engineering machinery according to claim 9.

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