Work machine control method, device, controller, and work machine

Abstract

The application relates to the technical field of working machines, and provides a working machine control method and device, a controller and a working machine.The method comprises the following steps: acquiring a control signal in real time; identifying the control signal; in the case that the control signal is a local control signal, determining a current control state of the working machine based on a pilot signal in the control signal; and in the case that the control signal is a short-range remote control signal or a long-range remote control signal, determining the current control state of the working machine based on the pilot signal and a heartbeat signal in the control signal.The technical scheme of the application determines the current control state of the working machine according to the identification result and performs corresponding control by identifying the control signal, so that a three-stage switch is not needed, the equipment cost is saved, and in the case that the control distance of the working machine needs to be changed, the control distance does not need to be manually switched by an operator at the working machine side, so that the operator is facilitated to remotely control the working machine at multiple distances.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of working machines, and in particular to a working machine control method, device, controller and working machine. BACKGROUND

[0002] Currently, working machines are widely used in port loading and unloading, building demolition and mine excavation and other fields of construction work. In the actual construction process, the working machine is usually controlled by manual local operation. However, the above-mentioned construction environment has certain diversity and complexity, and belongs to a dangerous operation area, which brings certain safety risks to the on-site construction operator. In addition, the on-site construction requires the operator to have good psychological quality, and the subjective factors of the operator may also cause the construction to fail to achieve the expected goal and effect. In order to improve the safety and efficiency of the working machine in construction, it is necessary to remotely control the working machine.

[0003] Some existing working machine control methods add a three-stage switch to the working machine, and the signal power is switched by the operator to achieve local, short-range remote control and remote control, so as to achieve remote control of the working machine.

[0004] However, the above-mentioned existing method needs to add a three-stage switch, which increases the equipment cost, and in the scene where the control distance of the working machine needs to be changed, the operator still needs to manually switch the control distance at the working machine side, which is not convenient to operate. SUMMARY

[0005] The present application provides a working machine control method, device, controller and working machine to solve the defects of high equipment cost and inconvenient operation caused by adding a three-stage switch to change the control distance of the working machine in the prior art. The technical scheme of the present application identifies the control signal, determines the current control state of the working machine according to the identification result and performs corresponding control, without the need to install a three-stage switch, saving equipment cost, and in the scene where the control distance of the working machine needs to be changed, the operator also does not need to manually switch the control distance at the working machine side, which facilitates the operator to remotely control the working machine in multiple distance conditions.

[0006] The present application provides a working machine control method, comprising:

[0007] real-time acquisition of a control signal;

[0008] identifying the control signal, and determining the current control state of the working machine based on a pilot signal in the control signal in the case of a local control signal;

[0009] In a case that the control signal is a remote control signal, determining a current control state of the working machine based on a pilot signal and a heartbeat signal in the control signal.

[0010] According to the working machine control method provided by the present application, the identification of the control signal comprises: identifying an acquisition source of the control signal, and in a case that the control signal is acquired based on a local control port, determining that the control signal is a local control signal.

[0011] In a case that the control signal is not acquired based on the local control port, determining that the control signal is a remote control signal; identifying an address signal in the remote control signal, and in a case that an address represented by the address signal is a short-range address, determining that the remote control signal is a short-range remote control signal.

[0012] In a case that the address represented by the address signal is a long-range address, determining that the remote control signal is a long-range remote control signal.

[0013] According to the working machine control method provided by the present application, in a case that the control signal is a local control signal, determining a current control state of the working machine based on a pilot signal in the control signal comprises:

[0014] In a case that the control signal is a local control signal, identifying a pilot signal in the control signal;

[0015] In a case that it is determined based on an identification result of the pilot signal that a pilot control system of the working machine is turned on, determining that the current control state of the working machine is a local control state.

[0016] According to the working machine control method provided by the present application, in a case that the control signal is a remote control signal, determining a current control state of the working machine based on a pilot signal and a heartbeat signal in the control signal comprises: in a case that the control signal is a short-range remote control signal or a long-range remote control signal, identifying the pilot signal and the heartbeat signal in the control signal.

[0017] In a case that it is determined based on an identification result of the pilot signal that the pilot control system of the working machine is turned on, and in a case that it is determined based on an identification result of the heartbeat signal that there is a current heartbeat signal, determining that the current control state of the working machine is a short-range remote control state or a long-range remote control state.

[0018] According to the working machine control method provided by the present application, in a case that the control signal is a remote control signal, determining a current control state of the working machine based on a pilot signal and a heartbeat signal in the control signal further comprises:

[0019] In a case where it is determined, based on the identification result of the pilot signal, that the pilot control system of the work machine is closed, and / or in a case where it is determined, based on the identification result of the heartbeat signal, that there is no current heartbeat signal, it is determined that the current control state of the work machine is not the short-range remote control state or the remote control state.

[0020] According to the work machine control method provided by the present application, in a case where the current control state of the work machine is any one of the local control state, the short-range remote control state and the remote control state, an action instruction in the control signal is identified, and the work machine is controlled to perform an action corresponding to the action instruction based on the action instruction.

[0021] According to the work machine control method provided by the present application, in a case where the current control state of the work machine is not any one of the local control state, the short-range remote control state and the remote control state, it is determined that the control signal is an invalid signal, and the work machine is controlled to not perform any action.

[0022] The present application also provides a work machine control device, comprising:

[0023] An acquisition module is configured to acquire a control signal in real time.

[0024] A local module is configured to identify the control signal, and in a case where the control signal is a local control signal, determine a current control state of a work machine based on a pilot signal in the control signal.

[0025] A remote control module is configured to, in a case where the control signal is a remote control signal, determine the current control state of the work machine based on a pilot signal and a heartbeat signal in the control signal.

[0026] The present application also provides a controller, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the work machine control method according to any one of the above embodiments when executing the program.

[0027] The present application also provides a work machine comprising the above controller.

[0028] The present application also provides a non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program is executable on a processor to implement the steps of the work machine control method according to any one of the above embodiments.

[0029] The work machine control method, device, controller and work machine provided by the application acquire a control signal in real time, identify the control signal, determine a current control state of the work machine based on a pilot signal in the control signal in a case where the control signal is a local control signal, and determine the current control state of the work machine based on the pilot signal and a heartbeat signal in the control signal in a case where the control signal is a short-range remote control signal or a long-range remote control signal. The technical scheme of the application determines the current control state of the work machine according to the identification result of the control signal and performs corresponding control without installing a three-stage switch, thereby saving equipment cost, and in a scenario where the control distance of the work machine needs to be changed, the control distance does not need to be manually switched by an operator at the work machine side, thereby facilitating the operator to remotely control the work machine in multiple distance conditions.

[0030] The technical scheme of the application determines the current control state of the work machine based on the identification result of the control signal and performs corresponding control without installing a three-stage switch, thereby saving equipment cost, and in a scenario where the control distance of the work machine needs to be changed, the control distance does not need to be manually switched by an operator at the work machine side, thereby facilitating the operator to remotely control the work machine in multiple distance conditions.

[0031] The technical scheme of the application determines the current control state of the work machine based on the identification result of the control signal and performs corresponding control without installing a three-stage switch, thereby saving equipment cost, and in a scenario where the control distance of the work machine needs to be changed, the control distance does not need to be manually switched by an operator at the work machine side, thereby facilitating the operator to remotely control the work machine in multiple distance conditions.

[0032] The technical scheme of the application determines the current control state of the work machine based on the identification result of the control signal and performs corresponding control without installing a three-stage switch, thereby saving equipment cost, and in a scenario where the control distance of the work machine needs to be changed, the control distance does not need to be manually switched by an operator at the work machine side, thereby facilitating the operator to remotely control the work machine in multiple distance conditions.

[0033] The technical scheme of the application determines the current control state of the work machine based on the identification result of the control signal and performs corresponding control without installing a three-stage switch, thereby saving equipment cost, and in a scenario where the control distance of the work machine needs to be changed, the control distance does not need to be manually switched by an operator at the work machine side, thereby facilitating the operator to remotely control the work machine in multiple distance conditions.

[0034] The technical scheme of the present application can identify the action instruction in the control signal and perform corresponding action when the current control state of the working machine is any one of the local control state, the short-range remote control state and the long-range remote control state, which facilitates the operator to operate the working machine in various distances.

[0035] The technical scheme of the present application determines that the control signal is an invalid signal when the current control state of the working machine is not any one of the local control state, the short-range remote control state and the long-range remote control state, and controls the working machine to not perform any action, which ensures that the working machine does not perform action after losing control and increases the safety of remote control of the working machine. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the 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 creative labor.

[0037] Figure 1 is one of the flowcharts of the working machine control method provided by the embodiments of the present application.

[0038] Figure 2 is the second flowchart of the working machine control method provided by the embodiments of the present application.

[0039] Figure 3 is the structural schematic diagram of the working machine control device provided by the embodiments of the present application.

[0040] Figure 4 is the structural schematic diagram of the electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0041] In order to make the objects, technical solutions and advantages of the present application more clear, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0042] In view of the above problems in the prior art, the present application provides a working machine control method. It should be noted that the execution subject of the working machine control method can be a controller of the working machine, or can also be other electronic devices of the working machine. The following embodiments will take the controller of the working machine as the execution subject to describe the working machine control method of the present application.Figure 1 This is one of the flowcharts illustrating the machine control method provided in this embodiment of the invention, such as... Figure 1 As shown, the machine control method includes the following steps:

[0043] Step 110: Acquire control signals in real time.

[0044] Specifically, the controller of the operating machinery can acquire control signals in real time. These control signals can be voltage signals or other electrical signals, and can be sent at regular intervals, such as once per second. The operating machinery can be, for example, an excavator, a crane, or a hoist.

[0045] Step 120: Identify the control signal. If the control signal is a local control signal, determine the current control state of the working machine based on the pilot signal in the control signal.

[0046] Specifically, the controller of the operating machinery can identify the acquired control signal and determine whether it is a local control signal. For example, the controller can identify the source of the control signal and determine whether it is a local control signal based on the source. If the control signal is a local control signal, the controller can determine the current control state of the operating machinery based on the pilot signal in the control signal.

[0047] In one embodiment, identifying the control signal includes:

[0048] Identify the source of the control signal acquisition; if the control signal is acquired based on a local control port, determine that the control signal is a local control signal.

[0049] If the control signal is not obtained based on the local control port, the control signal is determined to be a remote control signal; the address signal in the remote control signal is identified, and if the address represented by the address signal is a local address, the remote control signal is determined to be a local remote control signal.

[0050] If the address represented by the address signal is a remote address, then the remote control signal is determined to be a remote control signal.

[0051] Specifically, Figure 2 This is a second schematic flowchart of the machine control method provided in this embodiment of the invention, as shown below. Figure 2 As shown, the controller of the operating machinery can identify the source of the control signal. When the control signal is acquired based on the local control port, it can be determined that the control signal is a local control signal. The local control port can be a specific port for the controller to receive local control signals.

[0052] In the case that the control signal is not acquired based on the local control port, the controller of the working machine can determine that the control signal is a remote control signal, and then identify the address signal in the remote control signal. In the case that the address represented by the address signal in the remote control signal is a short-range address, the controller of the working machine can determine that the remote control signal is a short-range remote control signal. In the case that the address represented by the address signal in the remote control signal is a long-range address, the controller of the working machine can determine that the remote control signal is a long-range remote control signal. It is easy to understand that the physical straight-line distance between the long-range remote control end operated by the operator and the working machine is greater than the physical straight-line distance between the short-range remote control end operated by the operator and the working machine.

[0053] In the above embodiment, by identifying the acquisition source of the control signal, in the case that the control signal is acquired based on the local control port, the control signal is determined to be a local control signal. In the case that the control signal is not acquired based on the local control port, the address signal in the control signal is identified, and the control signal is determined to be a short-range remote control signal or a long-range remote control signal. This lays a foundation for subsequent determination of the current control state of the working machine.

[0054] In one embodiment, in the case that the control signal is a local control signal, the current control state of the working machine is determined based on the pilot signal in the control signal, comprising:

[0055] In the case that the control signal is a local control signal, the pilot signal in the control signal is identified.

[0056] In the case that the pilot control system of the working machine is determined to be turned on based on the identification result of the pilot signal, the current control state of the working machine is determined to be a local control state.

[0057] Specifically, as Figure 2As shown, in the case that the controller of the working machine determines that the control signal is a local control signal, the controller of the working machine can further identify a pilot signal in the control signal, and the controller of the working machine can determine, according to the identification result of the pilot signal, that the pilot control system of the working machine is turned on or turned off. It can be understood that in the case that the pilot control system is turned on, the working machine can only perform the operation action. For example, when the pilot signal is 0, the controller of the working machine can determine, according to the identification result of the pilot signal, that the pilot control system of the working machine is turned off, and when the pilot signal is 1, the controller of the working machine can determine, according to the identification result of the pilot signal, that the pilot control system of the working machine is turned on. In the case that the working machine determines, based on the identification result of the pilot signal, that the pilot control system of the working machine is turned on, the working machine can determine that the current control state of the working machine is a local control state. In the case that the control state of the working machine is a local control state, the operator can operate the working machine at the side of the working machine.

[0058] In the above embodiment, in the case that the control signal is a local control signal, by identifying the pilot signal in the control signal, it is determined, based on the identification result of the pilot signal, whether the pilot control system of the working machine is in an on state, and then it is determined whether the current control state of the working machine is a local control state and whether the working machine can be controlled and operated locally.

[0059] Step 130: In the case that the control signal is a remote control signal, determining the current control state of the working machine based on the pilot signal and the heartbeat signal in the control signal.

[0060] In one embodiment, the step of determining, in the case that the control signal is a remote control signal, the current control state of the working machine based on the pilot signal and the heartbeat signal in the control signal, comprises:

[0061] In the case that the control signal is a short-range remote control signal or a long-range remote control signal, identifying the pilot signal and the heartbeat signal in the control signal;

[0062] In the case that the pilot control system of the working machine is turned on based on the identification result of the pilot signal, and in the case that there is a current heartbeat signal based on the identification result of the heartbeat signal, determining that the current control state of the working machine is a short-range remote control state or a long-range remote control state.

[0063] Specifically, as Figure 2As shown, the controller of the working machine can further identify the pilot signal and the heartbeat signal in the control signal based on the address signal in the control signal determining that the control signal is the short-range remote control signal. The controller of the working machine can determine that the pilot control system of the working machine is turned on or off according to the identification result of the pilot signal, and can determine whether there is a current heartbeat signal according to the identification result of the heartbeat signal, and further determine whether the working machine is connected with the short-range remote control end, and if there is a current heartbeat signal, it means that the working machine is connected with the short-range remote control end. The controller of the working machine can determine that the current control state of the working machine is the short-range remote control state based on the identification result of the pilot signal determining that the pilot control system of the working machine is turned on, and based on the identification result of the heartbeat signal determining that there is a current heartbeat signal. The operator can remotely control the working machine based on the short-range remote control end when the control state of the working machine is the short-range remote control state.

[0064] The controller of the working machine can further identify the pilot signal and the heartbeat signal in the control signal based on the address signal in the control signal determining that the control signal is the long-range remote control signal. The controller of the working machine can determine that the pilot control system of the working machine is turned on or off according to the identification result of the pilot signal, and can determine whether there is a current heartbeat signal according to the identification result of the heartbeat signal, and further determine whether the working machine is connected with the long-range remote control end, and if there is a current heartbeat signal, it means that the working machine is connected with the long-range remote control end. The controller of the working machine can determine that the current control state of the working machine is the long-range remote control state based on the identification result of the pilot signal determining that the pilot control system of the working machine is turned on, and based on the identification result of the heartbeat signal determining that there is a current heartbeat signal. The operator can remotely control the working machine based on the long-range remote control end when the control state of the working machine is the long-range remote control state.

[0065] For example, the short-range remote control signal can be as shown in Table 1 below.

[0066] Table 1 Short-range remote control signal example table

[0067]

[0068] In Table 1, ID represents the short-range remote control signal, 1 ID can include 8 bytes Byte, i.e. Byte0-Byte7, 1 byte Byte can include 8 bit Bit, i.e. Bit0-Bit7. As shown in Table 1, Bit2 and Bit3 in Byte1 can be set to represent the pilot signal in the short-range remote control signal, Bit2=1 in Byte1 is set to represent that the pilot control system of the working machine is opened, Bit3=1 in Byte1 is set to represent that the pilot control system of the working machine is closed, Byte6 and Byte7 are set to represent the heartbeat signal in the short-range remote control signal. It should be noted that Bit2 and Bit3 in Byte1 cannot be equal to 1 at the same time. It is easy to understand that the bit in other bytes can also be set to represent the pilot signal, and other bytes can also be set to represent the heartbeat signal, which is not specifically limited in the embodiments of the present application.

[0069] For example, the remote control signal can be as shown in Table 2 below.

[0070] Table 2 Remote control signal example table

[0071]

[0072] In Table 2, ID represents the remote control signal, 1 ID can include 8 bytes Byte, i.e. Byte0-Byte7, 1 byte Byte can include 8 bit Bit, i.e. Bit0-Bit7. As shown in Table 2, Bit2 and Bit3 in Byte1 can be set to represent the pilot signal in the remote control signal, Bit2=1 in Byte1 is set to represent that the pilot control system of the working machine is opened, Bit3=1 in Byte1 is set to represent that the pilot control system of the working machine is closed, Byte6 and Byte7 are set to represent the heartbeat signal in the remote control signal. It should be noted that Bit2 and Bit3 in Byte1 cannot be equal to 1 at the same time. It is easy to understand that the bit in other bytes can also be set to represent the pilot signal, and other bytes can also be set to represent the heartbeat signal, which is not specifically limited in the embodiments of the present application.

[0073] In the above embodiment, in the case that the control signal is the short-range remote control signal or the remote control signal, by identifying the pilot signal and the heartbeat signal in the control signal, in the case that it is determined based on the identification result of the pilot signal that the pilot control system of the working machine is opened, and in the case that it is determined based on the identification result of the heartbeat signal that there is a current heartbeat signal, it is determined that the current control state of the working machine is the short-range remote control state or the remote control state. So that the operator can remotely control the working machine based on the short-range control end or the remote control end.

[0074] In one embodiment, in the case that the control signal is a remote control signal, determining the current control state of the working machine based on the pilot signal and the heartbeat signal in the control signal further comprises:

[0075] In the case that the pilot control system of the working machine is determined to be closed based on the identification result of the pilot signal, and / or in the case that there is no current heartbeat signal based on the identification result of the heartbeat signal, it is determined that the current control state of the working machine is not the short-range remote control state or the remote control state.

[0076] Specifically, the controller of the working machine can identify the pilot signal and the heartbeat signal in the control signal in the case that the control signal is a short-range remote control signal or a remote control signal, and obtain the identification result of the pilot signal and the identification result of the heartbeat signal. In the case that the pilot control system of the working machine is determined to be closed based on the identification result of the pilot signal, and / or in the case that there is no current heartbeat signal based on the identification result of the heartbeat signal, the controller of the working machine determines that the current control state of the working machine is neither the short-range remote control state nor the remote control state.

[0077] In the above embodiment, in the case that the pilot control system of the working machine is determined to be closed based on the identification result of the pilot signal, and / or in the case that there is no current heartbeat signal based on the identification result of the heartbeat signal, it is determined that the current control state of the working machine is not the short-range remote control state or the remote control state, which prevents misjudgment of the current control state of the working machine.

[0078] The working machine control method provided by the application acquires the control signal in real time, identifies the control signal, determines the current control state of the working machine based on the pilot signal in the control signal in the case that the control signal is a local control signal, and determines the current control state of the working machine based on the pilot signal and the heartbeat signal in the control signal in the case that the control signal is a short-range remote control signal or a remote control signal. The technical scheme of the application determines the current control state of the working machine according to the identification result by identifying the control signal and performs corresponding control, without the need to install a three-stage switch, thereby saving equipment cost, and in the scene where the control distance of the working machine needs to be changed, the control distance does not need to be manually switched by the operator at the working machine side, which facilitates the operator to remotely control the working machine in multiple distance conditions.

[0079] In one embodiment, in the case that the current control state of the working machine is any one of the local control state, the short-range remote control state and the remote control state, the action instruction in the control signal is identified, and the working machine is controlled to perform the action corresponding to the action instruction based on the action instruction.

[0080] Specifically, as shown in Figure 2 the controller of the working machine can identify the action instruction in the control signal, and can control the working machine to perform the action corresponding to the action instruction based on the action instruction, in a case where the controller of the working machine determines that the current control state of the working machine is any one of the local control state, the short-range remote control state and the long-range remote control state. In a case where the working machine is an excavator, the action corresponding to the action instruction may, for example, be one or more of a bucket digging action, a boom lifting action, a stick digging action, an excavator turning action and an excavator walking action, and embodiments of the present application do not make specific limitations here.

[0081] In the above embodiments, in a case where the current control state of the working machine is any one of the local control state, the short-range remote control state and the long-range remote control state, the action instruction in the control signal can be identified, and the corresponding action can be performed, which facilitates the operator to operate the working machine in various distance conditions.

[0082] In one embodiment, in a case where the current control state of the working machine is not any one of the local control state, the short-range remote control state and the long-range remote control state, it is determined that the control signal is an invalid signal, and the working machine is controlled to not perform any action at present.

[0083] Specifically, as shown in Figure 2 in a case where the controller of the working machine determines that the current control state of the working machine is not any one of the local control state, the short-range remote control state and the long-range remote control state, the controller of the working machine can determine that the control signal is an invalid signal, and in a case where the control signal is an invalid signal, the working machine is controlled to not perform any action at present.

[0084] In the above embodiments, in a case where the current control state of the working machine is not any one of the local control state, the short-range remote control state and the long-range remote control state, it is determined that the control signal is an invalid signal, and the working machine is controlled to not perform any action at present, which ensures that the working machine does not perform an action after losing control, and increases the safety of remote control of the working machine.

[0085] The working machine control device provided by the present application will be described below. The working machine control device described below can be referred to in correspondence with the working machine control method described above.

[0086] Figure 3 is a structural schematic diagram of the working machine control device provided by an embodiment of the present application, as shown in Figure 3 the working machine control device 300 comprises:

[0087] The acquisition module 310 is configured to acquire a control signal in real time.

[0088] a local module 320, configured to identify the control signal, and determine a current control state of the working machine based on a pilot signal in the control signal in a case that the control signal is a local control signal;

[0089] a remote control module 330, configured to determine the current control state of the working machine based on the pilot signal and a heartbeat signal in the control signal in a case that the control signal is a remote control signal.

[0090] In one embodiment, the local module 320 is specifically configured to:

[0091] identify an acquisition source of the control signal, and determine that the control signal is a local control signal in a case that the control signal is acquired based on a local control port;

[0092] determine that the control signal is a remote control signal in a case that the control signal is not acquired based on the local control port, identify an address signal in the remote control signal, and determine that the remote control signal is a short-range remote control signal in a case that an address represented by the address signal is a short-range address;

[0093] determine that the remote control signal is a long-range remote control signal in a case that the address represented by the address signal is a long-range address.

[0094] In one embodiment, the local module 320 is specifically further configured to:

[0095] identify the pilot signal in the control signal in a case that the control signal is a local control signal;

[0096] determine that the current control state of the working machine is a local control state in a case that it is determined based on an identification result of the pilot signal that a pilot control system of the working machine is turned on.

[0097] In one embodiment, the remote control module 330 is specifically configured to:

[0098] identify the pilot signal and the heartbeat signal in the control signal in a case that the control signal is a short-range remote control signal or a long-range remote control signal;

[0099] determine that the current control state of the working machine is a short-range remote control state or a long-range remote control state in a case that it is determined based on an identification result of the pilot signal that the pilot control system of the working machine is turned on, and in a case that it is determined based on an identification result of the heartbeat signal that there is a current heartbeat signal.

[0100] In one embodiment, the remote control module 330 is specifically further configured to:

[0101] In a case where it is determined, based on the identification result of the pilot signal, that the pilot control system of the working machine is closed, and / or in a case where it is determined, based on the identification result of the heartbeat signal, that there is no current heartbeat signal, it is determined that the current control state of the working machine is not the short-range remote control state or the remote control state.

[0102] In an embodiment, the working machine control device further comprises an action module configured to, in a case where the current control state of the working machine is any one of the local control state, the short-range remote control state and the remote control state, identify an action instruction in the control signal, and control the working machine to perform an action corresponding to the action instruction based on the action instruction.

[0103] In an embodiment, the working machine control device further comprises an invalidation module configured to, in a case where the current control state of the working machine is not any one of the local control state, the short-range remote control state and the remote control state, determine that the control signal is an invalid signal, and control the working machine to not perform any action.

[0104] The working machine control device provided by the present application acquires a control signal in real time, identifies the control signal, determines the current control state of the working machine based on a pilot signal in the control signal in a case where the control signal is a local control signal, and determines the current control state of the working machine based on the pilot signal and a heartbeat signal in the control signal in a case where the control signal is a short-range remote control signal or a remote control signal. The technical solution of the present application determines the current control state of the working machine according to the identification result of the control signal and performs corresponding control, without the need to install a three-stage switch, thereby saving equipment costs. In addition, in a scenario where the control distance of the working machine needs to be changed, the control distance does not need to be manually switched by an operator at the working machine side, thereby facilitating the operator to perform remote control operation of the working machine in multiple distance conditions.

[0105] Figure 4 An example of a schematic diagram of the physical structure of a controller is shown in Figure 4 The controller can include a processor 410, a communications interface 420, a memory 430 and a communications bus 440, wherein the processor 410, the communications interface 420 and the memory 430 complete communication with each other through the communications bus 440. The processor 410 can invoke a logical instruction in the memory 430 to execute a working machine control method, which includes:

[0106] acquiring a control signal in real time;

[0107] identifying the control signal, and in a case that the control signal is a local control signal, determining a current control state of the working machine based on a pilot signal in the control signal;

[0108] in a case that the control signal is a remote control signal, determining the current control state of the working machine based on the pilot signal and a heartbeat signal in the control signal.

[0109] Further, the logic instructions in the memory 430 described above can be implemented in the form of a software functional unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0110] On the other hand, the present application also provides a working machine comprising the controller described above.

[0111] In another aspect, the present application also provides a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium, and the computer program comprises program instructions, and when the program instructions are executed by a computer, the computer can execute the working machine control method provided by the above-mentioned methods, and the method comprises:

[0112] obtaining the control signal in real time;

[0113] identifying the control signal, and in a case that the control signal is a local control signal, determining a current control state of the working machine based on a pilot signal in the control signal;

[0114] in a case that the control signal is a remote control signal, determining the current control state of the working machine based on the pilot signal and a heartbeat signal in the control signal.

[0115] In another aspect, the present application also provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the working machine control method provided by the above-mentioned methods, and the method comprises:

[0116] Real-time acquisition of control signals;

[0117] Identification of the control signals, in the case of local control signals, determining the current control state of the working machine based on the pilot signal in the control signal;

[0118] In the case of remote control signals, determining the current control state of the working machine based on the pilot signal and the heartbeat signal in the control signal.

[0119] The above-described device embodiments are only illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0120] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course, can also be realized by hardware. Based on such understanding, the above technical solutions 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, etc., 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 described in each embodiment or some parts of the embodiments.

[0121] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to 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 they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A work machine control method characterized by, The method comprises: acquiring a control signal in real time; identifying the control signal, and determining a current control state of a working machine based on a pilot signal in the control signal in a case where the control signal is a local control signal; determining the current control state of the working machine based on the pilot signal and a heartbeat signal in the control signal in a case where the control signal is a remote control signal; the identifying the control signal comprises: identifying an acquisition source of the control signal, and determining that the control signal is the local control signal in a case where the control signal is acquired based on a local control port; determining that the control signal is the remote control signal in a case where the control signal is not acquired based on the local control port; identifying an address signal in the remote control signal, and determining that the remote control signal is a short-range remote control signal in a case where an address represented by the address signal is a short-range address; determining that the remote control signal is a long-range remote control signal in a case where the address represented by the address signal is a long-range address; the determining the current control state of the working machine based on the pilot signal in the control signal in the case where the control signal is the local control signal comprises: identifying the pilot signal in the control signal in the case where the control signal is the local control signal; determining that the current control state of the working machine is a local control state in a case where it is determined based on an identification result of the pilot signal that a pilot control system of the working machine is turned on; the determining the current control state of the working machine based on the pilot signal and the heartbeat signal in the control signal in the case where the control signal is the remote control signal comprises: identifying the pilot signal and the heartbeat signal in the control signal in a case where the control signal is the short-range remote control signal or the long-range remote control signal; determining that the current control state of the working machine is a short-range remote control state or a long-range remote control state in a case where it is determined based on an identification result of the pilot signal that the pilot control system of the working machine is turned on and it is determined based on an identification result of the heartbeat signal that there is a current heartbeat signal.

2. The work machine control method of claim 1, wherein, the determining the current control state of the working machine based on the pilot signal and the heartbeat signal in the control signal in the case where the control signal is the remote control signal further comprises: determining that the current control state of the working machine is not the short-range remote control state or the long-range remote control state in a case where it is determined based on the identification result of the pilot signal that the pilot control system of the working machine is turned off and / or it is determined based on the identification result of the heartbeat signal that there is no current heartbeat signal.

3. The work machine control method according to claim 2, characterized by, in a case where the current control state of the working machine is any one of the local control state, the short-range remote control state and the long-range remote control state, identifying an action instruction in the control signal, and controlling the working machine to perform an action corresponding to the action instruction based on the action instruction.

4. The work machine control method according to claim 3, characterized by, In a case where the current control state of the work machine is not any one of the local control state, the short-range remote control state and the long-range remote control state, the control signal is determined as an invalid signal, and the work machine is controlled to do nothing.

5. A work machine control device characterized by comprising: The method comprises: acquiring a control signal in real time; identifying the control signal, and determining a current control state of a work machine based on a pilot signal in the control signal in a case where the control signal is a local control signal; controlling the work machine in a case where the control signal is a remote control signal based on the pilot signal and a heartbeat signal in the control signal; the local module is specifically configured to: identify a source of acquisition of the control signal, and determine the control signal as a local control signal in a case where the control signal is acquired based on a local control port; determine the control signal as a remote control signal in a case where the control signal is not acquired based on the local control port; identify an address signal in the remote control signal, and determine the remote control signal as a short-range remote control signal in a case where an address represented by the address signal is a short-range address; determine the remote control signal as a long-range remote control signal in a case where the address represented by the address signal is a long-range address; the local module is specifically further configured to: identify the pilot signal in the control signal in a case where the control signal is a local control signal; determine the current control state of the work machine as the local control state in a case where a pilot control system of the work machine is determined to be turned on based on an identification result of the pilot signal; the remote control module is specifically configured to: identify the pilot signal and the heartbeat signal in the control signal in a case where the control signal is the short-range remote control signal or the long-range remote control signal; determine the current control state of the work machine as the short-range remote control state or the long-range remote control state in a case where the pilot control system of the work machine is determined to be turned on based on an identification result of the pilot signal, and in a case where there is a current heartbeat signal based on an identification result of the heartbeat signal.

6. A controller comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, The processor implements the steps of the work machine control method according to any one of claims 1 to 4 when executing the program.

7. A work machine characterized by, The controller according to claim 6. The controller according to claim 6.

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