Control method, control device and working machine for a working machine

Abstract

The application relates to the technical field of engineering machinery control, and in particular to a control method and device for engineering machinery and engineering machinery. The method comprises the following steps: acquiring the real-time speed of the engineering machinery and the real-time rope length of a swing rope; determining a target swing angle of a boom within a preset time length after the engineering machinery stops; determining the target number of pixel points of a hoisting object of the engineering machinery within the real-time image within the preset time length; determining the target image position of the hoisting object on the real-time image after the engineering machinery stops; determining the final target position of the hoisting object after the engineering machinery stops according to the target image position; and controlling the engineering machinery to stop working based on a stop running instruction, so that the swing angle of the boom within the preset time length after the engineering machinery stops is the target swing angle and the hoisting object is in the final target position, the boom and the hoisting object of the engineering machinery can be accurately controlled, the safety of engineering machinery operation is improved, and the working efficiency of the engineering machinery is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery control, in particular to a control method and device for engineering machinery, engineering machinery and storage medium. BACKGROUND

[0002] The crane can include a mobile crane, a general bridge crane, a port crane, a tower crane, and a boom crane, etc. Among them, the mobile crane, the boom crane, and the tower crane, etc. are cranes with a boom and a slewing mechanism. During the operation of such cranes, the heavy object on the hook of the lifting mechanism can move in the up-down direction with the rotation of the drum, i.e. the stretching and contraction of the sling. In the current crane lifting process, the sling often swings, which not only affects the lifting work of the crane, but also easily leads to safety accidents. Therefore, the control of the crane needs to be strengthened to improve the safety of the engineering machinery. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a control method and device for engineering machinery, engineering machinery and storage medium, to solve the safety problems caused by the poor control effect of the engineering machinery in the prior art.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a control method for engineering machinery, the engineering machinery comprising a lifting arm, the control method comprising:

[0005] During the operation of the engineering machinery, the real-time speed of the engineering machinery and the real-time rope length of the swinging rope are obtained;

[0006] According to the real-time rope length and the real-time speed, the target deflection angle of the lifting arm within a preset time length after the engineering machinery stops is determined;

[0007] The real-time image of the engineering machinery is obtained, and an image coordinate system is constructed;

[0008] According to the target deflection angle, the target number of pixel points of the lifting object of the engineering machinery on the real-time image within the preset time length is determined;

[0009] According to the real-time coordinate position of the lifting object in the image coordinate system and the target number of pixel points, the target image position of the lifting object on the real-time image after the engineering machinery stops is determined;

[0010] According to the target image position, the final target position of the lifting object after the engineering machinery stops is determined;

[0011] After obtaining the stop operation instruction for the engineering machinery, the engineering machinery is controlled to stop working based on the stop operation instruction, and the offset angle of the boom within a preset time length after the engineering machinery stops is the target offset angle, and the hoisting object is in a final target position.

[0012] In the embodiment of the present application, the target offset angle of the boom within a preset time length after the engineering machinery stops is determined according to the real-time rope length and the real-time speed, which includes: determining the swing period of the hoisting object according to the real-time rope length; determining the vibration period of the boom according to the structural parameters of the boom of the engineering machinery, wherein the boom includes the boom; determining the target offset angle according to the real-time speed, the swing period, the vibration period and the preset deceleration.

[0013] In the embodiment of the present application, the target offset angle is determined according to the real-time speed, the swing period, the vibration period and the preset deceleration, which includes: coupling the swing period and the vibration period to obtain a composite period; determining a deceleration time according to the real-time speed and the preset deceleration; determining a first product between the real-time speed, the deceleration time and a first preset value; determining a sum of the vibration period, the swing period and the composite period, and determining a second product between the sum, the real-time speed and a second preset value; determining the sum of the first product and the second product as the target offset angle.

[0014] In the embodiment of the present application, the engineering machinery is controlled to stop working based on the stop operation instruction, which includes: determining a plurality of pulse signals for controlling the engineering machinery according to the vibration period, the swing period and the composite period, wherein the plurality of pulse signals are carried in the stop operation instruction; determining a first ratio, a second ratio and a third ratio between the vibration period, the swing period and the composite period and a preset value respectively; controlling the engineering machinery to stop working according to the plurality of pulse signals, the first ratio, the second ratio and the third ratio.

[0015] In the embodiment of the present application, the control method further includes: determining the number of pixel points on the real-time image according to the resolution of the real-time image before determining the target number of sliding pixel points of the hoisting object of the engineering machinery on the real-time image within a preset time length according to the target offset angle; obtaining the field of view angle of the image acquisition device for acquiring the real-time image; determining the real-time angle corresponding to each pixel point according to the field of view angle and the number of pixel points on the real-time image.

[0016] In the embodiment of the present application, the target number of sliding pixel points of the hoisting object of the engineering machinery on the real-time image within a preset time length is determined according to the target offset angle, which includes: determining the target number of sliding pixel points according to the target offset angle and the real-time angle corresponding to each pixel point.

[0017] In the embodiment of the present application, the engineering machinery comprises a luffing mechanism, and determining the final target position of the hoisting object after the engineering machinery stops according to the target image position comprises: determining a predicted movement speed of the boom of the engineering machinery in the direction of the hoisting arm according to the real-time speed of the luffing mechanism; determining a predicted movement distance of the hoisting object in the direction of the hoisting arm according to the predicted movement speed; determining a number of pixel points occupied by the hoisting object on the real-time image after the engineering machinery stops according to the predicted movement distance; and determining the final target position according to the target image position and the number of pixel points occupied.

[0018] The second aspect of the present application provides a control device for engineering machinery, comprising:

[0019] a memory configured to store instructions;

[0020] a processor configured to call the instructions from the memory and capable of implementing the above-mentioned control method for engineering machinery when executing the instructions.

[0021] The third aspect of the present application provides engineering machinery, comprising:

[0022] a hoisting arm;

[0023] a rope;

[0024] the above-mentioned control device for engineering machinery.

[0025] The fourth aspect of the present application provides a machine-readable storage medium, which stores instructions for causing a machine to execute the above-mentioned control method for engineering machinery.

[0026] Through the above technical solution, the real-time speed of the engineering machinery and the real-time rope length of the rope can be obtained during the working process of the engineering machinery, the target offset angle of the hoisting arm within a preset time length after the engineering machinery stops can be determined according to the real-time rope length and the real-time speed, the real-time image of the engineering machinery can be obtained, and an image coordinate system can be constructed, then the target number of sliding pixel points of the hoisting object of the engineering machinery on the real-time image within the preset time length can be determined according to the target offset angle, the target image position of the hoisting object on the real-time image after the engineering machinery stops can be determined according to the real-time coordinate position of the hoisting object in the image coordinate system and the target number of sliding pixel points, the final target position of the hoisting object after the engineering machinery stops can be determined according to the target image position, and the engineering machinery can be controlled to stop working based on the stop running instruction after the stop running instruction for the engineering machinery is obtained, and the offset angle of the hoisting arm within the preset time length after the engineering machinery stops is the target offset angle and the hoisting object is in the final target position, so that the hoisting arm and the hoisting object of the engineering machinery can be accurately controlled, the safety of the engineering machinery operation is improved, and the working efficiency of the engineering machinery is effectively improved.

[0027] Other features and advantages of the embodiments of the present application will be described in the following detailed description of the embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the embodiments of the present application together with the specific embodiments described in the following, but are not used to limit the embodiments of the present application. In the drawings:

[0029] Figure 1 A flowchart of a control method for a working machine according to an embodiment of the present application is schematically shown;

[0030] Figure 2 A front view of a working machine according to an embodiment of the present application is schematically shown;

[0031] Figure 3 A schematic view of a working machine according to an embodiment of the present application is schematically shown;

[0032] Figure 4 An internal structure diagram of a computer device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0033] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are merely used to explain and illustrate the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0034] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are merely used to explain the relative positional relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directional indications also change accordingly.

[0035] In addition, if the description of "first", "second", etc. is involved in the embodiments of the present application, the description of "first", "second", etc. is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor in the protection scope claimed by the present application.

[0036] Figure 1 The flowchart of the control method for the engineering machinery according to the embodiments of the present application is schematically shown. As shown in the figure, Figure 1 The embodiments of the present application provide a control method for engineering machinery, which can include the following steps.

[0037] Step 101: During the working process of the engineering machinery, the real-time speed of the engineering machinery and the real-time rope length of the swing rope are obtained.

[0038] Step 102: The target offset angle of the boom within a preset time length after the engineering machinery stops is determined according to the real-time rope length and the real-time speed.

[0039] During the working process of the engineering machinery (such as a crane), the processor can obtain the real-time speed of the engineering machinery and the real-time rope length of the swing rope of the engineering machinery. After obtaining the real-time speed of the engineering machinery and the real-time rope length of the swing rope, the processor can determine the target offset angle of the boom of the engineering machinery within a preset time length after the engineering machinery stops according to the real-time rope length and the real-time speed, wherein the target offset angle can be the included angle between the position of the boom before the engineering machinery stops and the position of the boom after the engineering machinery stops, also called the sliding angle of the boom. The preset time length can be the time length between any one time point before the engineering machinery completely stops and the time point when the engineering machinery completely stops.

[0040] In the embodiments of the present application, the target offset angle of the boom within a preset time length after the engineering machinery stops is determined according to the real-time rope length and the real-time speed, including: determining the swing period of the hoisted object according to the real-time rope length; determining the vibration period of the boom of the engineering machinery according to the structural parameters of the boom, wherein the boom includes the boom; determining the target offset angle according to the real-time speed, the swing period, the vibration period and the preset deceleration.

[0041] The processor can determine the target offset angle of the boom within a preset time period after the construction machinery stops, based on the real-time rope length and real-time speed. Specifically, the processor can determine the swing period of the lifted object based on the real-time rope length and the vibration period of the boom based on the structural parameters of the construction machinery's boom. The boom includes the lifting arm. The structural parameters of the boom can include its length, number of joints, joint type, and load capacity. After obtaining the swing period of the lifted object and the vibration period of the boom, the processor can determine the target offset angle based on the real-time speed, swing period, vibration period, and preset deceleration. The preset deceleration can be determined by the user according to their requirements.

[0042] In this embodiment, determining the target offset angle based on real-time speed, swaying period, vibration period, and preset deceleration includes: coupling the swaying period and vibration period to obtain a composite period; determining the deceleration duration based on real-time speed and preset deceleration; determining a first product between real-time speed, deceleration duration, and a first preset value; determining the sum of the vibration period, swaying period, and composite period, and determining a second product between the sum, real-time speed, and a second preset value; and determining the sum of the first product and the second product as the target offset angle.

[0043] The processor can determine the target offset angle based on real-time speed, swaying period, vibration period, and preset deceleration. Specifically, the processor can couple the swaying period and vibration period to obtain a composite period. The processor can determine the deceleration duration based on real-time speed and preset deceleration, and determine a first product between real-time speed, deceleration duration, and a first preset value. The processor can also determine the sum of the vibration period, swaying period, and composite period. After obtaining the sum of the vibration period, swaying period, and composite period, the processor can determine a second product between this sum, real-time speed, and a second preset value, and determine the target offset angle by the sum of the first and second products. The first and second preset values ​​can be determined by the user based on requirements.

[0044] For example, the first preset value can be The second preset value can be The processor can couple the vibration period T1 and the swaying period T2 to obtain a composite period T3. The processor can also determine the deceleration duration t based on the real-time velocity v and the preset deceleration a, i.e. After determining the deceleration duration t, the processor can determine the real-time speed v, the deceleration duration t, and the first preset value. The first product between The processor can also determine the sum of the vibration period T1, the oscillation period T2, and the composite period T3, and determine this sum (T1+T2+T3), the real-time velocity v, and the second preset value. Second product between (T1+T2+T3). The first product is obtained. Second product The processor can then determine the target offset angle β as the sum of the first and second products, i.e.

[0045] Step 103: Acquire real-time images of the construction machinery and construct an image coordinate system.

[0046] Step 104: Determine the number of target sliding pixels on the real-time image of the hoisting object of the construction machinery within a preset time period based on the target offset angle.

[0047] The processor can also acquire real-time images of the construction machinery and construct an image coordinate system. For example, the processor can acquire a frontal view of the construction machinery from an image acquisition device located directly in front of it and construct a corresponding image coordinate system, which can be a Cartesian coordinate system. After constructing the image coordinate system, the processor can determine the number of target sliding pixels on the real-time image of the hoisting object of the construction machinery within a preset time period based on the target offset angle.

[0048] In this embodiment of the application, the control method further includes: before determining the number of target sliding pixels of the hoisting object of the construction machinery on the real-time image within a preset time period based on the target offset angle, determining the number of pixels on the real-time image based on the resolution of the real-time image; acquiring the field of view of the image acquisition device that acquires the real-time image; and determining the real-time angle corresponding to each pixel based on the field of view and the number of pixels on the real-time image.

[0049] Before determining the number of target sliding pixels on the real-time image of the hoisting object of the construction machinery within a preset time period based on the target offset angle, the processor can determine the number of pixels on the real-time image based on the resolution of the real-time image. The processor can also acquire the field of view of the image acquisition device that acquires the real-time image. After obtaining the field of view and the number of pixels on the real-time image device, the processor can determine the real-time angle corresponding to each pixel based on the field of view and the number of pixels on the real-time image.

[0050] In this embodiment of the application, determining the number of target sliding pixels on the real-time image of the hoisting object of the construction machinery within a preset time period based on the target offset angle includes: determining the number of target sliding pixels based on the target offset angle and the real-time angle corresponding to each pixel.

[0051] The processor can determine the target number of pixels of the hoisting object in the real-time image within a preset time length according to the target offset angle of the hoisting object. Specifically, the processor can determine the target number of pixels of the hoisting object in the real-time image according to the target offset angle and the real-time angle of each pixel point.

[0052] Step 105: determining the target image position of the hoisting object in the real-time image after the engineering machinery stops according to the real-time coordinate position of the hoisting object in the image coordinate system and the target number of pixels.

[0053] Step 106: determining the final target position of the hoisting object after the engineering machinery stops according to the target image position.

[0054] After obtaining the target number of pixels of the hoisting object, the processor can determine the target image position of the hoisting object in the real-time image after the engineering machinery stops according to the real-time coordinate position of the hoisting object in the image coordinate system and the target number of pixels. After obtaining the target image position of the hoisting object, the processor can determine the final target position of the hoisting object after the engineering machinery stops according to the target image position.

[0055] In the embodiment of the present application, the engineering machinery includes a luffing mechanism, and determining the final target position of the hoisting object after the engineering machinery stops according to the target image position includes: determining a predicted movement speed of the boom of the engineering machinery in the boom direction according to a real-time speed of the luffing mechanism; determining a predicted movement distance of the hoisting object in the boom direction according to the predicted movement speed; determining a number of pixels occupied by the hoisting object in the real-time image after the engineering machinery stops according to the predicted movement distance; and determining the final target position according to the target image position and the number of pixels occupied.

[0056] The engineering machinery can include a luffing mechanism. The processor can determine the final target position of the hoisting object after the engineering machinery stops according to the target image position. Specifically, the processor can determine a predicted movement speed of the boom of the engineering machinery in the boom direction according to a real-time speed of the luffing mechanism. And determine a predicted movement distance of the hoisting object in the boom direction according to the predicted movement speed. After obtaining the predicted movement distance of the hoisting object, the processor can determine the number of pixels occupied by the hoisting object in the real-time image after the engineering machinery stops according to the predicted movement distance. And determine the final target position according to the target image position and the number of pixels occupied.

[0057] Step 107: after obtaining the stop operation instruction for the engineering machinery, controlling the engineering machinery to stop working based on the stop operation instruction, and making the offset angle of the boom within a preset time length after the engineering machinery stops be the target offset angle and the hoisting object be in the final target position.

[0058] After determining the final target position of the hoisted object, the processor can determine whether a stop operation instruction for the engineering machine is acquired. After the stop operation instruction for the engineering machine is acquired, the processor can control the engineering machine to stop working based on the stop operation instruction, and make the offset angle of the boom of the engineering machine within a preset time length after the engineering machine stops working be the target offset angle, and the hoisted object be in the final target position.

[0059] In the embodiment of the present application, the control of the engineering machine to stop working based on the stop operation instruction comprises: determining a plurality of pulse signals for controlling the engineering machine according to the vibration period, the swing period and the compound period, wherein the plurality of pulse signals are carried in the stop operation instruction; determining a first ratio, a second ratio and a third ratio between the vibration period, the swing period and the compound period and a preset value respectively; and controlling the engineering machine to stop working according to the plurality of pulse signals, the first ratio, the second ratio and the third ratio.

[0060] The processor can control the engineering machine to stop working based on the stop operation instruction. Specifically, the processor can determine a plurality of pulse signals for controlling the engineering machine according to the vibration period, the swing period and the compound period, wherein the plurality of pulse signals are carried in the stop operation instruction. The processor can also determine a first ratio, a second ratio and a third ratio between the vibration period, the swing period and the compound period and a preset value respectively. After obtaining the first ratio, the second ratio and the third ratio, the processor can control the engineering machine to stop working according to the plurality of pulse signals, the first ratio, the second ratio and the third ratio. The preset value can be determined by the user according to the demand.

[0061] For example, the processor can determine that the vibration period T1, the swing period T2 and the compound period T3 are three types of periods, therefore, the processor can determine that four pulse signals are needed to control the engineering machine. The preset value can be 2, the processor can determine that the first ratio between the vibration period and the preset value is the second ratio between the swing period and the preset value is the third ratio between the compound period and the preset value is

[0062]

[0063] In the case of , the processor can control the engineering machine to decelerate based on the first pulse signal, from the start of deceleration, when the deceleration time reaches , the engineering machine is controlled to decelerate based on the second pulse, from the start of deceleration, when the deceleration time reaches , the engineering machine is controlled to decelerate based on the third pulse, from the start of deceleration, when the deceleration time reaches When the time reaches T3, the engineering machinery is controlled to decelerate based on the fourth pulse, until the engineering machinery stops running, so as to complete the deceleration control of the engineering machinery, and make the hoisting object not swing and be at the final target position, and the offset angle of the hoisting arm be the target offset angle.

[0064] In the case, the processor can control the engineering machinery to decelerate based on the first pulse signal, from the start of deceleration, in the deceleration duration reaches When the time reaches T2, the engineering machinery is controlled to decelerate based on the second pulse, from the start of deceleration, in the deceleration duration reaches When the time reaches T3, the engineering machinery is controlled to decelerate based on the third pulse, from the start of deceleration, in the deceleration duration reaches When the time reaches T4, the engineering machinery is controlled to decelerate based on the fourth pulse, until the engineering machinery stops running, so as to complete the deceleration control of the engineering machinery, and make the hoisting object not swing and be at the final target position, and the offset angle of the hoisting arm be the target offset angle.

[0065] In the present application, after obtaining the final target position of the hoisting object and the target offset angle of the hoisting arm, the processor can also mark the final target position of the hoisting object and the target offset angle of the hoisting arm in the image in front of the engineering machinery, and display it through the display, so as to help the operator understand the state of the hoisting arm and the hoisting object after the engineering machinery stops. For example, as shown in Figure 2 The operator can intuitively understand the position and angle change of the steel wire rope and the hook of the crane before and after the crane stops, and the sliding position of the hoisting object through the display.

[0066] Through the above technical solution, the hoisting arm and the hoisting object of the engineering machinery can be accurately controlled, the safety of the engineering machinery operation is improved, and the working efficiency of the engineering machinery is effectively improved.

[0067] Figure 1 A flowchart of a control method for an engineering machinery in an embodiment. It should be understood that although the steps in the flowchart of Figure 1 are shown in sequence following the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise explicitly stated herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, Figure 1At least one of the steps in the method can include a plurality of sub-steps or a plurality of stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of the sub-steps or stages is not necessarily sequential, but can be performed in rotation or alternation with other steps or sub-steps or stages of other steps.

[0068] The embodiment of the present application also provides a control device for the engineering machinery, comprising:

[0069] a memory configured to store instructions;

[0070] a processor configured to call the instructions from the memory and implement the control method for the engineering machinery when the instructions are executed.

[0071] The embodiment of the present application also provides an engineering machinery, comprising:

[0072] a boom;

[0073] a swing rope;

[0074] the control device for the engineering machinery.

[0075] In the embodiment of the present application, as shown in Figure 3 The engineering machinery can include a steel wire rope encoder, an angle displacement sensor, an anti-sway controller, a front view camera and a display.

[0076] The steel wire rope encoder can collect a current swing rope length of the swing rope of the engineering machinery in real time, and transmit the current swing rope length to the anti-sway controller; the angle sensor can detect a current running speed in real time, and transmit the current running speed to the anti-sway controller. The anti-sway controller can determine a stop post-slippage of the boom based on the front swing rope length and the current running speed. The front view camera can collect a front video of the engineering machinery, so as to mark a final slippage position in the video.

[0077] The embodiment of the present application also provides a machine readable storage medium, which stores instructions for causing a machine to execute the control method for the engineering machinery.

[0078] In one embodiment, a computer device is provided, which can be a server, and an internal structure diagram of the computer device can be as shown in Figure 4As shown in the figure. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operating system B01 and the computer program B02 in the non-volatile storage medium A04 to run. The database of the computer device is used to store real-time speed, real-time rope length, target offset angle, target number of sliding pixels, real-time coordinate position, final target position and the like. The network interface A02 of the computer device is used to communicate with the terminal outside through the network connection. The computer program B02 is executed by the processor A01 to realize a control method for the engineering machinery.

[0079] Those skilled in the art can understand that, Figure 4 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0080] The embodiment of the present application provides a device, which comprises a processor, a memory and a program stored on the memory and executable on the processor. When the processor executes the program, the following steps are implemented: during the working process of the engineering machinery, the real-time speed of the engineering machinery and the real-time rope length of the swing rope are acquired; the target offset angle of the boom within a preset time length after the engineering machinery stops is determined according to the real-time rope length and the real-time speed; the real-time image of the engineering machinery is acquired, and an image coordinate system is constructed; the target number of sliding pixels of the hoisting object of the engineering machinery on the real-time image within the preset time length is determined according to the target offset angle; the target image position of the hoisting object on the real-time image after the engineering machinery stops is determined according to the real-time coordinate position of the hoisting object in the image coordinate system and the target number of sliding pixels; the final target position of the hoisting object after the engineering machinery stops is determined according to the target image position; after the stop running instruction for the engineering machinery is acquired, the engineering machinery is controlled to stop working based on the stop running instruction, and the offset angle of the boom within the preset time length after the engineering machinery stops is the target offset angle and the hoisting object is in the final target position.

[0081] In one embodiment, the determining the target swing angle of the boom within a preset time length after the engineering machine stops according to the real-time rope length and the real-time speed comprises: determining a swing period of the hoisted object according to the real-time rope length; determining a vibration period of a boom of the engineering machine according to structural parameters of the boom, wherein the boom comprises the boom; and determining the target swing angle according to the real-time speed, the swing period, the vibration period, and a preset deceleration.

[0082] In one embodiment, the determining the target swing angle according to the real-time speed, the swing period, the vibration period, and the preset deceleration comprises: coupling the swing period and the vibration period to obtain a composite period; determining a deceleration time length according to the real-time speed and the preset deceleration; determining a first product among the real-time speed, the deceleration time length, and a first preset value; determining a sum of the vibration period, the swing period, and the composite period, and determining a second product among the sum, the real-time speed, and a second preset value; and determining a sum of the first product and the second product as the target swing angle.

[0083] In one embodiment, the controlling the engineering machine to stop working based on the stop operation instruction comprises: determining a multi-section pulse signal for controlling the engineering machine according to the vibration period, the swing period, and the composite period, wherein the multi-section pulse signal is carried in the stop operation instruction; determining a first ratio, a second ratio, and a third ratio among the vibration period, the swing period, and the composite period and a preset value respectively; and controlling the engineering machine to stop working according to the multi-section pulse signal, the first ratio, the second ratio, and the third ratio.

[0084] In one embodiment, the control method further comprises: before determining the target number of pixel points of the hoisted object of the engineering machine on the real-time image within the preset time length according to the target swing angle, determining a number of pixel points on the real-time image according to a resolution of the real-time image; obtaining a field of view angle of an image acquisition device that acquires the real-time image; and determining a real-time angle corresponding to each pixel point according to the field of view angle and the number of pixel points on the real-time image.

[0085] In one embodiment, the determining the target number of pixel points of the hoisted object of the engineering machine on the real-time image within the preset time length according to the target swing angle comprises: determining the target number of pixel points according to the target swing angle and the real-time angle corresponding to each pixel point.

[0086] In one embodiment, the engineering machine comprises a luffing mechanism, and the determining the final target position of the hoisted object after the engineering machine stops according to the target image position comprises: determining a predicted movement speed of a boom of the engineering machine in a direction of the boom according to a real-time speed of the luffing mechanism; determining a predicted movement distance of the hoisted object in the direction of the boom according to the predicted movement speed; determining a number of pixel points occupied by the hoisted object on the real-time image after the engineering machine stops according to the predicted movement distance; and determining the final target position according to the target image position and the number of pixel points occupied.

[0087] The application also provides a computer program product adapted to perform the steps of the method of initializing a control method for a working machine when executed on a data processing device.

[0088] Those skilled in the art will appreciate that embodiments of the application can be supplied as methods, systems or computer program products. Accordingly, the application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer readable program code.

[0089] The application is described herein with reference to the flowchart and / or block diagram illustrations of the methods, apparatus (systems), computer program products according to embodiments of the application. It will be understood that each block of the flowchart and / or block diagrams, and combinations of blocks in the flowchart 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 processing device or other programmable data processing device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing device, create means for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks. Figure 1 means for performing the function of one or more of the steps in the flowchart and / or block diagram block or blocks.

[0090] These computer program instructions can also be stored in a computer- readable memory 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 memory produce an article of manufacture including instructions which implement the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks. Figure 1 means for performing the function of one or more of the steps in the flowchart and / or block diagram block or blocks.

[0091] These computer program instructions can also be loaded onto a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that the instructions which execute on the computer or other programmable device provide steps for implementing the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks. Figure 1 means for performing the function of one or more of the steps in the flowchart and / or block diagram block or blocks.

[0092] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0093] Memory can include non-persistent memory, Random Access Memory (RAM), and / or non-volatile memory, such as Read Only Memory (ROM) or flash memory, in a computer readable medium. Memory is an example of computer readable media.

[0094] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules 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 technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0095] It should also be noted that the terms "comprising", "containing", or any other variant thereof, are intended to encompass a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not include only those elements in the list, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without further limitation, an element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0096] The above merely provides an example of the present application and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A control method for a working machine, characterized in that, The engineering machine comprises a boom, and the control method comprises: During operation of the engineering machine, a real-time speed of the engineering machine and a real-time rope length of the swing rope are obtained; According to the real-time rope length and the real-time speed, a target swing angle of the boom within a preset time length after the engineering machine stops is determined; A real-time image of the engineering machine is obtained, and an image coordinate system is constructed; According to the target swing angle, a target number of pixels of a hoisting object of the engineering machine to slide in the real-time image within the preset time length is determined; According to a real-time coordinate position of the hoisting object in the image coordinate system and the target number of pixels of the hoisting object to slide, a target image position of the hoisting object in the real-time image after the engineering machine stops is determined; According to the target image position, a final target position of the hoisting object after the engineering machine stops is determined; After a stop operation instruction for the engineering machine is obtained, the engineering machine is controlled to stop operating based on the stop operation instruction, so that the swing angle of the boom within the preset time length after the engineering machine stops is the target swing angle, and the hoisting object is in the final target position.

2. A control method for a working machine according to claim 1, characterized in that, The target swing angle of the boom within the preset time length after the engineering machine stops is determined according to the real-time rope length and the real-time speed, which comprises: According to the real-time rope length, a swing period of the hoisting object is determined; According to a structural parameter of a boom support of the engineering machine, a vibration period of the boom support is determined, wherein the boom support comprises the boom; According to the real-time speed, the swing period, the vibration period, and a preset deceleration, the target swing angle is determined.

3. A control method for a working machine according to claim 2, characterized in that, The target swing angle is determined according to the real-time speed, the swing period, the vibration period, and a preset deceleration, which comprises: The swing period and the vibration period are coupled to obtain a composite period; According to the real-time speed and a preset deceleration, a deceleration time length is determined; A first product between the real-time speed, the deceleration time length, and a first preset value is determined; A sum of the vibration period, the swing period, and the composite period is determined, and a second product between the sum, the real-time speed, and a second preset value is determined; A sum of the first product and the second product is determined as the target swing angle.

4. A control method for a working machine according to claim 3, characterized in that, The engineering machine is controlled to stop operating based on the stop operation instruction, which comprises: According to the vibration period, the swing period, and the composite period, a plurality of pulse signals for controlling the engineering machine are determined, wherein the plurality of pulse signals are carried in the stop operation instruction; First, second, and third ratios between the vibration period, the swing period, and the composite period and a preset value are respectively determined; The engineering machine is controlled to stop operating according to the plurality of pulse signals, the first ratio, the second ratio, and the third ratio.

5. A control method for a working machine according to claim 1, characterized in that, The control method further comprises: Before determining the target number of pixel points of the hoisting object of the engineering machine in the real-time image within the preset time length according to the target offset angle, the number of pixel points in the real-time image is determined according to the resolution of the real-time image; An angle of view of an image acquisition device used to acquire the real-time image is acquired; A real-time angle corresponding to each pixel point is determined according to the angle of view and the number of pixel points in the real-time image.

6. A control method for a working machine according to claim 5, characterized in that, Determining the target number of pixel points of the hoisting object of the engineering machine in the real-time image within the preset time length according to the target offset angle includes: The target number of pixel points is determined according to the target offset angle and the real-time angle corresponding to each pixel point.

7. A control method for a working machine according to claim 1, characterized in that, The engineering machine includes a luffing mechanism, and determining the final target position of the hoisting object after the engineering machine stops according to the target image position includes: A predicted movement speed of a boom of the engineering machine in the direction of the jib is determined according to a real-time speed of the luffing mechanism; A predicted movement distance of the hoisting object in the direction of the jib is determined according to the predicted movement speed; A number of pixel points occupied by the hoisting object in the real-time image after the engineering machine stops is determined according to the predicted movement distance; The final target position is determined according to the target image position and the number of occupied pixel points.

8. A control device for a working machine, characterized in that Comprise: a memory configured to store instructions; a processor configured to call the instructions from the memory and enable the control method for an engineering machine according to any one of claims 1 to 7 when the instructions are executed.

9. A working machine, characterized in that Comprise: a jib; a rope; the control device for an engineering machine according to claim 8.

10. A machine-readable storage medium, characterized in that, The machine-readable storage medium has instructions stored thereon for causing a machine to execute the control method for an engineering machine according to any one of claims 1 to 7. The machine-readable storage medium has instructions stored thereon for causing a machine to execute the control method for an engineering machine according to any one of claims 1 to 7.

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