Operating machinery control methods, control devices, operating machinery and readable storage media

Abstract

This application discloses a method, device, machine, and readable storage medium for controlling construction machinery, belonging to the field of equipment control technology. The method includes: acquiring operating data of the construction machinery; determining the operating condition of the machinery based on the operating data; determining a control strategy for the machinery based on the operating condition; acquiring optimization information for controlling the machinery based on the control strategy; updating the control strategy based on the optimization information; and controlling the machinery based on the updated control strategy. Differentiated control strategies are provided for different operating conditions of the machinery, achieving refined control and improving the machinery's efficiency under various conditions. Furthermore, the control strategy is continuously optimized during operation, enabling the machinery to operate at maximum efficiency based on the updated control strategy.

Description

Technical Field

[0001] This application relates to the field of equipment control technology, specifically to a method for controlling operating machinery, a control device, operating machinery, and a readable storage medium. Background Technology

[0002] A loader is a piece of machinery used for shoveling and loading bulk materials such as soil, sand, gravel, lime, and coal, and can also perform light digging operations on ores and hard soil. With the rapid development of manufacturing technology for loaders and other construction machinery, loaders can also be equipped with different auxiliary working devices to perform bulldozing, lifting, and material loading and unloading operations, making loaders applicable to earthwork construction scenarios in highways, railways, buildings, hydropower, ports, and mines.

[0003] Loaders perform multiple consecutive actions during operation, each requiring control of operational data such as bucket speed, angle, and height to unload materials to a designated location. However, the operational data for each action is manually adjusted based on the user's experience, leading to inaccuracies and reduced efficiency. Furthermore, inaccurate manual adjustments can cause bucket collisions and tilting, further compromising the loader's overall efficiency. Summary of the Invention

[0004] The purpose of this application is to provide a method, device, machine, and readable storage medium for controlling operating machinery, so as to solve the problem of low actual working efficiency of operating machinery in the prior art.

[0005] To achieve the above objectives, the first aspect of this application provides a method for controlling a work machinery, the method comprising:

[0006] Acquire operational data of the machinery;

[0007] Based on the operational data, the operating conditions of the machinery are determined, including loading, lifting, transporting and unloading conditions.

[0008] Based on the operating conditions of the machinery, determine the control strategy for the machinery.

[0009] Obtain optimization information for controlling the machinery based on control strategies;

[0010] Based on the optimization information, update the control strategy of the operating machinery, and control the operating machinery based on the updated control strategy.

[0011] In the embodiments of this application, the operating machinery includes a throttle, a bucket, a travel motor, and a hydraulic device. The operating data includes the throttle opening, the bucket load, the travel motor torque, the operating machinery travel speed, the hydraulic pressure of the hydraulic device, the bucket lifting height, and the bucket angle.

[0012] Based on operational data, determine the operating conditions of the machinery, including:

[0013] When the throttle opening is greater than the preset throttle opening, the bucket load is greater than the preset load, the travel motor torque is greater than the preset motor torque, and the machine's travel speed is less than the preset travel speed, the machine's working condition is determined to be the loading condition.

[0014] When a lifting control signal for the bucket is received, the hydraulic pressure of the hydraulic device is greater than the first preset pressure, and the lifting height of the bucket is greater than the preset height, the working condition of the working machine is determined to be the lifting condition.

[0015] If the change in the bucket lifting height is less than the preset change in height, the change in the bucket angle is less than the preset change in angle, and the travel speed of the working machine is greater than or equal to the preset speed, the working condition of the working machine is determined to be the transport working condition.

[0016] When the hydraulic pressure of the hydraulic device is less than the second preset pressure, the lifting height of the bucket is greater than the preset height, the angle of the bucket is less than the preset angle, and the load on the bucket is reduced, the working condition of the working machine is determined to be the unloading condition, wherein the first preset pressure is greater than the second preset pressure.

[0017] In the embodiments of this application, the control strategy for the operating machinery is determined based on its operating conditions, including:

[0018] When the working condition of the operating machinery is loading, the control strategy of the operating machinery is determined to be the first control strategy, wherein the first control strategy includes adjusting the torque of the travel motor to the maximum torque.

[0019] When the working condition of the working machinery is lifting, the control strategy of the working machinery is determined to be the second control strategy. The second control strategy includes adjusting the lifting speed of the bucket and the output power of the travel motor according to the load of the bucket.

[0020] When the working condition of the operating machinery is transportation condition, the control strategy of the operating machinery is determined to be the third control strategy, wherein the third control strategy is to adjust the travel speed of the operating machinery and the torque of the travel motor according to the load of the bucket.

[0021] When the working condition of the machine is unloading, the control strategy of the machine is determined to be the fourth control strategy, which includes adjusting the descent speed of the bucket based on a preset speed range.

[0022] In the embodiments of this application, the lifting conditions include heavy-load lifting conditions and light-load lifting conditions. Upon receiving a lifting control signal from the bucket, if the hydraulic pressure of the hydraulic device is greater than a first preset pressure and the lifting height of the bucket is greater than a preset height, the working condition of the operating machinery is determined to be a lifting condition, including:

[0023] Upon receiving a lifting control signal for the bucket, if the hydraulic pressure of the hydraulic device is greater than the first preset pressure and the lifting height of the bucket is greater than the preset height, determine whether the load on the bucket is greater than the preset load.

[0024] When the load on the bucket exceeds the preset load, the working condition of the machine is determined to be a heavy-load lifting condition.

[0025] When the load on the bucket is less than or equal to the preset load, the working condition of the machine is determined to be a light-load lifting condition.

[0026] In the embodiments of this application, the transportation conditions include heavy-load transportation conditions and light-load transportation conditions. When the change in the bucket's lifting height is less than a preset height change value, the change in the bucket's angle is less than a preset angle change value, and the operating speed of the working machinery is greater than or equal to a preset speed, the operating condition of the working machinery is determined to be a transportation condition, including:

[0027] If the change in the bucket's lifting height is less than the preset change in height, the change in the bucket's angle is less than the preset change in angle, and the operating speed of the machinery is greater than or equal to the preset speed, determine whether the load on the bucket is greater than the preset load.

[0028] When the load on the bucket exceeds the preset load, the working condition of the machine is determined to be a heavy-load transportation condition.

[0029] When the load on the bucket is less than or equal to the preset load, the operating condition of the working machine is determined to be a light-load transportation condition.

[0030] In the embodiments of this application, obtaining optimization information for controlling the operating machinery based on a control strategy includes:

[0031] To obtain the operating efficiency and operating time of the machinery based on the control strategy;

[0032] Optimization information is obtained based on operating efficiency and running time.

[0033] In the embodiments of this application, updating the control strategy of the operating machinery based on optimization information, and controlling the operating machinery based on the updated control strategy, includes:

[0034] Determine all target working conditions corresponding to the optimization information, where the target working condition is any one of the following working conditions: loading, lifting, transportation, and unloading.

[0035] Based on the optimization information, update the control strategy corresponding to each target working condition to obtain the updated control strategy corresponding to the target working condition.

[0036] When the operating condition of the working machinery is the target operating condition, the working machinery is controlled based on the updated control strategy corresponding to the target operating condition.

[0037] A second aspect of this application provides a control device, comprising:

[0038] The memory is configured to store instructions;

[0039] The processor is configured to retrieve instructions from memory and, when executing instructions, to implement the aforementioned machine control method.

[0040] A third aspect of this application provides a work machine, comprising:

[0041] The aforementioned control device;

[0042] The detection device is configured to acquire operating data of the machinery.

[0043] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned work machinery control method.

[0044] This application provides a method for controlling construction machinery. The method includes: acquiring operating data of the construction machinery; determining the operating conditions of the construction machinery based on the operating data; determining a control strategy for the construction machinery based on the operating conditions; acquiring optimization information for controlling the construction machinery based on the control strategy; updating the control strategy for the construction machinery based on the optimization information; and controlling the construction machinery based on the updated control strategy. This method provides differentiated control strategies for different operating conditions of the construction machinery, achieving refined control and improving the working efficiency of the construction machinery under various conditions. Furthermore, the control strategy is continuously optimized during operation, enabling the construction machinery to operate at maximum efficiency based on the updated control strategy.

[0045] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0046] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0047] Figure 1 The schematic diagram illustrates a flow chart of a machine control method according to an embodiment of this application;

[0048] Figure 2 The schematic diagram illustrates the structure of a working machine according to an embodiment of this application. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0050] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with the relevant provisions of national laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0051] It should be noted that if the embodiments of this application involve directional indication, the directional indication is only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0052] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0053] Figure 1The illustration shows a schematic flowchart of a machine control method according to an embodiment of this application. Figure 1 As shown in the figure, this application provides a method for controlling a work machinery, which may include the following steps.

[0054] S110, acquires the operating data of the operating machinery;

[0055] During the operation of the machinery, operational data is acquired. It should be understood that the type of operational data is set according to actual needs and is not limited here. For ease of understanding, the operational data in the embodiments of this application includes the machinery's position information, motion information, load information, operation information, and time information.

[0056] The type of operating machinery is set according to actual needs and is not limited here. For ease of understanding, in the embodiments of this application, the operating machinery is a loader; the position information can be the position coordinates of the operating machinery, the bucket tilt angle, and the boom tilt angle, etc.; the motion information can be the loader's travel speed and direction of movement, etc.; the load information can be the bucket load, the throttle opening, the brake pedal opening, the travel motor speed, the travel motor torque, and the hydraulic pressure of the hydraulic device, etc.; the operation information can be the received control signal; the time information can be the time of each piece of operating data, which will not be elaborated here.

[0057] S120 determines the operating conditions of the machinery based on operational data, including loading, lifting, transporting, and unloading conditions.

[0058] When the operating condition of the machinery is loading, the characteristic movement is that the bucket lowers to approach or contact the ground. When the operating condition is lifting, the characteristic movement is that the bucket rises and tilts backward. When the operating condition is transporting, the bucket no longer performs digging or lifting movements; the characteristic movement is that the bucket remains relatively horizontal, and the tilt angle of the machinery changes little. When the operating condition is unloading, the bucket tilts backward to unload material, and the characteristic movement is that the bucket lifts to the preset unloading height. The different characteristic movements of the machinery under different operating conditions result in different operating data. Based on the acquired operating data, the operating condition of the machinery is determined.

[0059] S130, based on the operating conditions of the machinery, determines the control strategy for the machinery.

[0060] When operating machinery is in operation, it actively identifies the working conditions and determines the control strategy based on these conditions. Differentiated control strategies are provided for different working conditions, enabling refined control of the machinery, improving its working efficiency under various conditions, reducing energy consumption, and thus extending its service life.

[0061] S140, Obtain optimization information for controlling the operating machinery based on the control strategy;

[0062] Typically, during a loading cycle, the operating conditions of the machinery will switch between loading, lifting, transporting, and unloading modes. Within a loading cycle, a control strategy is used to manage these different operating conditions, and optimization information for the control strategy is obtained during the process. The type of optimization signal is set according to actual needs and can include adjusting parameter values; no specific limitation is made here.

[0063] In the embodiments of this application, obtaining optimization information for controlling the operating machinery based on a control strategy includes:

[0064] To obtain the operating efficiency and operating time of the machinery based on the control strategy;

[0065] Optimization information is obtained based on operating efficiency and running time.

[0066] In the process of controlling the operating machinery based on the control strategy, the operating efficiency and operating time of a loading cycle are obtained. Based on the operating efficiency and operating time, the working efficiency of the operating machinery is evaluated, and optimization information is obtained to improve working efficiency. The control strategy of the operating machinery is updated based on the optimization information. The operating machinery continuously optimizes the control strategy during operation, thereby enabling it to operate at maximum efficiency based on the updated control strategy.

[0067] S150 updates the control strategy of the operating machinery based on the optimization information, and controls the operating machinery based on the updated control strategy.

[0068] Even when controlling machinery using control strategies, situations may still arise where the machinery's efficiency doesn't reach its maximum. After completing the loading, lifting, transporting, and unloading operations within a loading cycle, the control strategy is updated based on optimization information. When the machinery enters the next loading cycle, the updated control strategy is used to re-perform the loading, lifting, transporting, and unloading operations, further improving efficiency. By continuously optimizing the control strategy during operation, the machinery can operate at peak efficiency based on the updated strategy.

[0069] In the embodiments of this application, the operating machinery includes a throttle, a bucket, a travel motor, and a hydraulic device. The operating data includes the throttle opening, the bucket load, the travel motor torque, the operating machinery travel speed, the hydraulic pressure of the hydraulic device, the bucket lifting height, and the bucket angle.

[0070] Based on operational data, determine the operating conditions of the machinery, including:

[0071] When the throttle opening is greater than the preset throttle opening, the bucket load is greater than the preset load, the travel motor torque is greater than the preset motor torque, and the machine's travel speed is less than the preset travel speed, the machine's working condition is determined to be the loading condition.

[0072] When a lifting control signal for the bucket is received, the hydraulic pressure of the hydraulic device is greater than the first preset pressure, and the lifting height of the bucket is greater than the preset height, the working condition of the working machine is determined to be the lifting condition.

[0073] If the change in the bucket lifting height is less than the preset change in height, the change in the bucket angle is less than the preset change in angle, and the travel speed of the working machine is greater than or equal to the preset speed, the working condition of the working machine is determined to be the transport working condition.

[0074] When the hydraulic pressure of the hydraulic device is less than the second preset pressure, the lifting height of the bucket is greater than the preset height, the angle of the bucket is less than the preset angle, and the load on the bucket is reduced, the working condition of the working machine is determined to be the unloading condition, wherein the first preset pressure is greater than the second preset pressure.

[0075] When the operating machinery is a loader, it includes a throttle, bucket, travel motor, and hydraulic system. Operating data includes throttle opening, bucket load, travel motor torque, operating machinery speed, hydraulic system pressure, bucket lifting height, and bucket angle. It's important to understand that the acquired operating data can be preprocessed to determine the operating condition of the machinery. The preprocessing steps are set according to actual needs and may include data cleaning to remove noise and missing values, or feature extraction to standardize the features of the operating data; no specific limitations are specified here.

[0076] For loading operations, the characteristics that the operating machinery needs to identify include the bucket load, throttle opening, machine travel speed, and travel motor torque. The preset throttle opening, preset load, preset motor torque, and preset travel speed values ​​are all set according to actual needs and are not limited here. For ease of understanding, in the embodiments of this application, the operating condition of the operating machinery is determined to be loading when the throttle opening is greater than 90%, the bucket load is greater than 50%, the travel motor torque is greater than the preset motor torque, and the machine travel speed is less than 5 km / h.

[0077] For lifting operations, the characteristics that the operating machinery needs to identify include the control signal of the control handle, the lifting height of the bucket, and the hydraulic pressure of the hydraulic device. The values ​​of the first preset pressure and preset height are set according to actual needs and are not limited here. For ease of understanding, in the embodiments of this application, when a lifting control signal for the bucket is received, the hydraulic pressure of the hydraulic device is greater than 20M, and the lifting height of the bucket is greater than 1 meter, the operating condition of the operating machinery is determined to be a lifting operation.

[0078] For transportation operations, the characteristics that need to be identified for the operating machinery include its travel speed, gear status, bucket load, and throttle opening. The operating condition of the operating machinery is determined to be transportation operation when the change in bucket lifting height is less than a preset change in height, the change in bucket angle is less than a preset change in angle, and the travel speed of the operating machinery is greater than or equal to 5 km / h.

[0079] For unloading conditions, the features that the operating machinery needs to identify include unloading time, bucket position, hydraulic pressure of the hydraulic system, and bucket load. The second preset pressure and preset angle are set according to actual needs and are not limited here. For ease of understanding, in the embodiments of this application, the operating condition of the operating machinery is determined to be unloading condition when the hydraulic pressure of the hydraulic system is less than 5M, the bucket lifting height is greater than 1 meter, the bucket angle is less than 0°, and the bucket load is reduced.

[0080] In the embodiments of this application, the control strategy for the operating machinery is determined based on its operating conditions, including:

[0081] When the working condition of the operating machinery is loading, the control strategy of the operating machinery is determined to be the first control strategy, wherein the first control strategy includes adjusting the torque of the travel motor to the maximum torque.

[0082] When the working condition of the working machinery is lifting, the control strategy of the working machinery is determined to be the second control strategy. The second control strategy includes adjusting the lifting speed of the bucket and the output power of the travel motor according to the load of the bucket.

[0083] When the working condition of the operating machinery is transportation condition, the control strategy of the operating machinery is determined to be the third control strategy, wherein the third control strategy is to adjust the travel speed of the operating machinery and the torque of the travel motor according to the load of the bucket.

[0084] When the working condition of the machine is unloading, the control strategy of the machine is determined to be the fourth control strategy, which includes adjusting the descent speed of the bucket based on a preset speed range.

[0085] When the operating condition of the machinery is loading, the control strategy for the machinery is determined to be the first control strategy. During the loading process based on the first control strategy, the torque of the travel motor is adjusted to its maximum, and the output power of the travel motor is P = T. max *n / 9550, where P is the output power of the walking motor, and T max Here, 'n' represents the maximum torque of the travel motor, and 'n' represents the speed of the travel motor. The adjusted speed of the travel motor does not exceed a preset percentage of the peak speed. By adjusting the torque of the travel motor to its maximum, the loading efficiency of the machinery is improved. It is important to understand that when the torque of the travel motor is adjusted to its maximum, the output power curve of the travel motor can be adjusted by changing its speed.

[0086] When the operating condition of the machinery is lifting, the control strategy for the machinery is determined to be the second control strategy. During the lifting process, the load on the bucket will change. Based on the load on the bucket, the lifting speed of the bucket and the output power of the travel motor are adjusted.

[0087] When the operating condition of the machinery is transportation mode, the control strategy for the machinery is determined to be the third control strategy. During the transportation mode of the machinery controlled by the third control strategy, different road conditions will result in different bucket loads. Based on the bucket load, the bucket lifting speed and the output power of the travel motor are adjusted.

[0088] When the operating condition of the machinery is unloading, the control strategy for the machinery is determined to be the fourth control strategy. During the unloading process, based on this fourth control strategy, the bucket descent speed is adjusted according to a preset speed range. It's important to understand that the preset speed range is set based on actual needs and is not limited here. Under unloading conditions, the bucket load is relatively small, so a higher preset speed range can be used to increase the bucket descent speed, thereby achieving rapid unloading.

[0089] In the embodiments of this application, the lifting conditions include heavy-load lifting conditions and light-load lifting conditions. Upon receiving a lifting control signal from the bucket, if the hydraulic pressure of the hydraulic device is greater than a first preset pressure and the lifting height of the bucket is greater than a preset height, the working condition of the operating machinery is determined to be a lifting condition, including:

[0090] Upon receiving a lifting control signal for the bucket, if the hydraulic pressure of the hydraulic device is greater than the first preset pressure and the lifting height of the bucket is greater than the preset height, determine whether the load on the bucket is greater than the preset load.

[0091] When the load on the bucket exceeds the preset load, the working condition of the machine is determined to be a heavy-load lifting condition.

[0092] When the load on the bucket is less than or equal to the preset load, the working condition of the machine is determined to be a light-load lifting condition.

[0093] In this embodiment, the lifting conditions include heavy-load lifting conditions and light-load lifting conditions. When a lifting control signal for the bucket is received, the hydraulic pressure of the hydraulic device is greater than a first preset pressure, and the lifting height of the bucket is greater than a preset height, the working condition of the working machine is determined to be the lifting condition, and it is determined whether the load of the bucket is greater than the preset load.

[0094] When the bucket load exceeds the preset load, the operating condition of the machine is determined to be heavy-load lifting. Based on the bucket load, the lifting speed of the bucket can be reduced and the output power of the travel motor increased. When the bucket load is less than or equal to the preset load, the operating condition of the machine is determined to be light-load lifting. Based on the bucket load, the lifting speed of the bucket can be increased and the output power of the travel motor reduced.

[0095] In the embodiments of this application, the transportation conditions include heavy-load transportation conditions and light-load transportation conditions. When the change in the bucket's lifting height is less than a preset height change value, the change in the bucket's angle is less than a preset angle change value, and the operating speed of the working machinery is greater than or equal to a preset speed, the operating condition of the working machinery is determined to be a transportation condition, including:

[0096] If the change in the bucket's lifting height is less than the preset change in height, the change in the bucket's angle is less than the preset change in angle, and the operating speed of the machinery is greater than or equal to the preset speed, determine whether the load on the bucket is greater than the preset load.

[0097] When the load on the bucket exceeds the preset load, the working condition of the machine is determined to be a heavy-load transportation condition.

[0098] When the load on the bucket is less than or equal to the preset load, the operating condition of the working machine is determined to be a light-load transportation condition.

[0099] In this embodiment, the transportation conditions include heavy-load transportation conditions and light-load transportation conditions. When the change in the lifting height of the bucket is less than the preset change in height, the change in the angle of the bucket is less than the preset change in angle, and the travel speed of the working machine is greater than or equal to the preset speed, the working condition of the working machine is determined to be the transportation condition, and it is determined whether the load of the bucket is greater than the preset load.

[0100] When the load on the bucket is less than or equal to the preset load, the operating condition of the machinery is determined to be light-load transport condition. Typically, the machinery operates in light-load transport condition when traveling on a flat road. The third control strategy corresponding to light-load transport condition can be that the machinery's travel speed does not exceed 15 km / h, the output power of the travel motor is P = T*n / 9550, where P is the output power of the travel motor, T is the torque of the travel motor (not exceeding 50% of its maximum torque), and n is the speed of the travel motor (adjusted to reach its peak speed).

[0101] When the operating machinery travels on uneven roads, it is in heavy-load transportation mode. The third control strategy corresponding to heavy-load transportation mode can be that the traveling speed of the operating machinery does not exceed 5km / h, the output power of the travel motor is P=T*n / 9550, where P is the output power of the travel motor, T is the torque of the travel motor and does not exceed 55% of the maximum torque, n is the speed of the travel motor and the adjusted speed of the travel motor does not exceed a preset percentage of the peak speed.

[0102] In the embodiments of this application, updating the control strategy of the operating machinery based on optimization information, and controlling the operating machinery based on the updated control strategy, includes:

[0103] Determine all target working conditions corresponding to the optimization information, where the target working condition is any one of the following working conditions: loading, lifting, transportation, and unloading.

[0104] Based on the optimization information, update the control strategy corresponding to each target working condition to obtain the updated control strategy corresponding to the target working condition.

[0105] When the operating condition of the working machinery is the target operating condition, the working machinery is controlled based on the updated control strategy corresponding to the target operating condition.

[0106] In actual operation of machinery, it is not always necessary to update the control strategy for all operating conditions. In this embodiment, after obtaining the optimization information, all target operating conditions corresponding to the optimization information are determined, i.e., the operating conditions for which the control strategy needs to be updated are identified. Based on the optimization information, the control strategy corresponding to each target operating condition is updated to obtain the updated control strategy for each target operating condition.

[0107] A loading cycle includes loading, lifting, transporting, and unloading conditions, with the target condition being any one of these conditions. Specifically, when the machinery starts and enters the first loading cycle, the machinery is controlled based on the control strategy corresponding to each condition.

[0108] In subsequent loading cycles following the first loading cycle, the control strategy for each target working condition is updated based on optimization information, resulting in an updated control strategy for each target working condition. It is then determined whether the current working condition of the machine is the target working condition. If the machine is not in the target working condition, the machine is controlled based on the corresponding control strategy. If the machine is in the target working condition, the machine is controlled based on the updated control strategy for that condition. During operation, the control strategy is continuously optimized as the loading cycle of the machine changes, enabling the machine to operate with maximum efficiency based on the updated control strategy.

[0109] In the embodiments of this application, the machine control method further includes:

[0110] Responding to received operating condition commands, determine the target operating condition of the machinery;

[0111] Control the operating machinery based on the control strategy corresponding to the target working condition.

[0112] In the operation engineering of construction machinery, users can request the operating conditions of the construction machinery through operating condition commands. The construction machinery responds to the received operating condition commands, determining the target operating condition, which can be any one of the user-requested conditions: loading, lifting, transporting, or unloading. The construction machinery is then controlled based on the control strategy corresponding to the target operating condition. By allowing users to manually request the control strategy corresponding to the operating condition, the construction machinery can operate according to actual user needs, thereby improving its work efficiency.

[0113] This application provides a method for controlling construction machinery. The method includes: acquiring operating data of the construction machinery; determining the operating conditions of the construction machinery based on the operating data; determining a control strategy for the construction machinery based on the operating conditions; acquiring optimization information for controlling the construction machinery based on the control strategy; updating the control strategy for the construction machinery based on the optimization information; and controlling the construction machinery based on the updated control strategy. This method provides differentiated control strategies for different operating conditions of the construction machinery, achieving refined control and improving the working efficiency of the construction machinery under various conditions. Furthermore, the control strategy is continuously optimized during operation, enabling the construction machinery to operate at maximum efficiency based on the updated control strategy.

[0114] This application embodiment also provides a control device, including:

[0115] The memory is configured to store instructions;

[0116] The processor is configured to retrieve instructions from memory and, when executing instructions, to implement the aforementioned machine control method.

[0117] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and the aforementioned machine control method can be implemented by adjusting the kernel parameters.

[0118] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0119] Figure 2 The schematic diagram illustrates the structure of a working machine according to an embodiment of this application.

[0120] This application embodiment also provides a work machinery 200, including:

[0121] The aforementioned control device 210;

[0122] The detection device 220 is configured to acquire the operating data of the operating machinery 200.

[0123] In this embodiment, the detection device 220 includes a load sensor, a displacement sensor, a speed sensor, a tilt sensor, and a pressure sensor. The load sensor monitors the load on the bucket; the displacement sensor monitors the lifting and lowering positions of the bucket; the speed sensor monitors the speed of the travel motor; the tilt sensor monitors the angle of the bucket and the tilt angle of the boom; and the pressure sensor monitors the hydraulic pressure of the hydraulic system. The detection device 220 acquires the operating data of the working machinery 200 through the various sensors, and the control device 210 determines the operating condition of the working machinery 200 based on the operating data, and then determines the corresponding control strategy for the operating condition.

[0124] It should be understood that the operating machinery 200 also includes other devices and structures, which are set according to actual needs and may include throttle, bucket, travel motor and hydraulic device, etc., which are not limited here.

[0125] This application also provides a machine-readable storage medium storing instructions for causing a machine to perform the above-described machine control method.

[0126] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0127] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0128] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0129] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0130] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0131] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0132] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0133] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0134] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling a work machine, characterized in that, The operating machinery includes a throttle, a bucket, a travel motor, and a hydraulic system. The control method for the operating machinery includes: The operating data of the working machinery is acquired, including the throttle opening, the load on the bucket, the torque of the travel motor, the travel speed of the working machinery, the hydraulic pressure of the hydraulic device, the lifting height of the bucket, and the angle of the bucket. Based on the operational data, the operating conditions of the machinery are determined, including loading, lifting, transporting, and unloading conditions. Based on the operating conditions of the machinery, determine the control strategy for the machinery. Obtain optimization information for controlling the operating machinery based on the control strategy; Based on the optimization information, the control strategy of the operating machinery is updated, and the operating machinery is controlled based on the updated control strategy; The step of determining the operating condition of the machinery based on the operating data includes: When the throttle opening is greater than the preset throttle opening, the bucket load is greater than the preset load, the travel motor torque is greater than the preset motor torque, and the working speed of the machine is less than the preset travel speed, the working condition of the machine is determined to be the loading condition. When the lifting control signal of the bucket is received, the hydraulic pressure of the hydraulic device is greater than the first preset pressure, and the lifting height of the bucket is greater than the preset height, the working condition of the working machine is determined to be the lifting condition. If the change in the lifting height of the bucket is less than the preset change in height, the change in the angle of the bucket is less than the preset change in angle, and the travel speed of the working machine is greater than or equal to the preset speed, then the working condition of the working machine is determined to be the transportation working condition. When the hydraulic pressure of the hydraulic device is less than the second preset pressure, the lifting height of the bucket is greater than the preset height, the angle of the bucket is less than the preset angle, and the load on the bucket is reduced, the working condition of the working machine is determined to be the unloading condition, wherein the first preset pressure is greater than the second preset pressure.

2. The machine control method according to claim 1, characterized in that, Determining the control strategy for the operating machinery based on its operating conditions includes: When the working condition of the operating machinery is loading, the control strategy of the operating machinery is determined to be a first control strategy, wherein the first control strategy includes adjusting the torque of the travel motor to the maximum torque; When the working condition of the working machinery is lifting, the control strategy of the working machinery is determined to be a second control strategy, wherein the second control strategy includes adjusting the lifting speed of the bucket and the output power of the travel motor according to the load of the bucket; When the working condition of the operating machinery is transportation condition, the control strategy of the operating machinery is determined to be the third control strategy, wherein the third control strategy is to adjust the travel speed of the operating machinery and the torque of the travel motor according to the load of the bucket; When the working condition of the operating machinery is unloading, the control strategy of the operating machinery is determined to be the fourth control strategy, wherein the fourth control strategy includes adjusting the lowering speed of the bucket based on a preset speed range.

3. The machine control method according to claim 1, characterized in that, The lifting conditions include heavy-load lifting conditions and light-load lifting conditions. When a lifting control signal is received from the bucket, the hydraulic pressure of the hydraulic device is greater than a first preset pressure, and the lifting height of the bucket is greater than a preset height, the working condition of the operating machinery is determined to be a lifting condition, including: Upon receiving the lifting control signal of the bucket, if the hydraulic pressure of the hydraulic device is greater than the first preset pressure and the lifting height of the bucket is greater than the preset height, it is determined whether the load of the bucket is greater than the preset load. When the load on the bucket is greater than the preset load, the working condition of the working machine is determined to be the heavy-load lifting condition. When the load on the bucket is less than or equal to the preset load, the working condition of the operating machinery is determined to be the light-load lifting condition.

4. The machine control method according to claim 1, characterized in that, The transportation conditions include heavy-load transportation conditions and light-load transportation conditions. The condition of the working machinery is determined to be a transportation condition when the change in the lifting height of the bucket is less than a preset height change value, the change in the angle of the bucket is less than a preset angle change value, and the travel speed of the working machinery is greater than or equal to a preset speed. This includes: If the change in the lifting height of the bucket is less than a preset change in height, the change in the angle of the bucket is less than a preset change in angle, and the travel speed of the working machine is greater than or equal to a preset speed, then determine whether the load on the bucket is greater than the preset load. When the load on the bucket is greater than the preset load, the working condition of the operating machinery is determined to be the heavy-load transportation condition. When the load on the bucket is less than or equal to the preset load, the operating condition of the working machine is determined to be the light-load transportation condition.

5. The machine control method according to claim 1, characterized in that, The step of obtaining optimization information for controlling the operating machinery based on the control strategy includes: The operating efficiency and operating time of the operating machinery are obtained based on the control strategy. The optimization information is obtained based on the operating efficiency and the operating time.

6. The machine control method according to claim 1, characterized in that, The step of updating the control strategy of the operating machinery based on the optimization information, and controlling the operating machinery based on the updated control strategy, includes: Determine all target working conditions corresponding to the optimization information, wherein the target working condition is any one of the loading working condition, the lifting working condition, the transportation working condition, and the unloading working condition; Based on the optimization information, the control strategy corresponding to each target operating condition is updated to obtain the updated control strategy corresponding to the target operating condition. When the operating condition of the working machine is the target operating condition, the working machine is controlled based on the updated control strategy corresponding to the target operating condition.

7. A control device, characterized in that, include: The memory is configured to store instructions; The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the machine control method according to any one of claims 1 to 6.

8. A type of operating machinery, characterized in that, include: The control device according to claim 7; The detection device is configured to acquire the operating data of the operating machinery.

9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the machine control method according to any one of claims 1 to 6.

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