Engineering equipment control method and device, operation machine and machine readable storage medium

Abstract

The invention discloses an engineering equipment control method and device, an operation machine and a machine readable storage medium, and relates to the technical field of loader control. The engineering equipment control method comprises the steps that operation information of engineering equipment is obtained, and the operation information comprises at least one of ground humidity, running acceleration, equipment inclination angle and wheel rotating speed difference; the working conditions of the engineering equipment are determined based on the operation information, and the working conditions comprise the muddy working condition, the ramp working condition and the flat ground working condition; operation parameters of the engineering equipment are adjusted based on the working conditions and the operation information corresponding to the working conditions, and the operation parameters comprise at least one of the motor torque, the motor rotating speed, the running speed and the braking force. By obtaining the operation information of the engineering equipment, determining the working conditions and adjusting the operation parameters according to the working conditions, the stability and safety of the engineering equipment under different working conditions can be ensured, and meanwhile the operation efficiency and performance of the engineering equipment are improved.

Description

Technical Field

[0001] The present application relates to the technical field of loader control, and in particular to an engineering equipment control method, device, operating machine and machine-readable storage medium. Background Art

[0002] Working machinery is a kind of loading machinery powered by electricity. It has the advantages of zero emission, low noise, high efficiency, and easy maintenance. It is particularly suitable for use in environments with strict environmental restrictions, such as urban construction, mines, tunnels, etc. Working machinery is widely used in various engineering operations. However, due to the complex and changeable environment in different application scenarios, higher requirements are placed on the operating performance of working machinery. Although existing working machinery can adapt to the changing working environment, it has low working efficiency and high working energy consumption in certain environments, and even poses safety hazards. Therefore, how to effectively control the operation of working machinery has become a problem that needs to be solved urgently. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the purpose of the embodiments of the present application is to provide an engineering equipment control method, device, operating machine and machine-readable storage medium.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides an engineering equipment control method, comprising:

[0005] Acquiring operation information of the engineering equipment, wherein the operation information includes at least one of ground humidity, driving acceleration, equipment tilt angle, and wheel speed difference, where the wheel speed difference is a difference between the wheel speed of any wheel and the wheel speed of the other wheels among all wheels of the engineering equipment;

[0006] Determine the working condition of the engineering equipment based on the operation information, wherein the working condition includes muddy working condition, ramp working condition and flat ground working condition;

[0007] The operating parameters of the engineering equipment are adjusted based on the operating conditions and the operation information corresponding to the operating conditions, wherein the operating parameters include at least one of the motor torque, the motor speed, the driving speed and the braking force.

[0008] In the embodiment of the present application, determining the working condition of the engineering equipment based on the operation information includes:

[0009] When the ground humidity is greater than the humidity threshold, the change in driving acceleration within the preset time is greater than or equal to the first acceleration threshold, and the wheel speed difference is greater than or equal to the wheel speed difference threshold, it is determined that the engineering equipment is in a muddy working condition;

[0010] When the tilt angle of the equipment is greater than or equal to the angle threshold and the change in the driving acceleration within the preset time is greater than or equal to the second acceleration threshold, it is determined that the engineering equipment is in a ramp condition, wherein the second acceleration threshold is less than the first acceleration threshold;

[0011] When the equipment inclination angle is less than the angle threshold, the wheel speed difference is less than the wheel speed difference threshold, and the change in driving acceleration within a preset time is less than a second acceleration threshold, it is determined that the engineering equipment is in a flat ground condition.

[0012] In the embodiment of the present application, the operating parameters of the engineering equipment are adjusted based on the working conditions and the operation information corresponding to the working conditions, including:

[0013] In the case of a muddy working condition, determining a first adjustment parameter based on at least one of ground humidity, a change in driving acceleration within a preset time, and a wheel speed difference, wherein the first adjustment parameter includes a motor torque adjustment value, a motor starting torque value, and a maximum driving speed;

[0014] An operating parameter of the engineering equipment is adjusted based on the first adjustment parameter.

[0015] In the embodiment of the present application, the operating parameters of the engineering equipment are adjusted based on the working conditions and the operation information corresponding to the working conditions, including:

[0016] When the working condition is a ramp working condition, determining whether the ramp working condition is an uphill working condition or a downhill working condition based on the inclination angle of the equipment;

[0017] When the ramp working condition is an uphill working condition, determining a second adjustment parameter based on a change in the device tilt angle and / or driving acceleration within a preset time, wherein the second adjustment parameter includes a motor torque adjustment value;

[0018] adjusting an operating parameter of the engineering equipment based on a second adjustment parameter;

[0019] When the ramp working condition is a downhill working condition, a third adjustment parameter is determined based on a change in the device tilt angle and / or driving acceleration within a preset time, wherein the third adjustment parameter includes a braking force adjustment value;

[0020] The operating parameter of the engineering equipment is adjusted based on the third adjustment parameter.

[0021] In the embodiment of the present application, the operating parameters of the engineering equipment are adjusted based on the working conditions and the operation information corresponding to the working conditions, including:

[0022] When the working condition is a flat ground condition, determining a fourth adjustment parameter based on the driving acceleration, wherein the fourth adjustment parameter includes a motor speed adjustment value;

[0023] The operating parameter of the engineering equipment is adjusted based on the fourth adjustment parameter.

[0024] In the embodiment of the present application, the operating parameters of the engineering equipment are adjusted based on the working conditions and the operation information corresponding to the working conditions, including:

[0025] Determine adjustment parameters based on the working conditions and the operation information corresponding to the working conditions;

[0026] Get the current battery power of the engineering equipment;

[0027] Determining whether the operating parameters can be adjusted based on the adjustment parameters according to the current battery power;

[0028] If it is determined that the operating parameter can be adjusted based on the adjustment parameter, the operating parameter is adjusted based on the adjustment parameter.

[0029] In the embodiment of the present application, the operating parameters of the engineering equipment are adjusted based on the working conditions and the operation information corresponding to the working conditions, including:

[0030] When the preset conditions are met, the operating parameters of the engineering equipment are adjusted based on the working conditions and the operation information corresponding to the working conditions;

[0031] The preconditions include at least one of the following:

[0032] Interval preset adjustment time;

[0033] The change in job information is greater than the preset parameter adjustment range.

[0034] A second aspect of the present application provides an engineering equipment control device, comprising:

[0035] a memory configured to store instructions;

[0036] The processor is configured to call instructions from the memory and implement the engineering equipment control method as described in the above embodiment when executing the instructions.

[0037] The third aspect of the present application provides an operating machine, comprising:

[0038] An engineering equipment control device as described in the above embodiment.

[0039] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the engineering equipment control method as described in the above-mentioned embodiment.

[0040] Through the above technical solution, the operation information of the engineering equipment is obtained, wherein the operation information includes at least one of ground humidity, driving acceleration, equipment tilt angle and wheel speed difference; the working condition of the engineering equipment is determined based on the operation information, wherein the working condition includes muddy working condition, ramp working condition and flat ground working condition; the operation parameters of the engineering equipment are adjusted based on the working condition and the operation information corresponding to the working condition, wherein the operation parameters include at least one of motor torque, motor speed, driving speed and braking force. By obtaining the operation information of the engineering equipment, determining the working condition and adjusting the operation parameters accordingly, the stability and safety of engineering equipment such as operating machinery under different working conditions can be ensured, while improving the operation efficiency and performance of the engineering equipment.

[0041] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0043] Figure 1 A schematic diagram of a process flow of an engineering equipment control method according to an embodiment of the present application is schematically shown;

[0044] Figure 2 The schematic diagram shows the structure of an engineering equipment control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain 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 ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0046] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0047] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0048] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0049] Figure 1 The following schematically shows a flow chart of a method for controlling engineering equipment according to an embodiment of the present application. Figure 1 As shown, the embodiment of the present application provides an engineering equipment control method, which may include the following steps:

[0050] Step 100, obtaining operation information of the engineering equipment, wherein the operation information includes at least one of ground humidity, driving acceleration, equipment tilt angle, and wheel speed difference, where the wheel speed difference is the difference between the wheel speed of any wheel and the wheel speed of the other wheels among all wheels of the engineering equipment;

[0051] It should be noted that the engineering equipment may include electric loaders, truck cranes, concrete mixers, excavators, bulldozers, etc. Since the environment in which the engineering equipment is located is complex and changeable in different application scenarios, in order to improve the adaptability of the engineering equipment to the changing working environment, ensure the working efficiency and reduce the working energy consumption in various working environments, so as to improve the operation stability and safety of the engineering equipment, in this embodiment, by obtaining the working information of the engineering equipment, the working condition of the engineering equipment is judged, and the accuracy and effectiveness of the operation and driving control of the engineering equipment are improved.

[0052] Specifically, by configuring a variety of sensors to monitor the working environment and status of engineering equipment in real time, the sensors may include ground humidity sensor data, acceleration sensor, tilt sensor, and wheel speed sensor. Among them, the ground humidity sensor is used to measure the wetness of the ground; the acceleration sensor is used to monitor the acceleration and deceleration of the engineering equipment during driving; the tilt sensor is used to monitor the tilt angle of the engineering equipment body to determine the change in the center of gravity, and can measure the climbing or descending angle of the engineering equipment; the wheel speed sensor is used to check the rotation speed of each wheel to determine whether slipping occurs. Based on the data collected by the sensor, data analysis is performed to obtain the operation information of the engineering equipment. The operation information may specifically include at least one of ground humidity, driving acceleration, equipment tilt angle, and wheel speed difference. Among them, by comparing the rotation speed data of different wheels, the wheel speed difference can be calculated. The wheel speed difference is the difference between the wheel speed of any wheel and the wheel speed of other wheels among all the wheels of the engineering equipment.

[0053] Step 200, determining the working condition of the engineering equipment based on the operation information, wherein the working condition includes muddy working condition, ramp working condition and flat ground working condition;

[0054] It should be noted that in this embodiment, the working conditions of the engineering equipment are divided into three types. It is understandable that more or fewer working conditions can be divided for different practical application requirements to meet the needs of improving the accuracy of controlling the engineering equipment or reducing the number of control adjustments of the engineering equipment. Taking the working conditions as three types as an example, the working conditions of the engineering equipment can include muddy working conditions, ramp working conditions and flat ground working conditions.

[0055] In one embodiment, determining the working condition of the engineering equipment based on the operation information can be based on one kind of operation information to determine the working condition of the engineering equipment. Taking the identification of muddy working conditions as an example, for example, taking the operation information as ground humidity as an example, when the ground humidity is greater than the humidity threshold, it can be determined that the current working condition is muddy. Determining the working condition of the engineering equipment based on the operation information can also be based on two or more kinds of operation information to determine the working condition of the engineering equipment, so as to improve the accuracy of the identification of the working condition. For example, considering the ground humidity and the wheel speed difference at the same time, the wheel speed difference can reflect the degree of slippage between the wheels when the engineering equipment is driving on the muddy ground. When the wheels slip on the muddy ground, the speed difference will increase. When the ground humidity is greater than the humidity threshold and the wheel speed difference is greater than or equal to the wheel speed difference threshold, it is determined that the engineering equipment is in a muddy working condition. Determining the working condition of the engineering equipment based on the operation information can consider the demand for operation information based on actual application needs, and can be adjusted and optimized according to specific circumstances to meet the needs of saving system computing resources or improving the accuracy and reliability of judgment.

[0056] Specifically, in one embodiment, determining the working condition of the engineering equipment based on the operation information includes:

[0057] When the ground humidity is greater than the humidity threshold, the change in driving acceleration within the preset time is greater than or equal to the first acceleration threshold, and the wheel speed difference is greater than or equal to the wheel speed difference threshold, it is determined that the engineering equipment is in a muddy working condition;

[0058] When the tilt angle of the equipment is greater than or equal to the angle threshold and the change in the driving acceleration within the preset time is greater than or equal to the second acceleration threshold, it is determined that the engineering equipment is in a ramp condition, wherein the second acceleration threshold is less than the first acceleration threshold;

[0059] When the equipment inclination angle is less than the angle threshold, the wheel speed difference is less than the wheel speed difference threshold, and the change in driving acceleration within a preset time is less than a second acceleration threshold, it is determined that the engineering equipment is in a flat ground condition.

[0060] It should be noted that, in this embodiment, three judgment conditions may be included for muddy working conditions, specifically, the ground humidity is greater than the humidity threshold, the change in driving acceleration within a preset time is greater than the first acceleration threshold, and the wheel speed difference is greater than or equal to the wheel speed difference threshold. Among them, ground humidity is one of the key factors for judging muddy working conditions, and the humidity threshold can be set according to actual engineering experience and environmental conditions to ensure accuracy. For example, taking the range of the humidity sensor as 0-100% as an example, the humidity threshold can be set to 20%. In one embodiment, different humidity thresholds are set for different types of ground. Taking the ground as soil as an example, different types of soil respond differently to humidity. Sandy soil is usually dry and has fast water penetration. It may be regarded as muddy at a relatively low humidity level. The humidity threshold can be set between 15%-20%; loam is usually soil with moderate humidity, and the humidity threshold can be set between 20%-30%; clay usually has strong water retention, and the humidity threshold can be set between 30%-40% or higher. In addition, the change in driving acceleration reflects the difficulty of the equipment driving on muddy ground. Due to the large resistance of muddy ground, engineering equipment requires greater acceleration to overcome this resistance. The wheel speed difference reflects the degree of slippage between the wheels when the engineering equipment is traveling on muddy ground. When the wheels slip on muddy ground, the wheel speed difference will increase. Therefore, in this embodiment, when the ground humidity is greater than the humidity threshold, the change in driving acceleration within a preset time is greater than the first acceleration threshold, and the wheel speed difference is greater than or equal to the wheel speed difference threshold, it is determined that the engineering equipment is in a muddy working condition. Both the first acceleration threshold and the wheel speed difference threshold can be set according to actual engineering experience and environmental conditions to ensure accuracy. The setting of the first acceleration threshold can be a larger value compared to the change in driving acceleration under a conventional operating environment, which is used as a reference for drastic acceleration changes per unit time. The wheel speed difference threshold is used as a reference for the difference between the speeds of each wheel. It is not that the existence of a wheel speed difference determines that the slippage is high, but that the wheel speed difference is greater than or equal to the wheel speed difference threshold, and it is determined that the current slippage is high, which is very likely to be a muddy working condition.

[0061] For the ramp working condition, two judgment conditions may be included, specifically, the device tilt angle is greater than or equal to the angle threshold and the change in driving acceleration within a preset time is greater than or equal to the second acceleration threshold. Among them, the device tilt angle is an intuitive indicator for judging the ramp working condition. When the device tilt angle reaches or exceeds the angle threshold, it can be considered that the engineering equipment is driving on a ramp. The angle threshold is used as a judgment standard for the degree of inclination of the engineering equipment, and can be adaptively adjusted based on the actual application scenario, such as 10 degrees. The change in driving acceleration on the ramp reflects the ability of the engineering equipment to overcome the gravity component. Due to the existence of the gravity component, the engineering equipment needs a greater acceleration when driving on the ramp. It should be noted that the second acceleration threshold is less than the first acceleration threshold, because although both the ramp working condition and the muddy working condition may cause the change in driving acceleration to increase, the change under the ramp working condition usually does not reach the level under the muddy working condition. In one embodiment, for special application scenarios, the first acceleration threshold can also be less than or equal to the second acceleration threshold. The second acceleration threshold can be adaptively adjusted based on the actual application scenario. Therefore, in this embodiment, when the equipment tilt angle is greater than or equal to the angle threshold and the change in driving acceleration within a preset time is greater than or equal to the second acceleration threshold, it is determined that the engineering equipment is in a ramp condition.

[0062] For the flat ground working condition, three judgment conditions may also be included, specifically, the equipment inclination angle is less than the angle threshold, the wheel speed difference is less than the wheel speed difference threshold, and the change in driving acceleration within the preset time is less than the second acceleration threshold. When the equipment inclination angle is less than the angle threshold, it can be considered that the equipment is driving on a flat ground. When driving on a flat ground, the degree of slippage between the wheels is small, so the difference in wheel speed is also small. When driving on a flat ground, the change in driving acceleration of the equipment is usually small because the driving resistance on the flat ground is small. Therefore, in this embodiment, when the equipment inclination angle is less than the angle threshold, the wheel speed difference is less than the wheel speed difference threshold, and the change in driving acceleration within the preset time is less than the second acceleration threshold, it is determined that the engineering equipment is in a flat ground working condition.

[0063] In this embodiment, by combining actual engineering experience and environmental conditions and comprehensively considering operating information such as ground humidity, driving acceleration change, wheel speed difference and equipment tilt angle, the working condition of the engineering equipment can be accurately judged.

[0064] Step 300, adjusting operating parameters of the engineering equipment based on the operating conditions and operation information corresponding to the operating conditions, wherein the operating parameters include at least one of motor torque, motor speed, driving speed and braking force.

[0065] It should be noted that the adjustment of the operating parameters of engineering equipment may be different for different working conditions. For example, for motor torque, in muddy conditions, it may be necessary to increase the motor torque to improve traction; in ramp conditions, it may be necessary to increase the motor torque when going uphill to overcome gravity; when going downhill, it may be necessary to reduce the motor torque and increase the braking force to prevent overspeeding. For motor speed, the motor speed can be increased when rapid acceleration or driving is required; in muddy conditions, the motor speed may need to be reduced to reduce wheel slip. For driving speed, the driving speed can be adjusted according to the working conditions and load conditions. In muddy or ramp conditions, the driving speed may need to be reduced to ensure stability and safety. For braking force, when going downhill or when emergency braking is required, the braking force is increased to ensure that the equipment can stop safely; in muddy conditions, it may be necessary to apply braking force in advance to prevent wheel slip and loss of control.

[0066] In this embodiment, the operation information of the engineering equipment is obtained, wherein the operation information includes at least one of ground humidity, driving acceleration, equipment tilt angle, and wheel speed difference; the working condition of the engineering equipment is determined based on the operation information, wherein the working condition includes muddy working condition, ramp working condition, and flat ground working condition; the operation parameters of the engineering equipment are adjusted based on the working condition and the operation information corresponding to the working condition, wherein the operation parameters include at least one of motor torque, motor speed, driving speed, and braking force. By obtaining the operation information of the engineering equipment, determining the working condition, and adjusting the operation parameters accordingly, the stability and safety of engineering equipment such as operating machinery under different working conditions can be ensured, while improving the operation efficiency and performance of the engineering equipment.

[0067] In one embodiment, adjusting the operating parameters of the engineering equipment based on the working condition and the operation information corresponding to the working condition includes:

[0068] In the case of a muddy working condition, determining a first adjustment parameter based on at least one of ground humidity, a change in driving acceleration within a preset time, and a wheel speed difference, wherein the first adjustment parameter includes a motor torque adjustment value, a motor starting torque value, and a maximum driving speed;

[0069] An operating parameter of the engineering equipment is adjusted based on the first adjustment parameter.

[0070] It should be noted that, in muddy working conditions, the adjustment of the operating parameters of the engineering equipment becomes particularly important to ensure that the equipment can stably and efficiently cross the muddy area. In this embodiment, according to the differences in the actual application requirements such as different requirements for the accuracy of the first adjustment parameter or different information acquisition costs, at least one of the ground humidity, the change in the driving acceleration within a preset time, and the wheel speed difference is used as a reference to determine the first adjustment parameter in muddy working conditions. The first adjustment parameter can be understood as the adjustment range of the operating parameter, and can also be understood as the target value for adjusting the operating parameter. Specifically, for the reference of ground humidity, high humidity usually means that the ground is more slippery, the friction is reduced, and the wheels are easy to slip. If the ground humidity exceeds a certain threshold, the motor torque adjustment value can be increased to improve traction. The change in driving acceleration within a preset time can reflect the power response and load condition of the equipment. If the acceleration change is small, that is, the equipment accelerates slowly or cannot accelerate, it may be necessary to increase the motor starting torque value to overcome the resistance of the muddy area. If the acceleration change is too large, that is, the equipment suddenly accelerates or decelerates, it may be necessary to adjust the maximum driving speed to ensure stability. The difference in wheel speed reflects the slippage or lack of synchronization between the wheels. If the difference in wheel speed is large, it means that the wheels are slipping severely on muddy ground. At this time, the motor torque adjustment value should be increased and the maximum driving speed may be reduced to reduce the slippage.

[0071] In one embodiment, determining the specific value of the first adjustment parameter may include determining an appropriate motor torque increase based on a comprehensive evaluation of ground humidity, driving acceleration change, and wheel speed difference, which should be able to provide sufficient traction while avoiding excessive wheel slippage; engineering equipment may be difficult to start or accelerate in muddy areas, so a higher starting torque value needs to be set, which should be able to ensure that the equipment can overcome the resistance of the muddy area when starting. According to the actual situation of the muddy area and the stability requirements of the equipment, an appropriate upper limit of the driving speed is determined, which should be able to ensure that the equipment will not lose control due to excessive speed during driving.

[0072] In one embodiment, under muddy conditions, the motor torque adjustment value can be determined to be 10% of the total torque, and the motor torque can be increased by 10% based on the first adjustment parameter to prevent slipping; the maximum limit of driving speed can be reduced by 50%, and the motor starting torque can be increased to further reduce wheel slippage.

[0073] In this embodiment, by determining the first adjustment parameter and adjusting the operating parameters of the engineering equipment accordingly, the stability and operating efficiency of the engineering equipment in muddy areas are improved.

[0074] Furthermore, in one embodiment, adjusting the operating parameters of the engineering equipment based on the operating conditions and the operation information corresponding to the operating conditions includes:

[0075] When the working condition is a ramp working condition, determining whether the ramp working condition is an uphill working condition or a downhill working condition based on the inclination angle of the equipment;

[0076] When the ramp working condition is an uphill working condition, determining a second adjustment parameter based on a change in the device tilt angle and / or driving acceleration within a preset time, wherein the second adjustment parameter includes a motor torque adjustment value;

[0077] adjusting an operating parameter of the engineering equipment based on a second adjustment parameter;

[0078] When the ramp working condition is a downhill working condition, a third adjustment parameter is determined based on a change in the device tilt angle and / or driving acceleration within a preset time, wherein the third adjustment parameter includes a braking force adjustment value;

[0079] The operating parameter of the engineering equipment is adjusted based on the third adjustment parameter.

[0080] In this embodiment, it should be noted that, under ramp conditions, the adjustment of the operating parameters of the engineering equipment needs to be set specifically according to different uphill or downhill conditions. And according to the differences in the accuracy requirements of the second adjustment parameter and the third adjustment parameter or the differences in actual application requirements such as different information acquisition costs, under ramp conditions, the change in the equipment inclination angle and / or the driving acceleration within a preset time is used as a reference to determine the second adjustment parameter and the third adjustment parameter. The second adjustment parameter and the third adjustment parameter can be understood as the adjustment range of the operating parameters, or as the target value for adjusting the operating parameters. Specifically, it can be determined whether the engineering equipment is in an uphill condition or a downhill condition based on the positive and negative values ​​of the equipment inclination angle, or compared with other reference values. A positive angle indicates an uphill, and a negative angle indicates a downhill.

[0081] For adjustments under uphill conditions, the second adjustment parameter can be determined based on the device's tilt angle. The greater the device's tilt angle, the greater the resistance to going uphill, so a greater motor torque is required to overcome gravity. The second adjustment parameter can also be determined by referring to the change in driving acceleration within a preset time. If the acceleration change is small, it means that the device is underpowered when going uphill and the motor torque needs to be increased. If the acceleration change is too large, it may mean that the device is over-accelerating and needs to be adjusted to avoid instability. In one embodiment, the second adjustment parameter can also be determined by considering the change in the device's tilt angle and driving acceleration within a preset time. By considering the change in the device's tilt angle and driving acceleration within a preset time, an appropriate motor torque adjustment value is determined as the second adjustment parameter. According to the determined motor torque adjustment value, the output torque of the motor is adjusted to ensure that the device can operate stably and efficiently when going uphill.

[0082] For the adjustment under downhill working condition, the third adjustment parameter can be determined based on the device tilt angle. The larger the device tilt angle, the greater the gravity acceleration when going downhill, so a greater braking force is required to maintain the stability of the device. The third adjustment parameter can also be determined by referring to the change in driving acceleration within a preset time. If the acceleration change is too large, it means that the device is too fast when going downhill, and the braking force needs to be increased to slow down. If the acceleration change is too small or becomes a negative value, that is, the deceleration is too fast, it may mean that the device is over-braking and needs to be adjusted to avoid unnecessary energy consumption and wear. In one embodiment, the third adjustment parameter can also be determined by considering the change in the device tilt angle and the driving acceleration within a preset time. By considering the change in the device tilt angle and the driving acceleration within a preset time, an appropriate braking force adjustment value is determined as the third adjustment parameter. According to the determined braking force adjustment value, the braking system of the device is adjusted to ensure that the device can maintain a stable driving speed when going downhill and avoid driving too fast or too slow.

[0083] It should be noted that when engineering equipment is traveling on a slope, the increase in load will increase the power demand of the engineering equipment, thereby increasing the difficulty of driving. Therefore, in one embodiment, the load condition can also be considered under the slope condition. The load condition of the engineering equipment is monitored by a load sensor to determine the impact on the power demand. The greater the load, the greater the motor torque required for the equipment when going uphill; although the impact of the load on the braking force when going downhill is relatively small, its impact on the overall stability of the equipment can still be considered.

[0084] In this embodiment, under ramp conditions, appropriate adjustment parameters can be determined by comprehensively considering factors such as the equipment inclination angle and the change in driving acceleration, and the operating parameters of the engineering equipment can be adjusted accordingly, thereby improving the stability and operating efficiency of the engineering equipment under ramp conditions.

[0085] In one embodiment, adjusting the operating parameters of the engineering equipment based on the working condition and the operation information corresponding to the working condition includes:

[0086] When the working condition is a flat ground condition, determining a fourth adjustment parameter based on the driving acceleration, wherein the fourth adjustment parameter includes a motor speed adjustment value;

[0087] The operating parameter of the engineering equipment is adjusted based on the fourth adjustment parameter.

[0088] In this embodiment, it should be noted that, under flat ground conditions, the adjustment of the operating parameters of the engineering equipment mainly depends on the driving acceleration to determine the appropriate motor speed adjustment value. The fourth adjustment parameter can be understood as the adjustment range of the operating parameters, or it can be understood as the target value for adjusting the operating parameters. The driving acceleration can be an instantaneous value, or it can be an average value or a change trend over a period of time. The motor speed adjustment value is determined according to the magnitude and direction of the driving acceleration. If the driving acceleration is small, it means that the current speed of the equipment is slow or is decelerating, and the motor speed may need to be reduced to reduce energy consumption and wear. If the driving acceleration is large, it means that the equipment is accelerating or needs to maintain a high speed, and the motor speed may need to be increased to provide sufficient power. It should be noted that in one embodiment, the motor speed adjustment value can also take into account the load of the equipment. The larger the load, the higher the motor speed may be required to maintain the same acceleration or speed. Factors such as driving acceleration, the load of the engineering equipment, and the expected driving speed can be comprehensively considered to determine an appropriate motor speed adjustment value as the fourth adjustment parameter. According to the determined motor speed adjustment value, the actual speed of the motor is adjusted. By continuously adjusting and optimizing the motor speed and other operating parameters, engineering equipment can operate with the lowest energy consumption and highest efficiency under flat ground conditions.

[0089] In one embodiment, adjusting the operating parameters of the engineering equipment based on the working condition and the operation information corresponding to the working condition includes:

[0090] Determine adjustment parameters based on the working conditions and the operation information corresponding to the working conditions;

[0091] Get the current battery power of the engineering equipment;

[0092] Determining whether the operating parameters can be adjusted based on the adjustment parameters according to the current battery power;

[0093] If it is determined that the operating parameter can be adjusted based on the adjustment parameter, the operating parameter is adjusted based on the adjustment parameter.

[0094] In this embodiment, it should be noted that in the operation of engineering equipment, in order to ensure the efficient operation of the equipment and the reasonable use of battery power, it is necessary not only to determine the adjustment parameters according to the working conditions and their corresponding operation information, but also to consider the current battery power to determine whether it is sufficient to support the normal operation of the engineering equipment after the parameter adjustment. The built-in battery management system or power sensor of the equipment can be used to obtain the current battery power to ensure the accuracy and real-time nature of the power data for subsequent judgment and decision-making.

[0095] Specifically, based on the working condition and operation information, determine the appropriate adjustment parameters. The adjustment parameters may include motor torque adjustment value, motor speed adjustment value, braking force adjustment value, etc. The specific value of the adjustment parameter should take into account the performance and load of the equipment. The specific method can refer to the above embodiment of the present application. In this embodiment, a battery power threshold value can be set, and the battery power threshold value indicates that the equipment can operate safely and stably under the remaining power and complete the operation after the engineering equipment parameters are adjusted under all working conditions. Different battery power threshold values ​​can also be set for different working conditions, and the minimum power required for the normal operation of the engineering equipment after the engineering equipment parameters are adjusted under different working conditions can be determined for different battery power threshold values. Under the battery power threshold values ​​corresponding to different working conditions, the corresponding battery power threshold values ​​can be further set for different adjustment parameter ranges to achieve the accuracy control of the normal operation of the engineering equipment. The current battery power is compared with the set battery power threshold value. If the current battery power is higher than the battery power threshold value, it is judged that the operating parameters can be adjusted based on the adjustment parameters. If the current battery power is lower than the threshold value, it is judged that the current battery power cannot support the normal operation of the engineering equipment after the parameters are adjusted. At this time, it may be necessary to take energy-saving measures or give priority to completing key operations instead of adjusting the operating parameters immediately.

[0096] In this embodiment, by comprehensively considering the working conditions, operation information and current battery power, appropriate adjustment parameters can be determined, and the operation parameters of the engineering equipment can be adjusted while ensuring that the battery power is sufficient, thereby improving the operation efficiency of the equipment, extending the battery life and reducing the operation cost.

[0097] In one embodiment, adjusting the operating parameters of the engineering equipment based on the working condition and the operation information corresponding to the working condition includes:

[0098] When the preset conditions are met, the operating parameters of the engineering equipment are adjusted based on the working conditions and the operation information corresponding to the working conditions;

[0099] The preconditions include at least one of the following:

[0100] Interval preset adjustment time;

[0101] The change in job information is greater than the preset parameter adjustment range.

[0102] In this embodiment, it should be noted that in order to ensure the stable operation and operating efficiency of the equipment and avoid frequent and unnecessary adjustments of the operating parameters in a short period of time, a preset adjustment time interval and a preset parameter adjustment interval are used as the start conditions for adjusting the operating parameters. The operating parameters of the engineering equipment are allowed to be adjusted only when the time interval of each adjustment meets the preset adjustment time interval, and / or the change range of the operation information is greater than the preset parameter adjustment interval. The preset adjustment time interval and the preset parameter adjustment interval are set according to the specific conditions of the engineering equipment and the operation requirements. Among them, the preset adjustment time interval represents the minimum time difference between two operating parameter adjustments. This can prevent the equipment from being frequently adjusted in a short period of time, causing unnecessary fluctuations and wear.

[0103] The preset parameter adjustment interval indicates the minimum difference value of the operation information between two operation parameter adjustments. The operation parameters are adjusted only when the change in the operation information between two operation parameter adjustments exceeds the preset parameter adjustment interval. This ensures that parameter adjustments are made only when necessary to avoid the negative impact of excessive adjustments. For example, in uphill conditions, when the equipment tilt angle is greater than 10 degrees, the torque output by the motor is increased to ensure that the equipment can operate stably and efficiently when going uphill. When the equipment tilt angle is less than or equal to 10 degrees, it may be identified as a flat ground condition. Based on the current driving speed of the engineering equipment, it is very likely that the torque output by the motor needs to be reduced. However, the operating environment of engineering equipment is complex and changeable, and the tilt angle of the equipment is likely to switch back and forth between 10 degrees in a short period of time. At this time, if the torque output by the motor is frequently adjusted based on the tilt angle of the equipment, the operation of the engineering equipment will be unstable, and even equipment failure may occur due to the continuous adjustment of the motor torque, leading to safety accidents. By setting the preset parameter adjustment interval, the back and forth adjustment of the operation parameters can be reduced. For example, if the preset parameter adjustment interval is 2, then for the above-mentioned device tilt angle of 10 degrees, the adjustment of the operating parameters needs to satisfy that the difference in the device tilt angle between the two operating parameter adjustments must be greater than 2. That is, in the starting conditions for adjusting the operating parameters at this time, the device tilt angle needs to be less than 8 degrees or greater than 12 degrees, and further based on the device tilt angle of 8 degrees or 12 degrees, it is judged whether the operating parameters need to be adjusted.

[0104] By setting the preset adjustment time interval and the preset parameter adjustment interval as the start condition for adjusting the operating parameters, it is possible to avoid frequent and unnecessary adjustments of the equipment in a short period of time. This helps to ensure the stable operation and operating efficiency of the equipment, while reducing the wear and energy consumption of the equipment.

[0105] Figure 2 The structure block diagram of an engineering equipment control device according to an embodiment of the present application is schematically shown. Figure 2As shown, the embodiment of the present application provides an engineering equipment control device 1000, including:

[0106] Memory 1001, configured to store instructions;

[0107] The processor 1002 is configured to call instructions from the memory 1001 and implement the above-mentioned engineering equipment control method when executing the instructions.

[0108] The present application also provides a working machine, including:

[0109] An engineering equipment control device as described in the above embodiment.

[0110] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned engineering equipment control method.

[0111] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0112] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0113] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0114] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0115] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0116] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0117] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be 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 disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0118] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0119] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for controlling engineering equipment, characterized in that: include: Acquiring operation information of the engineering equipment, wherein the operation information includes at least one of ground humidity, driving acceleration, equipment tilt angle, and wheel speed difference, wherein the wheel speed difference is a difference between the wheel speed of any wheel and the wheel speed of the other wheels among all wheels of the engineering equipment; Determining the working condition of the engineering equipment based on the operation information, wherein the working condition includes muddy working condition, ramp working condition and flat ground working condition; The operating parameters of the engineering equipment are adjusted based on the operating condition and the operation information corresponding to the operating condition, wherein the operating parameters include at least one of motor torque, motor speed, driving speed and braking force.

2. The engineering equipment control method according to claim 1, characterized in that: The determining the working condition of the engineering equipment based on the operation information includes: When the ground humidity is greater than a humidity threshold, the change in the driving acceleration within a preset time is greater than or equal to a first acceleration threshold, and the wheel speed difference is greater than or equal to a wheel speed difference threshold, it is determined that the engineering equipment is in a muddy working condition; When the tilt angle of the equipment is greater than or equal to the angle threshold and the change in the driving acceleration within the preset time is greater than or equal to the second acceleration threshold, it is determined that the engineering equipment is in a ramp condition, wherein the second acceleration threshold is less than the first acceleration threshold; When the equipment inclination angle is less than the angle threshold, the wheel speed difference is less than the wheel speed difference threshold, and the change in the driving acceleration within the preset time is less than the second acceleration threshold, it is determined that the engineering equipment is in a flat ground condition.

3. The engineering equipment control method according to claim 1, characterized in that: The adjusting the operating parameters of the engineering equipment based on the operating condition and the operation information corresponding to the operating condition includes: In the case where the working condition is a muddy working condition, determining a first adjustment parameter based on at least one of the ground humidity, the change in the driving acceleration within a preset time, and the wheel speed difference, wherein the first adjustment parameter includes a motor torque adjustment value, a motor starting torque value, and a maximum driving speed; An operating parameter of the engineering equipment is adjusted based on the first adjustment parameter.

4. The engineering equipment control method according to claim 1, characterized in that: The adjusting the operating parameters of the engineering equipment based on the operating condition and the operation information corresponding to the operating condition includes: In the case where the working condition is a ramp working condition, determining whether the ramp working condition is an uphill working condition or a downhill working condition based on the inclination angle of the equipment; In the case where the ramp working condition is an uphill working condition, determining a second adjustment parameter based on a change in the device tilt angle and / or the driving acceleration within a preset time, wherein the second adjustment parameter includes a motor torque adjustment value; adjusting the operating parameters of the engineering equipment based on the second adjustment parameter; In the case where the ramp working condition is a downhill working condition, a third adjustment parameter is determined based on the change amount of the device inclination angle and / or the driving acceleration within a preset time, wherein the third adjustment parameter includes a braking force adjustment value; The operating parameters of the engineering equipment are adjusted based on the third adjustment parameter.

5. The engineering equipment control method according to claim 1, characterized in that: The adjusting the operating parameters of the engineering equipment based on the operating condition and the operation information corresponding to the operating condition includes: In the case where the working condition is a flat ground condition, determining a fourth adjustment parameter based on the driving acceleration, wherein the fourth adjustment parameter includes a motor speed adjustment value; The operating parameters of the engineering equipment are adjusted based on the fourth adjustment parameter.

6. The engineering equipment control method according to claim 1, characterized in that: The adjusting the operating parameters of the engineering equipment based on the operating condition and the operation information corresponding to the operating condition includes: determining an adjustment parameter based on the operating condition and operation information corresponding to the operating condition; Obtaining the current battery power of the engineering equipment; determining, according to the current battery power, whether the operating parameter can be adjusted based on the adjustment parameter; If it is determined that the operating parameter can be adjusted based on the adjustment parameter, the operating parameter is adjusted based on the adjustment parameter.

7. The engineering equipment control method according to claim 1, characterized in that: The adjusting the operating parameters of the engineering equipment based on the operating condition and the operation information corresponding to the operating condition includes: When a preset condition is met, adjusting the operating parameters of the engineering equipment based on the working condition and the operation information corresponding to the working condition; The preset condition includes at least one of the following: Interval preset adjustment time; The change range of the operation information is greater than the preset parameter adjustment range.

8. An engineering equipment control device, characterized in that: include: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the engineering equipment control method according to any one of claims 1 to 7 when executing the instructions.

9. A working machine, characterized in that: include: The engineering equipment control device according to claim 8.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions, which are used to enable a machine to execute the engineering equipment control method according to any one of claims 1 to 7.

Images