Walking control method and walking control device applied to engineering machinery

Abstract

The invention belongs to the technical field of engineering machinery control, and particularly relates to a walking control method and a walking control device applied to engineering machinery. The method comprises the steps that a control component selection instruction is acquired, and a target walking control component is determined according to the control hardware selection instruction; acquiring a control mode selection instruction, and determining a target walking control mode according to the control mode selection instruction and the target walking control component; performing walking control on the engineering machinery according to the target walking control mode; wherein the target walking control mode comprises one of a real-time control mode and an automatic walking mode. Through selection and switching of two walking control modes of real-time control and automatic walking, two hands or two feet of a driver are liberated, and the situation that legs or hands of the driver are tired and ache due to long-time operation of a control component in the engineering machinery operation process is reduced, so that the accuracy of walking control is improved, and the working efficiency of the engineering machinery is improved. And the operation safety of the engineering machinery is further improved.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery control technology, specifically relating to a walking control method and walking control device for engineering machinery. Background Technology

[0002] Currently, the movement control of construction machinery such as excavators is mainly achieved through joystick or foot pedal controls. The operator controls the direction and speed of the machinery by physically tilting the joystick or foot pedal.

[0003] However, practice has shown that during continuous operation, drivers who control the walking pedals with their feet or the walking control handles with their hands for extended periods are prone to leg or hand fatigue and soreness, which can lead to decreased accuracy in walking control and consequently cause work safety accidents.

[0004] Therefore, improving the accuracy of walking control, and thus enhancing the operational safety of construction machinery, is a pressing technical problem that needs to be solved. Summary of the Invention

[0005] The purpose of this invention is to provide a walking control method and device for engineering machinery, which can improve the accuracy of walking control and thus improve the operational safety of engineering machinery.

[0006] To address the aforementioned technical problems, the first aspect of this invention discloses a walking control method for engineering machinery, the method comprising: The system acquires a control component selection instruction and determines a target walking control component based on the control hardware selection instruction. The control component selection instruction is generated based on the component selection operation of the human-machine interaction at a previous moment. The target walking control component includes either the walking pedal or the operating handle of the engineering machinery. The system acquires a control mode selection instruction and determines the target walking control mode based on the control mode selection instruction and the target walking control component; the control mode selection instruction is generated based on the mode selection operation of the human-computer interaction at a previous moment. The engineering machinery is controlled to move according to the target movement control mode. The target walking control mode includes one of a real-time control mode and an automatic walking mode. The real-time control mode is a mode in which the construction machinery is controlled to walk based on the real-time interactive operation between the driver of the construction machinery and the target walking control component. The automatic walking mode is a mode in which the construction machinery is controlled to walk based on a pre-set walking control command.

[0007] As an optional implementation, in the first aspect of the present invention, the step of obtaining a control component selection instruction and determining a target walking control component according to the control hardware selection instruction includes: Obtain the control component selection command; If the control component selection command is a foot pedal selection command, then the walking foot pedal is determined to be the target walking control component; If the control component selection instruction is a handle selection instruction, then determine whether a selection confirmation instruction has been received within a preset confirmation time period. If so, then determine that the operating handle is the target walking control component; otherwise, determine that the walking pedal is the target walking control component. The selection confirmation instruction is generated based on the previous human-computer interaction handle selection confirmation operation.

[0008] As an optional implementation, in the first aspect of the present invention, the step of obtaining a control mode selection instruction and determining a target walking control mode based on the control mode selection instruction and the target walking control component includes: Obtain the control mode selection command and the current on / off state of the mode selection switch of the engineering machinery; If the current switch state indicates that the mode selection switch is in the off state, then the real-time control mode is determined to be the target walking control mode according to the target walking control component; If the current switch state indicates that the mode selection switch is in the on state, then the control mode selection command is parsed to obtain the command parsing result; If the instruction parsing result indicates that the control mode selection instruction corresponds to the first interactive operation, then the preset constant speed cruise mode is determined as the target walking control mode; the constant speed cruise mode is a mode that controls the engineering machinery to walk at a constant speed according to a predetermined walking speed. If the instruction parsing result indicates that the control mode selection instruction corresponds to the second interactive operation, then the preset intelligent cruise mode is determined to be the target walking control mode; the intelligent cruise mode is a mode that automatically adjusts the walking speed of the construction machinery based on the pre-acquired environmental information. The automatic driving mode includes one of the cruise control mode and the intelligent cruise mode. The mode selection operation includes one of the first interaction operation and the second interaction operation. The first interaction operation is an operation to recognize the first gesture of the driver of the construction machinery. The second interaction operation is an operation to recognize the second gesture of the driver of the construction machinery.

[0009] As an optional implementation, in the first aspect of the present invention, after determining the preset cruise control mode as the target travel control mode, the step of controlling the travel of the construction machinery according to the target travel control mode includes: The first target cruising speed is obtained based on the interaction state between the driver of the construction machinery and the target travel control component at the current moment; the first target cruising speed is not zero. A first cruise start signal is acquired, and the engineering machinery is controlled to travel at the first target cruise speed according to the first cruise start signal; the first cruise start signal is generated after the first target cruise speed is acquired, based on the operation of resetting the target travel control component through human-machine interaction; A first cruise termination signal is acquired, and the engineering machinery is controlled to exit the cruise control mode according to the first cruise termination signal; the first cruise termination signal is generated after the first cruise start signal is acquired, based on the operation of adjusting the gear of the target walking control component by human-machine interaction, or the pilot valve locking operation.

[0010] As an optional implementation, in the first aspect of the present invention, after determining the preset intelligent cruise mode as the target walking control mode, the step of controlling the movement of the construction machinery according to the target walking control mode includes: The second target cruising speed is obtained based on the interaction state between the driver of the construction machinery and the target travel control component at the current moment; the second target cruising speed is not zero. A second cruise start signal is acquired, and the information acquisition device of the engineering machinery is controlled to collect real-time environmental information according to the second cruise start signal to obtain target environmental information; the second cruise start signal is generated after the second target cruise speed is acquired, based on the operation of resetting the target walking control component through human-machine interaction; The target environment information is analyzed to obtain the environment analysis result, and the travel speed of the engineering machinery is controlled according to the environment analysis result; The system acquires a second cruise termination signal and controls the engineering machinery to exit the intelligent cruise mode based on the second cruise termination signal. The second cruise termination signal is generated after acquiring the second cruise start signal, based on the human-machine interaction operation of adjusting the gear of the target walking control component or the pilot valve locking operation.

[0011] As an optional implementation, in a first aspect of the present invention, controlling the travel speed of the engineering machinery based on the environmental analysis results includes: If the environmental analysis results indicate that the current travel path of the construction machinery is a sloping road and / or an uneven road, then the construction machinery is controlled to travel at a preset first safe cruising speed; the first safe cruising speed is less than the second target cruising speed. If the environmental analysis results indicate that there is an obstacle within a first safe distance in front of the construction machinery, then the construction machinery is controlled to travel at a preset second safe cruising speed; the second safe cruising speed is less than the second target cruising speed. If the environmental analysis results indicate that there is an obstacle within a second safe distance in front of the construction machinery, then the construction machinery is controlled to stop moving; the second safe distance is less than the first safe distance. If the environmental analysis results indicate that the current travel path of the construction machinery is a flat road, and there are no obstacles within the first safe distance in front of the construction machinery, then the construction machinery is controlled to travel at the second target cruising speed.

[0012] As an optional implementation, in the first aspect of the present invention, determining the real-time control mode as the target walking control mode based on the target walking control component includes: If the target walking control component is the walking pedal, then the preset pedal control mode is determined as the target walking control mode; the pedal control mode is a mode in which the construction machinery is controlled to walk based on the real-time interactive operation between the driver of the construction machinery and the walking pedal. If the target walking control component is the operating handle, then the preset handle control mode is determined as the target walking control mode; the handle control mode is a mode in which the construction machinery is controlled to walk based on the real-time interactive operation between the driver of the construction machinery and the operating handle. The real-time control mode includes either the foot pedal control mode or the handle control mode.

[0013] A second aspect of the present invention discloses a walking control device for engineering machinery, the device comprising: The component selection module is used to acquire control component selection instructions and determine the target walking control component according to the control hardware selection instructions; the control component selection instructions are generated based on the component selection operation of the human-machine interaction at a previous moment, and the target walking control component includes one of the walking pedals and operating handles of the engineering machinery; The mode selection module is used to acquire control mode selection instructions and determine the target walking control mode based on the control mode selection instructions and the target walking control component; the control mode selection instructions are generated based on the mode selection operation of the human-computer interaction at a previous moment. A walking control module is used to control the walking of the construction machinery according to the target walking control mode. The target walking control mode includes one of a real-time control mode and an automatic walking mode. The real-time control mode is a mode in which the construction machinery is controlled to walk based on the real-time interactive operation between the driver of the construction machinery and the target walking control component. The automatic walking mode is a mode in which the construction machinery is controlled to walk based on a pre-set walking control command.

[0014] As an optional implementation, in a second aspect of the invention, the component selection module acquires a control component selection instruction and determines a target walking control component according to the control hardware selection instruction, including: Obtain the control component selection command; If the control component selection command is a foot pedal selection command, then the walking foot pedal is determined to be the target walking control component; If the control component selection instruction is a handle selection instruction, then determine whether a selection confirmation instruction has been received within a preset confirmation time period. If so, then determine that the operating handle is the target walking control component; otherwise, determine that the walking pedal is the target walking control component. The selection confirmation instruction is generated based on the previous human-computer interaction handle selection confirmation operation.

[0015] As an optional implementation, in a second aspect of the invention, the mode selection module acquires a control mode selection instruction and determines a target walking control mode based on the control mode selection instruction and the target walking control component, including: Obtain the control mode selection command and the current on / off state of the mode selection switch of the engineering machinery; If the current switch state indicates that the mode selection switch is in the off state, then the real-time control mode is determined to be the target walking control mode according to the target walking control component; If the current switch state indicates that the mode selection switch is in the on state, then the control mode selection command is parsed to obtain the command parsing result; If the instruction parsing result indicates that the control mode selection instruction corresponds to the first interactive operation, then the preset constant speed cruise mode is determined as the target walking control mode; the constant speed cruise mode is a mode that controls the engineering machinery to walk at a constant speed according to a predetermined walking speed. If the instruction parsing result indicates that the control mode selection instruction corresponds to the second interactive operation, then the preset intelligent cruise mode is determined to be the target walking control mode; the intelligent cruise mode is a mode that automatically adjusts the walking speed of the construction machinery based on the pre-acquired environmental information. The automatic driving mode includes one of the cruise control mode and the intelligent cruise mode. The mode selection operation includes one of the first interaction operation and the second interaction operation. The first interaction operation is an operation to recognize the first gesture of the driver of the construction machinery. The second interaction operation is an operation to recognize the second gesture of the driver of the construction machinery.

[0016] As an optional implementation, in a second aspect of the invention, the walking control module controls the walking of the construction machinery according to the target walking control mode, including: After the mode selection module determines that the preset cruise control mode is the target travel control mode, it obtains the first target cruise speed corresponding to the interaction state between the driver of the construction machinery and the target travel control component at the current moment; the first target cruise speed is not zero. A first cruise start signal is acquired, and the engineering machinery is controlled to travel at the first target cruise speed according to the first cruise start signal; the first cruise start signal is generated after the first target cruise speed is acquired, based on the operation of resetting the target travel control component through human-machine interaction; A first cruise termination signal is acquired, and the engineering machinery is controlled to exit the cruise control mode according to the first cruise termination signal; the first cruise termination signal is generated after the first cruise start signal is acquired, based on the operation of adjusting the gear of the target walking control component by human-machine interaction, or the pilot valve locking operation.

[0017] As an optional implementation, in a second aspect of the invention, the walking control module controls the walking of the construction machinery according to the target walking control mode, including: After the mode selection module determines that the preset intelligent cruise mode is the target travel control mode, it obtains the second target cruise speed corresponding to the interaction state between the driver of the construction machinery and the target travel control component at the current moment; the second target cruise speed is not zero. A second cruise start signal is acquired, and the information acquisition device of the engineering machinery is controlled to collect real-time environmental information according to the second cruise start signal to obtain target environmental information; the second cruise start signal is generated after the second target cruise speed is acquired, based on the operation of resetting the target walking control component through human-machine interaction; The target environment information is analyzed to obtain the environment analysis result, and the travel speed of the engineering machinery is controlled according to the environment analysis result; The system acquires a second cruise termination signal and controls the engineering machinery to exit the intelligent cruise mode based on the second cruise termination signal. The second cruise termination signal is generated after acquiring the second cruise start signal, based on the human-machine interaction operation of adjusting the gear of the target walking control component or the pilot valve locking operation.

[0018] As an optional implementation, in a second aspect of the invention, the walking control module controls the walking speed of the engineering machinery based on the environmental analysis results, including: If the environmental analysis results indicate that the current travel path of the construction machinery is a sloping road and / or an uneven road, then the construction machinery is controlled to travel at a preset first safe cruising speed; the first safe cruising speed is less than the second target cruising speed. If the environmental analysis results indicate that there is an obstacle within a first safe distance in front of the construction machinery, then the construction machinery is controlled to travel at a preset second safe cruising speed; the second safe cruising speed is less than the second target cruising speed. If the environmental analysis results indicate that there is an obstacle within a second safe distance in front of the construction machinery, then the construction machinery is controlled to stop moving; the second safe distance is less than the first safe distance. If the environmental analysis results indicate that the current travel path of the construction machinery is a flat road, and there are no obstacles within the first safe distance in front of the construction machinery, then the construction machinery is controlled to travel at the second target cruising speed.

[0019] As an optional implementation, in a second aspect of the invention, the mode selection module determines the real-time control mode as the target walking control mode based on the target walking control component, including: If the target walking control component is the walking pedal, then the preset pedal control mode is determined as the target walking control mode; the pedal control mode is a mode in which the construction machinery is controlled to walk based on the real-time interactive operation between the driver of the construction machinery and the walking pedal. If the target walking control component is the operating handle, then the preset handle control mode is determined as the target walking control mode; the handle control mode is a mode in which the construction machinery is controlled to walk based on the real-time interactive operation between the driver of the construction machinery and the operating handle. The real-time control mode includes either the foot pedal control mode or the handle control mode.

[0020] A third aspect of the present invention discloses another walking control device for engineering machinery, the device comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the walking control method for engineering machinery disclosed in the first aspect of the present invention.

[0021] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked by a processor, are used to execute a walking control method for engineering machinery disclosed in the first aspect of the present invention.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: The target travel control component is determined based on the human-machine interaction (HMI) selection operation performed by the operator of the construction machinery. Further, based on the determined target travel control component and the HMI selection operation, the target travel control mode is determined, and the construction machinery's travel is controlled according to the target travel control mode. The target travel control mode includes a real-time control mode based on real-time interactive operations and an automatic travel mode based on preset travel control commands. By selecting and switching between these two travel control modes, the operator's hands or feet are freed, significantly reducing leg or hand fatigue and soreness caused by prolonged operation of control components during construction machinery operation. This improves the accuracy of travel control and ultimately enhances the operational safety of the construction machinery. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart illustrating a walking control method for engineering machinery disclosed in an embodiment of the present invention; Figure 2 This is a schematic diagram of the walking control direction of the left handle in the handle operation mode of the engineering machinery according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a walking control device for engineering machinery disclosed in an embodiment of the present invention; Figure 4 This is a schematic diagram of another walking control device for engineering machinery disclosed in an embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, or product may include a series of steps or units, or may not be limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or processes.

[0027] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] Currently, the movement control of construction machinery such as excavators is mainly achieved through joystick or foot pedal controls. The operator controls the direction and speed of the machinery by physically tilting the joystick or foot pedal.

[0029] However, practice has shown that during continuous operation, drivers who control the walking pedals with their feet or the walking control handles with their hands for extended periods are prone to leg or hand fatigue and soreness, which can lead to decreased accuracy in walking control and consequently cause work safety accidents.

[0030] Therefore, improving the accuracy of walking control, and thus enhancing the operational safety of construction machinery, is a pressing technical problem that needs to be solved.

[0031] To address the aforementioned technical problems, this invention discloses a walking control method and device for engineering machinery, aiming to improve the accuracy of walking control and thus enhance the operational safety of engineering machinery. These will be described in detail below.

[0032] Example 1 Please see Figure 1 , Figure 1This is a flowchart illustrating a walking control method for engineering machinery disclosed in an embodiment of the present invention. Figure 1 The method shown can be applied to a walking control device, which can improve the accuracy of walking control and thus improve the operational safety of construction machinery. Furthermore, this device can be integrated into the main control system of the construction machinery, or it can exist independently of the main control system; this invention does not impose specific limitations. Figure 1 As shown, the walking control method for engineering machinery disclosed in this embodiment of the invention includes, but is not limited to, the following operations: 101. Obtain the control component selection instruction and determine the target walking control component based on the control hardware selection instruction; the control component selection instruction is generated based on the component selection operation of the human-machine interaction at the previous moment, and the target walking control component includes one of the walking pedals and operating handles of the construction machinery; 102. Obtain the control mode selection command, and determine the target walking control mode based on the control mode selection command and the target walking control component; the control mode selection command is generated based on the mode selection operation of the human-machine interaction at a previous moment; 103. Control the movement of the construction machinery according to the target movement control mode; The target walking control mode includes either a real-time control mode or an automatic walking mode. The real-time control mode is a mode in which the construction machinery is controlled to walk based on the real-time interactive operation between the driver and the target walking control component. The automatic walking mode is a mode in which the construction machinery is controlled to walk based on pre-set walking control commands.

[0033] The target travel control component is determined based on the human-machine interaction (HMI) selection operation performed by the operator of the construction machinery. Further, based on the determined target travel control component and the HMI selection operation, the target travel control mode is determined, and the travel control of the construction machinery is then performed according to the target travel control mode. The target travel control mode includes a real-time control mode based on real-time interactive operations and an automatic travel mode based on preset travel control commands.

[0034] As can be seen, by selecting and switching between two walking control modes, real-time operation and automatic walking, this invention significantly reduces the leg or hand fatigue and soreness experienced by drivers during long-term operation of control components in construction machinery, thereby improving the accuracy of walking control and thus enhancing the operational safety of construction machinery.

[0035] In an optional embodiment, obtaining a control component selection instruction and determining a target walking control component based on the control hardware selection instruction includes: Obtain the control component selection command; If the control component selection command is a foot pedal selection command, then the walking foot pedal is determined to be the target walking control component; If the control component selection command is a handle selection command, then determine whether a selection confirmation command has been received within the preset confirmation time period. If so, then determine that the operating handle is the target walking control component; otherwise, determine that the walking pedal is the target walking control component. The selection confirmation instruction is generated based on the previous human-computer interaction handle selection confirmation operation.

[0036] In this optional embodiment, the default walking control component for construction machinery is the walking pedal. When the operating handle is selected as the walking control component, it needs to be confirmed again to avoid misoperation.

[0037] In another optional embodiment, obtaining a control mode selection instruction and determining a target walking control mode based on the control mode selection instruction and the target walking control component includes: Obtain the control mode selection command and the current on / off state of the mode selection switch of the construction machinery; If the current switch status characterization mode selection switch is in the off state, then the real-time control mode is determined to be the target walking control mode based on the target walking control component; If the current switch state indicates that the mode selection switch is in the on state, then the control mode selection command is parsed to obtain the command parsing result; If the instruction parsing result indicates that the control mode selection instruction corresponds to the first interactive operation, then the preset constant speed cruise mode is determined as the target walking control mode; the constant speed cruise mode is a mode that controls the construction machinery to walk at a constant speed according to a predetermined walking speed. If the instruction parsing result indicates that the control mode selection instruction corresponds to the second interactive operation, then the preset intelligent cruise mode is determined to be the target walking control mode; the intelligent cruise mode is a mode that automatically adjusts the walking speed of the construction machinery based on the pre-acquired environmental information. The automatic driving mode includes either cruise control mode or intelligent cruise control mode. The mode selection operation includes either a first interactive operation or a second interactive operation. The first interactive operation is the operation of recognizing the first gesture of the driver of the construction machinery, and the second interactive operation is the operation of recognizing the second gesture of the driver of the construction machinery.

[0038] As can be seen, this optional embodiment recognizes the hand gestures of the driver of the construction machinery to determine the corresponding walking control mode, thereby achieving more intuitive walking control.

[0039] In another optional embodiment, after determining that the preset cruise control mode is the target travel control mode, the travel control of the construction machinery is performed according to the target travel control mode, including: Obtain the first target cruising speed corresponding to the interaction state between the driver of the construction machinery and the target travel control unit at the current moment; the first target cruising speed is not zero; The system acquires a first cruise start signal and controls the construction machinery to travel at a first target cruise speed based on the first cruise start signal. The first cruise start signal is generated after the first target cruise speed is acquired, based on the operation of resetting the target travel control component through human-machine interaction. The system acquires a first cruise termination signal and controls the construction machinery to exit the cruise control mode based on the first cruise termination signal. The first cruise termination signal is generated after acquiring the first cruise start signal, based on the human-machine interaction operation of adjusting the gear of the target travel control component or the pilot valve locking operation.

[0040] As can be seen, this optional embodiment maintains the current speed of the construction machinery through cruise control mode. After the control components reset, the cruise control mode is maintained until the control components are operated again or the pilot lock is engaged, at which point the cruise control mode is disengaged. Cruise control mode frees the driver's hands or feet, significantly reducing leg or hand fatigue and soreness caused by prolonged operation of control components during construction machinery operation. This improves the accuracy of walking control and, consequently, enhances the operational safety of the construction machinery.

[0041] In another optional embodiment, after determining that the preset intelligent cruise mode is the target walking control mode, the walking control of the construction machinery is performed according to the target walking control mode, including: Obtain the second target cruising speed corresponding to the interaction state between the driver of the construction machinery and the target travel control unit at the current moment; the second target cruising speed is not zero; The system acquires a second cruise start signal and controls the information acquisition equipment of the construction machinery to collect real-time environmental information based on the second cruise start signal, thereby obtaining target environmental information. The second cruise start signal is generated after acquiring the second target cruise speed, based on the operation of resetting the target walking control component through human-machine interaction. The target environmental information is analyzed to obtain environmental analysis results, and the travel speed of the engineering machinery is controlled based on the environmental analysis results; The system acquires a second cruise termination signal and controls the construction machinery to exit the intelligent cruise mode based on the second cruise termination signal. The second cruise termination signal is generated after acquiring the second cruise start signal, based on the human-machine interaction operation of adjusting the gear of the target travel control component or the pilot valve locking operation.

[0042] As can be seen, this optional embodiment enables the construction machinery to move automatically through intelligent cruise mode. After the control components are reset, the intelligent cruise mode is maintained, and it only exits when the control components are operated again or the pilot lock is engaged. By freeing the driver's hands or feet, intelligent cruise mode significantly reduces leg or hand fatigue and soreness experienced by the driver during prolonged operation of the control components, thereby improving the accuracy of movement control and ultimately enhancing the operational safety of the construction machinery.

[0043] In yet another optional embodiment, controlling the travel speed of the construction machinery based on environmental analysis results includes: If the environmental analysis results indicate that the current travel path of the construction machinery is a sloping road and / or an uneven road, then the construction machinery is controlled to travel at a preset first safe cruising speed; the first safe cruising speed is less than the second target cruising speed. If the environmental analysis results indicate that there is an obstacle within the first safe distance in front of the construction machinery, then the construction machinery is controlled to travel at a preset second safe cruising speed; the second safe cruising speed is less than the second target cruising speed. If the environmental analysis results indicate that there is an obstacle within the second safe distance in front of the construction machinery, then the construction machinery will be controlled to stop moving; the second safe distance is less than the first safe distance. If the environmental analysis results indicate that the current travel path of the construction machinery is a flat road, and there are no obstacles within the first safe distance in front of the construction machinery, then control the construction machinery to travel at the second target cruising speed.

[0044] It should be noted that the identification of road surface conditions such as sloping roads, uneven roads, and gentle roads is achieved through a pre-established road surface database.

[0045] As can be seen, this optional embodiment automatically adjusts the travel speed of the construction machinery according to the terrain slope and the distance to obstacles, thereby improving the safety and efficiency of construction machinery operation.

[0046] In yet another optional embodiment, determining the real-time control mode as the target walking control mode based on the target walking control component includes: If the target walking control component is a walking pedal, then the preset pedal control mode is determined as the target walking control mode; the pedal control mode is the mode in which the construction machinery is controlled to walk based on the real-time interactive operation between the driver of the construction machinery and the walking pedal. If the target travel control component is an operating handle, then the preset handle control mode is determined as the target travel control mode; the handle control mode is the mode in which the travel of the construction machinery is controlled by the real-time interactive operation between the driver of the construction machinery and the operating handle. The real-time control mode includes either a foot pedal control mode or a gamepad control mode.

[0047] In this optional embodiment, in foot pedal control mode, when the driver presses the foot pedal, the controller of the construction machinery outputs current to the travel solenoid valve, and the left and right handles of the construction machinery control the working device. In handle control mode, when the driver pushes the left handle, the controller of the construction machinery outputs current to the travel solenoid valve, and when the driver pushes the right handle, the working device is controlled to operate.

[0048] It is evident that by selecting and switching between foot pedal control and joystick control, the fatigue and soreness in the legs or hands of the driver during the operation of construction machinery can be reduced due to prolonged operation of the same control component, thereby improving the accuracy of walking control and thus improving the operational safety of construction machinery.

[0049] Please see Figure 2 , Figure 2 This is a schematic diagram of the walking control direction of the left handle of the engineering machinery in the handle operation mode according to an embodiment of the present invention. Figure 2 In the diagram, y represents the front of the cab of the construction machinery, and x represents the right side of the cab. When the left handle is in the positive x-axis direction, the construction machinery rotates to the right and turns around on the spot; when the left handle is in the negative x-axis direction, the construction machinery rotates to the left and turns around on the spot; when the left handle is in the positive y-axis direction, the construction machinery moves forward; when the left handle is in the negative y-axis direction, the construction machinery reverses; when the left handle is in area A, the construction machinery moves forward and turns right at a small angle; when the left handle is in area B, the construction machinery turns right at a large angle; when the left handle is in area C, the construction machinery turns left at a large angle; when the left handle is in area D, the construction machinery reverses and turns right at a small angle; when the left handle is in area E, the construction machinery reverses and turns left at a small angle; when the left handle is in area F, the construction machinery turns left at a large angle; when the left handle is in area G, the construction machinery turns left at a large angle; when the left handle is in area H, the construction machinery moves forward and turns left at a small angle.

[0050] Example 2 Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of a walking control device for engineering machinery disclosed in an embodiment of the present invention. Figure 3 The device shown can be used to execute the walking control method described in Embodiment 1. This device can improve the accuracy of walking control, thereby improving the operational safety of construction machinery. Furthermore, this device can be integrated into the main control system of the construction machinery, or it can exist independently of the main control system of the construction machinery. This invention does not impose specific limitations. Figure 3 As shown, the walking control device for engineering machinery disclosed in this embodiment of the invention includes, but is not limited to: The component selection module 201 is used to acquire control component selection instructions and determine the target walking control component based on the control hardware selection instructions. The control component selection instructions are generated based on the component selection operation of the human-machine interaction at a previous moment. The target walking control component includes either the walking pedals or the operating handle of the engineering machinery. The mode selection module 202 is used to acquire the control mode selection instruction and determine the target walking control mode according to the control mode selection instruction and the target walking control component; the control mode selection instruction is generated based on the mode selection operation of the human-machine interaction at a previous moment; The walking control module 203 is used to control the walking of the construction machinery according to the target walking control mode; The target walking control mode includes either a real-time control mode or an automatic walking mode. The real-time control mode is a mode in which the construction machinery is controlled to walk based on the real-time interactive operation between the driver and the target walking control component. The automatic walking mode is a mode in which the construction machinery is controlled to walk based on pre-set walking control commands.

[0051] The target travel control component is determined based on the human-machine interaction (HMI) selection operation performed by the operator of the construction machinery. Further, based on the determined target travel control component and the HMI selection operation, the target travel control mode is determined, and the travel control of the construction machinery is then performed according to the target travel control mode. The target travel control mode includes a real-time control mode based on real-time interactive operations and an automatic travel mode based on preset travel control commands.

[0052] As can be seen, by selecting and switching between two walking control modes, real-time operation and automatic walking, this invention significantly reduces the leg or hand fatigue and soreness experienced by drivers during long-term operation of control components in construction machinery, thereby improving the accuracy of walking control and thus enhancing the operational safety of construction machinery.

[0053] In an optional embodiment, the component selection module 201 acquires a control component selection instruction and determines the target walking control component according to the control hardware selection instruction, including: Obtain the control component selection command; If the control component selection command is a foot pedal selection command, then the walking foot pedal is determined to be the target walking control component; If the control component selection command is a handle selection command, then determine whether a selection confirmation command has been received within the preset confirmation time period. If so, then determine that the operating handle is the target walking control component; otherwise, determine that the walking pedal is the target walking control component. The selection confirmation instruction is generated based on the previous human-computer interaction handle selection confirmation operation.

[0054] In this optional embodiment, the default walking control component for construction machinery is the walking pedal. When the operating handle is selected as the walking control component, it needs to be confirmed again to avoid misoperation.

[0055] In another optional embodiment, the mode selection module 202 acquires a control mode selection instruction and determines a target walking control mode based on the control mode selection instruction and the target walking control component, including: Obtain the control mode selection command and the current on / off state of the mode selection switch of the construction machinery; If the current switch status characterization mode selection switch is in the off state, then the real-time control mode is determined to be the target walking control mode based on the target walking control component; If the current switch state indicates that the mode selection switch is in the on state, then the control mode selection command is parsed to obtain the command parsing result; If the instruction parsing result indicates that the control mode selection instruction corresponds to the first interactive operation, then the preset constant speed cruise mode is determined as the target walking control mode; the constant speed cruise mode is a mode that controls the construction machinery to walk at a constant speed according to a predetermined walking speed. If the instruction parsing result indicates that the control mode selection instruction corresponds to the second interactive operation, then the preset intelligent cruise mode is determined to be the target walking control mode; the intelligent cruise mode is a mode that automatically adjusts the walking speed of the construction machinery based on the pre-acquired environmental information. The automatic driving mode includes either cruise control mode or intelligent cruise control mode. The mode selection operation includes either a first interactive operation or a second interactive operation. The first interactive operation is the operation of recognizing the first gesture of the driver of the construction machinery, and the second interactive operation is the operation of recognizing the second gesture of the driver of the construction machinery.

[0056] As can be seen, this optional embodiment recognizes the hand gestures of the driver of the construction machinery to determine the corresponding walking control mode, thereby achieving more intuitive walking control.

[0057] In yet another optional embodiment, the walking control module 203 controls the walking of the construction machinery according to the target walking control mode, including: After the mode selection module 202 determines that the preset cruise control mode is the target travel control mode, it obtains the first target cruise speed corresponding to the interaction state between the driver of the construction machinery and the target travel control component at the current moment; the first target cruise speed is not zero. The system acquires a first cruise start signal and controls the construction machinery to travel at a first target cruise speed based on the first cruise start signal. The first cruise start signal is generated after the first target cruise speed is acquired, based on the operation of resetting the target travel control component through human-machine interaction. The system acquires a first cruise termination signal and controls the construction machinery to exit the cruise control mode based on the first cruise termination signal. The first cruise termination signal is generated after acquiring the first cruise start signal, based on the human-machine interaction operation of adjusting the gear of the target travel control component or the pilot valve locking operation.

[0058] As can be seen, this optional embodiment maintains the current speed of the construction machinery through cruise control mode. After the control components reset, the cruise control mode is maintained until the control components are operated again or the pilot lock is engaged, at which point the cruise control mode is disengaged. Cruise control mode frees the driver's hands or feet, significantly reducing leg or hand fatigue and soreness caused by prolonged operation of control components during construction machinery operation. This improves the accuracy of walking control and, consequently, enhances the operational safety of the construction machinery.

[0059] In yet another optional embodiment, the walking control module 203 controls the walking of the construction machinery according to the target walking control mode, including: After the mode selection module 202 determines that the preset intelligent cruise mode is the target travel control mode, it obtains the second target cruise speed corresponding to the interaction state between the driver of the construction machinery and the target travel control component at the current moment; the second target cruise speed is not zero. The system acquires a second cruise start signal and controls the information acquisition equipment of the construction machinery to collect real-time environmental information based on the second cruise start signal, thereby obtaining target environmental information. The second cruise start signal is generated after acquiring the second target cruise speed, based on the operation of resetting the target walking control component through human-machine interaction. The target environmental information is analyzed to obtain environmental analysis results, and the travel speed of the engineering machinery is controlled based on the environmental analysis results; The system acquires a second cruise termination signal and controls the construction machinery to exit the intelligent cruise mode based on the second cruise termination signal. The second cruise termination signal is generated after acquiring the second cruise start signal, based on the human-machine interaction operation of adjusting the gear of the target travel control component or the pilot valve locking operation.

[0060] As can be seen, this optional embodiment enables the construction machinery to move automatically through intelligent cruise mode. After the control components are reset, the intelligent cruise mode is maintained, and it only exits when the control components are operated again or the pilot lock is engaged. By freeing the driver's hands or feet, intelligent cruise mode significantly reduces leg or hand fatigue and soreness experienced by the driver during prolonged operation of the control components, thereby improving the accuracy of movement control and ultimately enhancing the operational safety of the construction machinery.

[0061] In yet another optional embodiment, the walking control module 203 controls the walking speed of the construction machinery based on the environmental analysis results, including: If the environmental analysis results indicate that the current travel path of the construction machinery is a sloping road and / or an uneven road, then the construction machinery is controlled to travel at a preset first safe cruising speed; the first safe cruising speed is less than the second target cruising speed. If the environmental analysis results indicate that there is an obstacle within the first safe distance in front of the construction machinery, then the construction machinery is controlled to travel at a preset second safe cruising speed; the second safe cruising speed is less than the second target cruising speed. If the environmental analysis results indicate that there is an obstacle within the second safe distance in front of the construction machinery, then the construction machinery will be controlled to stop moving; the second safe distance is less than the first safe distance. If the environmental analysis results indicate that the current travel path of the construction machinery is a flat road, and there are no obstacles within the first safe distance in front of the construction machinery, then control the construction machinery to travel at the second target cruising speed.

[0062] It should be noted that the identification of road surface conditions such as sloping roads, uneven roads, and gentle roads is achieved through a pre-established road surface database.

[0063] As can be seen, this optional embodiment automatically adjusts the travel speed of the construction machinery according to the terrain slope and the distance to obstacles, thereby improving the safety and efficiency of construction machinery operation.

[0064] In yet another optional embodiment, the mode selection module 202 determines the real-time control mode as the target walking control mode based on the target walking control component, including: If the target walking control component is a walking pedal, then the preset pedal control mode is determined as the target walking control mode; the pedal control mode is the mode in which the construction machinery is controlled to walk based on the real-time interactive operation between the driver of the construction machinery and the walking pedal. If the target travel control component is an operating handle, then the preset handle control mode is determined as the target travel control mode; the handle control mode is the mode in which the travel of the construction machinery is controlled by the real-time interactive operation between the driver of the construction machinery and the operating handle. The real-time control mode includes either a foot pedal control mode or a gamepad control mode.

[0065] In this optional embodiment, in foot pedal control mode, when the driver presses the foot pedal, the controller of the construction machinery outputs current to the travel solenoid valve, and the left and right handles of the construction machinery control the working device. In handle control mode, when the driver pushes the left handle, the controller of the construction machinery outputs current to the travel solenoid valve, and when the driver pushes the right handle, the working device is controlled to operate.

[0066] It is evident that by selecting and switching between foot pedal control and joystick control, the fatigue and soreness in the legs or hands of the driver during the operation of construction machinery can be reduced due to prolonged operation of the same control component, thereby improving the accuracy of walking control and thus improving the operational safety of construction machinery.

[0067] Please see Figure 2 , Figure 2 This is a schematic diagram of the walking control direction of the left handle of the engineering machinery in the handle operation mode according to an embodiment of the present invention. Figure 2 In the diagram, y represents the front of the cab of the construction machinery, and x represents the right side of the cab. When the left handle is in the positive x-axis direction, the construction machinery rotates to the right and turns around on the spot; when the left handle is in the negative x-axis direction, the construction machinery rotates to the left and turns around on the spot; when the left handle is in the positive y-axis direction, the construction machinery moves forward; when the left handle is in the negative y-axis direction, the construction machinery reverses; when the left handle is in area A, the construction machinery moves forward and turns right at a small angle; when the left handle is in area B, the construction machinery turns right at a large angle; when the left handle is in area C, the construction machinery turns left at a large angle; when the left handle is in area D, the construction machinery reverses and turns right at a small angle; when the left handle is in area E, the construction machinery reverses and turns left at a small angle; when the left handle is in area F, the construction machinery turns left at a large angle; when the left handle is in area G, the construction machinery turns left at a large angle; when the left handle is in area H, the construction machinery moves forward and turns left at a small angle.

[0068] Example 3 Please see Figure 4 , Figure 4 This is a schematic diagram of another walking control device for engineering machinery disclosed in an embodiment of the present invention. Figure 4 The device shown can be used to execute the walking control method described in Embodiment 1. This device can improve the accuracy of walking control, thereby improving the operational safety of construction machinery. Furthermore, this device can be integrated into the main control system of the construction machinery, or it can exist independently of the main control system of the construction machinery. This invention does not impose specific limitations. Figure 4 As shown, the walking control device for engineering machinery disclosed in this embodiment of the invention includes, but is not limited to: Memory 301 storing executable program code; Processor 302 coupled to memory 301; The processor 302 calls the executable program code stored in the memory 301 to execute some or all of the steps in the walking control method for engineering machinery described in Embodiment 1 of the present invention.

[0069] Example 4 This invention discloses a computer storage medium storing computer instructions. When the computer instructions are invoked by a processor, they are used to execute some or all of the steps in the walking control method for engineering machinery described in Embodiment 1 of this invention.

[0070] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules. They may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0071] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0072] Finally, it should be noted that the technical content disclosed in the embodiments of the present invention is only a preferred embodiment of the present invention and is only used to illustrate the technical solutions of the present invention, and not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A walking control method for engineering machinery, characterized in that, The method includes: The system acquires a control component selection instruction and determines a target walking control component based on the control hardware selection instruction. The control component selection instruction is generated based on the component selection operation of the human-machine interaction at a previous moment. The target walking control component includes either the walking pedal or the operating handle of the engineering machinery. The system acquires a control mode selection instruction and determines the target walking control mode based on the control mode selection instruction and the target walking control component; the control mode selection instruction is generated based on the mode selection operation of the human-computer interaction at a previous moment. The engineering machinery is controlled to move according to the target movement control mode. The target walking control mode includes one of a real-time control mode and an automatic walking mode. The real-time control mode is a mode in which the construction machinery is controlled to walk based on the real-time interactive operation between the driver of the construction machinery and the target walking control component. The automatic walking mode is a mode in which the construction machinery is controlled to walk based on a pre-set walking control command.

2. The walking control method for engineering machinery according to claim 1, characterized in that, The step of acquiring the control component selection instruction and determining the target walking control component according to the control hardware selection instruction includes: Obtain the control component selection command; If the control component selection command is a foot pedal selection command, then the walking foot pedal is determined to be the target walking control component; If the control component selection instruction is a handle selection instruction, then determine whether a selection confirmation instruction has been received within a preset confirmation time period. If so, then determine that the operating handle is the target walking control component; otherwise, determine that the walking pedal is the target walking control component. The selection confirmation instruction is generated based on the previous human-computer interaction handle selection confirmation operation.

3. The walking control method for engineering machinery according to claim 1, characterized in that, The step of acquiring the control mode selection instruction and determining the target walking control mode based on the control mode selection instruction and the target walking control component includes: Obtain the control mode selection command and the current on / off state of the mode selection switch of the engineering machinery; If the current switch state indicates that the mode selection switch is in the off state, then the real-time control mode is determined to be the target walking control mode according to the target walking control component; If the current switch state indicates that the mode selection switch is in the on state, then the control mode selection command is parsed to obtain the command parsing result; If the instruction parsing result indicates that the control mode selection instruction corresponds to the first interactive operation, then the preset constant speed cruise mode is determined as the target walking control mode; the constant speed cruise mode is a mode that controls the engineering machinery to walk at a constant speed according to a predetermined walking speed. If the instruction parsing result indicates that the control mode selection instruction corresponds to the second interactive operation, then the preset intelligent cruise mode is determined to be the target walking control mode; the intelligent cruise mode is a mode that automatically adjusts the walking speed of the construction machinery based on the pre-acquired environmental information. The automatic driving mode includes one of the cruise control mode and the intelligent cruise mode. The mode selection operation includes one of the first interaction operation and the second interaction operation. The first interaction operation is an operation to recognize the first gesture of the driver of the construction machinery. The second interaction operation is an operation to recognize the second gesture of the driver of the construction machinery.

4. The walking control method for engineering machinery according to claim 3, characterized in that, After determining the preset cruise control mode as the target travel control mode, the step of controlling the travel of the construction machinery according to the target travel control mode includes: The first target cruising speed is obtained based on the interaction state between the driver of the construction machinery and the target travel control component at the current moment; the first target cruising speed is not zero. A first cruise start signal is acquired, and the engineering machinery is controlled to travel at the first target cruise speed according to the first cruise start signal; the first cruise start signal is generated after the first target cruise speed is acquired, based on the operation of resetting the target travel control component through human-machine interaction; A first cruise termination signal is acquired, and the engineering machinery is controlled to exit the cruise control mode according to the first cruise termination signal; the first cruise termination signal is generated after the first cruise start signal is acquired, based on the operation of adjusting the gear of the target walking control component by human-machine interaction, or the pilot valve locking operation.

5. The walking control method for engineering machinery according to claim 3, characterized in that, After determining the preset intelligent cruise mode as the target walking control mode, the step of controlling the movement of the construction machinery according to the target walking control mode includes: The second target cruising speed is obtained based on the interaction state between the driver of the construction machinery and the target travel control component at the current moment; the second target cruising speed is not zero. A second cruise start signal is acquired, and the information acquisition device of the engineering machinery is controlled to collect real-time environmental information according to the second cruise start signal to obtain target environmental information; the second cruise start signal is generated after the second target cruise speed is acquired, based on the operation of resetting the target walking control component through human-machine interaction; The target environment information is analyzed to obtain the environment analysis result, and the travel speed of the engineering machinery is controlled according to the environment analysis result; The system acquires a second cruise termination signal and controls the engineering machinery to exit the intelligent cruise mode based on the second cruise termination signal. The second cruise termination signal is generated after acquiring the second cruise start signal, based on the human-machine interaction operation of adjusting the gear of the target walking control component or the pilot valve locking operation.

6. The walking control method for engineering machinery according to claim 5, characterized in that, The step of controlling the travel speed of the engineering machinery based on the environmental analysis results includes: If the environmental analysis results indicate that the current travel path of the construction machinery is a sloping road and / or an uneven road, then the construction machinery is controlled to travel at a preset first safe cruising speed; the first safe cruising speed is less than the second target cruising speed. If the environmental analysis results indicate that there is an obstacle within a first safe distance in front of the construction machinery, then the construction machinery is controlled to travel at a preset second safe cruising speed; the second safe cruising speed is less than the second target cruising speed. If the environmental analysis results indicate that there is an obstacle within a second safe distance in front of the construction machinery, then the construction machinery is controlled to stop moving; the second safe distance is less than the first safe distance. If the environmental analysis results indicate that the current travel path of the construction machinery is a flat road, and there are no obstacles within the first safe distance in front of the construction machinery, then the construction machinery is controlled to travel at the second target cruising speed.

7. A walking control method for engineering machinery according to any one of claims 3 to 6, characterized in that, The step of determining the real-time control mode as the target walking control mode based on the target walking control component includes: If the target walking control component is the walking pedal, then the preset pedal control mode is determined as the target walking control mode; the pedal control mode is a mode in which the construction machinery is controlled to walk based on the real-time interactive operation between the driver of the construction machinery and the walking pedal. If the target walking control component is the operating handle, then the preset handle control mode is determined as the target walking control mode; the handle control mode is a mode in which the construction machinery is controlled to walk based on the real-time interactive operation between the driver of the construction machinery and the operating handle. The real-time control mode includes either the foot pedal control mode or the handle control mode.

8. A walking control device for engineering machinery, characterized in that, The device includes: The component selection module is used to acquire control component selection instructions and determine the target walking control component according to the control hardware selection instructions; the control component selection instructions are generated based on the component selection operation of the human-machine interaction at a previous moment, and the target walking control component includes one of the walking pedals and operating handles of the engineering machinery; The mode selection module is used to acquire control mode selection instructions and determine the target walking control mode based on the control mode selection instructions and the target walking control component; the control mode selection instructions are generated based on the mode selection operation of the human-computer interaction at a previous moment. A walking control module is used to control the walking of the construction machinery according to the target walking control mode. The target walking control mode includes one of a real-time control mode and an automatic walking mode. The real-time control mode is a mode in which the construction machinery is controlled to walk based on the real-time interactive operation between the driver of the construction machinery and the target walking control component. The automatic walking mode is a mode in which the construction machinery is controlled to walk based on a pre-set walking control command.

9. A walking control device for engineering machinery, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the walking control method for engineering machinery as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked by a processor, are used to execute the walking control method for engineering machinery as described in any one of claims 1 to 7.

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