Engineering machinery cross-domain control system and method, storage medium and equipment

Abstract

The invention discloses an engineering machinery cross-domain control system and method, a storage medium and equipment, and the system comprises a front-end interaction module which receives a control instruction of a user, and displays the operation state data of the equipment; the communication module is used for establishing a bidirectional data transmission channel between the front-end interaction module and the ROS control module and executing protocol conversion between a Web data format and an ROS message format; the ROS control module is used for driving an execution mechanism of the engineering machinery according to the control instruction, collecting equipment operation state data collected by a sensor of the engineering machinery and feeding back the equipment operation state data to the front-end interaction module; a transmission path of the control instruction from the front-end interaction module to an execution mechanism of the engineering machinery and a feedback path of the equipment operation state data from a sensor of the engineering machinery to the front-end interaction module form closed-loop control. According to the invention, remote and cross-platform real-time control and state monitoring of the engineering machinery can be realized through the browser, and a complete closed loop from instruction issuing to data feedback is formed.

Description

TECHNICAL FIELD

[0001] The application relates to an engineering machine cross-domain control system, method, storage medium and equipment, and belongs to the technical field of intelligent remote monitoring and cross-platform control of engineering machines. BACKGROUND

[0002] In the field of engineering machinery technology, intelligentization, automation and remote control have become the core trend of development. Traditional engineering machinery control mainly relies on manual on-site operation or limited remote control equipment, which has high safety risks for operators, limited working environment, and low control efficiency.

[0003] With the popularization of automatic control technology, automation of some repetitive and regular operations has been realized, such as simple material handling and site leveling operations. The remote control on the market generally relies on physical remote controllers or special hardware, has insufficient visualization capabilities, cannot provide early warning for equipment failures, and has poor function expansion.

[0004] Web technology is an interactive application system accessed through a standard browser, and with its cross-platform, ease of use and powerful interactive display capabilities, it is increasingly closely integrated with ROS (Robot Operating System) and has great application potential in many fields. At the same time, how to deeply integrate Web technology with ROS to achieve stable and reliable control and data monitoring has become a current research hotspot and difficulty, and existing related research still needs to be improved in terms of communication stability and data interaction efficiency.

[0005] The invention patent with publication number CN118375193A "Intelligent excavator based on ROS" proposes an intelligent excavator scheme based on ROS, which realizes trajectory planning and efficiency evaluation of the boom through Bayesian inference and deep learning model. However, the functions of this scheme are focused on local data processing and decision-making of ROS, and its interaction and control are heavily dependent on Rviz and other ROS special tools, lacking deep integration with Web technology, which makes users unable to remotely access and control through a general browser, and the cross-platform capability is weak, greatly limiting its application flexibility.

[0006] The invention patent with publication number CN112738170A "Cross-platform network communication method and system based on ROS" converts ROS messages into key-value pair format to realize data interaction between ROS system and industrial SCADA monitoring system. However, this scheme is essentially a one-way data upload mechanism, aiming to solve protocol compatibility problems, and cannot issue real-time control instructions from the SCADA system to the ROS end, lacking bidirectional interactive control capability. At the same time, its data display relies on the original SCADA interface and cannot provide customized, multi-modal visual monitoring for specific engineering machinery scenarios.

[0007] Therefore, there is an urgent need in the art for an integrated solution that can deeply integrate web technology with ROS, and realize cross-domain, bidirectional, real-time control and monitoring. SUMMARY

[0008] The present application aims to overcome the deficiencies in the prior art, and provides an engineering machinery cross-domain control system, method, storage medium and equipment, which can realize remote, cross-platform real-time control and state monitoring of engineering machinery through a browser, forming a complete closed loop from instruction issuance to data feedback. To achieve the above-mentioned purpose, the present application is implemented by using the following technical solutions: In a first aspect, the present application provides an engineering machinery cross-domain control system, comprising: A front-end interaction module running on a user terminal browser, configured to receive control instructions from a user and visually display device operating state data; A communication module configured to establish a bidirectional data transmission channel between the front-end interaction module and the ROS control module, and perform protocol conversion between Web data format and ROS message format; A ROS control module connected to the engineering machinery, configured to drive the actuator of the engineering machinery according to the control instructions converted by the communication module, and collect the device operating state data collected by the sensors of the engineering machinery and feedback to the front-end interaction module after protocol conversion by the communication module; Wherein, the transmission path of the control instructions from the front-end interaction module to the actuator of the engineering machinery, and the feedback path of the device operating state data from the sensors of the engineering machinery to the front-end interaction module, constitute a closed loop control.

[0009] In combination with the first aspect, optionally, the communication module uses WebSocket protocol to establish a bidirectional data transmission channel, and performs protocol conversion between Web data format and ROS message format through a protocol conversion engine based on WebSocket protocol.

[0010] In combination with the first aspect, optionally, the front-end interaction module provides control instructions including an emergency stop instruction; The communication module assigns a dedicated communication channel for the emergency stop instruction, which is independent of the regular control instructions; The ROS control module is configured to immediately cut off the power output of the engineering machinery upon receiving the emergency stop instruction.

[0011] In combination with the first aspect, optionally, the front-end interaction module is configured to provide control instructions of multiple preset operating modes, and prestore parameter configuration templates corresponding to each operating mode; When the user selects or switches the running mode, the front-end interaction module calls the corresponding parameter configuration template, and sends it to the ROS control module through the communication module to adjust the running state of the engineering machinery.

[0012] In combination with the first aspect, optionally, the ROS control module is further configured to monitor the equipment running state in real time, and generate a fault warning signal when any key parameter exceeds a preset safety threshold; The fault warning signal is sent to the front-end interaction module through the communication module to trigger an alarm prompt.

[0013] In combination with the first aspect, optionally, the front-end interaction module is developed using a Vue framework. The front-end interaction module visually displays the equipment running state data, including at least one of the following: Real-time data of the instrument panel and a historical data trend chart of the instrument panel; Real-time position and motion trajectory of the equipment based on a site plan; 24-hour working state combined with a time axis and a heat map; Real-time loading state information and a historical loading trend icon of the engineering machinery; Real-time data of key running indicators and a historical key running indicator change curve.

[0014] In combination with the first aspect, optionally, the front-end interaction module is further configured to: Receive equipment running indicator parameters input by an administrator; Perform validity check on the parameters; Send the parameters that pass the validity check to the ROS control module through the communication module; When the parameters involve safety settings, trigger a secondary confirmation process before synchronization.

[0015] In a second aspect, the present application provides an engineering machinery cross-domain control method, including the following steps: Receive a control instruction sent by a user; Convert the control instruction from a Web data format to a ROS message format; Drive the actuator of the engineering machinery according to the converted control instruction; Collect equipment running state data of the engineering machinery; Convert the equipment running state data from a ROS message format to a Web data format; Visually display the converted equipment running state data; The transmission path of the control instruction and the feedback path of the equipment running state data form a closed-loop control.

[0016] In a third aspect, the present application provides a computer readable storage medium having stored thereon computer programs / instructions, which, when executed by a processor, implement the steps of the method of the second aspect.

[0017] In a fourth aspect, the present application provides a computer device, characterized in that comprising: a memory for storing computer programs / instructions; a processor for executing the computer programs / instructions to implement the steps of the method of the second aspect.

[0018] Compared with the prior art, the beneficial effects achieved by the engineering machinery cross-domain control system, method, storage medium and device provided by the embodiments of the present application include: The present application includes a front-end interaction module running on a user terminal browser, which is used to receive user control instructions and visually display device operating state data; through the front-end interaction module, the operator can access the engineering machinery cross-domain control system on any terminal device with a browser, without the need to install special software or rely on specific hardware, breaking the limitations of traditional control systems in platform and region, and greatly improving the flexibility and convenience of control; The present application includes a communication module for establishing a bidirectional data transmission channel between the front-end interaction module and the ROS control module, and performing protocol conversion between Web data format and ROS message format; the ROS control module is connected with the engineering machinery, and is used to drive the actuator of the engineering machinery according to the control instruction converted by the communication module, and to collect the device operating state data collected by the sensor of the engineering machinery and feedback to the front-end interaction module after protocol conversion by the communication module; the present application not only ensures that the control instruction can drive the remote engineering machinery with low delay and high reliability, but also enables the device operating state data to be fed back to the front-end interaction module in real time, forming a complete control closed loop of "instruction-execution-feedback", and significantly improving the accuracy of control and the responsiveness of the system; The control instruction provided by the front-end interaction module of the present application includes an emergency stop instruction; the communication module assigns a special communication channel for the emergency stop instruction, which is independent of the regular control instruction; the ROS control module is configured to immediately cut off the power output of the engineering machinery after receiving the emergency stop instruction; the present application ensures that the device power can be immediately cut off in an emergency, ensuring personal and equipment safety; The front-end interaction module of the application is used to provide control instructions of multiple preset operation modes, and prestores parameter configuration templates corresponding to each operation mode; when a user selects or switches an operation mode, the front-end interaction module calls the corresponding parameter configuration template, and sends it to the ROS control module through the communication module to adjust the running state of the engineering machinery; the application quickly adapts to different working scenarios by calling the preset parameter template, reduces the professional threshold of the operator, and reduces the manual configuration time and error; combined with the fault early warning signal of the ROS control module, the device anomaly can be actively found, passive maintenance is changed into active early warning, and the attendance rate and overall working efficiency of the device are effectively improved. The front-end interaction module of the application visually displays the device running state data, can realize the integration of "monitoring, management and control" of the working state of the engineering machinery in one interface, greatly improves the information acquisition efficiency and situation awareness capability, helps the operator to analyze the long-term running condition of the device, finds potential problems in advance, provides strong support for the maintenance and management of the device, and improves the running reliability and service life of the engineering machinery. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural schematic diagram of an engineering machinery cross-domain control system in the embodiment 1 of the application. DETAILED DESCRIPTION

[0020] The application will be further described below in combination with the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the application, and cannot be used to limit the protection scope of the application.

[0021] Embodiment one

[0022] As shown in Figure 1 , the embodiment provides an engineering machinery cross-domain control system, which comprises: A front-end interaction module running in a user terminal browser, used to receive a user's control instruction and visually display device running state data; A communication module, used to establish a bidirectional data transmission channel between the front-end interaction module and the ROS control module, and perform protocol conversion between Web data format and ROS message format; A ROS control module connected with the engineering machinery, used to drive the actuator of the engineering machinery according to the control instruction converted by the communication module, and collect the device running state data collected by the sensor of the engineering machinery and feedback to the front-end interaction module after protocol conversion by the communication module; Among them, the transmission path of the control instruction from the front-end interaction module to the actuator of the engineering machinery, and the feedback path of the device running state data from the sensor of the engineering machinery to the front-end interaction module, constitute a closed loop control.

[0023] The front-end interaction module is developed with the Vue framework and runs in the web browser of the user terminal. It should be noted that the front-end interaction module supports cross-terminal device access.

[0024] The front-end interaction module builds a rich interactive interface through componentization, including: Control instruction input area: provides auxiliary input devices such as virtual joystick, virtual button, and virtual slider, for receiving user control instructions for construction machinery, such as travel, steering, and actuator action control instructions, and is provided with an emergency stop button for outputting an emergency stop instruction; Mode selection area: provides a menu or selection button for multiple preset running modes according to the type of construction machinery; Visual display area: integrates multiple visualization components for multi-dimensional display of equipment running state data.

[0025] In addition to the auxiliary input devices, the control instruction input area is also provided with an interface for inputting equipment running index parameters. The front-end interaction module is further configured to: receive administrator input equipment running index parameters; perform validity verification on the parameters; send the parameters that pass the validity verification to the ROS control module through the communication module; and when the parameters involve safety settings, trigger a secondary confirmation process before synchronization.

[0026] Visual display includes at least one of the following: real-time data of the instrument panel and historical data trend chart of the instrument panel; real-time position and motion trajectory of the equipment based on the site plan; 24-hour working status combined with time axis and heat map; real-time loading state information and historical loading trend icon of the construction machinery; real-time data of key operating indicators and historical key operating indicator change curve.

[0027] Visual display presents the equipment running state in intuitive charts, such as real-time parameter instrument panel and historical trend line chart, ensuring clear and readable information. In this embodiment, the visual display area includes an instrument panel visualization component, which visualizes the real-time data of the instrument panel and the historical data trend chart of the instrument panel, including but not limited to the current value and historical change curve of the instrument panel data such as engine speed, hydraulic pressure, and real-time power. In some embodiments, the real-time data of the key operating indicators and the historical key operating indicator change curve are visualized through the instrument panel visualization component.

[0028] In the embodiment, the visual display area includes a real-time positioning and motion trajectory tracking component based on the site plan, which visualizes the real-time position and motion trajectory based on the site plan. Specifically, in the digital site model, the real-time position of the engineering machinery is marked in real time according to satellite positioning data (such as GPS, Beidou, etc.), a motion trajectory line is generated, and the working path of the engineering machinery is intuitively displayed. Users can view the site details and the state of the engineering machinery.

[0029] In the embodiment, the visual display area includes a 24-hour working state heat map and timeline component, which visualizes the 24-hour working state in combination with the timeline and the heat map. Specifically, the active period of the engineering machinery in a day is intuitively displayed in the form of a heat map, and the abnormal working time period is marked.

[0030] In the embodiment, the visual display area includes a real-time loading state monitoring component of the engineering machinery, which visualizes the real-time loading state information and historical loading trend chart of the engineering machinery. Specifically, through sensor data, the loading completion rate of the carriage, the loaded volume, and other information are calculated and displayed in real time.

[0031] The front-end interaction module of the embodiment visualizes the device running state data, realizes the integration of "monitoring, management, and control" of the working state of the engineering machinery in one interface, greatly improves the information acquisition efficiency and situation awareness capability, helps the operator to analyze the long-term running condition of the device, and provides strong support for the maintenance and management of the device, thereby improving the running reliability and service life of the engineering machinery.

[0032] Through the front-end interaction module, the operator can access the engineering machinery cross-domain control system on any terminal device with a browser, without the need to install special software or rely on specific hardware, which breaks the limitations of traditional control systems in platform and region, and greatly improves the flexibility and convenience of control.

[0033] The communication module uses the WebSocket protocol to establish a bidirectional data transmission channel, and a protocol conversion engine based on the WebSocket protocol is used to perform protocol conversion between the Web data format and the ROS message format.

[0034] The protocol conversion includes converting the control instructions from the front-end interaction module from the Web data format to the ROS message format, and converting the device running state data from the ROS control module from the ROS message format to the Web data format.

[0035] In this embodiment, the protocol conversion engine based on the WebSocket protocol is a WebSocket-ROS protocol conversion engine. The core function of the engine is to parse and encapsulate the JSON format control instructions sent by the front-end interaction module through WebSocket into Topic messages or Service calls that can be recognized by the ROS system; at the same time, the Topic messages published by the ROS control module (including the equipment running state data collected by the sensors of the engineering machinery) are deserialized into JSON format and pushed to the front-end interaction module through WebSocket. This design realizes seamless bidirectional communication between the Web application and the ROS system.

[0036] The ROS control module is connected with the engineering machinery and is specifically deployed in the ROS (such as ROS Melodic or ROS2 Foxy) environment of the engineering machinery on-board computer and is connected with the actuators (such as hydraulic valves and motors) of the engineering machinery and the sensors (such as angle encoders, pressure sensors and IMUs) of the engineering machinery.

[0037] The ROS control module includes multiple functional nodes: The instruction processing node subscribes to the Topic messages of the control instructions converted by the communication module and calculates the control signals of each actuator; for the received emergency stop instruction, the node triggers the highest priority callback function and immediately issues a stop signal to the main hydraulic pump to cut off the power output of the engineering machinery.

[0038] The data acquisition node is responsible for collecting the equipment running state data collected by various sensors and publishing to the corresponding state Topic messages.

[0039] The fault monitoring node monitors the key parameters (such as hydraulic oil temperature and engine speed) in real time, generates a fault warning signal and publishes it to a specific alarm Topic message as soon as any parameter exceeds the preset safety threshold.

[0040] The mode management node receives the mode selection instruction or mode switching instruction and the corresponding parameter configuration template from the front-end interaction module, dynamically adjusts the PID parameters and speed limit of the controller, etc. to quickly adapt to different working scenarios.

[0041] In this embodiment, the control instructions are sent to the ROS control module after protocol conversion by the communication module from the front-end interaction module, and the actuators of the engineering machinery are controlled by the ROS control module. The transmission path of the control instructions constitutes a forward channel. The equipment running state data is sent from the sensors of the engineering machinery to the ROS control module, and is sent to the front-end interaction module after protocol conversion by the communication module. The feedback path of the equipment running state data constitutes a feedback channel. The forward channel and the feedback channel constitute a closed loop control.

[0042] This embodiment provides a control flow for an emergency stop command, including: when the control command provided by the front-end interaction module is an emergency stop command, the communication module allocates a dedicated communication channel for the emergency stop command that is independent of the regular control command; after receiving the emergency stop command, the ROS control module immediately cuts off the power output of the construction machinery.

[0043] This embodiment ensures that the equipment power can be cut off immediately in an emergency, thus protecting the safety of personnel and equipment.

[0044] It should be noted that after an emergency stop, password verification is required to restart, and before parameters are modified, validity checks and secondary confirmation are required, which constitutes a comprehensive security protection system from command transmission to parameter management.

[0045] This embodiment provides a control process for selecting or switching operating modes, including: the front-end interaction module calls the corresponding parameter configuration template and sends it to the ROS control module through the communication module; after receiving the instruction and its corresponding parameter configuration template, the ROS control module adjusts the operating status of the construction machinery.

[0046] This embodiment provides a fault warning control process, including: the ROS control module monitors the equipment operating status in real time, and generates a fault warning signal when any key parameter exceeds a preset safety threshold; the fault warning signal is sent to the front-end interaction module via the communication module to trigger an alarm prompt.

[0047] This embodiment quickly adapts to different operating scenarios by calling preset parameter templates, reducing the professional threshold for operators and reducing manual configuration time and errors; combined with the fault warning signals of the ROS control module, it can proactively detect equipment abnormalities, changing passive maintenance to proactive warning, effectively improving equipment uptime and overall operating efficiency.

[0048] This embodiment not only ensures that control commands can drive remote engineering machinery with low latency and high reliability, but also enables equipment operating status data to be fed back to the front-end interactive module in real time, forming a complete control closed loop of "command-execution-feedback", which significantly improves the accuracy of control and the responsiveness of the system.

[0049] Example 2

[0050] This embodiment provides a cross-domain control method for engineering machinery, including: Receive control commands sent by the user; Convert control commands from Web data format to ROS message format; The actuators of the construction machinery are driven according to the converted control commands; Collect equipment operating status data of construction machinery; Converting the device running state data from the ROS message format into a Web data format; Visualizing the converted device running state data; The control instruction transmission path and the device running state data feedback path form a closed-loop control.

[0051] The embodiment provides steps executed by the front-end interaction module in the engineering machinery cross-domain control method in embodiment one, and the steps comprise the following steps. Receiving a user control instruction through a browser; Converting the control instruction into a ROS message format through a communication module; Sending the converted control instruction to a ROS control module to control an engineering machinery actuator; Receiving device running state data fed back through the communication module and visualizing the device running state data in the browser.

[0052] The embodiment provides steps executed by the ROS control module in the engineering machinery cross-domain control method in embodiment one, and the steps comprise the following steps. Receiving a control instruction converted through a communication module, the control instruction originating from a front-end interaction module; Driving an engineering machinery actuator according to the control instruction; Collecting device running state data; Converting the device running state data into a Web data format through a communication module and feeding back the device running state data to the front-end interaction module.

[0053] Embodiment three

[0054] The embodiment provides a computer readable storage medium, and a computer program / instruction is stored on the computer readable storage medium, and the computer program / instruction is executed by a processor to realize the steps of the method in embodiment two.

[0055] Embodiment four

[0056] The embodiment provides a computer device, and the computer device comprises the following. A memory for storing a computer program / instruction; A processor for executing the computer program / instruction to realize the steps of the method in embodiment two.

[0057] Those skilled in the art will appreciate that embodiments of the present application can be readily used as software, hardware, or a combination of software and hardware. In a software embodiment, the methods can be tangibly embodied in a machine-readable storage medium having stored thereon instructions that can be used to program a computing device to perform the methods. The program instructions can be software supplied within hardware such as a computer or a dedicated machine. The software can be distributed on a computer program product, such as a compact disc, flash memory, or any other computer readable medium, to one or more systems or devices.

[0058] The present application is described in relation to flow diagrams and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It is understood that each block of the flow diagrams and / or block diagrams, and combinations of blocks in the flow diagrams and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing device, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flow diagrams and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flow diagram and / or block diagram block or blocks. Figure 1 one or more functions specified in the flow diagram and / or block diagram block or blocks.

[0059] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flow diagrams and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flow diagram and / or block diagram block or blocks. Figure 1 one or more functions specified in the flow diagram and / or block diagram block or blocks.

[0060] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flow diagrams and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flow diagram and / or block diagram block or blocks. Figure 1 one or more functions specified in the flow diagram and / or block diagram block or blocks.

[0061] The embodiments of the present application described above are illustrative, and are not meant to limit the scope of the present application to the exact construction details shown. This application is therefore to be construed in all aspects as illustrative only and not restrictive. Various modifications and changes can occur to those skilled in the art, which modifications and changes are desired to be embraced by the spirit and scope of this application as set forth in the claims.

Claims

1. A cross-domain control system for engineering machinery, characterized in that, include: The front-end interaction module runs on the user's terminal browser and is used to receive user control commands and visualize device operating status data. The communication module is used to establish a bidirectional data transmission channel between the front-end interaction module and the ROS control module, and to perform protocol conversion between Web data format and ROS message format; The ROS control module connects to the construction machinery and is used to drive the machinery's actuators according to the control commands converted by the communication module protocol. It also collects equipment operating status data from the machinery's sensors, converts it by the communication module protocol, and feeds it back to the front-end interaction module. The control system consists of a closed-loop control mechanism, which includes the transmission path of control commands from the front-end interaction module to the actuators of the construction machinery, and the feedback path of equipment operating status data from the sensors of the construction machinery to the front-end interaction module.

2. The cross-domain control system for engineering machinery according to claim 1, characterized in that, The communication module establishes a bidirectional data transmission channel using the WebSocket protocol and performs protocol conversion between Web data format and ROS message format through a protocol conversion engine built on the WebSocket protocol.

3. The cross-domain control system for engineering machinery according to claim 1, characterized in that, The control commands provided by the front-end interaction module include emergency stop commands; The communication module allocates a dedicated communication channel for the emergency stop command, which is independent of the regular control commands; The ROS control module is configured to immediately cut off the power output of the construction machinery upon receiving the emergency stop command.

4. The cross-domain control system for engineering machinery according to claim 1, characterized in that, The front-end interaction module is used to provide control instructions for a variety of preset operating modes, and has pre-stored parameter configuration templates corresponding to each operating mode; When a user selects or switches operating modes, the front-end interaction module calls the corresponding parameter configuration template and sends it to the ROS control module through the communication module to adjust the operating status of the construction machinery.

5. The cross-domain control system for engineering machinery according to claim 1, characterized in that, The ROS control module is also configured to monitor the equipment's operating status in real time and generate a fault warning signal when any key parameter exceeds a preset safety threshold. The fault warning signal is sent to the front-end interaction module via the communication module to trigger an alarm notification.

6. The cross-domain control system for engineering machinery according to claim 1, characterized in that, The front-end interaction module is developed using the Vue framework; The front-end interaction module visualizes the device's operating status data, including at least one of the following: Real-time data and historical data trend charts on the dashboard; Real-time location and movement trajectory of equipment based on site plan; The 24-hour operating status is presented using a combination of a timeline and a heatmap; Real-time loading status information and historical loading trend icons for construction machinery; Real-time data of key operating indicators and historical curves of key operating indicators.

7. The cross-domain control system for engineering machinery according to claim 1, characterized in that, The front-end interaction module is also configured as follows: Receive device operating parameters input by the administrator; Perform a validity check on the parameters; The parameters that pass the validity check are sent to the ROS control module through the communication module; When the parameters involve security settings, a secondary confirmation process is triggered before synchronization.

8. A method for cross-domain control of engineering machinery, characterized in that, Includes the following steps: Receive control commands sent by the user; Convert control commands from Web data format to ROS message format; The actuators of the construction machinery are driven according to the converted control commands; Collect equipment operating status data of construction machinery; Convert the device operating status data from ROS message format to Web data format; The converted equipment operating status data is then visualized. The control command transmission path and the equipment operation status data feedback path constitute a closed-loop control.

9. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method of claim 8.

10. A computer device, characterized in that, include: Memory, used to store computer programs / instructions; A processor for executing the computer program / instructions to implement the steps of the method of claim 8.

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