Automatic rotating control for alignment of rotating rotating

Abstract

Systems, methods, and other techniques for simultaneously performing alignment and retraction operations on a construction machine are described herein. A guide wire for guiding a machine tool of a construction machine is provided. An input signal for moving the construction machine to reduce an extension distance between the implement and the platform of the machine is received via a user input device. A first control signal is generated to move the construction machine to reduce the extension distance. During movement of the construction machine, a second control signal is generated to cause a boom of the machine to rotate horizontally relative to the platform such that the implement moves along and remains aligned with the guide wire.

Description

[0001] Citations of relevant applications

[0002] This application claims the benefit of priority to U.S. Patent Application No. 18 / 215,710, filed June 28, 2023, entitled “Automatic slewing control for alignment of a slewing boom machine,” the entire contents of which are incorporated herein by reference for all purposes. Background Technology

[0003] Modern mobile machinery, including construction and agricultural machinery, has significantly increased the efficiency of performing a wide range of work-related tasks. For example, earthmoving machines equipped with automatic slope control systems can level slopes in a work area with far fewer passes than previously done manually. As another example, modern asphalt pavers and other road manufacturers have enabled the replacement of old roads and the construction of new roads in hours and days, instead of weeks and months. Due to automation in various aspects, construction and agricultural projects can be carried out with far fewer workers than before. Technological breakthroughs in mobile machinery are largely due to the availability of precise sensors that allow for real-time monitoring of the condition and location of the machinery's components and / or the surrounding environment.

[0004] Despite improvements to modern mobile machinery, new systems, methods, and technologies are still needed. Summary of the Invention

[0005] The following provides an overview of several embodiments of the invention as a list of embodiments. As used below, any reference to a series of embodiments will be understood as a separate reference to each of those embodiments (e.g., "Embodiments 1-4" will be understood as "Embodiments 1, 2, 3 or 4").

[0006] Example 1 is a computer-implemented method comprising: setting a guide line for guiding a tool of construction machinery, the path of the guide line being related to the position of the construction machinery, the construction machinery having a boom, a platform, and a base frame, wherein the boom is semi-rigidly connected to the platform at a boom slewing joint, the boom is rotatable horizontally relative to the platform, and wherein the platform is semi-rigidly connected to the base frame; receiving, via a user input device, an input signal for moving the construction machinery to reduce the extension distance between the tool and the platform; generating a first control signal to cause the construction machinery to move to reduce the extension distance; and during the movement of the construction machinery, generating a second control signal to cause the boom to rotate horizontally relative to the platform, causing the tool to move along the guide line and remain aligned with it.

[0007] Example 2 is based on the method of Example 1, wherein a second control signal causes the boom slewing cylinder to extend or retract to cause the boom to rotate horizontally.

[0008] Example 3 is a method based on Examples 1 and 2, further comprising: calculating a horizontal boom angle to which the boom is to be rotated horizontally based on at least the extension distance, wherein a second control signal causes the boom to be rotated horizontally relative to the platform to the horizontal boom angle.

[0009] Example 4 is based on the method of Example 3, wherein the horizontal boom angle is further determined based on the orientation of the construction machinery and the offset angle between the guide lines.

[0010] Example 5 is the method according to Examples 1 to 4, further comprising: generating a third control signal during the movement of the construction machinery to cause the platform to rotate horizontally relative to the base frame, causing the implement to move along the guide line and remain aligned with it.

[0011] Example 6 is the method according to Example 5, further comprising: calculating a horizontal platform angle to which the platform is to be rotated horizontally based on at least the extension distance, wherein a third control signal causes the platform to be rotated horizontally relative to the base frame to the horizontal platform angle.

[0012] Example 7 is based on the method of Example 6, wherein the horizontal platform angle is further determined based on the orientation of the engineering machinery and the offset angle between the guide lines.

[0013] Example 8 is a method according to Examples 1 to 7, wherein the construction machinery is an excavator, and wherein the implement is a bucket.

[0014] Example 9 is a non-transitory computer-readable medium including instructions that, when implemented by one or more processors, cause the one or more processors to perform the following operations: setting a guide line for guiding a tool of construction machinery, the path of which is related to the position of the construction machinery, the construction machinery having a boom, a platform, and a base, wherein the boom is semi-rigidly connected to the platform at a boom slewing joint, the boom is rotatable horizontally relative to the platform, and wherein the platform is semi-rigidly connected to the base; receiving, via a user input device, an input signal for moving the construction machinery to reduce the extension distance between the tool and the platform; generating a first control signal to move the construction machinery to reduce the extension distance; and during the movement of the construction machinery, generating a second control signal to rotate the boom horizontally relative to the platform, causing the tool to move along the guide line and remain aligned with it.

[0015] Example 10 is a non-transitory computer-readable medium according to Example 9, wherein a second control signal causes the boom slewing cylinder to extend or retract to cause the boom to rotate horizontally.

[0016] Example 11 is a non-transitory computer-readable medium according to Examples 9 to 10, wherein the operation further includes: calculating a horizontal boom angle to which the boom is to be rotated horizontally based on at least the extension distance, wherein a second control signal causes the boom to be rotated horizontally relative to the platform to the horizontal boom angle.

[0017] Example 12 is a non-transitory computer-readable medium according to Example 11, wherein the horizontal boom angle is further determined based on the orientation of the engineering machinery and the offset angle between the guide lines.

[0018] Example 13 is a non-transitory computer-readable medium according to Examples 9 to 12, wherein the operation further includes: generating a third control signal during the movement of the construction machinery to cause the platform to rotate horizontally relative to the base frame, causing the implement to move along the guide line and remain aligned with it.

[0019] Example 14 is a non-transitory computer-readable medium according to Example 13, wherein the operation further includes: calculating a horizontal platform angle to which the platform is to be rotated horizontally based on at least the extension distance, wherein a third control signal causes the platform to be rotated horizontally relative to the chassis to the horizontal platform angle.

[0020] Example 15 is a non-transitory computer-readable medium according to Example 14, wherein the horizontal platform angle is further determined based on the orientation of the engineering machinery and the offset angle between the guide lines.

[0021] Example 16 is a non-transitory computer-readable medium according to Examples 9 to 15, wherein the construction machinery is an excavator, and wherein the implement is a bucket.

[0022] Example 17 is a mechanical control system for controlling construction machinery, the mechanical control system comprising: one or more processors; and a computer-readable medium including instructions that, when executed by the one or more processors, cause the one or more processors to perform the following operations: setting a guide line for guiding a implement of the construction machinery, the path of the guide line being related to the position of the construction machinery, the construction machinery having a boom, a platform, and a base frame, wherein the boom is semi-rigidly connected to the platform at a boom slewing joint, the boom is rotatable horizontally relative to the platform, and wherein the platform is semi-rigidly connected to the base frame; receiving, via a user input device, an input signal for moving the construction machinery to reduce the extension distance between the implement and the platform; generating a first control signal to cause the construction machinery to move to reduce the extension distance; and during the movement of the construction machinery, generating a second control signal to cause the boom to rotate horizontally relative to the platform, causing the implement to move along the guide line and remain aligned with it.

[0023] Example 18 is a mechanical control system according to Example 17, wherein a second control signal causes the boom slewing cylinder to extend or retract to cause the boom to rotate horizontally.

[0024] Example 19 is a mechanical control system according to Examples 17 to 18, wherein the operation further includes: calculating a horizontal boom angle to which the boom is to be rotated horizontally based on at least the extension distance, wherein a second control signal causes the boom to be rotated horizontally relative to the platform to the horizontal boom angle.

[0025] Example 20 is a mechanical control system according to Example 19, wherein the horizontal boom angle is further determined based on the orientation of the construction machinery and the offset angle between the guide lines.

[0026] Example 21 is a mechanical control system according to Examples 17 to 20, wherein the operation further includes: generating a third control signal during the movement of the construction machinery to cause the platform to rotate horizontally relative to the base frame, causing the implement to move along the guide line and remain aligned with it.

[0027] Example 22 is a mechanical control system according to Example 21, wherein the operation further includes: calculating a horizontal platform angle to which the platform is to be rotated horizontally based on at least the extension distance, wherein a third control signal causes the platform to be rotated horizontally relative to the base frame to the horizontal platform angle.

[0028] Example 23 is a mechanical control system according to Example 22, wherein the horizontal platform angle is further determined based on the orientation of the engineering machinery and the offset angle between the guide lines.

[0029] Example 24 is a mechanical control system according to Examples 17 to 23, wherein the construction machinery is an excavator, and wherein the implement is a bucket. Attached Figure Description

[0030] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this specification, illustrate embodiments of the disclosure and, together with the detailed description, serve to explain the principles of the disclosure. No attempt is made to illustrate the structural details of the disclosure in more detail than is required to achieve a basic understanding of the disclosure and the various ways in which it can be practiced.

[0031] Figure 1A and Figure 1B Exemplary engineering machinery is shown in perspective and top view.

[0032] Figure 2A , Figure 2B and Figure 2C An exemplary rotary motion of engineering machinery is shown.

[0033] Figure 3An exemplary rotational motion of an engineering machine based on a calculated rotation angle is shown.

[0034] Figure 4 An embodiment of an engineering machine is shown, in which alignment and retraction operations are performed simultaneously by horizontally rotating the boom.

[0035] Figure 5 An embodiment of an engineering machine is shown, in which alignment and retraction operations are performed simultaneously via a horizontally rotating platform.

[0036] Figure 6 An embodiment of an engineering machine is shown, in which alignment and retraction operations are performed simultaneously by horizontally rotating the boom and platform.

[0037] Figure 7 An exemplary mechanical control system is shown.

[0038] Figure 8 An exemplary method for controlling engineering machinery is shown.

[0039] Figure 9 An exemplary computer system including various hardware components is shown. Detailed Implementation

[0040] This invention relates to a new technology for controlling excavators, specifically designed to enhance the precision and efficiency of equipment operation. The described technology includes an automatically horizontally rotating boom and / or platform of the excavator to align a guide point on the excavator with a predetermined guideline while the operator retracts and moves the bucket closer to the platform. Therefore, the technology includes automatically performing the alignment operation while the operator manually performs the retraction operation. This alignment enables the excavator to perform digging tasks with improved precision and reduced need for manual intervention or repositioning of the equipment. This invention not only simplifies the digging process but also increases overall safety and productivity at the construction site by minimizing the risk of human error and facilitating precise and consistent movement of the excavator boom.

[0041] In the following description, several embodiments will be described. For purposes of explanation, specific constructions and details are set forth to provide a thorough understanding of the embodiments. However, it will also be apparent to those skilled in the art that the embodiments can be practiced without specific details. Furthermore, well-known features may be omitted or simplified so as not to obscure the described implementations.

[0042] The accompanying drawings follow a numbering convention where the first or first few digits correspond to the drawing number, and the remaining digits identify the elements or components in the drawing. Similar elements or components between different drawings can be identified by using similar digits. For example, 108 can refer to element "08" in Figure 1, and a similar element can be referred to as 208 in Figure 2. It should be understood that elements shown in the various embodiments herein can be added, interchanged, and removed to provide multiple additional embodiments of this disclosure. Furthermore, the scale and relative dimensions of the elements provided in the figures are intended to illustrate certain embodiments of this disclosure and should not be construed as limiting.

[0043] Figure 1A and Figure 1B Exemplary engineering machinery 100 according to some embodiments of the present disclosure is shown in perspective and top view, respectively. Specifically, Figure 1A An engineering machine 100 deployed at a construction site 101 is shown, and its control is at least partially implemented by a control unit 160. While the construction site 101 is generally described herein as corresponding to an earthmoving site, such as a road or building construction site, this disclosure is applicable to a wide variety of construction projects, repair projects, or agricultural projects using heavy equipment or mobile machinery. Similarly, while the engineering machine 100 is generally described herein as corresponding to earthmoving machinery, such as an excavator, the various techniques described herein are applicable to a wide variety of engineering machinery or heavy equipment, such as graders, bulldozers, backhoe excavators, trenchers, pavers (e.g., concrete, asphalt, slipform, vibratory, etc.), compactors, scrapers, loaders, material handlers, forklifts, combine harvesters, pavers, etc.

[0044] Construction machinery 100 can be implemented in various ways, such as a tractor with wheels, axles, and a gasoline, diesel, electric, or steam-powered engine that provides power and traction to travel along a desired path, and typically travels at a constant speed. Construction machinery 100 can be a tracked vehicle using continuous tracks or track pads driven by the vehicle's wheels. An operator can control construction machinery 100 by providing inputs to control unit 160 using a series of input devices, including joysticks, switches, buttons, pedals, a steering wheel, and a touchscreen. These inputs enable various actuators to move construction machinery 100.

[0045] In some cases, the construction machinery 100 includes implement 110, which may be a major component of the construction machinery 100 that interacts with elements of the construction site 101. For example, at an earthmoving site, implement 110 may be the blade of a bulldozer, the bucket of an excavator, or the roller of a compactor that interacts with soil (e.g., pushing, shoveling, cutting, etc.). As another embodiment, at an agricultural site, implement 110 may be the harvesting platform of a combine harvester or the boom of a paver. As another embodiment, at a road construction site, implement 110 may be the screed of an asphalt paver.

[0046] In some embodiments, the construction machinery 100 may include a chassis 106 supporting the entire mechanical structure. The chassis 106 is designed to provide stability, mobility, and ground clearance, thereby facilitating movement of the construction machinery 100 in various terrains and conditions. A platform 104 is positioned above the chassis 106 and is rotatable horizontally relative to the chassis 106 via a platform joint 120. The platform 104 serves as a base for mounting various components of the construction machinery 100, including a cab housing the operator of the construction machinery 100 and an arm 128 connecting a workpiece 110 to the platform 104, wherein the arm 128 includes a boom 102 and a stick 108. The platform's ability to rotate horizontally about a rotation axis 124 allows the construction machinery 100 to be easily maneuvered in confined spaces and improves its operational efficiency.

[0047] The boom 102 is vertically rotatable relative to the platform 104 and also horizontally rotatable relative to the platform 104 via the boom slewing joint 122. This dual-axis rotation allows the boom 102 to cover a wide range of movements and provides increased flexibility to the construction machinery 100 during operation. The stick 108 is pivotally connected to the boom 102. The combination of the stick 108 and the boom 102 enables the construction machinery 100 to achieve a greater reach and depth during excavation and material handling operations. The implement 110 is pivotally connected to the stick 108 and is designed to scoop, excavate, and transport materials during excavation and construction processes.

[0048] The construction machinery 100 also includes several cylinders for the movement of the boom 102, stick 108, and implement 110. The boom slewing cylinder 112 causes the boom 102 to rotate horizontally relative to the platform 104 about a rotation axis 126. The boom cylinder 114 causes the boom 102 to rotate vertically relative to the platform 104. The stick cylinder 116 causes the stick 108 to rotate relative to the boom 102, and the implement cylinder 118 causes the implement 110 to rotate relative to the stick 108. Each of these cylinders may be a hydraulic cylinder that converts the pressure of hydraulic fluid into mechanical force.

[0049] In some embodiments, boom 102 and platform 104 can be considered as separate bodies with a semi-rigid connection therebetween. This connection is semi-rigid because the bodies can move relative to each other, but can also be fixed in a given orientation. Boom 102 and platform 104 can therefore be considered as semi-rigidly connected. Similarly, underframe 106 and platform 104 can be semi-rigidly connected.

[0050] In some implementations, the control unit 160 can determine the geospatial location of the construction machinery 100 based on sensor data captured by one or more sensors mounted to the construction machinery 100. For example, a position sensor ( Figure 1A and Figure 1B (Not shown) can be installed on the construction machinery 100 and may include a Global Navigation Satellite System (GNSS) receiver that receives radio signals from one or more GNSS satellites. By processing the received radio signals, the geospatial location of the GNSS receiver can be calculated. The calculated geospatial location can help the control unit 160 determine the geospatial locations of various components of the construction machinery 100.

[0051] Figure 2A , Figure 2B and Figure 2C Exemplary rotary motion of an engineering machine 200 according to some embodiments of the present disclosure is shown. Figure 2A In this process, the engineering machinery 200 is controlled to rotate the platform 204 horizontally about axis 224 relative to the base frame 206 (by deflection motion) to achieve various horizontal platform angles θ formed between a first vector corresponding to the orientation of the engineering machinery 200 (or base frame 206) and a second vector corresponding to the orientation of the platform 204. P In some cases, construction machinery 100 can be designed such that the horizontal platform angle θ P It can vary between -180 degrees and 180 degrees, thus allowing the boom 202, stick 208 and implement 210 to achieve a wide range of positions.

[0052] exist Figure 2B In this process, the engineering machinery 200 is controlled to rotate the boom 202 horizontally relative to the platform 204 about the rotation axis 226 (by deflection motion) to achieve various horizontal boom angles θ formed between a first vector corresponding to the orientation of the platform 204 and a second vector corresponding to the orientation of the boom 202. B In some cases, construction machinery 100 can be designed such that the horizontal boom angle θ B It can vary between -90 degrees and 90 degrees, while in other embodiments, the horizontal boom angle θ B It can vary within a wider range of motion, such as between -135 and 135 degrees, or between -180 and 180 degrees.

[0053] exist Figure 2C In this process, two horizontal movements are executed simultaneously: the engineering machinery 200 is controlled to rotate the boom 202 horizontally relative to the platform 204 around the rotation axis 226, thereby achieving a horizontal boom angle θ. B Furthermore, the engineering machinery is controlled to allow the platform 204 to rotate horizontally relative to the base frame 206 around the axis 224, thereby achieving various horizontal platform angles θ. P .like Figure 2C As shown, the horizontal boom angle θ is controlled simultaneously. B and horizontal platform angle θ P Allows the boom 202, stick 208, and implement 210 to achieve ratio Figure 2A and Figure 2B A wider range of locations.

[0054] Figure 3 Exemplary rotational movement of a construction machinery 300 based on a calculated rotation angle, according to some embodiments of the present disclosure, is illustrated. In the illustrated embodiment, the construction machinery 300 includes a base frame 306, a platform 304, a boom 302, a stick 308, and implements 310 (e.g., a bucket). When operating on a construction site, the construction machinery 300 may be configured with a guide line 330 along which soil is to be removed. The guide line 330 may be positioned and oriented relative to the construction machinery 300.

[0055] In some embodiments, the operator of the construction machinery 300 can move the boom 302, stick 308, and implement 310 such that the guide point 332 on the implement 310 is aligned with the guide line 330. In some embodiments, the operator can do this by adjusting the horizontal boom angle θ around the rotation axis 326. B and / or the horizontal platform angle θ around the axis of rotation 324° P At the same time, it is approximately equal to zero. Next, the operator can operate the user input device installed on the construction machinery 300 to perform a retraction operation, such that the extension distance d between the guide point 332 and the rotation axis 326 is approximately zero. E Reduction. This may include raising the boom 302, lowering the stick 308, and / or lowering the implement 310. Input signals are sent to a control unit via an operator's input device, which generates control signals that are sent to the corresponding actuators (e.g., boom cylinder, stick cylinder, and / or actuator cylinder).

[0056] During the retraction operation, the control unit can automatically monitor the extension distance d. E The changes are used to calculate the horizontal boom angle θ required to allow guide point 332 to remain aligned with guide line 330. B and / or horizontal platform angle θ PThis allows alignment and retraction operations to be performed simultaneously. (In calculating angle θ) B and θ P After one or two of these processes, the control unit can generate a control signal, which is sent to the corresponding actuator (e.g., boom slewing cylinder, platform rotation actuator) to cause the boom 392 to rotate horizontally about the rotation axis 326 and the platform 394 to rotate horizontally about the rotation axis 324, thereby achieving the calculated angle. Each time a new extension distance d is detected... E In this case, the steps of calculating angles and generating control signals can be repeated.

[0057] Angle θ B and θ P It can be based on the extended distance d E and offset angle θ O Use trigonometric functions to calculate the offset angle θ. O It can be the angle formed between the orientation of the guide line 330 and the base frame 306 (or the orientation of the engineering machinery 300). Angle θ B and θ P The calculations can further consider the physical dimensions of the engineering machinery 300. For example, the distance between the rotation axis 324 and the guide point 332 and / or the distance between the rotation axes 324 and 326 will affect the calculation results. In some embodiments, a two-dimensional (2D) lookup table (LUT) 334 can be used to calculate the angle θ. B and θ P One or both. In some embodiments, the LUT 334 can be extended by a distance d. E and offset angle θ O To index, such that for a given pair of extension distances d E and offset angle θ O A pair of angles θ can be obtained. B and θ P Within it, the base frame 396 remains stationary and is therefore offset by an angle θ. O In some constant implementations, corresponding to the offset angle θ O When the retraction operation begins, one row from LUT 334 can be retrieved to form a one-dimensional (1D) LUT, which can use a varying extension distance d. E Repeated access. In some embodiments, the LUT 334 may also indicate which angles correspond to clockwise or counterclockwise rotation.

[0058] Figure 4An embodiment of an engineering machine 400, according to some embodiments of the present disclosure, is shown that simultaneously performs alignment and retraction operations by horizontally rotating the boom. The retraction operation refers to the process of pulling the machine's arms (boom 402 and stick 408) back towards the machine after they have been extended outward to dig or move material. This action is typically performed using hydraulic cylinders that control the movement of the boom 402 and stick 408, thereby allowing the operator to retract the boom and bring the implement 410 closer to the engineering machine 400. Figure 4 In one embodiment, the alignment operation includes automatically rotating the boom 402 horizontally relative to the platform 404 about the rotation axis 426, such that the tool 410 remains aligned with the guide line 430 throughout the retraction operation, without rotating the platform 404 horizontally relative to the base frame 406 about the rotation axis 424.

[0059] At time T1, the control unit of the engineering machinery 400 detected the first decrease in the extension distance, and based on the offset angle θ O And the extension distance calculation boom 402 will rotate horizontally to the first horizontal boom angle θ B1 Then, the control unit generates a control signal to rotate the boom 402 horizontally to the first horizontal boom angle θ. B1 Similarly, at time T2, the control unit detects a second decrease in the extension distance, and based on the offset angle θ O And the extension distance calculation boom 402 will rotate horizontally to the second horizontal boom angle θ B2 Then, the control unit generates a control signal to cause the boom 402 to rotate horizontally to the second horizontal boom angle θ. B2 Similarly, at time T3, the control unit detected a third decrease in the extension distance, based on the offset angle θ. O And the extension distance calculation of boom 402 will rotate horizontally to the third horizontal boom angle θ B3 Then, the control unit generates a control signal to cause the boom 402 to rotate horizontally to the third horizontal boom angle θ. B3 .

[0060] Figure 5 An embodiment of an engineering machine 500, according to some embodiments of the present disclosure, in which alignment and retraction operations are simultaneously performed via a horizontally rotating platform. Similar to... Figure 4 The retraction operation refers to the process of pulling the machine's boom (boom 502 and stick 508) back towards the machine after it has been extended outward to dig or move material. This action is typically performed using hydraulic cylinders that control the movement of boom 502 and stick 508, allowing the operator to retract the boom and bring the implement 510 closer to the construction machinery 500. Figure 5In one embodiment, the alignment operation includes automatically rotating the platform 504 horizontally relative to the base frame 506 about the rotation axis 524, such that the tool 510 remains aligned with the guide line 530 throughout the retraction operation, without rotating the boom 502 horizontally relative to the platform 504 about the rotation axis 526.

[0061] At time T1, the control unit of the engineering machinery 500 detected the first decrease in the extension distance, and based on the offset angle θ O The extension distance calculation platform 504 will be rotated horizontally to the first horizontal platform angle θ. P1 Then, the control unit generates a control signal to cause the platform 504 to rotate horizontally to a first horizontal platform angle θ. P1 Similarly, at time T2, the control unit detects a second decrease in the extension distance, and based on the offset angle θ O The extension distance calculation platform 504 will be rotated horizontally to the second horizontal platform angle θ. P2 Then, the control unit generates a control signal to cause platform 504 to rotate horizontally to the second horizontal platform angle θ. P2 Similarly, at time T3, the control unit detected a third decrease in the extension distance, based on the offset angle θ. O The extension distance calculation platform 504 will be rotated horizontally to the third horizontal platform angle θ. P3 Then, the control unit generates a control signal to cause platform 504 to rotate horizontally to the third horizontal platform angle θ. P3 .

[0062] Figure 6 An embodiment of an engineering machine 600, according to some embodiments of the present disclosure, is shown, which simultaneously performs alignment and retraction operations by horizontally rotating a boom and platform. Similar to... Figure 4 and Figure 5 The retraction operation refers to the process of pulling the machine's boom (boom 692 and stick 698) back towards the machine after it has been extended outward to dig or move material. This action is typically performed using hydraulic cylinders that control the movement of boom 692 and stick 698, allowing the operator to retract the boom and bring the implement 619 closer to the construction machinery 699. Figure 6 In one embodiment, the alignment operation includes automatically rotating the boom 692 horizontally relative to the platform 694 about the rotation axis 626, and rotating the platform 694 horizontally relative to the base frame 696 about the rotation axis 624, such that the tool 619 remains aligned with the guide line 639 throughout the retraction operation.

[0063] At time T1, the control unit of the engineering machinery 600 detected the first decrease in the extension distance, and based on the offset angle θ OThe extension distance calculation platform 604 will be rotated horizontally to the first horizontal platform angle θ. P1 Then, the control unit generates a control signal to cause the platform 604 to rotate horizontally to a first horizontal platform angle θ. P1 At time T2, the control unit detected a second decrease in the extension distance, based on the offset angle θ. O And the extension distance calculation boom 602 will rotate horizontally (in the clockwise direction) to the first horizontal boom angle θ B1 Platform 604 will be horizontally rotated (in a counterclockwise direction) to the second horizontal platform angle θ. P2 Then, the control unit generates a control signal to rotate the boom 602 horizontally to the first horizontal boom angle θ. B1 And cause platform 604 to rotate horizontally to the second horizontal platform angle θ P2 .

[0064] Similarly, at time T3, the control unit detected a third decrease in the extension distance, and based on the offset angle θ O And the extension distance calculation boom 602 will rotate horizontally (in the clockwise direction) to the second horizontal boom angle θ B2 Platform 604 will be horizontally rotated (counterclockwise) to the third horizontal platform angle θ. P3 Then, the control unit generates a control signal to rotate the boom 602 horizontally to the second horizontal boom angle θ. B2 And cause platform 604 to rotate horizontally to the third horizontal platform angle θ P3 Therefore, in some embodiments, the boom 602 and the platform 604 are rotated in opposite horizontal directions, namely clockwise and counterclockwise.

[0065] In some embodiments, the control unit may attempt to use only the horizontal platform angle θ P (For example, at time T1) Align the tool 610 with the guide line 630, and if only the horizontal platform angle θ is used P If it is impossible to align the tool 610 with the guide line 630, the control unit can use the horizontal platform angle θ. P and horizontal boom angle θ B Both (e.g., at times T2 and T3). In other embodiments, the control unit may attempt to use only the horizontal boom angle θ. B Align the tool 610 with the guide line 630, and if only the horizontal boom angle θ is used B If it is impossible to align the tool 610 with the guide line 630, the control unit can use the horizontal platform angle θ. P and horizontal boom angle θ B Both.

[0066] Figure 7 An exemplary mechanical control system 750 according to some embodiments of the present disclosure is illustrated. The mechanical control system 750 may include various input devices 752, sensors 754, actuators 756, and computing devices for allowing one or more operators of construction machinery to perform work-related tasks. Components of the mechanical control system 750 may be mounted to or integrated with components of the construction machinery, such that the construction machinery may include the mechanical control system 750. Components of the mechanical control system 750 may be communicatively connected to each other via one or more wired and / or wireless connections.

[0067] The mechanical control system 750 may include a control unit 760 that receives data and inputs from various sensors and generates commands to be sent to various actuators and output devices. In the illustrated embodiment, the control unit 760 receives input signals 753 from input device 752 and sensor data 755 from sensor 754, and generates control signals 757 to be sent to actuator 756. The control unit 760 may include one or more processors and associated memory. In some embodiments, the control unit 760 may be communicatively coupled to an external computing system 762 located outside the mechanical control system 750 and the construction machinery. The external computing system 762 may send instructions to the control unit 760 detailing work-related tasks. The external computing system 762 may also send alarms and other general information to the control unit 760, such as traffic conditions, weather conditions, the location and status of material transfer vehicles, etc.

[0068] An operator can use input device 752 to generate input signal 753, which indicates desired movement of the vehicle, desired movement of the implement, desired extension distance of the implement, desired height of the implement, activation of one or more mechanisms on the implement (e.g., sprayer, cutter, etc.). Input device 752 may include a keyboard, touch screen, touchpad, switch, joystick, button, steering wheel, accelerator pedal, brake pedal, etc. Input device 752 can be installed in any physical part of the vehicle, such as in the vehicle's cab, or may include one or more wearable or handheld devices.

[0069] Sensor 754 may include one or more position sensors 758 and / or inertial sensors 765. Position sensor 758 may be a combination of a GNSS receiver and a total station, whereby the GNSS receiver uses radio signals received from satellites to determine position, and the total station determines position by combining distance, vertical angle measurements, and horizontal angle measurements. Inertial sensor 765 may include one or more sensors that detect the motion of components rigidly attached to the engineering machinery. For example, inertial sensor 765 may include one or more gyroscopes for detecting angular acceleration, angular rate, and / or angular position; one or more accelerometers for detecting linear acceleration, linear velocity, and / or linear position; and one or more inertial measurement units (IMUs) that may each include one or more accelerometers, one or more gyroscopes, and / or one or more magnetometers for detecting data of the types listed above, among other possibilities.

[0070] The inertial sensor 765 can directly detect angular rate and integrate it to obtain angular position. Alternatively, the inertial sensor can directly measure angular position and determine the change in angular position (e.g., calculate the derivative) to obtain angular rate. In many cases, the inertial sensor 765 can be used to determine the yaw angle (rotation angle relative to the vertical axis), pitch angle (rotation angle relative to the lateral axis), and / or roll angle (rotation angle relative to the longitudinal axis) of engineering machinery.

[0071] Control unit 760 may include various controllers and modules to assist in generating control signal 757. Each of the controllers and modules may include dedicated hardware and / or may be executed using the main processor and / or memory of control unit 760. Control signal 757 may include a direct current (DC) or alternating current (AC) voltage signal, a DC or AC current signal, and / or a signal containing information. An embodiment of the information-containing signal may be a Controller Area Network (CAN) message, which may be transmitted along a CAN bus or other communication medium. In some cases, control signal 757 includes pneumatic or hydraulic pressure. Upon receiving control signal 757, actuator 756 may be caused to move in a specified manner, such as by extending, retracting, rotating, lifting, or lowering by a specified amount. Actuator 756 may use various forms of power to provide motion to components of the construction machinery. For example, actuator 756 may be electric, hydraulic, pneumatic, mechanical, or thermal, among other possibilities. Actuator 756 may include a boom cylinder, stick cylinder, actuator cylinder, boom slewing cylinder, among other possibilities.

[0072] Figure 8A method 800 for controlling engineering machinery according to some embodiments of the present disclosure is illustrated. The steps of method 800 can be performed in any order and / or in parallel, and one or more steps of method 800 can be performed optionally. One or more steps of method 800 can be performed by one or more processors, such as those included in a control unit. Method 800 can be implemented as a computer-readable medium or computer program product including instructions that, when implemented by one or more processors, cause the one or more processors to perform the steps of method 800.

[0073] In step 802, the control unit (e.g., control unit 160, 760) sets guide lines (e.g., guide lines 330, 430, 530, 630) for guiding implements (e.g., implements 110, 210, 310, 410, 510, 610) of the construction machinery (e.g., construction machinery 100, 200, 300, 400, 500, 600). The construction machinery may also include booms (e.g., booms 102, 202, 302, 402, 502, 602), platforms (e.g., platforms 104, 204, 304, 404, 504, 604), and underframes (e.g., underframes 106, 206, 306, 406, 506, 606). The guide lines may have linear or non-linear paths relative to the position and orientation of the construction machinery. A guide line can be defined by two or more 2D or 3D locations (e.g., a first location defining one end of the guide line and a second location defining the other end, or multiple locations defining points along the guide line, etc.). The location of the guide line can be determined based on site planning. For example, site planning might indicate the need to create a trench between two locations. The control unit can set the guide line after the construction machinery has positioned itself near the location where the guide line is to be set, or after the construction machinery can navigate to the location of the guide line.

[0074] In step 804, the control unit receives information via a user input device (e.g., input device 752) for moving the engineering machinery to reduce the extension distance (e.g., extension distance d). E The input signal (e.g., input signal 753) is used. The extension distance can be calculated as the distance between the platform and the implement of the construction machinery. The input signal can be generated by the operator of the construction machinery pulling a control lever to raise the boom and reduce the angle between the boom and stick (e.g., stick 108, 208, 308, 408, 508, 608) to bring the implement closer to the platform. In some embodiments, the extension distance can be calculated as the distance between the boom and the platform's axis of rotation (e.g., axis of rotation 126, 226, 326, 426, 526, 626) and the implement. More precisely, in some embodiments, the extension distance can be calculated from the edge of the implement, such as the teeth of an excavator's bucket.

[0075] In step 806, the control unit generates a first control signal (e.g., control signal 757) to cause the construction machinery to move to reduce the extension distance. For example, the first control signal may be generated in response to the control unit receiving an input signal. The first control signal may be sent to the actuators of the construction machinery (e.g., actuator 756) to control the raising of the boom (e.g., boom cylinder 114) and the reduction of the angle between the boom and the stick (e.g., stick cylinder 116).

[0076] In step 808, optionally, the control unit calculates the horizontal boom angle (e.g., horizontal boom angle θ). B The boom rotates horizontally relative to the platform to this horizontal boom angle. In some embodiments, the horizontal boom angle may be calculated based on the extension distance. In some embodiments, the horizontal boom angle may be further based on the orientation of the construction machinery and the offset angle between the guide line and the guide line (e.g., offset angle θ). O The calculation is performed using the method described above. In some embodiments, step 808 may be repeated to update the horizontal boom angle as the extension distance decreases during the movement generated by the first control signal.

[0077] In step 810, during the movement of the machinery caused by the first control signal, the control unit generates a second control signal (e.g., control signal 757) to cause the boom to rotate horizontally relative to the platform to a horizontal boom angle. In some embodiments, the second control signal may be repeatedly updated as the horizontal boom angle is repeatedly updated. The movement of the machinery caused by the second control signal, combined with the movement of the machinery caused by the first control signal, causes the implement to move along a guideline and remain aligned with the guideline as the boom rotates horizontally. In some embodiments, the guide point (e.g., guide point 332) may be set as a specific point on the implement. In this embodiment, the horizontal boom angle may be calculated such that the guide point moves along the guideline and remains aligned with the guideline as the boom rotates horizontally.

[0078] In step 812, optionally, the control unit calculates the horizontal platform angle (e.g., horizontal platform angle θ). P The platform rotates horizontally relative to the base frame to the horizontal platform angle. In some embodiments, the horizontal platform angle may be calculated based on the extension distance. In some embodiments, the horizontal platform angle may be further calculated based on the orientation of the engineering machinery and the offset angle between the guide line and the guide. In some embodiments, step 812 may be repeated to update the horizontal platform angle as the extension distance decreases during the movement generated by the first control signal.

[0079] In step 814, optionally, during the movement of the construction machinery caused by the first control signal, the control unit generates a third control signal (e.g., control signal 757) to cause the platform to rotate horizontally relative to the base frame to a horizontal platform angle. In some embodiments, the third control signal may be repeatedly updated as the horizontal platform angle is repeatedly updated. The movement of the construction machinery caused by the third control signal, combined with the movement of the construction machinery caused by the first control signal and the movement of the construction machinery caused by the second control signal, causes the implement to move along the guide line and remain aligned with the guide line as the boom rotates horizontally. In some embodiments, the horizontal platform angle may be calculated such that the guide point moves along the guide line and remains aligned with the guide line as the platform rotates horizontally.

[0080] Figure 9 An exemplary computer system 900 including various hardware elements according to some embodiments of the present disclosure is shown. The computer system 900 may be incorporated into or integrated with the apparatus described herein, and / or may be configured to perform some or all of the steps of the methods provided by various embodiments. For example, in various embodiments, the computer system 900 may be incorporated into a mechanical control system 750 and / or may be configured to perform method 800. It should be noted that... Figure 9 This is intended only to provide a general description of the various components, any or all of which may be used appropriately. Therefore, Figure 9 It broadly illustrates how individual system components can be implemented in a relatively separate or relatively more integrated manner.

[0081] In the illustrated embodiment, computer system 900 includes communication medium 902, one or more processors 904, one or more input devices 906, one or more output devices 908, communication subsystem 910, and one or more memory devices 912. Computer system 900 can be implemented using various hardware implementations and embedded system technologies. For example, one or more components of computer system 900 can be implemented in integrated circuits (ICs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), field-programmable gate arrays (FPGAs) (such as those commercially available from Xilinx®, Intel®, or Lattesemiconductor®), system-on-a-chip (SoCs), microcontrollers, printed circuit boards (PCBs), and / or hybrid devices (such as SoCs and FPGAs), among other possibilities.

[0082] Various hardware components of the computer system 900 can be communicatively connected via a communication medium 902. Although the communication medium 902 is shown as a single connection for clarity, it should be understood that the communication medium 902 can include various quantities and types of communication media for transmitting data between hardware components. For example, the communication medium 902 can include one or more wires (e.g., conductive traces, paths or leads on a PCB or integrated circuit (IC), microstrip, stripline, coaxial cable), one or more optical waveguides (e.g., optical fiber, stripline waveguide), and / or one or more wireless connections or links (e.g., infrared wireless communication, radio communication, microwave wireless communication), and other possibilities.

[0083] In some implementations, the communication medium 902 may include one or more buses connecting pins of hardware components of the computer system 900. For example, the communication medium 902 may include a bus (referred to as a system bus) connecting the processor 904 to main memory 914, and a bus (referred to as an expansion bus) connecting the main memory 914 to input device 906 or output device 908. The system bus itself may consist of several buses, including an address bus, a data bus, and a control bus. The address bus carries memory addresses from the processor 904 to address bus circuitry associated with the main memory 914, allowing the data bus to access data contained at the memory address and carry it back to the processor 904. The control bus may carry commands from the processor 904 and return status signals from the main memory 914. Each bus may include multiple wires for carrying multiple bits of information, and each bus may support serial or parallel data transmission.

[0084] Processor 904 may include one or more central processing units (CPUs), graphics processing units (GPUs), neural network processors or accelerators, digital signal processors (DSPs), and / or other general-purpose or special-purpose processors capable of executing instructions. The CPU may take the form of a microprocessor, which may be fabricated on a single IC chip with a metal-oxide-semiconductor field-effect transistor (MOSFET) structure. Processor 904 may include one or more multi-core processors, where each core can concurrently read and execute program instructions with other cores, thereby increasing the speed of multi-threaded programs.

[0085] Input device 906 may include one or more of various user input devices, such as a mouse, keyboard, microphone, and various sensor input devices, such as image capturing devices, temperature sensors (e.g., thermometers, thermocouples, thermistors), pressure sensors (e.g., barometers, tactile sensors), motion sensors (e.g., accelerometers, gyroscopes, tilt sensors), and light sensors (e.g., photodiodes, photodetectors, charge-coupled devices). Input device 906 may also include means for reading and / or receiving removable storage devices or other removable media. Such removable media may include optical discs (e.g., Blu-ray discs, DVDs, CDs), memory cards (e.g., compact flash memory cards, secure digital (SD) cards, Memory Sticks), floppy disks, Universal Serial Bus (USB) flash drives, external hard disk drives (HDDs) or solid-state drives (SSDs), etc.

[0086] Output device 908 may include one or more of a variety of devices for converting information into a human-readable form, such as, but not limited to, a display device, a speaker, a printer, a tactile or perceptual device, etc. Output device 908 may also include means for writing to removable storage devices or other removable media, such as those described with reference to input device 906. Output device 908 may also include various actuators for physically moving one or more components. Such actuators may be hydraulic, pneumatic, or electric, and may be controlled using control signals generated by computer system 900.

[0087] The communication subsystem 910 may include hardware components for connecting the computer system 900 to a system or device located outside the computer system 900, such as via a computer network. In various embodiments, the communication subsystem 910 may include wired communication devices (e.g., Universal Asynchronous Receiver-Transmitter (UART)), optical communication devices (e.g., optical modems), infrared communication devices, radio communication devices (e.g., wireless network interface controllers, BLUETOOTH® devices, IEEE 802.11 devices, Wi-Fi devices, Wi-Max devices, cellular devices), and other possibilities coupled to one or more input / output ports.

[0088] Memory device 912 may include various data storage devices of computer system 900. For example, memory device 912 may include various types of computer memory with varying response times and capacities, ranging from memory with faster response times and lower capacities, such as processor registers and caches (e.g., L0, L1, L2), to memory with medium response times and medium capacities, such as random access memory (RAM), to memory with lower response times and lower capacities, such as solid-state drives and hard disk drives. Although processor 904 and memory device 912 are shown as separate elements, it should be understood that processor 904 may include different levels of on-processor memory, such as processor registers and caches that may be used by a single processor or shared among multiple processors.

[0089] The memory device 912 may include a main memory 914, which can be directly accessed by the processor 904 via the address and data bus of the communication medium 902. For example, the processor 904 can continuously read and execute instructions stored in the main memory 914. Therefore, various software elements can be loaded into the main memory 914 for read and execution by the processor 904, such as... Figure 9 As shown. Typically, main memory 914 is volatile memory, which loses all data when the power is turned off, and therefore requires power to retain the stored data. Main memory 914 may also include a small portion of non-volatile memory containing software (e.g., firmware such as BIOS) used to read other software stored in memory device 912 into main memory 914. In some embodiments, the volatile memory of main memory 914 is implemented as RAM, such as dynamic random access memory (DRAM), and the non-volatile memory of main memory 914 is implemented as read-only memory (ROM), such as flash memory, erasable programmable read-only memory (EPROM), or electrically erasable programmable read-only memory (EEPROM).

[0090] Computer system 900 may include software elements, shown as currently residing within main memory 914, which may include an operating system, device drivers, firmware, compilers, and / or other code, such as one or more application programs, which may include computer programs provided by various embodiments of this disclosure. By way of example only, one or more steps described with respect to any of the methods discussed above may be implemented as instructions 916 executable by computer system 900. In one embodiment, such instructions 916 may be received by computer system 900 using communication subsystem 910 (e.g., via wireless or wired signals carrying instructions 916), carried by communication medium 902 to memory device 912, stored in memory device 912, read into main memory 914, and implemented by processor 904 to perform one or more steps of the described methods. In another embodiment, instruction 916 may be received by computer system 900 using input device 906 (e.g., via a reader for removable media), carried by communication medium 902 to memory device 912, stored in memory device 912, read into main memory 914, and implemented by processor 904 to perform one or more steps of the described method.

[0091] In some embodiments of this disclosure, instruction 916 is stored on a computer-readable storage medium (or simply a computer-readable medium). This computer-readable medium may be non-transitory and therefore may be referred to as a non-transitory computer-readable medium. In some cases, the non-transitory computer-readable medium may be incorporated into computer system 900. For example, the non-transitory computer-readable medium may be one of the memory devices 912 (such as…). Figure 9 (As shown). In some cases, the non-transitory computer-readable medium can be separated from the computer system 900. In one embodiment, the non-transitory computer-readable medium can be a removable medium provided to the input device 906 (such as...). Figure 9 (As shown), for example, those described with reference to input device 906, wherein instruction 916 is read into computer system 900 by input device 906. In another embodiment, the non-transitory computer-readable medium may be a component of a remote electronic device, such as a mobile phone, which can wirelessly transmit data signals that carry instruction 916 to computer system 900 and are received by communication subsystem 910 (as shown). Figure 9 (As shown).

[0092] Instruction 916 can take any suitable form to be read and / or implemented by computer system 900. For example, instruction 916 can be source code (written in a human-readable programming language such as Java, C++, C#, Python), object code, assembly language, machine code, microcode, implementable code, etc. In one embodiment, instruction 916 is provided to computer system 900 in the form of source code, and a compiler is used to convert instruction 916 from source code into machine code, which can then be read into main memory 914 for implementation by processor 904. As another embodiment, instruction 916 is provided to computer system 900 in the form of an implementable file with machine code, which can be immediately read into main memory 914 for implementation by processor 904. In various embodiments, instruction 916 can be provided to computer system 900 in encrypted or unencrypted form, compressed or uncompressed form, as an installation package or initialization for broader software deployment, among other possibilities.

[0093] In one aspect of this disclosure, a system (e.g., computer system 900) is provided to perform methods according to various embodiments of this disclosure. For example, some embodiments may include a system comprising one or more processors (e.g., processor 904) communicatively coupled to a non-transitory computer-readable medium (e.g., memory device 912 or main memory 914). The non-transitory computer-readable medium may have instructions stored therein (e.g., instruction 916) that, when implemented by one or more processors, cause one or more processors to perform the methods described in the various embodiments.

[0094] In another aspect of this disclosure, a computer program product including instructions (e.g., instruction 916) is provided to perform methods according to various embodiments of this disclosure. The computer program product may be tangibly embodied in a non-transitory computer-readable medium (e.g., memory device 912 or main memory 914). The instructions may be configured to cause one or more processors (e.g., processor 904) to perform the methods described in the various embodiments.

[0095] In another aspect of this disclosure, a non-transitory computer-readable medium (e.g., memory device 912 or main memory 914) is provided. The non-transitory computer-readable medium may have instructions stored therein (e.g., instruction 916) that, when implemented by one or more processors (e.g., processor 904), cause the one or more processors to perform the methods described in various embodiments.

[0096] The methods, systems, and apparatus discussed above are embodiments. Various configurations may appropriately omit, substitute, or add various processes or components. For example, in alternative configurations, the methods may be performed in a different order than described, and / or various stages may be added, omitted, and / or combined. Furthermore, features described with respect to certain configurations may be combined in various other configurations. Different aspects and elements of the configurations may be combined in a similar manner. Moreover, technology evolves, and therefore, many elements are embodiments and do not limit the scope of this disclosure or the claims.

[0097] Specific details are set forth in the description to provide a thorough understanding of the exemplary configurations, including implementation methods. However, the configurations may be practiced without these specific details. For example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary details to avoid obscuring the configurations. This description provides only exemplary configurations and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made to the function and arrangement of the elements without departing from the spirit or scope of this disclosure.

[0098] Several exemplary configurations have been described, and various modifications, alternative constructions, and equivalents may be used without departing from the spirit of this disclosure. For example, the above elements may be components of a larger system, wherein other rules may take precedence over or otherwise modify the application of this technology. Furthermore, multiple steps may be taken before, during, or after considering the above elements. Therefore, the foregoing description does not limit the scope of the claims.

[0099] As used herein and in the appended claims, the singular forms “a,” “an,” and “the” include plural references unless the context clearly indicates otherwise. Thus, for example, a reference to “user” includes a reference to one or more such users, and a reference to “processor” includes a reference to one or more processors and their equivalents known to those skilled in the art, and so on.

[0100] Furthermore, when used in this specification and the appended claims, the words “comprising,” “including,” “containing,” “having,” “possessing,” “with,” and “covering” are intended to specify the presence of the said feature, integral, component, or step, but do not exclude the presence or addition of one or more other features, integrals, components, steps, actions, or groups.

[0101] It should also be understood that the embodiments and implementations described herein are for illustrative purposes only, and various modifications or variations thereof will occur to those skilled in the art, and such modifications or variations will be included within the spirit and scope of this application and the scope of the appended claims.

Claims

1. A computer-implemented method, comprising: A guide line is provided for guiding the construction machinery, the path of which is related to the position of the construction machinery, which has a boom, a platform, and a base frame, wherein the boom is semi-rigidly connected to the platform at a boom slewing joint, the boom is rotatable horizontally relative to the platform, and wherein the platform is semi-rigidly connected to the base frame. The system receives input signals via a user input device for moving the engineering machinery to reduce the distance between the implement and the platform. Generate a first control signal to cause the engineering machinery to move in order to reduce the extension distance; and During the movement of the construction machinery, a second control signal is generated to cause the boom to rotate horizontally relative to the platform, so that the implement moves along the guide line and remains aligned with the guide line.

2. The method according to claim 1, wherein, The second control signal causes the boom slewing cylinder to extend or retract so that the boom rotates horizontally.

3. The method according to claim 1, further comprising: The horizontal boom angle to which the boom is to be rotated horizontally is calculated based on at least the extended distance, wherein the second control signal causes the boom to rotate horizontally relative to the platform to the horizontal boom angle.

4. The method according to claim 3, wherein, The horizontal boom angle is also determined based on the orientation of the construction machinery and the offset angle between the guide lines.

5. The method according to claim 1, further comprising: During the movement of the construction machinery, a third control signal is generated to cause the platform to rotate horizontally relative to the base frame, so that the implement moves along the guide line and remains aligned with the guide line.

6. The method according to claim 5, further comprising: The horizontal platform angle to which the platform is to be rotated horizontally is calculated based on at least the extended distance, wherein the third control signal causes the platform to rotate horizontally relative to the base frame to the horizontal platform angle.

7. The method according to claim 6, wherein, The angle of the horizontal platform is also determined based on the orientation of the engineering machinery and the offset angle between the guide lines.

8. The method according to claim 1, wherein, The construction machinery is an excavator, and the implement is a bucket.

9. A non-transitory computer-readable medium including instructions that, when executed by one or more processors, cause the one or more processors to perform the following operations: A guide line is provided for guiding the construction machinery, the path of which is related to the position of the construction machinery, which has a boom, a platform, and a base frame, wherein the boom is semi-rigidly connected to the platform at a boom slewing joint, the boom is rotatable horizontally relative to the platform, and wherein the platform is semi-rigidly connected to the base frame. The system receives input signals via a user input device for moving the engineering machinery to reduce the distance between the implement and the platform. Generate a first control signal to cause the engineering machinery to move in order to reduce the extension distance; and During the movement of the construction machinery, a second control signal is generated to cause the boom to rotate horizontally relative to the platform, so that the implement moves along the guide line and remains aligned with the guide line.

10. The non-transitory computer-readable medium according to claim 9, wherein, The second control signal causes the boom slewing cylinder to extend or retract so that the boom rotates horizontally.

11. The non-transitory computer-readable medium according to claim 9, wherein, The operation also includes: The horizontal boom angle to which the boom is to be rotated horizontally is calculated based on at least the extended distance, wherein the second control signal causes the boom to be rotated horizontally relative to the platform to the horizontal boom angle.

12. The non-transitory computer-readable medium according to claim 11, wherein, The horizontal boom angle is also determined based on the orientation of the construction machinery and the offset angle between the guide lines.

13. The non-transitory computer-readable medium according to claim 9, wherein, The operation also includes: During the movement of the construction machinery, a third control signal is generated to cause the platform to rotate horizontally relative to the base frame, so that the implement moves along the guide line and remains aligned with the guide line.

14. The non-transitory computer-readable medium according to claim 13, wherein, The operation also includes: The horizontal platform angle to which the platform is to be rotated horizontally is calculated based on at least the extended distance, wherein the third control signal causes the platform to rotate horizontally relative to the base frame to the horizontal platform angle.

15. The non-transitory computer-readable medium according to claim 14, wherein, The angle of the horizontal platform is also determined based on the orientation of the engineering machinery and the offset angle between the guide lines.

16. The non-transitory computer-readable medium according to claim 9, wherein, The construction machinery is an excavator, and the implement is a bucket.

17. A mechanical control system for controlling engineering machinery, the mechanical control system comprising: One or more processors; as well as A computer-readable medium including instructions that, when executed by the one or more processors, cause the one or more processors to perform the following operations: A guide line is provided for guiding the construction machinery, the path of which is related to the position of the construction machinery, which has a boom, a platform, and a base frame, wherein the boom is semi-rigidly connected to the platform at a boom slewing joint, the boom is rotatable horizontally relative to the platform, and wherein the platform is semi-rigidly connected to the base frame. The system receives input signals via a user input device for moving the engineering machinery to reduce the distance between the implement and the platform. Generate a first control signal to cause the engineering machinery to move in order to reduce the extension distance; and During the movement of the construction machinery, a second control signal is generated to cause the boom to rotate horizontally relative to the platform, so that the implement moves along the guide line and remains aligned with the guide line.

18. The mechanical control system according to claim 17, wherein, The second control signal causes the boom slewing cylinder to extend or retract so that the boom rotates horizontally.

19. The mechanical control system according to claim 17, wherein, The operation also includes: The horizontal boom angle to which the boom is to be rotated horizontally is calculated based on at least the extended distance, wherein the second control signal causes the boom to be rotated horizontally relative to the platform to the horizontal boom angle.

20. The mechanical control system according to claim 19, wherein, The horizontal boom angle is also determined based on the orientation of the construction machinery and the offset angle between the guide lines.

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