Control method and device for engineering machinery, engineering machinery and storage medium

Abstract

The invention discloses a control method and device for engineering machinery, the engineering machinery and a storage medium, and belongs to the technical field of engineering machinery. The control method comprises the following steps: for each working condition of the engineering machinery, acquiring frequency data of a movement mechanism at different movement speeds related to each working condition within a preset time period; according to the frequency data of the motion mechanism related to each working condition at different motion speeds, motion speed distribution of the motion mechanism related to each working condition is obtained; based on the motion speed distribution of the motion mechanism related to each working condition, determining a target mapping relationship between the motion speed of the motion mechanism related to each working condition and the operation stroke of the operation unit corresponding to the motion mechanism; and performing operation control on the engineering machinery based on the target mapping relationship between the movement speed of the movement mechanism related to each working condition and the operation stroke of the operation unit corresponding to the movement mechanism. The control precision of the movement mechanism is improved.

Description

Technical Field

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

[0002] Construction machinery (such as cranes) typically operates under various conditions, each with its own motion mechanism. During operation, operators usually manually adjust the travel of an operating unit (e.g., a handle) to regulate the speed of the corresponding motion mechanism under the current working condition. However, in practice, to maintain the stability of the machinery, the motion mechanism's speed is usually kept within a certain range. The operating unit's travel range is limited and typically evenly distributed across different speeds, making it difficult for operators to precisely adjust the speed within this range. This results in low control precision for the motion mechanism. Therefore, existing technologies suffer from insufficient control precision in the motion mechanisms of construction machinery. Summary of the Invention

[0003] The purpose of this application is to provide a control method, device, machinery, and storage medium for construction machinery, in order to solve the problem of low control accuracy of the motion mechanism of construction machinery in the prior art.

[0004] To achieve the above objectives, a first aspect of this application provides a control method for construction machinery, the construction machinery including multiple motion mechanisms and multiple operating units for controlling the motion mechanisms, the control method comprising: For each working condition of construction machinery, obtain frequency data of the motion mechanism involved in each working condition at different motion speeds within a preset time period; Based on the frequency data of the motion mechanisms involved in each working condition at different motion speeds, the motion speed distribution of the motion mechanisms involved in each working condition is obtained. Based on the motion speed distribution of the motion mechanism involved in each working condition, the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit of the motion mechanism is determined; Based on the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit, the operation control of the engineering machinery is carried out.

[0005] In this embodiment, based on the speed distribution of the motion mechanism involved in each working condition, a target mapping relationship between the speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit is determined. This includes: obtaining an initial mapping relationship between the speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit, wherein the initial mapping relationship includes the proportion of the initial operating stroke corresponding to each speed; determining the speed frequency proportion of the motion mechanism involved in each working condition based on the speed distribution of the motion mechanism involved in each working condition; and correcting the proportion of the initial operating stroke corresponding to each speed in the initial mapping relationship according to the speed frequency proportion, so as to obtain the target mapping relationship between the speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit.

[0006] In this embodiment of the application, the motion speed frequency ratio of the motion mechanism involved in each working condition is determined based on the motion speed distribution of the motion mechanism involved in each working condition. This includes: integrating the function corresponding to the motion speed distribution of the motion mechanism involved in each working condition to obtain the motion speed frequency ratio of the motion mechanism involved in each working condition.

[0007] In this embodiment, obtaining the initial mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit includes: obtaining the initial mapping relationship between the motion speed range of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit, wherein the initial mapping relationship includes the proportion of the initial operating stroke corresponding to each motion speed range; determining the motion speed frequency proportion of the motion speed of the motion mechanism involved in each working condition based on the motion speed distribution of the motion mechanism involved in each working condition includes: determining the motion speed frequency proportion of the motion speed range of the motion mechanism involved in each working condition based on the motion speed distribution of the motion mechanism involved in each working condition; correcting the proportion of the initial operating stroke corresponding to each motion speed in the initial mapping relationship according to the motion speed frequency proportion to obtain the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit, including: correcting the proportion of the initial operating stroke corresponding to each motion speed range in the initial mapping relationship according to the motion speed frequency proportion to obtain the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit.

[0008] In this embodiment of the application, the motion speed distribution of the motion mechanism involved in each working condition is obtained based on the frequency data of the motion mechanism under different motion speeds. This includes: fitting multiple motion speeds corresponding to the motion mechanism involved in each working condition with the frequency data corresponding to the multiple motion speeds to obtain the motion speed distribution of the motion mechanism involved in each working condition.

[0009] In this embodiment of the application, before fitting the multiple motion speeds and frequency data corresponding to the motion mechanisms involved in each working condition, the method further includes: removing frequency data that are less than the preset frequency threshold corresponding to the motion mechanisms involved in each working condition from the frequency data of the motion mechanisms involved in each working condition at different motion speeds, so as to filter the motion speeds corresponding to the motion mechanisms involved in each working condition.

[0010] In this embodiment, the operation control of the construction machinery is based on the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit of the motion mechanism. This includes: acquiring the target working condition of the construction machinery and the target motion speed of the target motion mechanism involved in the target working condition; determining the target operating stroke of the target operating unit corresponding to the target motion mechanism based on the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit of the motion mechanism; and controlling the target operating unit according to the target operating stroke to control the construction machinery to perform the operation corresponding to the target working condition.

[0011] A second aspect of this application provides a control device for construction machinery, comprising: a memory configured to store instructions; and a processor configured to retrieve the instructions from the memory and, when executing the instructions, to implement the control method for construction machinery as described above.

[0012] A third aspect of this application provides an engineering machinery, comprising: a plurality of motion mechanisms; a plurality of operating units for controlling the motion mechanism movements; and the control device for the engineering machinery as described above.

[0013] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the control method for engineering machinery described above.

[0014] The above technical solution involves construction machinery comprising multiple motion mechanisms and multiple operating units for controlling the motion mechanisms. For each working condition of the construction machinery, frequency data of the motion mechanisms involved in each working condition at different speeds within a preset time period are used to obtain the speed distribution of the motion mechanisms involved in each working condition. This clarifies the speed control rules of the motion mechanisms under different working conditions. Furthermore, based on the speed distribution of the motion mechanisms involved in each working condition, a target mapping relationship is determined between the speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit. Based on this target mapping relationship, the construction machinery is operated and controlled. In this way, compared to existing technologies, it does not simply distribute the operating stroke evenly across different speeds, but rather allocates more operating stroke to frequently used speeds according to the target mapping relationship. This facilitates fine-tuning of the motion mechanisms by operators within this speed range, improving the control accuracy of the construction machinery's motion mechanisms.

[0015] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 The illustration shows a schematic flowchart of a control method for engineering machinery according to an embodiment of this application; Figure 2 A schematic bar chart illustrating the relationship between motion speed and frequency percentage according to an embodiment of this application is shown. Figure 3 The diagram illustrates the motion speed distribution of the motion mechanism involved in the working conditions according to an embodiment of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0018] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0019] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0020] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0021] Figure 1 The illustration schematically shows a flow chart of a control method for engineering machinery according to an embodiment of this application. For example... Figure 1 As shown in the illustration, this application provides a control method for construction machinery. The construction machinery includes multiple motion mechanisms and multiple operating units for controlling the actions of the motion mechanisms. Taking the application of this control method to a processor as an example, the control method may include the following steps: Step S101: For each working condition of the construction machinery, obtain the frequency data of the motion mechanism involved in each working condition at different motion speeds within a preset time period.

[0022] Step S102: Based on the frequency data of the motion mechanism involved in each working condition at different motion speeds, obtain the motion speed distribution of the motion mechanism involved in each working condition.

[0023] Step S103: Based on the motion speed distribution of the motion mechanism involved in each working condition, determine the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit of the motion mechanism.

[0024] Step S104: Based on the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit, the engineering machinery is operated and controlled. Construction machinery, as we understand it, refers to machinery used for construction operations, such as cranes. Construction machinery includes multiple motion mechanisms and multiple operating units for controlling the movements of these mechanisms. Motion mechanisms are the movable mechanical components on the construction machinery, such as luffing mechanisms, hoisting mechanisms, and slewing mechanisms. Operating units are human-machine interface mechanical components used to receive operating commands, generate corresponding operating commands, and operate the corresponding motion mechanisms; examples include handles and electronic speed control switches. Operating condition refers to the running state of the construction machinery during operation. Operating condition can include at least one of the following: load weight, boom length, boom angle, boom radius, lifting torque, and engine speed. Load weight is the total mass of the lifted object. Boom length is the effective working length of the telescopic or fixed boom. Working angle is the angle between the boom and the horizontal plane. Working radius is the distance between the projection of the boom tip to the ground and the projection of the boom tail to the ground. Lifting torque percentage is the ratio between the torsional torque generated by the load weight at the boom root pivot point and the rated torque, expressed as a percentage. Engine speed is the number of rotations of the engine crankshaft per unit time. The preset time period is a pre-set time interval. Frequency data refers to the actual usage frequency of the motion mechanisms involved in each working condition at different motion speeds within the preset time period. Motion speed distribution is the relationship between motion speed and frequency data, or between motion speed and frequency data. Frequency data can be determined from frequency data and is used to characterize the frequency distribution characteristics of motion speed usage. The target mapping relationship is the mapping relationship between the motion speed of the motion mechanism and the operating stroke of the corresponding operating unit. Each working condition corresponds to multiple motion mechanisms, each motion mechanism corresponds to one operating unit, and each operating unit corresponds to one target mapping relationship.

[0025] Specifically, the construction machinery includes multiple motion mechanisms and multiple operation unit processors for controlling the movements of the motion mechanisms. For each working condition of the construction machinery, the processor can acquire frequency data of the motion mechanisms involved in each working condition at different motion speeds within a preset time period. Based on the frequency data of the motion mechanisms involved in each working condition at different motion speeds, the processor can determine the relationship between the motion speed and frequency data of the motion mechanisms involved in each working condition. Alternatively, the processor can determine the ratio of the frequency data at different motion speeds to the total frequency data to obtain the frequency data of the motion mechanisms involved in each working condition at different motion speeds within the preset time period, thereby obtaining the relationship between the motion speed and frequency data of the motion mechanisms involved in each working condition, i.e., the motion speed distribution of the motion mechanisms involved in each working condition. Further, based on the motion speed distribution of the motion mechanisms involved in each working condition, the processor can determine the target mapping relationship between the motion speed of the motion mechanisms involved in each working condition and the operating stroke of the corresponding operation unit. Based on the target mapping relationship between the motion speed of the motion mechanisms involved in each working condition and the operating stroke of the corresponding operation unit, the processor can operate the operation units on the construction machinery to control the construction machinery to perform its movements.

[0026] The above technical solution involves construction machinery comprising multiple motion mechanisms and multiple operating units for controlling the motion mechanisms. For each working condition of the construction machinery, frequency data of the motion mechanisms involved in each working condition at different speeds within a preset time period are used to obtain the speed distribution of the motion mechanisms involved in each working condition. This clarifies the speed control rules of the motion mechanisms under different working conditions. Furthermore, based on the speed distribution of the motion mechanisms involved in each working condition, a target mapping relationship is determined between the speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit. Based on this target mapping relationship, the construction machinery is operated and controlled. In this way, compared to existing technologies, it does not simply distribute the operating stroke evenly across different speeds, but rather allocates more operating stroke to frequently used speeds according to the target mapping relationship. This facilitates fine-tuning of the motion mechanisms by operators within this speed range, improving the control accuracy of the construction machinery's motion mechanisms.

[0027] In this embodiment, determining the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit based on the motion speed distribution of the motion mechanism involved in each working condition may include: obtaining an initial mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit, wherein the initial mapping relationship includes the proportion of the initial operating stroke corresponding to each motion speed; determining the motion speed frequency proportion of the motion speed of the motion mechanism involved in each working condition based on the motion speed distribution of the motion mechanism involved in each working condition; and correcting the proportion of the initial operating stroke corresponding to each motion speed in the initial mapping relationship according to the motion speed frequency proportion, so as to obtain the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit.

[0028] It can be understood that the initial mapping relationship is the original control logic between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit. The initial mapping relationship may include the initial operating stroke percentage corresponding to each motion speed. The initial operating stroke percentage is a pre-set percentage of the operating stroke corresponding to each motion speed. For example, the initial operating stroke percentage is the average operating stroke percentage corresponding to each motion speed. The motion speed frequency percentage is the percentage of the frequency of use of the motion speed.

[0029] Specifically, the processor can pre-obtain the initial mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit. Typically, the initial mapping relationship can be the mapping relationship between the motion speed of the motion mechanism and the average operating stroke. Based on the motion speed distribution of the motion mechanism involved in each working condition, the processor can determine the motion speed frequency ratio of the motion mechanism involved in each working condition, thereby correcting the initial operating stroke ratio corresponding to each motion speed in the initial mapping relationship to obtain the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit.

[0030] Based on the speed distribution of the motion mechanisms involved in each working condition, the processor corrects the initial operating stroke ratio corresponding to each motion speed in the initial mapping relationship. This corrects the original control logic between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit, thereby allocating a larger operating stroke ratio to high-frequency motion speeds. This results in a wider operating stroke corresponding to high-frequency motion speeds, enabling fine control of the working speed within a wider operating stroke and improving the control accuracy of the operating unit.

[0031] In this embodiment of the application, determining the frequency ratio of the motion speed of the motion mechanism involved in each working condition based on the motion speed distribution of the motion mechanism involved in each working condition may include: integrating the function corresponding to the motion speed distribution of the motion mechanism involved in each working condition to obtain the frequency ratio of the motion speed of the motion mechanism involved in each working condition.

[0032] It can be understood that the function corresponding to the velocity distribution of the motion mechanism involved in each working condition is the functional relationship between the velocity and frequency of the motion mechanism involved in each working condition.

[0033] Specifically, the processor performs linear or nonlinear fitting on the velocity distribution of the moving mechanisms involved in each working condition to obtain the function corresponding to the velocity distribution of the moving mechanisms involved in each working condition. Integrating this function yields the frequency proportion of the velocity distribution of the moving mechanisms involved in each working condition. Assume the function corresponding to the velocity distribution of the moving mechanisms involved in each working condition is:

[0034] in, The frequency percentage corresponding to the motion speed of the moving mechanisms involved in each working condition. The motion speed of the moving mechanisms involved in each working condition.

[0035] Integrating the above formula over the velocity range of (0,1) is as follows: This means that the frequency of motion in the (0,1) interval accounts for approximately 35.5%.

[0036] Based on this, by integrating the motion velocity distribution function, the frequency ratio of motion velocity of the motion mechanism involved in each working condition can be accurately obtained. This method replaces simple frequency statistics, avoids the errors caused by discrete statistics, and provides accurate data support for subsequent stroke allocation.

[0037] In this embodiment, obtaining the initial mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit includes: obtaining the initial mapping relationship between the motion speed range of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit, wherein the initial mapping relationship includes the proportion of the initial operating stroke corresponding to each motion speed range; determining the motion speed frequency proportion of the motion speed of the motion mechanism involved in each working condition based on the motion speed distribution of the motion mechanism involved in each working condition includes: determining the motion speed frequency proportion of the motion speed range of the motion mechanism involved in each working condition based on the motion speed distribution of the motion mechanism involved in each working condition; correcting the proportion of the initial operating stroke corresponding to each motion speed in the initial mapping relationship according to the motion speed frequency proportion to obtain the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit, which may include: correcting the proportion of the initial operating stroke corresponding to each motion speed range in the initial mapping relationship according to the motion speed frequency proportion to obtain the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit.

[0038] It can be understood that the motion speed range refers to the interval of motion speed. The initial mapping relationship can include the proportion of the initial operating stroke corresponding to each motion speed range. The function corresponding to the motion speed distribution of the motion mechanism involved in each working condition is the functional relationship between the motion speed range and frequency of the motion mechanism involved in each working condition.

[0039] Specifically, the processor can pre-obtain the initial mapping relationship between the motion speed range of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit. Typically, the initial mapping relationship can be the mapping relationship between the motion speed range of the motion mechanism and the average operating stroke. Based on the motion speed distribution of the motion mechanism involved in each working condition, the processor can determine the percentage of motion speed frequency in each motion speed range, thereby correcting the percentage of initial operating stroke corresponding to each motion speed range in the initial mapping relationship. Specifically, the percentage of motion speed frequency replaces the corresponding percentage of initial operating stroke to obtain the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit.

[0040] The processor can also modify the initial operating stroke ratio corresponding to each speed range in the initial mapping relationship based on the speed distribution of the motion mechanism involved in each working condition. This corrects the original control logic between the speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit, thereby allocating a larger operating stroke ratio to high-frequency motion speeds to obtain a wider operating stroke corresponding to the high-frequency motion speed range. This enables fine control of the working speed in a wider operating stroke, improving the control accuracy of the operating unit.

[0041] In this embodiment of the application, the motion speed distribution of the motion mechanism involved in each working condition is obtained based on the frequency data of the motion mechanism under different motion speeds. This may include: fitting multiple motion speeds corresponding to the motion mechanism involved in each working condition with the frequency data corresponding to the multiple motion speeds to obtain the motion speed distribution of the motion mechanism involved in each working condition.

[0042] It is understandable that fitting processes include linear fitting processes and nonlinear fitting processes.

[0043] Specifically, the processor fits multiple motion speeds and corresponding frequency data of the motion mechanisms involved in each working condition to obtain the motion speed distribution of the motion mechanisms involved in each working condition. This transforms discrete motion speed and frequency data into continuous, quantifiable speed distribution patterns, providing precise control relationships for the motion mechanisms involved in various working conditions of engineering machinery.

[0044] In this embodiment of the application, before fitting the multiple motion speeds and frequency data corresponding to the motion mechanisms involved in each working condition, the method further includes: removing frequency data that are less than the preset frequency threshold corresponding to the motion mechanisms involved in each working condition from the frequency data of the motion mechanisms involved in each working condition at different motion speeds, so as to filter the motion speeds corresponding to the motion mechanisms involved in each working condition.

[0045] It is understandable that the preset frequency threshold is a pre-set frequency threshold. The preset frequency thresholds corresponding to different motion mechanisms involved in different working conditions are different.

[0046] Specifically, before fitting the multiple motion speeds and frequency data corresponding to the motion mechanisms involved in each working condition, the processor can remove frequency data that are lower than the preset frequency threshold of the motion mechanisms involved in each working condition at different motion speeds. This filters outliers in the frequency data, reduces the interference of random errors, and enables the screening of motion speeds corresponding to the motion mechanisms involved in each working condition, making the subsequent fitting process more accurate.

[0047] In this embodiment of the application, the operation control of the construction machinery based on the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit of the motion mechanism may include: obtaining the target working condition of the construction machinery and the target motion speed of the target motion mechanism involved in the target working condition; determining the target operating stroke of the target operating unit corresponding to the target motion mechanism based on the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit of the motion mechanism; and controlling the target operating unit according to the target operating stroke to control the construction machinery to perform the operation corresponding to the target working condition.

[0048] It can be understood that the target working condition can be the working condition of the construction machinery at the current moment. The target working condition can involve multiple target motion mechanisms or just one. The target motion mechanism is the motion mechanism whose speed needs to be adjusted at the current moment. The target motion speed can be the motion speed of the construction machinery at the current moment. The target operating unit is the operating unit corresponding to the target motion mechanism. The target operating stroke is the operating stroke of the operating unit corresponding to the target motion speed of the target motion mechanism under the target working condition.

[0049] Specifically, the processor can pre-acquire the target working conditions of the construction machinery and the target motion speeds of the target motion mechanisms involved in the target working conditions. Based on the target mapping relationship between the motion speeds of the motion mechanisms involved in each working condition and the operating strokes of the corresponding operating units, the processor can determine the target mapping relationship between the motion speeds of the target motion mechanisms involved in the target working conditions and the operating strokes of the corresponding operating units. Substituting the target working conditions and target motion speeds into the above target mapping relationship, the processor can obtain the target operating stroke of the target operating unit corresponding to the target motion mechanism. Based on the target operating stroke, the processor controls the target operating unit, thereby controlling the construction machinery to perform the work corresponding to the target working condition. Based on the target mapping relationship between the motion speeds of the motion mechanisms involved in each working condition and the operating strokes of the corresponding operating units, the target operating stroke of the target operating unit corresponding to the target motion mechanism can be accurately determined according to the target working conditions and target motion speeds, improving the operability and ease of operation of the construction machinery.

[0050] Taking the superstructure operation of a crane as an example, multiple motion mechanisms are required during the superstructure operation of a crane. The motion mechanisms of a crane can include luffing, hoisting and slewing mechanisms. Different motion speed limits (i.e. design operating speeds) are designed for different motion mechanisms. However, under different working conditions (hereinafter referred to as working conditions), the motion speed limits of the involved motion mechanisms are not used. This will result in some invalid operating strokes of the operating unit that controls the motion mechanism, while the operating range of the other part of the effective operating stroke of the operating unit is small, making it difficult to achieve precise control of the motion speed of the motion mechanism, thus resulting in low operating accuracy of the operating unit.

[0051] Based on this, a specific embodiment of this application provides a control method for engineering machinery. The processor constructs the relationship between the motion speed and frequency of the moving mechanisms involved in various working conditions through the Internet of Things. Specifically, the processor can pre-acquire high-frequency working condition data: load weight, boom length, boom angle, boom amplitude, lifting torque, and engine speed, and acquire high-frequency working condition data and motion speed. The correspondence between them was established, and the high-frequency data and motion speed were discretized. At least one of the following parameters—load weight, boom length, boom angle, boom amplitude, lifting torque, and engine speed—was used as the working condition identifier. Statistics on various working conditions The different motion speeds corresponding to the different motion mechanisms involved Frequency of occurrence of the following Therefore, each working condition can be determined based on the following formula. The motion speeds corresponding to the motion mechanisms involved Frequency of occurrence of the following :

[0052] in, For the first Each working condition For the first A speed of movement, For the first The motion mechanism involved in the first working condition corresponds to the first The frequency of occurrence of each motion speed For the first The motion mechanism involved in the first working condition corresponds to the first The frequency of occurrence of each motion speed.

[0053] And each working condition The motion speeds corresponding to the motion mechanisms involved Frequency of occurrence of the following It also satisfies the following formula:

[0054] in, For the first The motion mechanism involved in the first working condition corresponds to the first The frequency of occurrence of each motion speed.

[0055] Under each working condition, based on the frequency of use of different motion speeds of the moving mechanisms involved in each condition, the frequency data of different motion speeds are determined. The motion speeds are then filtered out, removing approximately 5% of the total frequency used in each working condition, from highest to lowest, to obtain the effective operating speed distribution data after outlier filtering. This data is then normalized to ensure uniformity of dimensions and range, eliminating interference caused by data differences. Next, the operating speed data of the moving mechanisms involved in each working condition are discretized with equal width from lowest to highest, yielding the motion speed distribution of the moving mechanisms involved in each working condition. This motion speed distribution relationship is then linearly or nonlinearly fitted to obtain the target mapping relationship between the motion speed of the moving mechanisms involved in each working condition and the operating stroke of the corresponding operating unit. Based on this, the operation control of the construction machinery is performed according to the above target mapping relationship. In each working condition, the maximum operating stroke of the operating unit corresponds to the maximum motion speed, and the minimum operating stroke (e.g., 0) corresponds to the minimum motion speed (e.g., 0).

[0056] Specifically, assume that the velocity distribution of the target moving mechanism involved in this working condition is as shown in Table 1 below: Table 1: Distribution of Motion Velocity

[0057] After processing the above data, a bar chart showing the velocity distribution of the target moving mechanism involved in this working condition can be obtained, such as... Figure 2 As shown, the high-frequency motion speed is 1, and the low-frequency motion speed is 5.

[0058] After processing the above data, the processor can also obtain fitting data for constructing the motion velocity distribution of the target motion mechanism involved in this working condition, as shown in Table 2 below:

[0059] Based on Table 2, the relationship between the motion speed and frequency of the target motion mechanism involved in this working condition can be obtained, such as... Figure 3 As shown, under the same working conditions, the frequency of use from low to high operating speed is a linear function, indicating that the frequency of use decreases from low speed to high speed, which is used to represent the frequency distribution state corresponding to different movement speed ranges.

[0060] The processor can pre-obtain the initial mapping relationship between the motion speed of the moving mechanism involved in each working condition and the operating stroke of the corresponding operating unit. Typically, this initial mapping relationship can be a mapping relationship between the motion speed of the moving mechanism and the average operating stroke. Based on the motion speed distribution of the moving mechanism involved in each working condition, the processor can determine the frequency proportion of the motion speed of the moving mechanism involved in each working condition, thereby correcting the initial operating stroke proportion corresponding to each motion speed in the initial mapping relationship to obtain the target mapping relationship between the motion speed of the moving mechanism involved in each working condition and the operating stroke of the corresponding operating unit. Alternatively, the processor can also pre-obtain the initial mapping relationship between the motion speed range of the moving mechanism involved in each working condition and the operating stroke of the corresponding operating unit. Typically, this initial mapping relationship can be a mapping relationship between the motion speed range of the moving mechanism and the average operating stroke. The processor can integrate the motion speed distribution of the motion mechanism involved in each working condition to obtain the motion speed frequency ratio of the motion speed range of the motion mechanism involved in each working condition. This corrects the initial operation stroke ratio corresponding to each motion speed range in the initial mapping relationship. Specifically, the motion speed frequency ratio replaces the corresponding initial operation stroke ratio to obtain the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operation stroke of the corresponding operation unit. Taking the operation value of the operation unit 0-1000 as an example, the motion speed range (0-1) corresponds to the control value of operation unit 0-400, the motion speed range (1-2) corresponds to the control value of operation unit 401-700, the motion speed range (2-3) corresponds to the operation unit 700-900, and the motion speed range (3-4) corresponds to the operation unit 901-1000.

[0061] This invention obtains the motion speed distribution of target motion mechanisms involved in various working conditions through big data analysis. Based on the motion speed distribution of target motion mechanisms involved in various working conditions, it determines the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit. This enables the adaptive adjustment of the motion speed of the motion mechanism and the operating stroke of the corresponding operating unit, thereby improving the operating accuracy of the operating unit of the engineering machinery, enhancing the operability and ease of operation of the engineering machinery, and improving the level of intelligence.

[0062] This application also provides a control device for construction machinery, including: a memory configured to store instructions; and a processor configured to retrieve the instructions from the memory and, when executing the instructions, to implement the control method for construction machinery as described above.

[0063] This application also provides an engineering machinery, including: multiple motion mechanisms; multiple operating units for controlling the motion mechanism movements; and the control device for the engineering machinery as described above.

[0064] This application also provides a machine-readable storage medium storing instructions for causing a machine to execute the control method for engineering machinery described above.

[0065] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0066] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0067] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0068] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0069] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0070] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0071] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0072] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0073] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for engineering machinery, characterized in that, The engineering machinery includes multiple motion mechanisms and multiple operating units for controlling the movements of the motion mechanisms, and the control method includes: For each working condition of the construction machinery, obtain the frequency data of the motion mechanism involved in each working condition at different motion speeds within a preset time period; Based on the frequency data of the motion mechanism involved in each working condition at different motion speeds, the motion speed distribution of the motion mechanism involved in each working condition is obtained. Based on the motion speed distribution of the motion mechanism involved in each of the aforementioned working conditions, a target mapping relationship is determined between the motion speed of the motion mechanism involved in each of the aforementioned working conditions and the operating stroke of the corresponding operating unit of the motion mechanism; Based on the target mapping relationship between the motion speed of the motion mechanism involved in each of the aforementioned working conditions and the operating stroke of the corresponding operating unit, the engineering machinery is operated and controlled.

2. The control method according to claim 1, characterized in that, The determination of the target mapping relationship between the motion speed of the motion mechanism involved in each of the aforementioned working conditions and the operating stroke of the corresponding operating unit, based on the motion speed distribution of the motion mechanism involved in each of the aforementioned working conditions, includes: Obtain the initial mapping relationship between the motion speed of the motion mechanism involved in each of the aforementioned working conditions and the operating stroke of the corresponding operating unit of the motion mechanism, wherein the initial mapping relationship includes the proportion of the initial operating stroke corresponding to each motion speed; Based on the motion speed distribution of the motion mechanism involved in each of the aforementioned working conditions, determine the motion speed frequency ratio of the motion mechanism involved in each of the aforementioned working conditions. The initial operating stroke ratio corresponding to each motion speed in the initial mapping relationship is corrected according to the motion speed frequency ratio, so as to obtain the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit of the motion mechanism.

3. The control method according to claim 2, wherein determining the frequency ratio of the motion speed of the motion mechanism involved in each of the operating conditions based on the motion speed distribution of the motion mechanism involved in each of the operating conditions includes: Integrate the function corresponding to the motion speed distribution of the motion mechanism involved in each of the aforementioned working conditions to obtain the motion speed frequency ratio of the motion mechanism involved in each of the aforementioned working conditions.

4. The control method according to claim 2, characterized in that, The process of obtaining the initial mapping relationship between the motion speed of the motion mechanism involved in each of the aforementioned working conditions and the operating stroke of the corresponding operating unit includes: Obtain the initial mapping relationship between the motion speed range of the motion mechanism involved in each of the aforementioned working conditions and the operating stroke of the corresponding operating unit of the motion mechanism, wherein the initial mapping relationship includes the proportion of the initial operating stroke corresponding to each motion speed range; The determination of the frequency ratio of the motion speed of the motion mechanism involved in each of the aforementioned working conditions, based on the motion speed distribution of the motion mechanism involved in each of the aforementioned working conditions, includes: Based on the motion speed distribution of the motion mechanism involved in each of the aforementioned working conditions, the percentage of motion speed frequency in each of the motion speed ranges of the motion mechanism involved in each of the aforementioned working conditions is determined. The step of correcting the initial operating stroke ratio corresponding to each motion speed in the initial mapping relationship based on the motion speed frequency ratio, so as to obtain the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit of the motion mechanism, includes: The initial operating stroke ratio corresponding to each motion speed interval in the initial mapping relationship is corrected according to the motion speed frequency ratio, so as to obtain the target mapping relationship between the motion speed of the motion mechanism involved in each working condition and the operating stroke of the corresponding operating unit of the motion mechanism.

5. The control method according to claim 1, characterized in that, The step of obtaining the motion speed distribution of the motion mechanism involved in each of the aforementioned working conditions based on the frequency data of the motion mechanism at different motion speeds includes: The motion speeds of the motion mechanisms involved in each of the aforementioned working conditions and the frequency data corresponding to the multiple motion speeds are fitted to obtain the motion speed distribution of the motion mechanisms involved in each of the aforementioned working conditions.

6. The control method according to claim 5, characterized in that, Before performing the fitting process on the multiple motion speeds and frequency data corresponding to the motion mechanisms involved in each of the aforementioned working conditions, the method further includes: Remove frequency data that are lower than the preset frequency threshold corresponding to the motion mechanism involved in each working condition from the frequency data of the motion mechanism at different motion speeds, so as to filter the motion speed corresponding to the motion mechanism involved in each working condition.

7. The control method according to claim 1, characterized in that, The operation control of the engineering machinery is based on the target mapping relationship between the motion speed of the motion mechanism involved in each of the aforementioned working conditions and the operating stroke of the corresponding operating unit of the motion mechanism, including: Obtain the target operating condition of the engineering machinery and the target motion speed of the target motion mechanism involved in the target operating condition; Based on the target mapping relationship between the motion speed of the motion mechanism involved in each of the aforementioned working conditions and the operating stroke of the corresponding operating unit of the motion mechanism, the target operating stroke of the target operating unit corresponding to the target motion mechanism is determined according to the target working condition and the target motion speed. The target operating unit is controlled according to the target operating stroke to control the construction machinery to perform the operation corresponding to the target working condition.

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

9. An engineering machinery, characterized in that, include: Multiple sports organizations; Multiple operating units are used to control the motion mechanism's movements; The control device for engineering machinery according to claim 8.

10. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the control method for engineering machinery according to any one of claims 1 to 7.

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