Control test method, arrangement, system, program product for a working machine

Abstract

This application discloses a control testing method, apparatus, system, and program product for construction machinery. Relating to the field of construction machinery technology, the method includes: acquiring electrical signals generated from operating components for controlling actuators, and matching the electrical signals with corresponding operating actions to form a corresponding control mapping relationship; generating control signals based on the control mapping relationship to drive the actuator using either a host computer or a physical input device. By matching and analyzing the electrical signals of the operating components and establishing control mapping relationships, a structured expression of the control principle of construction machinery can be achieved, and control signals can be generated based on the control mapping relationship, realizing integrated processing of control principle detection and control testing, improving testing efficiency and consistency.

Description

Technical Field

[0001] This application relates to the field of engineering machinery control technology, and in particular to a control and testing method, device, system, and program product for engineering machinery. Background Technology

[0002] In existing technologies, the testing of engineering machinery control principles typically relies on general electrical testing tools such as oscilloscopes and multimeters to manually collect and analyze electrical signals generated by operating components. This method often only acquires local or instantaneous signal data, making it difficult to systematically and continuously record changes in electrical signals throughout the entire control operation process. Furthermore, it lacks an effective correlation between signals and specific operational processes, and the test results are highly dependent on human experience, exhibiting poor repeatability and consistency.

[0003] Furthermore, in existing technologies, control principle detection and control testing are usually independent of each other. Even if the range or type of control signal is initially determined manually, it is difficult to directly convert the detection results into reusable control parameters to generate control signals and drive actuators for verification testing. This results in a cumbersome control principle verification process, low testing efficiency, and difficulty in forming a standardized and reproducible detection and testing process.

[0004] Therefore, there is an urgent need for a control testing method and device for engineering machinery that can record the electrical signals generated by the operating components throughout the entire process without changing the original structure of the engineering machinery, form a control mapping relationship corresponding to the electrical signals, configure control parameters based on the control mapping relationship, and generate control signals for driving the actuators. This would enable effective detection and control testing of the control principle of engineering machinery, and overcome the problems of the existing technology, such as the scattered detection process, reliance on manual experience, and difficulty in reusing the detection results. Summary of the Invention

[0005] The main objective of this application is to provide a control testing method, device, system, and program product for engineering machinery, aiming to solve the following problems: First, in existing technologies, control principle testing mainly relies on manual acquisition using general testing tools such as oscilloscopes. This makes it difficult to record the electrical signals generated by the operating components continuously and throughout the entire process, and fails to systematically reflect the correspondence between operating actions and electrical signals, resulting in incomplete and inaccurate control logic identification.

[0006] Secondly, in existing technologies, control principle detection and control testing are separated. The range or type of the detected signals is difficult to directly convert into reusable control parameters, and control signals for driving actuators cannot be directly generated, resulting in repetitive testing processes, low efficiency, and insufficient standardization.

[0007] Third, existing technologies struggle to achieve overall testing and verification of the vehicle control chain without altering the original structure of the engineering machinery. In particular, at the vehicle level, there is a lack of an automated testing solution that can both collect signals from operating components and replace the output control signals of those components.

[0008] To achieve the above objectives, this application proposes a control testing method for engineering machinery, the method comprising: Acquire electrical signals generated from the operating components for controlling the actuators, and match the electrical signals with corresponding operating actions to form a corresponding control mapping relationship; A control signal is generated based on the control mapping relationship, so that one of the host computer or physical input device drives the actuator.

[0009] In one embodiment, the electrical signal includes at least one of a digital voltage signal, an analog voltage signal, an analog resistance signal, and an analog current signal.

[0010] In one embodiment, matching the electrical signal with the corresponding operation action to form a corresponding control mapping relationship includes: Record the waveform data of the electrical signal; The change process of the electrical signal is associated with and recorded in relation to the control operation process of the engineering machinery; Generate a recording data file corresponding to the electrical signal.

[0011] In one embodiment, matching the electrical signal with the corresponding operation action to form a corresponding control mapping relationship further includes: Generate corresponding control waveform curves based on the recorded data file; Extract signal parameters for characterizing the control logic from the control waveform curve; the signal parameters include at least a minimum value and a maximum value. The output range and type of the controller's output electrical signal are determined based on the signal parameters; and Based on the output range and electrical signal type, the mapping relationship between the input signal and the output electrical signal is set.

[0012] In one embodiment, the step of generating a control signal based on the control mapping relationship to drive an actuator by either a host computer or a physical input device includes: Based on the control mapping relationship, the type and range of electrical signals output by the controller are determined. Configure control parameters for controller output based on the electrical signal type and output range; and The corresponding control signal is generated based on the control parameters, and the actuator is driven to perform the corresponding action through the control signal.

[0013] In one embodiment, the method further includes: The parameter set, which combines multiple control parameters, is mapped to the physical input device to form an operation set adapted to the actuator driven by the physical input device.

[0014] Furthermore, to achieve the above objectives, this application also proposes a control and testing device for engineering machinery, characterized in that the device comprises: The controller includes multiple probes, which acquire electrical signals from the construction machinery through the probes and generate control signals for driving the actuators based on control parameters. The host computer is communicatively connected to the controller and is used to acquire electrical signals from the controller, record the entire process of the electrical signals, form a control mapping relationship corresponding to the electrical signals, configure control parameters according to the control mapping relationship, and send them to the controller. The communication module is used to establish a data communication connection between the controller and the host computer; A physical input device, connected to the controller, is used as a control input to participate in the generation of the control signal; The power management module is used to supply power to the controller, communication module and physical input devices, and supports switching between external power supply and internal power supply.

[0015] In one embodiment, the host computer further includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the method.

[0016] Furthermore, to achieve the above objectives, this application also proposes a control and testing system for engineering machinery, characterized in that the system comprises: Construction machinery, including operating components, actuators, and connectors disposed between the operating components and the actuators; The device, wherein the probe of the device is connected to the connector; The device acquires the electrical signal generated by the operating component through the probe; and In the controlled test state, the probe outputs a control signal generated based on the control mapping relationship to the actuator to realize the automatic testing of the engineering machinery.

[0017] In addition, to achieve the above objectives, this application also proposes a computer program product, characterized in that the computer program product includes a computer program, which, when executed by a processor, implements the steps of the method described.

[0018] One or more technical solutions proposed in this application have at least the following technical effects: First, by recording the electrical signals generated by the operating components throughout the entire process and matching the changes in the electrical signals with the operating actions, a structured control mapping relationship is formed. This transforms the control logic, which originally relied on human experience for judgment, into quantifiable and reproducible mapping rules, thereby improving the accuracy and consistency of control principle identification.

[0019] Second, by configuring control parameters based on the control mapping relationship and generating corresponding control signals, the results obtained in the detection phase can be directly used in the control testing phase, realizing a closed-loop connection between control principle detection and control testing, avoiding repeated manual debugging, and improving testing efficiency.

[0020] Third, by setting up a controller and multiple probes, the control and testing device can complete signal acquisition and signal output switching without changing the original electrical structure of the engineering machinery. It has good adaptability and expandability and can be applied to different types of engineering machinery.

[0021] Fourth, by introducing physical input devices to participate in the generation of control signals, the testing process becomes more intuitive and controllable, and multiple control parameters can be combined and mapped to physical input devices to achieve standardized operation sets, thereby improving the convenience and operability of vehicle-level testing.

[0022] Fifth, by combining engineering machinery with control testing devices to form a complete control testing system, the detection of vehicle control principles and control testing can be integrated into a unified system, which is conducive to the debugging and verification of unmanned engineering machinery and improves the development and maintenance efficiency of vehicle control systems. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart illustrating the control test method of this application; Figure 2 This is a structural block diagram of the control and testing device of this application; Figure 3 This is a schematic diagram of the architecture of the control and testing device of this application; Figure 4 A schematic diagram of the architecture of the control test system for this application during principle testing; Figure 5 This is a schematic diagram of the architecture for conducting control tests on the control test system of this application.

[0026] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0027] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0028] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0029] The main solution in this application embodiment is: In this embodiment, for ease of description, the following description will focus on identifying the host computer as the execution subject.

[0030] Current technologies for testing the control principles of engineering machinery primarily rely on general electrical testing tools such as oscilloscopes and multimeters, manually collecting and analyzing electrical signals generated by operating components. This type of testing typically focuses on single-point measurements or instantaneous sampling, making it difficult to cover the entire control operation from start to finish and failing to systematically reflect the continuous changes in electrical signals at different operational stages. When control signals exhibit nonlinear changes, piecewise variations, or short-term fluctuations, existing testing methods are prone to missing crucial information, leading to incomplete or inaccurate understanding of the control principles.

[0031] In existing testing processes, the acquisition of electrical signal data and the actual operation of the control components are usually separate. Testing personnel need to rely on experience to subjectively correlate signal changes with operational behaviors. Due to the lack of structured records of the correlation between signal changes and operational processes, different testing personnel may have different understandings of the same control process, resulting in poor consistency and repeatability of test results and making it difficult to form a standardized description of control principles.

[0032] In existing technologies, control principle verification and control testing are often performed as two independent steps. Even if the type or approximate range of the control signal is initially determined manually, the information obtained is usually in the form of empirical conclusions or scattered data, which is difficult to directly convert into reusable control parameters for generating control signals and driving actuators for verification testing. This fragmented approach leads to the need for multiple repeated trials in the control principle verification process, resulting in low overall efficiency.

[0033] Because existing technologies lack a unified organization and management mechanism for detection data, analysis results, and testing processes, control principle detection results often cannot be directly used for subsequent control testing, nor can they be reused in different equipment or different operating scenarios. This makes it difficult to standardize and streamline the detection and testing process, which is not conducive to the unmanned and drive-by-wire transformation requirements of construction machinery. To address the shortcomings of the existing technologies, this application proposes an improvement approach centered on control mapping relationships, taking an integrated approach to control principle detection and control testing of construction machinery.

[0034] By recording the electrical signals generated by the operating components throughout the entire process, the continuous change characteristics of the electrical signals during the control operation are systematically collected, and a correspondence is established between the electrical signal data and the specific control operation process. This avoids the problem of relying solely on instantaneous sampling or human experience for judgment, making the acquisition of control principles more complete and objective.

[0035] Based on this, the electrical signal data recorded throughout the process are organized and analyzed to form a control mapping relationship that can characterize the control logic. This transforms the control principle from an empirical description into a structured and parameterizable expression. Through this control mapping relationship, the results obtained in the detection phase can be directly used for subsequent control parameter configuration, avoiding the disconnect between detection results and control testing.

[0036] Furthermore, control parameters are configured based on the aforementioned control mapping relationship, and control signals for driving the actuators are generated, forming a unified closed-loop process for control principle detection and control testing, thereby improving the efficiency and consistency of the control principle verification process. Simultaneously, this improvement approach is implemented without altering the original structure of the construction machinery, facilitating its application in different types of construction machinery and promoting the formation of standardized, reproducible automated testing and testing processes.

[0037] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device, control device, or host computer capable of performing the above functions. The following description uses a host computer as an example to illustrate this embodiment and the subsequent embodiments.

[0038] Optional, refer to Figure 1 and Figure 2 In one embodiment, this application provides a control testing method for engineering machinery, the method comprising steps S100-S200, specifically: Step S100: Obtain the electrical signal generated by the operating component for controlling the actuator, and match the electrical signal with the corresponding operating action to form a corresponding control mapping relationship; Step S200: A control signal is generated according to the control mapping relationship so that one of the host computer or physical input device drives the actuator.

[0039] Furthermore, the construction machinery can be an excavator, loader, bulldozer, or other construction equipment with operating components and actuators. The operating components can be an accelerator pedal, control handle, control button, knob, or other components used to generate control signals; the actuators can be an engine control unit, hydraulic valve group, motor drive module, or other functional units that respond to control signals to perform actions.

[0040] In actual testing, the electrical signals generated by the operating components for controlling the actuators are first acquired. This acquisition process can be achieved through probes, connectors, or other electrical connections, without altering the original electrical structure of the engineering machinery, by collecting the electrical signals output by the operating components. These electrical signals may include analog voltage signals, analog current signals, digital voltage signals, or other forms of control signals. Continuous acquisition is preferred to ensure a complete record of the changes in electrical signals throughout the entire operational process.

[0041] While acquiring electrical signals, the signals are matched with corresponding operational actions. In practice, this can be achieved by recording the time, amplitude, or state of the operational action and aligning it with the acquired electrical signals on a time axis, thereby establishing a correspondence between the operational actions and changes in the electrical signals. For example, when the control handle is pushed forward from the center position, the start time, duration, and displacement of the action are recorded, and waveform data of the electrical signals within the corresponding time period are acquired. By comparing and analyzing these data, a mapping relationship between the two is formed.

[0042] It should be noted that the "control mapping relationship" mentioned in this embodiment refers to the correspondence rule or functional relationship between the operation action and the electrical signal. It can be expressed as the numerical correspondence between the amplitude of the operation action and the output value of the electrical signal, or as the correspondence between the state of the operation action and the trend of change of the electrical signal. This control mapping relationship can be formed by curve fitting, interval division, or feature parameter extraction of the collected data.

[0043] After establishing a control mapping relationship, a control signal is generated based on this relationship. Specifically, an operation action can be input to a host computer, or the same or equivalent operation action can be simulated through a physical input device. The host computer calculates the corresponding electrical signal output value based on the established control mapping relationship and sends this electrical signal to the controller, which then outputs it to the actuator. In this way, the actuator can be driven by the host computer or a physical input device without relying on the original operating components, thus achieving automated testing of the actuator.

[0044] It should be noted that, in this embodiment, "host computer" refers to a computing device with data processing and control logic operation capabilities, which can be an industrial computer, an embedded control terminal, or other processing device capable of running test programs; "physical input device" refers to a device used to input test operation instructions, such as a test handle, button module, or other manual operation interface. "Automatic testing" means that after a control mapping relationship is established, the test process can automatically generate control signals and drive the actuator according to a preset program, without requiring manual repetition of the original operating components.

[0045] The above implementation method enables automated testing of the control logic of engineering machinery. Compared with traditional methods that rely on manual operation and independent testing equipment, this method can structurally express the relationship between operating actions and electrical signals, and directly use it to generate control signals, thereby improving testing efficiency, reducing the impact of human factors on test results, and facilitating the formation of standardized and repeatable testing procedures.

[0046] It is understandable that in actual engineering machinery, the form of control signals output by operating components is not uniform, and different models or functional modules use different signal types. Therefore, in this embodiment, the acquired electrical signal can be at least one of digital voltage signals, analog voltage signals, analog resistance signals, or analog current signals.

[0047] When the electrical signal is a digital voltage signal, the state of the operating component is typically distinguished by high and low levels, such as the on / off state of a button or the position of a switch. In this case, during the acquisition of the electrical signal, the logic state corresponding to the operation action can be determined by detecting changes in the signal port's level, and this logic state can be correlated with the actuator's response behavior, thus forming a corresponding control mapping relationship. When generating a control signal, a corresponding high or low level signal can be output according to the control mapping relationship to drive the actuator to complete the corresponding action.

[0048] When the electrical signal is an analog voltage signal, the action of the operating component is usually in a continuous relationship with the output voltage value. For example, the displacement of the accelerator pedal or control handle is proportional to the output voltage. During implementation, the voltage change curve can be continuously acquired throughout the operation, and the minimum, maximum, and range of voltage values ​​can be extracted to establish a mapping relationship between the amplitude of the operating action and the voltage value. In the automatic testing phase, a corresponding analog voltage signal is generated based on the established control mapping relationship and output to the actuator through the controller to verify the actuator's response to different voltage inputs.

[0049] When the electrical signal is an analog resistance signal, the action of the operating component may be expressed through a change in resistance value, such as in a variable resistance sensing structure. In this case, the corresponding resistance change curve can be indirectly calculated by applying a detection current to the operating component and measuring the voltage change across it, and then a mapping relationship can be established between this resistance change curve and the operating action. When generating a control signal, a control signal corresponding to the original resistance change can be formed through analog resistance change or equivalent voltage conversion to drive the actuator.

[0050] When the electrical signal is an analog current signal, the control quantity output by the operating component is represented by the current magnitude. For example, some industrial control systems use a 4–20mA current signal for control. During implementation, continuous changes in the current value can be collected within a preset time window, and the correspondence between the current amplitude and the operating action can be analyzed. During automatic testing, a current signal with the corresponding amplitude is output according to the control mapping relationship, causing the actuator to perform corresponding actions under different current inputs.

[0051] It should be noted that, in this embodiment, "digital voltage signal" refers to a voltage signal that expresses a logic state in discrete level form; "analog voltage signal" refers to a voltage signal that changes continuously within a certain range; "analog current signal" refers to a signal form that expresses a control quantity by continuous current amplitude; and "analog resistance signal" refers to a signal form that expresses a control quantity through changes in resistance value. These different types of electrical signals can exist independently or simultaneously within the same engineering machinery system. This method can be adapted according to the actual signal type during implementation to achieve automated testing of different engineering machinery control structures.

[0052] Optionally, in one embodiment, during actual testing, after acquiring the electrical signal from the operating component, in order to establish the correspondence between the operating action and the electrical signal, the waveform data of the electrical signal is first recorded. This waveform data can be obtained through continuous sampling to record the amplitude information of the electrical signal changing with time throughout the operation, thereby forming complete time series data.

[0053] While recording the electrical signal waveform data, the change process of the electrical signal is associated with the control operation process of the engineering machinery. Specifically, by recording information such as the start time, end time, direction, or amplitude of the operation, the data can be time-aligned with the time sequence of the electrical signal, so that each segment of electrical signal change can correspond to a specific operation. For example, during the process of pushing the control handle forward from the center position, the voltage gradually increases during that time period, and this change segment is marked as the signal interval corresponding to the "forward push operation".

[0054] After completing the above association, a recording data file corresponding to the electrical signal is generated. This recording data file may include the original waveform data of the electrical signal, time stamp information, and operation action identification information, thereby saving the relationship between the operation process and the changes in the electrical signal in a structured form, providing a data foundation for subsequent analysis and the formation of control mapping relationships.

[0055] Based on the generated recorded data file, a corresponding control waveform curve is further generated. In practice, the original waveform data can be processed, filtered, or smoothed to form a control waveform curve that is easy to analyze. The control waveform curve is used to intuitively reflect the correspondence between the operation action and the electrical signal.

[0056] Subsequently, signal parameters characterizing the control logic are extracted from the control waveform curve. These signal parameters include at least minimum and maximum values. In practical applications, other feature values ​​can be extracted as needed, such as stable intervals, level transition points, or boundaries of variation intervals, to more accurately characterize the control logic. By extracting the minimum and maximum values, the range of electrical signal changes corresponding to the operational action can be determined, thus providing boundary conditions for the subsequent generation of output control signals.

[0057] After obtaining the signal parameters, the output range and signal type of the controller's output electrical signal are determined based on these parameters. The output range may correspond to the effective interval of the operation, such as a numerical range defined by a minimum to a maximum value; the signal type may be consistent with the previously obtained signal type, such as an analog voltage signal or a digital voltage signal. In this way, the consistency between the output signal and the original control signal in form and range can be ensured.

[0058] After determining the output range and electrical signal type, a mapping relationship between the input and output electrical signals is further established. This mapping relationship can be a linear proportional relationship, a piecewise relationship, or other functional forms, used to convert the input signals generated by the host computer or physical input devices into corresponding output electrical signal values. Through this mapping relationship, when a specific operation command is generated at the input terminal, the controller can output an electrical signal corresponding to the original operating component, thereby driving the actuator to perform actions consistent with the original control logic.

[0059] It should be noted that, in this embodiment, the "control waveform curve" refers to the electrical signal change curve formed based on recorded data for analyzing control logic; "signal parameters" refer to numerical information extracted from the control waveform curve to characterize the control logic features, such as minimum and maximum values; and "mapping relationship" refers to the correspondence rule or functional relationship between input signals and output electrical signals. The above terms are used to describe different stages and elements in the control logic establishment process, and their specific implementation methods can be adapted to the actual engineering machinery control structure.

[0060] Optionally, in one embodiment, after establishing the control mapping relationship between the operation action and the electrical signal, the type and range of the electrical signal output by the controller are first determined based on the control mapping relationship. Specifically, if the control mapping relationship indicates that the original operating component outputs an analog voltage signal, then the controller needs to output an analog voltage signal within the corresponding range during the automatic testing phase; if the original control logic corresponds to a digital voltage signal, then the controller should output the corresponding high or low level state. The electrical signal output range can be determined based on the previously extracted signal parameters, such as the interval defined by the minimum to the maximum value.

[0061] It should be noted that, in this embodiment, "control parameters" refers to a set of parameters used to define the output characteristics of the controller, such as the output voltage amplitude range, output current range, resolution, proportional coefficient, or segmented interval boundaries. These control parameters are not single values, but rather a set of configuration data used to enable the controller to generate the correct output signal according to the control mapping relationship.

[0062] After determining the electrical signal type and output range, control parameters for the controller output are configured according to the electrical signal type and output range. For example, in an analog voltage output scenario, the reference voltage range and output scaling factor of the digital-to-analog converter module can be configured so that the operation command at the input end can be converted into a voltage value within a specified range; in a digital voltage output scenario, the output logic level correspondence and trigger threshold can be configured so that the controller outputs the corresponding high or low level according to the input state.

[0063] After configuring the control parameters, the corresponding control signal is generated based on the control parameters. In specific implementation, the host computer can convert the input command into a target electrical signal value according to the control mapping relationship and send the value to the controller; or the physical input device can directly generate the operation input, and the controller can convert the input signal according to the configured control parameters to generate an output signal that conforms to the control mapping relationship.

[0064] In this embodiment, "generating control signals" refers to the process of converting input instructions or operation inputs into specific electrical signal outputs based on pre-established mapping relationships and configuration parameters. "Driving the actuator" refers to outputting the generated control signals to the actuator input terminal, causing the actuator to perform corresponding actions according to control logic, such as changing engine speed, adjusting hydraulic valve opening, or controlling motor rotation.

[0065] Through the above steps, either the host computer or the physical input device can be used as the drive source to generate standardized control signals based on the established control mapping relationship without relying on the original operating components, thus achieving automated testing of the actuator. This method not only improves testing efficiency but also ensures the consistency of the output signal with the original control logic in terms of type and range, thereby guaranteeing the reliability and repeatability of the test results.

[0066] Optionally, in one embodiment, different actuator actions typically correspond to different control parameters. For example, in a certain engineering machinery, the low-speed, medium-speed, and high-speed operation of the actuator corresponds to different voltage or current ranges, and each range can be represented by a set of control parameters. In this case, these control parameters can be combined according to preset logic to form multiple parameter sets with specific functional meanings.

[0067] It should be noted that, in this embodiment, the "parameter set" refers to a combination structure composed of multiple interrelated control parameters, used to fully characterize the output conditions required for a specific operating state or actuator action. For example, a parameter set may include the target electrical signal type, output amplitude range, proportional coefficient, and corresponding segmented interval boundaries, used to characterize a certain gear or a certain action state.

[0068] After forming the parameter set, the parameter set is mapped to the physical input device. Specifically, several operation units can be set on the physical input device, such as buttons, lever positions, or knob scales in different locations, and each operation unit is associated with a parameter set. When the operator triggers an operation unit, the controller automatically loads the corresponding control parameters according to the corresponding parameter set and generates the corresponding control signal.

[0069] In this embodiment, the "operation set" refers to an operation mapping system composed of multiple operation units and their corresponding parameter sets. Through this system, different operation actions on the physical input device can directly correspond to different actuator actions, thereby realizing structured and standardized test operations.

[0070] For example, when testing a hydraulic system, different hydraulic output levels can be mapped to different positions on the physical input device, with each position bound to a set of control parameters. When the tester selects a certain level, the controller automatically outputs the corresponding electrical signal, thereby driving the actuator to perform the corresponding action, without the need for manual input of specific electrical signal values.

[0071] By combining and mapping multiple control parameters to physical input devices in this way, the convenience of testing operations can be improved, the possibility of human error can be reduced, and the testing process can be made more standardized and repeatable. At the same time, this method allows physical input devices to directly participate in the automated testing process of the actuators, thereby enhancing the practicality and adaptability of the overall testing system.

[0072] Optional, refer to Figure 2 and Figure 3 In one embodiment, the control testing device can be installed as a standalone unit outside the construction machinery and connected to the existing electrical connection points of the construction machinery via probes or a dedicated connection interface. This device can detect and test the signal relationship between the operating components and actuators without altering the original control structure of the construction machinery.

[0073] The controller can be a control unit with signal acquisition and output capabilities, such as an embedded control board including an analog-to-digital converter module, a digital-to-analog converter module, and a digital input / output interface. The controller is equipped with multiple probes for contacting or connecting to the electrical connection points of the engineering machinery, thereby acquiring electrical signals from the operating components and outputting control signals to the actuators during the testing phase.

[0074] It should be noted that, in this embodiment, the "probe" refers to a conductive connection component used for electrical signal input or output. It can take the form of a pin-type contact, a clamp-type connector, or a plug-in interface, etc., to achieve signal acquisition and output without damaging the original wiring. The "controller" refers to a control unit with signal processing and signal generation capabilities, which can generate corresponding electrical signals based on received control parameters.

[0075] The host computer and the controller establish a data communication connection through a communication module. The host computer can be an industrial computer, a laptop computer, or other computing device with data processing capabilities. It is used to acquire electrical signal data collected by the controller, record the entire process of the electrical signals, and form a control mapping relationship corresponding to the electrical signals. After the mapping relationship is established, the host computer further configures control parameters according to the control mapping relationship and sends the control parameters to the controller.

[0076] In this embodiment, "full-process recording" refers to the process of continuously collecting and saving data on the changes of electrical signals over time during the entire operation; "control mapping relationship" refers to the correspondence rules between operation actions and electrical signals; and "control parameters" refers to the configuration data used to limit the characteristics of the controller's output electrical signals.

[0077] The communication module is used to transmit electrical signal data and control parameter data between the controller and the host computer. The communication module can use a serial communication interface, an Ethernet interface, or other data transmission methods to achieve data exchange, thereby ensuring that the establishment of the control mapping relationship and the issuance of control parameters can proceed smoothly.

[0078] The physical input device is connected to the controller and is used as a control input to generate control signals during the automatic testing phase. In specific implementations, the physical input device can be a test handle, button panel, or knob. Its input signal is processed by the controller and converted into a corresponding output signal according to the configured control parameters, thereby driving the actuator to perform the corresponding action. It should be noted that the "physical input device" mentioned in this embodiment refers to a device for manual input by the tester; different operating positions can correspond to different control parameters or parameter sets.

[0079] The power management module is used to power the controller, communication module, and physical input devices, and supports switching between external and internal power supply. Specifically, when external power supply conditions are met, the device can be powered by an external power source; when the external power supply is abnormal or disconnected, it can switch to internal power supply mode to ensure the continuity of the automatic testing process. In this embodiment, the "power management module" refers to a functional unit used to implement power distribution and power supply mode switching, which may include a power switching circuit and a voltage regulation circuit.

[0080] Through the above structural design, this control testing device can realize a complete process of signal acquisition, data processing, mapping relationship establishment, and control signal output, thus forming a unified system for the detection and testing of control principles in engineering machinery. At the same time, the device has good independence and adaptability, and can be used in different engineering machinery equipment, improving the efficiency and reliability of automatic testing.

[0081] Optionally, in one embodiment, the control and testing device is initially in standby mode. After the device is powered on, the controller, power management module, and communication module enter the working state. Subsequently, the controller establishes a data communication connection with the host computer through the communication module, and the corresponding test software program is started in the host computer, enabling the host computer to have the function of recording electrical signals and establishing control mapping relationships.

[0082] During the control principle testing phase, the controller establishes electrical connections with the electrical connection points of the construction machinery through multiple probes. Specifically, probes used for signal acquisition are connected to the connection point between the accelerator pedal and the actuator to obtain electrical signals from the accelerator pedal. The probes can be connected by insertion or clamping, with the aim of acquiring electrical signals without altering the original electrical wiring structure.

[0083] It should be noted that the "connector" mentioned in this embodiment refers to the electrical interface structure used for transmitting electrical signals between the operating component and the actuator, which can be in the form of a plug and socket or other electrical connection forms.

[0084] After the probe is connected, the host computer initiates a full-process recording function to continuously acquire the electrical signals of the accelerator pedal during operation. The construction machinery is then started and brought to normal operating status. The tester slowly depresses the accelerator pedal to its maximum travel and then returns it to its initial position, repeating this multiple times to obtain the complete range of electrical signal changes. During this operation, the host computer continuously records the electrical signal waveforms and marks the corresponding operation intervals on the timeline.

[0085] After recording is complete, data acquisition is stopped, and the waveform curve of the electrical signal is displayed on the host computer. By observing the waveform curve, the minimum and maximum values ​​can be extracted, thereby determining the electrical signal output range corresponding to the accelerator pedal. Furthermore, the control logic can be analyzed by combining the waveform change trend, such as linear or piecewise changes, to form a corresponding control mapping relationship.

[0086] After establishing the control mapping relationship, the control testing phase begins. At this stage, the construction machinery is shut down, and the connector between the accelerator pedal and the actuator is disconnected. The probe used to output control signals is then connected to the actuator's input port, enabling the controller to directly output control signals to the actuator.

[0087] Based on this, the physical input device is connected to the controller. Optionally, in this embodiment, the physical input device is a handle. The handle may include at least one joystick, trigger, or button. The joystick may have continuous displacement output in both the X and Y axes, the trigger may be used to generate continuous stroke input, and the button may be used to trigger discrete state control.

[0088] A specific continuous control component in the controller, such as the Y-axis of the joystick, is mapped to a previously determined electrical signal output range. Specifically, based on the minimum and maximum values ​​of the accelerator pedal electrical signal, the joystick's travel range is proportionally converted into a corresponding electrical signal output range, and a corresponding mapping function is set in the controller. This mapping function can be a linear function or a piecewise function based on the actual waveform to more accurately simulate the control logic of the original operating component.

[0089] It should be noted that the "mapping function" mentioned in this embodiment refers to a mathematical or logical conversion rule used to convert the input quantity generated by the physical input device into the output quantity of the electrical signal, which can be configured by the controller according to the control parameters.

[0090] After completing the mapping settings, restart the construction machinery. Test personnel operate the joystick, trigger, or buttons on the control handle. The controller generates corresponding control signals based on the preset control mapping and sends them to the actuators via output probes. The actuators then perform corresponding actions based on the received control signals, such as changing the engine speed. By observing the actuators' response, the accuracy of the previously established control mapping can be verified.

[0091] Through the above implementation method, actuator drive tests can be performed using physical input devices such as handles without relying on the original operating components, thereby realizing an integrated process for vehicle control principle testing and control testing. This method not only improves testing efficiency but also enhances the repeatability and standardization of the testing process, facilitating the debugging and verification of control systems for unmanned construction machinery.

[0092] Optional, refer to Figure 4 and Figure 5 In one embodiment, the engineering machinery control and testing system includes an engineering machinery body and a control and testing device used in conjunction with it. The engineering machinery includes an operating component, an actuator, and a connector disposed between the operating component and the actuator. The operating component is used to generate electrical signals to control the actuator, and the actuator is used to perform corresponding actions according to the received electrical signals, such as driving an engine, controlling a hydraulic valve group, or driving a motor.

[0093] It should be noted that, in this embodiment, "connector" refers to an electrical connection interface between the operating component and the actuator for transmitting electrical signals, which can be a plug-and-socket structure or other forms of electrical connection structure; "engineering machinery" refers to a vehicle system with an electrical control link.

[0094] The control testing device establishes an electrical connection with the connector via multiple probes on its controller. During the control principle testing phase, as shown in the schematic diagram of the vehicle control principle testing, the probes are connected to the signal path between the operating component and the actuator. The controller collects the electrical signals from the operating component and transmits them to the host computer via the communication module. The host computer records the entire process of the collected electrical signals and, during the recording process, aligns the changes in the electrical signals with the actual operation of the operating component in time, thereby forming a corresponding control mapping relationship.

[0095] During this stage, the control testing device does not alter the original control link structure; it only acquires and analyzes signals. By analyzing the electrical signal waveforms, signal parameters such as minimum, maximum, and variation ranges can be extracted, and a mapping relationship between input and output signals can be established accordingly. This enables the testing of the vehicle's control principle.

[0096] After establishing the control mapping relationship, the system enters the control test state, as shown in the control test diagram. In this state, the direct signal connection between the operating component and the actuator can be disconnected, allowing the probe of the control test device to be directly connected to the actuator input. The controller generates the corresponding control signal based on the established control mapping relationship and outputs it to the actuator through the probe, thus allowing the control test device to drive the actuator instead of the original operating component.

[0097] It should be noted that, in this embodiment, "control test state" refers to the working state in which the control test device outputs control signals to the actuator instead of the operating component; "control mapping relationship" refers to the correspondence rules between operating actions and electrical signals established in the control principle detection stage; and "automatic test" includes a comprehensive process of the two stages of control principle detection and control test.

[0098] In specific application scenarios, such as using the accelerator pedal as the operating component and the engine control unit as the actuator, during the control principle testing phase, a probe is connected to the accelerator pedal signal path to collect the electrical signal output by the accelerator pedal and establish a control mapping relationship between the accelerator pedal displacement and the electrical signal. During control testing, the accelerator pedal connection is disconnected, and the probe is connected to the input terminal of the engine control unit. The controller then generates a corresponding electrical signal output based on the control mapping relationship, thereby verifying the response of the engine control unit.

[0099] Through the aforementioned system structure and operating method, a closed-loop process for vehicle control principle detection and control testing can be achieved within a single system. Without altering the original electrical structure of the construction machinery, this system completes signal acquisition and output switching via probe access, improving the efficiency and accuracy of automated vehicle testing while enhancing the repeatability and standardization of the testing process.

[0100] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the control test method described in the above embodiments.

[0101] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0102] The aforementioned computer-readable storage medium may be included in the host computer; or it may exist independently and not be assembled into the host computer.

[0103] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0104] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0105] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0106] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the control test method described above.

[0107] Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the control test method provided in the above embodiments, and will not be repeated here.

[0108] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A control testing method for engineering machinery, characterized in that, The method includes: Acquire electrical signals generated from the operating components for controlling the actuators, and match the electrical signals with corresponding operating actions to form a corresponding control mapping relationship; A control signal is generated based on the control mapping relationship, so that one of the host computer or physical input device drives the actuator.

2. The method as described in claim 1, characterized in that, The electrical signal includes at least one of the following: digital voltage signal, analog voltage signal, analog resistance signal, and analog current signal.

3. The method as described in claim 1, characterized in that, The step of matching the electrical signal with the corresponding operation action to form a corresponding control mapping relationship includes: Record the waveform data of the electrical signal; The change process of the electrical signal is associated with and recorded in relation to the control operation process of the engineering machinery; Generate a recording data file corresponding to the electrical signal.

4. The method as described in claim 3, characterized in that, The step of matching the electrical signal with the corresponding operation action to form a corresponding control mapping relationship further includes: Generate corresponding control waveform curves based on the recorded data file; Extract signal parameters for characterizing the control logic from the control waveform curve; the signal parameters include at least a minimum value and a maximum value. The output range and type of the controller's output electrical signal are determined based on the signal parameters; and Based on the output range and electrical signal type, the mapping relationship between the input signal and the output electrical signal is set.

5. The method as described in claim 1, characterized in that, The step of generating a control signal based on the control mapping relationship to drive an actuator via either a host computer or a physical input device includes: Based on the control mapping relationship, the type and range of electrical signals output by the controller are determined. Configure control parameters for controller output based on the electrical signal type and output range; and The corresponding control signal is generated based on the control parameters, and the actuator is driven to perform the corresponding action through the control signal.

6. The method as described in claim 1, characterized in that, The method further includes: The parameter set, which combines multiple control parameters, is mapped to the physical input device to form an operation set adapted to the actuator driven by the physical input device.

7. A control and testing device for engineering machinery, characterized in that, The device includes: The controller includes multiple probes, which acquire electrical signals from the construction machinery through the probes and generate control signals for driving the actuators based on control parameters. The host computer is communicatively connected to the controller and is used to acquire electrical signals from the controller, record the entire process of the electrical signals, form a control mapping relationship corresponding to the electrical signals, configure control parameters according to the control mapping relationship, and send them to the controller. The communication module is used to establish a data communication connection between the controller and the host computer; A physical input device, connected to the controller, is used as a control input to participate in the generation of the control signal; The power management module is used to supply power to the controller, communication module and physical input devices, and supports switching between external power supply and internal power supply.

8. The apparatus as claimed in claim 7, characterized in that, The host computer further includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the method as described in any one of claims 1 to 6.

9. A control and testing system for engineering machinery, characterized in that, The system includes: Construction machinery, including operating components, actuators, and connectors disposed between the operating components and the actuators; The device as described in any one of claims 7 to 8, wherein the probe of the device is connected to the connector; The device acquires the electrical signal generated by the operating component through the probe; and In the controlled test state, the probe outputs a control signal generated based on the control mapping relationship to the actuator to realize the automatic testing of the engineering machinery.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the method as described in any one of claims 1 to 6.

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