A method, system, vehicle, and electronic equipment for controlling parking of engineering vehicles.

Abstract

This application discloses a parking control method, system, vehicle, and electronic equipment for engineering vehicles, relating to the field of engineering vehicle technology. The method involves planning parking points within the parking space of the work area; determining the working curve of the engineering vehicle and the position of the target working point relative to the working curve based on the location information of the parking points; determining whether the boom of the engineering vehicle can reach the target working point after parking at the designated parking point based on the position of the target working point relative to the working curve; and if the target working point can be reached, sending the location information of the parking point to the engineering vehicle to control its parking; if it is determined that the boom cannot reach the target working point, planning a new parking point until a parking point that allows the boom to reach the target working point is determined. This solves the problem of reduced work efficiency caused by the need for multiple adjustments to the parking point, outrigger extension / retraction, and boom of boom-type engineering vehicles during parking operations to attempt to reach the target working point.

Description

Technical Field

[0001] This application relates to the field of engineering vehicle technology, and more specifically, to an engineering vehicle parking control method, system, vehicle, and electronic equipment. Background Technology

[0002] Boom-type engineering vehicles are those with attachments or working platforms at the end of their booms, such as aerial platform fire trucks and excavators. For boom-type engineering vehicles, the outrigger span, working range, and actual parking point determine whether the attachments or working platforms at the end of the boom can reach the target work point for operation.

[0003] However, in actual operation, despite the assistance of equipment such as rangefinders, operators often struggle to fully grasp the working range corresponding to the different outrigger spans of the vehicle, and to accurately determine the vehicle's parking location and complete the operation in one go. This typically requires multiple adjustments to the parking point, outrigger extension and retraction, and boom deployment to attempt to reach the target work point, severely impacting operational efficiency, especially in time-sensitive applications such as fire drills and firefighting rescues. Summary of the Invention

[0004] In view of this, the embodiments of this application aim to provide a parking control method, system, vehicle and electronic equipment for engineering vehicles, so as to solve the problem of reduced work efficiency caused by the need for boom-type engineering vehicles to adjust the parking point, extend and retract outriggers and boom multiple times in order to try to reach the work target point during parking operations.

[0005] In a first aspect, the present invention provides a method for controlling the parking of engineering vehicles, comprising: Plan parking spots within the parking space of the work area; Based on the location information of the parking point, the operating curve of the engineering vehicle and the position of the target point relative to the operating curve are determined. Based on the position of the target point relative to the operation curve, determine whether the boom of the engineering vehicle can reach the target point after the engineering vehicle is parked at the parking point. If it is determined that the boom can reach the target work point, the location information of the parking point is sent to the engineering vehicle to control the parking of the engineering vehicle in the work area; If it is determined that the boom cannot reach the target work point, a new parking point is planned until a parking point that allows the boom to reach the target work point is determined.

[0006] In one possible implementation, planning parking spots within the parking space of the work area includes: Obtain the parking space parameters of the work area; Based on the parking space parameters, the parking spots are planned within the parking space.

[0007] In one possible implementation, determining the operating curve of the engineering vehicle based on the parking point location information includes: Based on the location information of the parking point and the parking space parameters, the maximum allowable span of the outriggers of the engineering vehicle is determined; The operating curve of the engineering vehicle is determined based on the maximum permissible span of the outriggers.

[0008] In one possible implementation, determining the operating curve of the engineering vehicle and the position of the target point relative to the operating curve based on the location information of the parking point includes: Based on the location information of the parking point, determine the spatial parameters of the operation target point relative to the parking point; Based on the spatial parameters of the target point, the position of the target point relative to the operation curve is determined.

[0009] In one possible implementation, after determining that the boom can reach the target work point, the method further includes: The maximum allowable span of the outriggers and the spatial parameters of the target work point are sent to the engineering vehicle.

[0010] Secondly, the present invention provides a parking control system for engineering vehicles, applicable to engineering vehicles with booms, comprising: a display control unit and a communication unit; wherein, The display control unit is used to plan parking points in the parking space of the work area, determine the working curve of the engineering vehicle and the position of the work target point relative to the working curve based on the location information of the parking points, determine whether the boom of the engineering vehicle can reach the work target point after parking the engineering vehicle at the parking points, and plan a new parking point when it is determined that the boom cannot reach the work target point, until a parking point that allows the boom to reach the work target point is determined. The communication unit is used to send the location information of the parking point to the engineering vehicle when the display control unit determines that the boom can reach the target work point, so as to control the parking of the engineering vehicle in the work area.

[0011] In one possible implementation, it further includes: a ranging unit; The ranging unit is connected to the display control unit and is used to determine the parking space parameters of the work area and the spatial parameters of the work target point relative to the parking point.

[0012] In one possible implementation, it further includes: an auxiliary detection unit and an operation unit; wherein, The auxiliary detection unit includes a camera module, a support module, and an angle detection module. The camera module is connected to the ranging unit and the display control unit, and is used to display the distance between the ranging target marker point of the ranging unit and the work target point, as well as to capture target images. The support module is used to fix the ranging unit at a preset height and orientation, and to indicate the orientation of the target part of the engineering vehicle when it is parked at the parking point. The angle detection module is used to detect the angle between the ranging unit and the horizontal plane, and the rotation angle of the ranging unit when determining the spatial parameters. The operation unit is connected to the display control unit and is used to control the camera module and the ranging unit through the display control unit, as well as to mark target information on the display control unit.

[0013] Thirdly, the present invention provides an engineering vehicle, including a vehicle body, a boom, and an engineering vehicle parking control system provided in the second aspect of the present invention.

[0014] Fourthly, the present invention provides an electronic device, the electronic device comprising: processor; Memory used to store the processor's executable instructions; The processor is used to execute the engineering vehicle parking control method provided in the first aspect of the present invention.

[0015] The engineering vehicle parking control method provided by this invention first plans parking points within the parking space of the work area. Then, based on the location information of these parking points, it determines the working curve of the engineering vehicle and the position of the target working point relative to the working curve. Next, based on the position of the target working point relative to the working curve, it determines whether the boom of the engineering vehicle can reach the target working point after parking at the designated parking point. If it is determined that the boom can reach the target working point, the location information of the parking point is sent to the engineering vehicle to control its parking within the work area. If it is determined that the boom cannot reach the target working point, a new parking point is planned until a parking point that allows the boom to reach the target working point is determined. This ensures that after parking at the planned parking point, the engineering vehicle can reach the target working point in one go without having to repeatedly move the vehicle and deploy outriggers and boom, greatly improving the efficiency of operations and rescues. Attached Figure Description

[0016] 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, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0017] Figure 1 The diagram shown is a flowchart of a parking control method for engineering vehicles provided in an embodiment of the present invention.

[0018] Figure 2 The diagram shows a flowchart of the engineering vehicle parking control method provided in the embodiment of the present invention for controlling engineering vehicle operations.

[0019] Figure 3 The diagram shown is an example of implementing the engineering vehicle parking control method provided in this embodiment of the invention on a visual interface.

[0020] Figure 4 The diagram shown is a structural diagram of a parking control system for engineering vehicles provided in an embodiment of the present invention.

[0021] Figure 5 The diagram shown is a structural diagram of another engineering vehicle parking control system provided in an embodiment of the present invention.

[0022] Figure 6 The diagram shown is a schematic diagram of the spatial parameters between the parking point and the work target point determined by the ranging unit, taking the support module as a triangular bracket as an example, according to an embodiment of the present invention.

[0023] Figure 7 The diagram shown is a labeling diagram of the parking point and the maximum allowable span of the outriggers, using a visible laser lens module, provided in an embodiment of the present invention.

[0024] Figure 8 The diagram shown is a system architecture diagram of a construction vehicle parking control system, which is provided by an embodiment of the present invention, taking the operation unit including physical buttons and a labeling module as an example, to control the parking operation of construction vehicles.

[0025] Figure 9 The diagram shown is a structural schematic of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0026] Unless otherwise defined, the technical or scientific terms used in the embodiments of this specification shall have the ordinary meaning understood by one of ordinary skill in the art to which this specification pertains. The terms "first," "second," and similar terms used in the embodiments of this specification do not indicate any order, quantity, or importance, but are merely used to avoid confusion of constituent elements.

[0027] Unless the context otherwise requires, throughout this specification, "a plurality of" means "at least two," and "including" is interpreted as open-ended or encompassing, that is, "including, but not limited to." In the description of this specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this specification. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example.

[0028] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0029] Understandably, to address the problem of severely impacted operational or rescue efficiency caused by constantly adjusting parking positions and extending / retracting outriggers and booms in an attempt to reach the target work point, various methods for planning the parking positions of boom-type engineering vehicles have emerged. However, most current methods first mark the location of the target work point, then plan the boom extension trajectory based on the target work point's location, determine the outrigger extension range, and finally plan the parking position based on the outrigger extension range. Because this process does not consider the impact of the parking position on the boom's operational coverage and extension trajectory, it may result in the boom end not reaching the target work point after parking and extending the outriggers and boom. Therefore, it is still necessary to retract the vehicle and adjust the parking position, thus affecting operational or rescue efficiency.

[0030] The present invention aims to solve the above problems by first planning parking points, then determining the working curve of the engineering vehicle based on the location of the parking points, and the corresponding position of the working target point in the working curve. It further determines whether the boom of the engineering vehicle can reach the working target point after parking at the parking point, thereby ensuring that after parking at the planned parking point, the engineering vehicle can stop and work to reach the working target point in one go, thus improving the efficiency of operation or rescue.

[0031] The present invention provides a parking control method for engineering vehicles, which is executed on an electronic device. The electronic device can be a control system that is directly or remotely connected to the controller of the engineering vehicle, such as a smart terminal device like a laptop, mobile phone, or tablet computer, or of course, a server.

[0032] See Figure 1 , Figure 1This is a flowchart of a parking control method for engineering vehicles provided in an embodiment of the present invention, such as... Figure 1 As shown, the process of a parking control method for engineering vehicles provided in this embodiment of the invention mainly includes the following steps: S100. Plan parking spots within the parking space of the work area.

[0033] Specifically, the parking space in the work area refers to the area where the boom can reach the target work point and can accommodate the parking of engineering vehicles.

[0034] Understandably, by rationally planning parking spots within the parking space of the work area, engineering vehicles can reach the target work point with their booms when parked at the planned parking spots, without having to repeatedly extend and retract the outriggers and booms to reach the target work point.

[0035] In a preferred embodiment, parking spots are planned within the parking space of the work area, including: Obtain parking space parameters for the work area; Based on parking space parameters, the parking spots are planned within the parking space.

[0036] In this embodiment, by first obtaining the parking space parameters of the work area, namely the ground dimensions such as the length, width, and height of the parking space in each direction, parking points that allow the boom of the engineering vehicle to reach the work target point can be planned within the parking space based on the parking space parameters.

[0037] In some possible embodiments, parking space parameters of the work area are collected by a ranging module such as a laser rangefinder, and then parking points are planned by an algorithm after obtaining the parking space parameters of the work area.

[0038] Furthermore, in order to save costs, parking spots can also be planned manually based on experience after obtaining the parking space parameters of the work area.

[0039] S110. Based on the location information of the parking point, determine the operation curve of the engineering vehicle and the position of the operation target point relative to the operation curve.

[0040] Specifically, based on the planned parking spots, i.e., the location information of the parking spots, the available space around the engineering vehicles and in the vertical direction after parking them can be determined. The operating curve of the engineering vehicle refers to its safe operating range and trajectory curve, which corresponds to the outrigger span of the engineering vehicle. Therefore, after determining the available space around the engineering vehicle and in the vertical direction, the maximum permissible outrigger span of the engineering vehicle can be further determined, thus determining the operating curve of the engineering vehicle.

[0041] Based on this, in a preferred embodiment, determining the operating curve of the engineering vehicle based on the parking point location information includes: Based on the location information of the parking point and the parking space parameters, the maximum allowable span of the outriggers of the engineering vehicle is determined; The operating curve of the engineering vehicle is determined based on the maximum allowable span of the outriggers.

[0042] Specifically, after planning the parking spots, the location information of the parking spots combined with the parking space parameters can be used to determine the empty space around the engineering vehicles after they are parked at the parking spots. Then, the maximum allowable span of the outriggers of the engineering vehicles can be determined based on the empty space.

[0043] Furthermore, after determining the maximum permissible span of the outriggers, the corresponding operating curve of the engineering vehicle can be determined based on the maximum permissible span of the outriggers.

[0044] In some possible embodiments, the operating curves of the engineering vehicles are pre-saved, that is, they are saved according to the model of the engineering vehicle, with different operating curves corresponding to different outrigger spans. Then, after determining the maximum allowable span of the outriggers, the corresponding operating curves can be retrieved according to the model of the engineering vehicle, based on the correspondence between the maximum allowable span of the outriggers and the pre-saved outrigger spans, thereby improving the efficiency of parking point planning.

[0045] It should be noted that, based on the planned parking points, the relationship between the location information of the work target point and the parking points can be obtained, that is, the location relationship of the work target point relative to the engineering vehicle, thereby determining the location of the work target point relative to the work curve.

[0046] Specifically, in a preferred embodiment, determining the work curve of the engineering vehicle and the position of the work target point relative to the work curve based on the location information of the parking point includes: Based on the location information of the parking point, determine the spatial parameters relative to the operation target point of the parking point; Based on the spatial parameters of the target point, the position of the target point relative to the operation curve is determined.

[0047] Specifically, based on the location information of the parking point, the horizontal amplitude and vertical height of the work target point relative to the parking point can be determined, that is, the spatial parameters of the work target point relative to the parking point. In other words, the coordinates of the work target point in the coordinate system of the work curve are determined. Therefore, by determining whether these coordinates are within the coverage area of ​​the work curve, it can be determined whether the boom of the engineering vehicle can reach the work target point.

[0048] S120. Based on the position of the target work point relative to the work curve, determine whether the boom of the engineering vehicle can reach the target work point after parking the engineering vehicle at the parking point. If it is determined that the boom can reach the target work point, proceed to S130; otherwise, proceed to S140.

[0049] Specifically, when the coordinates of the target point are within the coverage area of ​​the operating curve, it can be determined that after parking the engineering vehicle at the parking point and extending the boom, the end of the boom will reach the target point. Conversely, when the coordinates of the target point are outside the coverage area of ​​the operating curve, it can be determined that after parking the engineering vehicle at the parking point and extending the boom, the end of the boom will not reach the target point.

[0050] S130. Send the location information of the parking point to the engineering vehicle to control the parking of the engineering vehicle in the work area.

[0051] Specifically, after determining the parking point for the engineering vehicle based on the position of the target point relative to the operation curve, and ensuring that the boom of the engineering vehicle can reach the target point, the location information of the parking point is sent to the engineering vehicle. The engineering vehicle then parks within the operation area according to the location information of the parking point, ensuring that the parking operation reaches the target point in one go, without having to deploy outriggers and booms for trial and error. If the target point cannot be reached, the boom and outriggers need to be retracted, the vehicle moved, and repeated attempts made, thus improving the accuracy and efficiency of operation and rescue.

[0052] S140. Plan new parking spots until a parking spot is determined that allows the boom to reach the target work point.

[0053] Specifically, after determining the parking point for the engineering vehicle based on the position of the target point relative to the operating curve, if the boom of the engineering vehicle cannot reach the target point, a new parking point is planned. Then, the operating curve and the position of the target point relative to the operating curve are redefined until a parking point that allows the boom to reach the target point is determined based on the position of the target point relative to the operating curve. This achieves pre-planning of parking points before the engineering vehicle arrives at the site, making the method provided in this embodiment applicable to various pre-planning parking operation application scenarios such as preliminary reconnaissance and preparation for drills / rescue, and actual combat, and has great practical value.

[0054] In a preferred embodiment, after determining that the boom can reach the target work point, the method further includes: The maximum allowable span of the outriggers and the spatial parameters of the target work point are sent to the engineering vehicle.

[0055] Understandably, by sending the parking location information, along with the maximum permissible outrigger span and spatial parameters of the target work point, to the engineering vehicle, intelligent engineering vehicles equipped with functions such as automatic parking can automatically park themselves based on the parking location information and can automatically deploy the outriggers and boom to the target work point with a single click. For ordinary engineering vehicles, this also allows operators to park the vehicle and deploy the outriggers and boom using the parking location information, the maximum permissible outrigger span, and the spatial parameters of the target work point.

[0056] Figure 2 This is a flowchart illustrating the application of the engineering vehicle parking control method provided in the above embodiments to control the operation of engineering vehicles. Figure 2 As shown, the process mainly includes the following steps: S200: Obtain parking space parameters for the work area; S210, planned parking area; S220. Determine the maximum allowable span of the outriggers and the spatial parameters relative to the target work point at the parking point; S230. Determine the position of the operation curve and the target point relative to the operation curve; S240. After determining whether the boom can reach the target work point after parking the engineering vehicle at the parking point; if yes, proceed to step S251; if no, proceed to step S252. S251. Send the parking point location information, the maximum allowable span of the outriggers, and the spatial parameters of the target work point to the engineering vehicle; proceed to step S260. S252. Plan a new parking spot and return to step S220; S260: Engineering vehicles will automatically or manually park at the designated parking spots according to the location information. S270. Deploy the outriggers and boom to the target work point according to the maximum allowable span of the outriggers and the spatial parameters of the target work point.

[0057] Depend on Figure 2 As can be seen, steps S210-S252 can be carried out independently before the engineering vehicles arrive at the site, thus truly achieving pre-planning of parking points. This makes the method provided in this embodiment applicable to scenarios such as fire drills, pre-rescue site reconnaissance, and operational deployment, and has good practical value.

[0058] Specifically, the engineering vehicle parking control method provided in this embodiment can be implemented on a visual interface, as shown in the example diagram. Figure 3As shown in the diagram, the planned parking point is displayed within the spatial observation display area of ​​the work target point. The curve in the right window represents the work curve, and the pentagram represents the work target point. Users can operate the visualization interface through the menu, such as adjusting the display area distribution and display content. By selecting the manufacturer's vehicle model, different models of engineering vehicles can be used to determine the appropriate vehicle for the work target point. This avoids the problem of needing to change engineering vehicles and affecting rescue operations if the nearest parking point cannot be determined in advance, even if the work target point is still outside the work area.

[0059] Furthermore, by first planning the parking point, then confirming the maximum permissible span of the outriggers, and finally measuring the spatial parameters relative to the target work point, the workflow ensures that the boom end can ultimately reach the target point. In other words, it ensures that the boom's working range covers the target work point after parking at the planned parking point, effectively improving the accuracy of the determined parking point location. This also ensures that the selected engineering vehicle, after parking at the planned parking point, can reach the target work point in one go without having to deploy the outriggers and boom for trial and error, thereby improving the efficiency of operations and rescues.

[0060] The following describes a parking control system for engineering vehicles provided by an embodiment of the present invention. The engineering vehicle parking control system described below can be considered as a modular architecture for implementing the engineering vehicle parking control method provided by the embodiment of the present invention; the following description can be referred to in conjunction with the above.

[0061] Optional, see Figure 4 , Figure 4 This is a structural block diagram of an engineering vehicle parking control system provided in an embodiment of the present invention, such as... Figure 3 As shown, this system is applied to engineering vehicles with booms and may include: a display control unit 10 and a communication unit 20; wherein, The display control unit 10 is used to plan parking points in the parking space of the work area, determine the working curve of the engineering vehicle and the position of the work target point relative to the working curve based on the location information of the parking points, determine whether the boom of the engineering vehicle can reach the work target point after the engineering vehicle is parked at the parking point, and plan a new parking point when it is determined that the boom cannot reach the work target point, until a parking point that can allow the boom to reach the work target point is determined. The communication unit 20 is used to send the location information of the parking point to the engineering vehicle when the display control unit 10 determines that the boom can reach the target point of the operation, so as to control the parking of the engineering vehicle in the operation area.

[0062] Specifically, the display control unit, while planning parking points within the work area's parking space through the control module and determining the operating curve of the engineering vehicle based on the parking point's location information, can also be used for pre-storing information such as the engineering vehicle model and operating curves corresponding to different outrigger spans. This makes the engineering vehicle parking control system provided in this embodiment applicable to parking control of various boom-type engineering vehicles, thus possessing versatility. Simultaneously, the display control unit can be an integrated unit combining the display module and control module. This configuration allows the display control unit to also display the operating curve of the selected engineering vehicle, spatial parameters relative to the target working point at the parking point, etc., based on the determined maximum permissible outrigger span, thereby facilitating user operation and human-machine interaction.

[0063] Furthermore, the communication unit can adopt wireless or wired communication methods, and can be integrated into the display control unit or connected to the display control unit as an independent unit. No specific limitations are made here.

[0064] In a preferred embodiment, such as Figure 5 As shown, the engineering vehicle parking control system also includes: a distance measuring unit 30; The ranging unit 30 is connected to the display control unit 10 and is used to determine the parking space parameters of the work area and the spatial parameters of the work target point relative to the parking point.

[0065] Specifically, by setting up a parking control system for engineering vehicles that includes a distance measuring unit, the distance measuring unit can measure the parking space parameters of the work area and the spatial parameters of the work target point relative to the parking point.

[0066] In some possible embodiments, the ranging unit includes, but is not limited to, a laser ranging module.

[0067] Optionally, the display control unit 10 is specifically used for: Parking spots are planned within the parking space based on parking space parameters.

[0068] Optionally, the display control unit 10 is specifically used for: Based on the location information of the parking point and the parking space parameters, the maximum allowable span of the outriggers of the engineering vehicle is determined; The operating curve of the engineering vehicle is determined based on the maximum allowable span of the outriggers.

[0069] Optionally, the display control unit 10 is specifically used for: Based on the spatial parameters of the target point, the position of the target point relative to the operation curve is determined.

[0070] Optionally, after determining that the boom can reach the target work point, the communication unit 20 is also used for: The maximum allowable span of the outriggers and the spatial parameters of the target work point are sent to the engineering vehicle.

[0071] In a preferred embodiment, such as Figure 5 As shown, the engineering vehicle parking control system also includes: an auxiliary detection unit 40 and an operation unit 50; wherein, The auxiliary detection unit 40 includes a camera module 41, a support module 42, and an angle detection module 43. The camera module 41 is connected to the ranging unit 30 and the display control unit 10, and is used to display the distance between the ranging target mark point of the ranging unit 30 and the working target point, as well as to capture the target image. The support module 42 is used to fix the ranging unit 30 to a preset height and orientation, and to indicate the orientation of the target part of the engineering vehicle when it is parked at the parking point. The angle detection module 43 is used to detect the angle between the ranging unit 30 and the horizontal plane, as well as the rotation angle of the ranging unit 30 when determining spatial parameters. The operation unit 50 is connected to the display control unit 10 and is used to control the camera module 41 and the ranging unit 30 through the display control unit 10, as well as to mark target information on the display control unit 10.

[0072] Specifically, the camera module can be a camera. By setting the camera module to display the distance between the distance measurement target mark point of the distance measuring unit and the work target point, when using the distance measuring unit to measure spatial parameters, the distance between the distance measurement target mark point of the distance measuring unit and the work target point can be displayed on the display module of the display control unit through the camera module. This makes it easy to adjust the orientation and angle of the distance measuring unit to ensure the accuracy of the measured spatial parameters.

[0073] Furthermore, by setting up a camera module to capture target images, for example, when the target image is a work curve, the camera module captures the work curve of the newly added engineering vehicle, enabling the control module of the display control unit to automatically recognize and save the work curve, thereby simplifying the work curve input process. When the target image is a site image, it achieves the goal of displaying the site image in real time and intuitively, thus facilitating more convenient and accurate determination of parking points.

[0074] In some possible embodiments, the support module is an auxiliary bracket, such as a tripod, to provide stable support for the ranging unit and ensure measurement accuracy. Furthermore, the support module can be securely connected to the ranging unit and can also be detached for easy carrying. Simultaneously, it features a fixed-height pole (of fixed length) to ensure that the distance between the ranging unit and the ground remains consistent after each auxiliary bracket is placed on the ground, facilitating spatial coordinate conversion by the display control unit. For example, if the distance from the bottom of the fixed-height pole to the ranging module is 1.5 meters, then the ranging unit obtains the actual height of the target point by adding 1.5 meters to the target point's height.

[0075] It is understandable that the contact point between the elevation control pole and the ground is the planned parking point, corresponding to the position of the center of the boom system turntable of the engineering vehicle projected onto the ground after parking. Based on this, a support module is set up to indicate the orientation of the target part of the engineering vehicle when it is parked at the parking point. For example, a horizontal arrow is placed on the auxiliary support to indicate the direction of the front of the vehicle after parking during measurement. At the same time, the direction indicated by the horizontal arrow is also the original orientation of the ranging unit before work, so that when working, the rotating ranging unit is aligned with the target point, and the horizontal angle of rotation is the angle that the turntable needs to rotate during boom operation (turntable rotation angle).

[0076] In some possible embodiments, taking a triangular bracket as an example, the spatial parameters between the parking point and the target point determined by the ranging unit are as follows: Figure 6 As shown. The spatial parameters include the turntable rotation angle, the target point amplitude, and the target point height. The target point height is the sum of the height data acquired by the ranging unit and the height of the ranging unit from the ground. Since the auxiliary support has a fixed-height rod, the height of the ranging unit from the ground is a fixed value.

[0077] In some possible embodiments, the angle detection module is an angle sensor used to detect the angle between the ranging unit and the horizontal plane, as well as the rotation angle of the ranging unit when determining spatial parameters. This means it measures the longitudinal and lateral angles between the upper part of the auxiliary support and the horizontal plane, thereby ensuring the perpendicularity of the ranging unit to the horizontal plane and guaranteeing the accuracy of the measurement reference. Simultaneously, it also measures the horizontal angle of the test rotation, i.e., the angle the turntable needs to rotate during boom operation.

[0078] Furthermore, by setting up an operation unit connected to the display control unit, the camera module and ranging unit can be controlled via the display control unit. This allows the operation unit to control the camera module to capture the current scene and, when the distance between the camera module's marked point and the target point is within the allowable range, to control the ranging unit to begin acquiring spatial parameters. This facilitates the operation of the engineering vehicle parking control system. By setting up the operation unit to annotate target information on the display control unit, planned parking points and the actual physical location of the maximum allowable span of the outriggers can be marked on the display control unit, making operation clear for the user.

[0079] In some possible embodiments, the operation unit may specifically consist of physical buttons for controlling the camera module and the ranging unit via the display control unit, and a labeling module for marking target information on the display control unit.

[0080] In some possible embodiments, a visible laser lens module is used to generate four visible laser lines (three horizontal and one vertical) to mark the parking point and the maximum permissible span of the outriggers. The marking of the parking point and the maximum permissible span of the outriggers would then be as follows: Figure 7 As shown, by controlling the engineering vehicle to park according to the parking point marked by laser, and deploying and leveling the outriggers according to the maximum allowable span of the marked outriggers, and then carrying out subsequent boom operations, it is possible to achieve a one-time parking operation to reach the target point.

[0081] In summary, see Figure 8 This is a system architecture diagram of a construction vehicle parking control system, using an operating unit that includes physical buttons and a labeling module as an example. Figure 8 As can be seen, this engineering vehicle parking control system constitutes an independent product, enabling parking point planning to be carried out independently in advance, thus greatly facilitating pre-survey and planning, and improving operational or rescue efficiency. Through the display control unit, operating unit, and camera module, it allows for the addition and import of operating curves for different outrigger spans of different engineering vehicles via manual coordinate input or AI image recognition, making the system applicable to all boom-type engineering vehicles, i.e., it has universality. The camera module displays the distance between the distance measurement target marker and the target point of the distance measuring unit, ensuring accurate measurement. The support module ensures the stability and accuracy of the measurement process. The communication unit provides the system with communication expansion capabilities, enabling communication with the engineering vehicle and automatically transmitting spatial parameters and the maximum permissible outrigger span to the vehicle, facilitating the deployment of outriggers and booms to the target point, making it convenient and efficient.

[0082] By setting the display control unit, users can choose to record and display parking space parameters and / or spatial parameters between the parking point and the target work point on the display module. They can also choose to display the maximum allowable span of the outriggers and the corresponding working curve of the engineering vehicle, so as to intuitively determine whether the selected engineering vehicle can deploy its boom to reach the target work point after being parked at the parking point.

[0083] Optionally, embodiments of the present invention also provide an engineering vehicle, which includes a vehicle body, a boom, and an engineering vehicle parking control system as provided in any of the above embodiments.

[0084] Below, for reference Figure 8 The electronic device provided in the embodiments of this application can be described as follows: at least one processor 100, at least one communication interface 200, at least one memory 300 and at least one communication bus 400; In this embodiment of the invention, the number of processor 100, communication interface 200, memory 300, and communication bus 400 is at least one, and the processor 100, communication interface 200, and memory 300 communicate with each other through communication bus 400; obviously, Figure 8 The communication connections shown for the processor 100, communication interface 200, memory 300, and communication bus 400 are optional. Optionally, the communication interface 200 can be an interface of a communication module, such as the interface of a GSM module; the processor 100 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0085] The memory 300 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0086] Specifically, the processor 100 is used to execute the application program in the memory to implement the steps of the above-described engineering vehicle parking control method.

[0087] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0088] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0089] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0090] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0091] It should be understood that the qualifiers “first,” “second,” “third,” “fourth,” “fifth,” and “sixth” used in the description of the embodiments of this application are only used to more clearly illustrate the technical solutions and are not intended to limit the scope of protection of this application.

[0092] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A parking control method for engineering vehicles, applied to engineering vehicles equipped with booms, characterized in that, include: Plan parking spots within the parking space of the work area; Based on the location information of the parking point, the operating curve of the engineering vehicle and the position of the target point relative to the operating curve are determined; Based on the position of the target point relative to the operation curve, determine whether the boom of the engineering vehicle can reach the target point after the engineering vehicle is parked at the parking point. If it is determined that the boom can reach the target work point, the location information of the parking point is sent to the engineering vehicle to control the parking of the engineering vehicle in the work area; If it is determined that the boom cannot reach the target work point, a new parking point is planned until a parking point that allows the boom to reach the target work point is determined.

2. The method according to claim 1, characterized in that, The planning of parking spots within the parking space of the work area includes: Obtain the parking space parameters of the work area; Based on the parking space parameters, the parking spots are planned within the parking space.

3. The method according to claim 2, characterized in that, Determining the operating curve of the engineering vehicle based on the parking point location information includes: Based on the location information of the parking point and the parking space parameters, the maximum allowable span of the outriggers of the engineering vehicle is determined; The operating curve of the engineering vehicle is determined based on the maximum permissible span of the outriggers.

4. The method according to claim 3, characterized in that, The step of determining the operating curve of the engineering vehicle and the position of the target point relative to the operating curve based on the location information of the parking point includes: Based on the location information of the parking point, determine the spatial parameters of the operation target point relative to the parking point; Based on the spatial parameters of the target point, the position of the target point relative to the operation curve is determined.

5. The method according to claim 4, characterized in that, After determining that the boom can reach the target work point, the method further includes: The maximum allowable span of the outriggers and the spatial parameters of the target work point are sent to the engineering vehicle.

6. A parking control system for engineering vehicles, applied to engineering vehicles with booms, characterized in that, include: Display control unit and communication unit; wherein The display control unit is used to plan parking points in the parking space of the work area, determine the working curve of the engineering vehicle and the position of the work target point relative to the working curve based on the location information of the parking points, determine whether the boom of the engineering vehicle can reach the work target point after parking the engineering vehicle at the parking points, and plan a new parking point when it is determined that the boom cannot reach the work target point, until a parking point that allows the boom to reach the work target point is determined. The communication unit is used to send the location information of the parking point to the engineering vehicle when the display control unit determines that the boom can reach the target work point, so as to control the parking of the engineering vehicle in the work area.

7. The system according to claim 6, characterized in that, Also includes: Distance measuring unit; The ranging unit is connected to the display control unit and is used to determine the parking space parameters of the work area and the spatial parameters of the work target point relative to the parking point.

8. The system according to claim 7, characterized in that, Also includes: Auxiliary detection unit and operation unit; wherein, The auxiliary detection unit includes a camera module, a support module, and an angle detection module. The camera module is connected to the ranging unit and the display control unit, and is used to display the distance between the ranging target marker point of the ranging unit and the work target point, as well as to capture target images. The support module is used to fix the ranging unit at a preset height and orientation, and to indicate the orientation of the target part of the engineering vehicle when it is parked at the parking point. The angle detection module is used to detect the angle between the ranging unit and the horizontal plane, and the rotation angle of the ranging unit when determining the spatial parameters. The operation unit is connected to the display control unit and is used to control the camera module and the ranging unit through the display control unit, as well as to mark target information on the display control unit.

9. An engineering vehicle, characterized in that, The engineering vehicle includes a vehicle body, a boom, and an engineering vehicle parking control system as described in any one of claims 6-8.

10. An electronic device, characterized in that, The electronic device includes: processor; Memory used to store the processor's executable instructions; The processor is configured to perform the method described in any one of claims 1 to 5.

Images