CN114036683A

CN114036683A - Remote debugging method and device, engineering machine, debugging equipment and system

Info

Publication number: CN114036683A
Application number: CN202111393812.3A
Authority: CN
Inventors: 毕智健; 王威; 王泽锋
Original assignee: Sany Heavy Machinery Ltd
Current assignee: Sany Heavy Machinery Ltd
Priority date: 2021-11-23
Filing date: 2021-11-23
Publication date: 2022-02-11

Abstract

The invention relates to the technical field of engineering machinery, in particular to a remote debugging method, a remote debugging device, engineering machinery, debugging equipment and a remote debugging system. The engineering machinery debugging method is applied to debugging equipment, and comprises the following steps: the method comprises the steps of obtaining a remote control command, outputting the remote control command to a simulation model of the engineering machinery, and sending the remote control command to the engineering machinery through wireless communication; responding to the remote control command, and outputting a target action of the engineering machinery by the simulation model; acquiring an actual action output by the engineering machinery according to a remote control command and a control parameter; determining a difference value between the target action and the actual action according to the target action and the actual action, debugging control parameters of the engineering machinery based on the difference value and outputting a debugging command; and sending the debugging command to the engineering machinery through wireless communication. By adopting the method, the efficiency of debugging the control parameters corresponding to the engineering machinery is improved. And hardware connection is not needed, so that the cost is reduced, and the remote debugging of the engineering machinery is realized.

Description

Remote debugging method and device, engineering machine, debugging equipment and system

Technical Field

The invention relates to the technical field of engineering machinery, in particular to a remote debugging method, a remote debugging device, engineering machinery, debugging equipment and a remote debugging system.

Background

With the rapid development of science and technology, more and more devices enter intellectualization. At present, engineering machinery is also more and more intelligent.

In the prior art, the debugging work of engineering machinery programs is that research personnel successfully compile the programs on a personal computer, control programs are downloaded into a controller through a data line at an engineering machinery end, and then debugging and operation of actions are carried out through a push-pull handle; and observing the corresponding movement of the working device according to the speed of the push-pull handle, modifying the control program, completing compiling on the excavator to update the controller program, and then repeating the first step to carry out next debugging and operation.

The debugging mode has a large amount of repeated operations, and is long in time consumption and low in efficiency; meanwhile, as the debugging personnel is in the cab of the engineering machinery, the judgment on the motion state of the working device of the engineering machinery is not accurate enough. Especially for ultra-large engineering machinery, the working device is large, the cab is positioned in front of the left side of the machine, the visual field of debugging personnel is limited, and the ultra-large engineering machinery is commonly controlled by a plurality of controllers in a coordinated mode, so that the sequential updating procedure is very complicated and is easy to generate errors. If this approach is still used, the debugging efficiency and results of the developers are deeply affected.

Disclosure of Invention

In view of this, embodiments of the present invention provide a remote debugging method, apparatus, engineering machine, debugging device and system, so as to solve the problem of low debugging efficiency of the engineering machine.

According to a first aspect, an embodiment of the present invention provides a remote debugging method, applied to a debugging device, including:

the method comprises the steps of obtaining a remote control command, outputting the remote control command to a simulation model of the engineering machinery, and sending the remote control command to the engineering machinery through wireless communication;

responding to the remote control command, and outputting a target action of the engineering machinery by the simulation model;

acquiring an actual action output by the engineering machinery according to a remote control command and a control parameter;

determining a difference value between the target action and the actual action according to the target action and the actual action, debugging control parameters of the engineering machinery based on the difference value and outputting a debugging command;

and sending the debugging command to the engineering machinery through wireless communication.

According to the remote debugging method provided by the embodiment of the invention, the remote control command is output to the simulation model of the engineering machinery by acquiring the remote control command, and the remote control command is sent to the engineering machinery through wireless communication. And then responding to the remote control command, outputting the target action of the engineering machinery by the simulation model, and acquiring the actual action output by the engineering machinery according to the remote control command and the control parameter. And determining a difference value between the target action and the actual action according to the target action and the actual action, debugging the control parameters of the engineering machinery based on the difference value, and outputting a debugging command. Therefore, the efficiency of debugging the control parameters corresponding to the engineering machinery is improved, the control parameters of the engineering machinery are not debugged blindly, but are debugged according to the target action output by the simulation model, the times of debugging the control parameters corresponding to the engineering machinery are reduced, and the efficiency of debugging the control parameters corresponding to the engineering machinery is improved. In addition, the debugging command is sent to the engineering machinery through wireless communication, remote debugging of the engineering machinery is achieved, control parameters do not need to be downloaded into the controller through a data line at the end of the engineering machinery, and then debugging and operation of actions are carried out through the push-pull handle. Hardware connection is not needed, so that the cost is reduced, and the engineering machinery is remotely debugged, thereby not only improving the efficiency of debugging the engineering machinery, but also improving the accuracy of debugging the engineering machinery.

With reference to the first aspect, in a first implementation manner of the first aspect, determining a difference value between the target action and the actual action according to the target action and the actual action, debugging the control parameter of the construction machine based on the difference value, and outputting a debugging command includes:

outputting prompt information corresponding to the difference value, and displaying the difference value;

receiving a debugging instruction input based on the difference value;

and debugging the control parameters and outputting a debugging command according to the debugging instruction.

According to the remote debugging method provided by the embodiment of the invention, the prompt information is output, and the difference value is displayed, so that a user can quickly acquire the difference value between the actual action and the target action of the engineering machinery, and then a debugging instruction input by the user based on the difference value is received; and debugging the control parameters according to the debugging instruction, and outputting a debugging command according to the debugging result of the control parameters, thereby improving the efficiency of debugging the control parameters of the engineering machinery.

With reference to the first aspect, in a second implementation manner of the first aspect, determining a difference value between the target action and the actual action according to the target action and the actual action, debugging the control parameter of the construction machine based on the difference value, and outputting a debugging command includes:

determining the debugging range of the target parameter in the control parameters according to the difference value;

and debugging the target parameters and outputting a debugging command according to the debugging range.

According to the remote debugging method provided by the embodiment of the invention, the debugging range of the target parameter in the control parameters is determined according to the difference value; according to the debugging range, target parameters in the control parameters are debugged instead of blind debugging without purpose, so that the efficiency of debugging the control parameters of the engineering machinery is improved.

With reference to the first aspect, in a third implementation manner of the first aspect, the method further includes:

receiving video data corresponding to the engineering machinery, wherein the video data comprise actual actions of the engineering machinery;

and determining whether the debugging of the control parameters of the engineering machinery reaches the standard based on the assistance of the video data.

According to the remote debugging method provided by the embodiment of the invention, whether the control parameter of the engineering machine is debugged to reach the standard or not is determined in an auxiliary manner according to the video data corresponding to the engineering machine and the actual action of the engineering machine included in the video data, so that whether the control parameter corresponding to the engineering machine is debugged to reach the standard or not can be determined more accurately and rapidly, the efficiency of verifying the debugging result is improved, and the efficiency of debugging the control parameter of the engineering machine is further improved.

With reference to the first aspect, in a fourth embodiment of the first aspect, acquiring an actual action output by the construction machine according to the remote control command and the control parameter includes:

and receiving state information of the engineering machinery during the actual action period output according to the remote control command and the control parameters, and analyzing the actual action of the engineering machinery according to the state information.

According to the remote debugging method provided by the embodiment of the invention, the state information of the engineering machinery during the actual action period is output according to the remote control command and the control parameter by receiving the engineering machinery, and then the actual action of the engineering machinery is analyzed according to the state information, so that the accuracy of the acquired actual action of the engineering machinery is ensured.

According to a second aspect, an embodiment of the present invention provides a remote debugging method, which is applied to a construction machine, and includes:

receiving a remote control command and a debugging command sent by debugging equipment;

adjusting the control parameters of the engineering machinery according to the debugging command to obtain the adjusted control parameters;

controlling the engineering machinery to output actual actions according to the remote control command and the control parameters;

acquiring state information during the actual action of the engineering machinery, wherein the state information comprises hydraulic pressure, a movable arm posture, oil cylinder displacement, an action signal waveform and video data;

and sending the state information to the debugging equipment through wireless communication.

According to the remote debugging method provided by the embodiment of the invention, the remote control command and the debugging command sent by the debugging equipment are received, and the control parameter of the engineering machine is adjusted according to the debugging command to obtain the adjusted control parameter, so that the engineering machine can be debugged according to the debugging command, and the accuracy of the adjusted control parameter is ensured. In addition, the engineering machinery is controlled to output actual actions according to the remote control command and the control parameters; therefore, the debugging equipment can verify whether the control parameters of the engineering machinery are debugged to reach the standard according to the actual action of the engineering machinery. In addition, acquiring state information during the actual action of the engineering machinery, wherein the state information comprises hydraulic pressure, a movable arm posture, oil cylinder displacement, an action signal waveform and video data; and sending the state information to the debugging equipment through wireless communication. Therefore, the debugging equipment can acquire the actual action of the engineering machinery according to the state information of the engineering machinery, and further, the debugging equipment can verify whether the debugging of the control parameters of the engineering machinery reaches the standard according to the state information of the engineering machinery, so that the debugging efficiency of the control parameters corresponding to the engineering machinery is improved, the blind debugging of the control parameters of the engineering machinery is not needed, and the debugging times of the control parameters corresponding to the engineering machinery are reduced. In addition, the construction machine transmits the state information to the debugging device through wireless communication. Control parameters are not required to be downloaded into the controller through a data line at the engineering machinery end, and then the debugging and the operation of actions are carried out through the push-pull handle. Hardware connection is not needed, so that the cost is reduced, and the engineering machinery is remotely debugged, thereby not only improving the efficiency of debugging the engineering machinery, but also improving the accuracy of debugging the engineering machinery.

According to a third aspect, an embodiment of the present invention provides a remote debugging apparatus, including:

the remote control module is used for acquiring a remote control command, outputting the remote control command to a simulation model of the engineering machinery and sending the remote control command to the engineering machinery through wireless communication;

the simulation model module is used for responding to the remote control command and outputting the target action of the engineering machinery by the simulation model;

the model matching correction module is used for acquiring the actual action output by the engineering machinery according to the remote control command and the control parameters; determining a difference value between the target action and the actual action according to the target action and the actual action, debugging control parameters of the engineering machinery based on the difference value and outputting a debugging command;

and the wireless transmission module is used for transmitting the debugging command to the engineering machinery through wireless communication.

According to the remote debugging device provided by the embodiment of the invention, the remote control command is output to the simulation model of the engineering machinery by acquiring the remote control command, and the remote control command is sent to the engineering machinery through wireless communication. And then responding to the remote control command, outputting the target action of the engineering machinery by the simulation model, and acquiring the actual action output by the engineering machinery according to the remote control command and the control parameter. And determining a difference value between the target action and the actual action according to the target action and the actual action, debugging the control parameters of the engineering machinery based on the difference value, and outputting a debugging command. Therefore, the efficiency of debugging the control parameters corresponding to the engineering machinery is improved, the control parameters of the engineering machinery are not debugged blindly, but are debugged according to the target action output by the simulation model, the times of debugging the control parameters corresponding to the engineering machinery are reduced, and the efficiency of debugging the control parameters corresponding to the engineering machinery is improved. In addition, the debugging command is sent to the engineering machinery through wireless communication, remote debugging of the engineering machinery is achieved, control parameters do not need to be downloaded into the controller through a data line at the end of the engineering machinery, and then debugging and operation of actions are carried out through the push-pull handle. Hardware connection is not needed, so that the cost is reduced, and the engineering machinery is remotely debugged, thereby not only improving the efficiency of debugging the engineering machinery, but also improving the accuracy of debugging the engineering machinery.

According to a fourth aspect, an embodiment of the present invention provides a remote debugging apparatus, including:

the debugging device comprises a receiving module, a debugging module and a control module, wherein the receiving module is used for receiving a remote control command and a debugging command sent by the debugging device;

the control module is used for adjusting the control parameters of the engineering machinery according to the debugging command to obtain the adjusted control parameters; controlling the engineering machinery to output actual actions according to the remote control command and the control parameters;

the data acquisition module is used for acquiring state information during the actual action of the engineering machinery, wherein the state information comprises hydraulic pressure, movable arm posture, oil cylinder displacement, action signal waveform and video data;

and the sending module is used for sending the state information to the debugging equipment through wireless communication.

According to the remote debugging method provided by the embodiment of the invention, the remote control command and the debugging command sent by the debugging equipment are received, and the control parameter of the engineering machine is adjusted according to the debugging command to obtain the adjusted control parameter, so that the engineering machine can be debugged according to the debugging command, and the accuracy of the adjusted control parameter is ensured. In addition, the engineering machinery is controlled to output actual actions according to the remote control command and the control parameters; therefore, the debugging equipment can verify whether the control parameters of the engineering machinery are debugged to reach the standard according to the actual action of the engineering machinery. In addition, acquiring state information during the actual action of the engineering machinery, wherein the state information comprises hydraulic pressure, a movable arm posture, oil cylinder displacement, an action signal waveform and video data; and sending the state information to the debugging equipment through wireless communication. Therefore, the debugging equipment can acquire the actual action of the engineering machinery according to the state information of the engineering machinery, and further, the debugging equipment can verify whether the debugging of the control parameters of the engineering machinery reaches the standard according to the state information of the engineering machinery, so that the debugging efficiency of the control parameters corresponding to the engineering machinery is improved, the blind debugging of the control parameters of the engineering machinery is not needed, and the debugging times of the control parameters corresponding to the engineering machinery are reduced. In addition, the sending module sends the state information to the debugging equipment through wireless communication, so that the engineering machinery is remotely debugged, the control parameters do not need to be downloaded into the controller through a data line at the end of the engineering machinery, and then the debugging and the operation of actions are carried out through the push-pull handle. Hardware connection is not needed, so that the cost is reduced, and the engineering machinery is remotely debugged, thereby not only improving the efficiency of debugging the engineering machinery, but also improving the accuracy of debugging the engineering machinery.

According to a fifth aspect, an embodiment of the present invention provides a debugging apparatus, including: the memory and the processor are communicatively connected with each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the remote debugging method of the first aspect or any one of the embodiments of the first aspect.

According to a sixth aspect, an embodiment of the present invention provides a construction machine, which includes the remote commissioning apparatus according to the fourth aspect, or includes a controller, which is configured to execute the remote commissioning method according to any one of the second aspects.

According to a seventh aspect, an embodiment of the present invention provides a remote debugging system, where the system includes model simulation equipment, remote control equipment, a data acquisition device, a model matching correction device, communication equipment, and engineering machinery; wherein,

the remote control equipment is connected with the model simulation equipment and the engineering machinery and used for acquiring a remote control command and sending the remote control command to the model simulation equipment and the engineering machinery through wireless communication;

the model simulation equipment is connected with the remote control equipment and the model matching correction device and responds to a remote control command, and the model simulation equipment outputs a target action of the engineering machinery;

the model matching correction device is connected with the model simulation equipment, the data acquisition device and the communication equipment, and is used for acquiring a target action output by the model simulation equipment and an actual action of the engineering machinery output by the data acquisition device, which responds to a remote control command; determining a difference value between the target action and the actual action according to the target action and the actual action, debugging control parameters of the engineering machinery and outputting a debugging command to the communication equipment;

the communication equipment is used for sending the debugging command to the engineering machinery through wireless communication;

the engineering machine receives the remote control command and the debugging command, and adjusts the control parameters of the engineering machine according to the debugging command to obtain adjusted control parameters; controlling the engineering machinery to output actual actions according to the remote control command and the control parameters;

and the data acquisition device is arranged in the engineering machinery, and is used for acquiring state information during the actual action of the engineering machinery and outputting the state information to the outside.

According to a seventh aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores computer instructions for causing a computer to execute the remote debugging method in the first aspect or any one of the implementation manners of the first aspect.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a flow diagram of a remote debugging method according to an embodiment of the present invention;

FIG. 2 is a flow diagram of a remote debugging method according to an embodiment of the present invention;

FIG. 3 is a flow diagram of a remote debugging method according to an embodiment of the present invention;

FIG. 4 is a flow diagram of a remote debugging method according to an embodiment of the present invention;

FIG. 5 is a flow diagram of a remote debugging method according to an embodiment of the present invention;

fig. 6 is a block diagram of a remote debugging apparatus according to an embodiment of the present invention;

FIG. 7 is a block diagram of a construction machine according to an embodiment of the present disclosure;

FIG. 8 is a block diagram of a remote debugging system provided in an embodiment of the present invention;

fig. 9 is a schematic diagram of a hardware structure of a debugging device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the conventional process of adjusting the engineering machinery, generally, research and development personnel successfully compile a program on a personal computer, download a control program into a controller through a data line at an engineering machinery end, and then debug and operate actions through a push-pull handle; and observing the corresponding movement of the working device according to the speed of the push-pull handle, modifying the control program, completing compiling on the excavator to update the controller program, and then repeating the first step to carry out next debugging and operation. The debugging mode has a large amount of repetitive operations, and is long in time consumption and low in efficiency.

Based on the above, the embodiment of the invention provides a remote debugging method, which includes obtaining an actual action of an engineering machine and a target action output by a simulation model, determining a difference value according to the actual action and the target action, and debugging a control parameter of the engineering machine according to the difference value.

According to an embodiment of the present invention, there is provided an embodiment of a remote debugging method, it should be noted that the steps shown in the flowchart of the drawings may be executed in a debugging device, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that here.

In this embodiment, a remote debugging method is provided, which may be used for debugging a device, and fig. 1 is a flowchart of the remote debugging method according to an embodiment of the present invention, as shown in fig. 1, where the flowchart includes the following steps:

and S11, acquiring the remote control command, outputting the remote control command to the simulation model of the engineering machine, and sending the remote control command to the engineering machine through wireless communication.

Optionally, the debugging device may receive a remote control command sent by another device, and may also generate the remote control command according to the debugging requirement.

Optionally, the debugging device may further obtain a remote control command output by the remote control device to the debugging device. The remote control device includes, but is not limited to, a remote control cabin with a remote control function, a short-range remote control handle, etc., and the remote control device may include a handle, a foot pedal, etc.

Specifically, the remote control device can convert a handle/pedal analog quantity signal input by a debugging person into a digital signal through A/D signal conversion, and transmit the signal to the debugging device through a wireless network or a remote mobile network, so that the debugging device can receive a remote control command transmitted by the remote control device.

After the debugging equipment acquires the remote control command, the debugging equipment can output the remote control command to a simulation model of the engineering machinery and send the remote control command to the engineering machinery through a wireless network or a remote mobile network.

And S12, responding to the remote control command, and outputting the target action of the engineering machine by the simulation model.

The simulation model can carry out digital description on a power/hydraulic system of the engineering machinery, and analog operation and feedback collection are carried out on a control system of the engineering machinery in a mode of introducing the simulation model.

The simulation model can comprise a hydraulic system simulation model and a control system simulation model. The hydraulic system simulation model mainly comprises a hydraulic pump simulation model curve, a valve simulation model curve and a hydraulic cylinder simulation model curve; the valve simulation model comprises a main valve, an overflow valve, a one-way valve and the like, and the hydraulic cylinder simulation model comprises a movable arm cylinder, a bucket rod cylinder and a bucket cylinder. The control system simulation model comprises a main pump control model, a main valve control model and a power control model. The simulation models simulate ideal states of a hydraulic system and a control system, can synchronously collect remote control commands transmitted by debugging equipment as input, and generate target actions corresponding to the engineering machinery according to the simulation models.

Specifically, the debugging equipment can input the remote control command into a simulation model of the engineering machine, a power/hydraulic system in the simulation model calculates and controls the remote control command, a model target curve corresponding to the engineering machine is output, and a target action of the engineering machine is determined according to the model target curve. The model target curves may include model target curves such as a hydraulic pump simulation model target curve, a valve simulation model target curve, a hydraulic cylinder simulation model target curve, a main pump control model target curve, a main valve control model target curve, and a power control model target curve.

And S13, acquiring the actual action output by the engineering machinery according to the remote control command and the control parameter.

Specifically, after the engineering machine acquires the remote control command, the acquired remote control command may be input to an MCU terminal of the engineering machine, and the MCU terminal performs internal calculation on the received remote control command based on the control parameters, and transmits a calculation result to an MCU output terminal of a controller of the engineering machine to output an actual motion of the engineering machine. The actual action may include, but is not limited to, a handle of the work machine, a pedaling state, and the like. The actual action may also include the operating parameters of hydraulic pumps, hydraulic valves, hydraulic cylinders, etc.

And S14, determining a difference value between the target action and the actual action according to the target action and the actual action, debugging the control parameters of the engineering machinery based on the difference value and outputting a debugging command.

Optionally, the debugging device may compare the actual motion with the target motion, so as to determine a difference value between the actual motion and the target motion, then debug the control parameter of the engineering machine according to the difference value, and output a debugging command.

Details about this step will be described later.

And S15, sending the debugging command to the engineering machinery through wireless communication.

In an alternative embodiment, the commissioning device sends the commissioning command to the work machine via wireless communication based on remote communication with the work machine. The engineering machinery can correspondingly debug the control parameters according to the debugging command.

In another alternative embodiment, the debug command includes the adjusted control parameters.

The debugging equipment transmits the debugging command to the engineering machinery through a wireless network or a mobile network, and the engineering machinery updates the control parameters of the controller in the engineering machinery according to the adjusted control parameters included in the debugging command. And then, transmitting the data in the control parameters to a controller end of the engineering machinery frame by using protocols such as ISOTP (integrated Circuit programmable) and UDS (Universal data bus), and flashing the latest version of control parameter data into the controller by the controller through burning software so as to finish updating a debugging result once.

In this embodiment, a remote debugging method is provided, which may be used for debugging a device, and fig. 2 is a flowchart of the remote debugging method according to an embodiment of the present invention, as shown in fig. 2, where the flowchart includes the following steps:

and S21, acquiring the remote control command, outputting the remote control command to the simulation model of the engineering machine, and sending the remote control command to the engineering machine through wireless communication.

Please refer to S11 in fig. 1, which is not described herein again.

And S22, responding to the remote control command, and outputting the target action of the engineering machine by the simulation model.

Please refer to S12 in fig. 1, which is not described herein again.

And S23, acquiring the actual action output by the engineering machinery according to the remote control command and the control parameter.

Please refer to S13 in fig. 1, which is not described herein again.

And S24, determining a difference value between the target action and the actual action according to the target action and the actual action, debugging the control parameters of the engineering machinery based on the difference value and outputting a debugging command.

Specifically, the above S24 may include:

and S241, outputting prompt information corresponding to the difference value and displaying the difference value.

Specifically, after the debugging device compares the actual action with the target action so as to determine a difference value between the actual action and the target action, the difference value can be displayed through the display part. The debugging equipment can display the difference value in a curve form, and can also display the difference value in a table form.

The debugging device may use, but is not limited to, a signal transformation recognition algorithm such as time domain and frequency domain data comparison when comparing the actual motion with the target motion.

For example, the debugging device may compare a curve of parameters, such as a pump simulation model curve, a valve simulation model curve, a hydraulic cylinder displacement simulation model curve, a main pump control model curve, a main valve control model curve, and a power model control curve, included in the target motion with an operation curve of a hydraulic pump, a hydraulic valve, a hydraulic cylinder, and the like in the actual motion, so as to determine a difference value between the actual motion and the target motion.

For example, the debugging device may generate a curve image according to a pump simulation model curve included in the target motion and a corresponding hydraulic pump operation curve in the actual motion, so as to display a difference value between the actual motion and the target motion.

For example, the debugging device may generate a parameter table according to the pump simulation model data included in the target motion and the corresponding hydraulic pump operation parameter data in the actual motion, so as to display a difference value between the actual motion and the target motion.

The embodiment of the present application does not limit the specific manner of displaying the difference value.

And S242, receiving a debugging instruction input by the user based on the difference value.

Specifically, after receiving a difference value between an actual action and a target action displayed by the debugging equipment based on the display part, the user can input a debugging instruction for debugging the control parameter corresponding to the engineering machine to the debugging equipment according to the difference value, so that the debugging equipment can receive the debugging instruction input by the user.

And S243, debugging the control parameters and outputting debugging commands according to the debugging commands.

Specifically, the debugging device may debug at least one target parameter of the control parameters based on a received debugging instruction input by the user, so as to obtain an adjusted control parameter, and output a debugging command according to the adjusted control parameter.

And S25, sending the debugging command to the engineering machinery through wireless communication.

Please refer to S15 in fig. 1, which is not described herein again.

In this embodiment, a remote debugging method is provided, which can be used for debugging a device, and fig. 3 is a flowchart of the remote debugging method according to the embodiment of the present invention, as shown in fig. 3, where the flowchart includes the following steps:

and S31, acquiring the remote control command, outputting the remote control command to the simulation model of the engineering machine, and sending the remote control command to the engineering machine through wireless communication.

Please refer to S21 in fig. 2 for details, which are not described herein.

And S32, responding to the remote control command, and outputting the target action of the engineering machine by the simulation model.

Please refer to S22 in fig. 2 for details, which are not described herein.

And S33, acquiring the actual action output by the engineering machinery according to the remote control command and the control parameter.

Please refer to S23 in fig. 2 for details, which are not described herein.

And S34, determining a difference value between the target action and the actual action according to the target action and the actual action, debugging the control parameters of the engineering machinery based on the difference value and outputting a debugging command.

Specifically, S34 may further include:

and S341, determining the debugging range of the target parameter in the control parameters according to the difference value.

Specifically, after comparing the actual motion with the target motion, the debugging device determines a difference value between the actual motion and the target motion, and then determines a debugging range of the target parameter in the control parameter according to the difference value.

For example, assuming that the maximum difference value between the curve of the pump simulation model in the target motion and the curve of the hydraulic pump in the actual motion is 10, the debugging device may determine that the debugging range corresponding to the P parameter in the PID parameters in the control parameters is 0.5-1.

And S342, debugging the target parameters in the control parameters according to the debugging range and outputting a debugging command.

Specifically, the debugging device may set a corresponding step size according to the debugging range, and then debug the target parameter in the control parameters in a sequence from small to large or from large to small. Optionally, the step size may be 0.1 or 0.05, and the step size set by the debugging device is not specifically limited in this application.

And S35, sending the debugging command to the engineering machinery through wireless communication.

Please refer to S25 in fig. 2 for details, which are not described herein.

In this embodiment, a remote debugging method is provided, which can be used for debugging a device, and fig. 4 is a flowchart of the remote debugging method according to the embodiment of the present invention, as shown in fig. 4, where the flowchart includes the following steps:

and S41, acquiring the remote control command, outputting the remote control command to the simulation model of the engineering machine, and sending the remote control command to the engineering machine through wireless communication.

Please refer to S31 in fig. 3 for details, which are not described herein.

And S42, responding to the remote control command, and outputting the target action of the engineering machine by the simulation model.

Please refer to S32 in fig. 3 for details, which are not described herein.

And S43, acquiring the actual action output by the engineering machinery according to the remote control command and the control parameter.

Specifically, S43 may further include:

and S431, receiving state information of the engineering machinery during the actual action period output by the engineering machinery according to the remote control command and the control parameter, and analyzing the actual action of the engineering machinery according to the state information.

The state information includes data such as hydraulic pressure, boom attitude, cylinder displacement, motion signal waveform, and video data.

Specifically, after the engineering machine acquires the remote control command, the acquired remote control command may be input to an MCU terminal of the engineering machine, and the MCU terminal of the engineering machine performs internal calculation on the received remote control command based on the control parameters, and transmits the calculation result to an MCU output terminal of a controller of the engineering machine to output state information during actual operation of the engineering machine.

Illustratively, the MCU of the engineering machine performs internal calculation on the received remote control command based on the control parameters, and calculates to obtain the operating parameters of the hydraulic pump, the hydraulic valve, the hydraulic cylinder, and the like, and the state information of the power arm of the engineering machine, such as the attitude information.

And the debugging equipment analyzes the state information so as to determine the actual action of the engineering machinery.

And S44, determining a difference value between the target action and the actual action according to the target action and the actual action, debugging the control parameters of the engineering machinery based on the difference value and outputting a debugging command.

Please refer to S24 in the embodiment shown in fig. 2 and S34 in the embodiment shown in fig. 3 for details, which are not repeated herein.

And S45, sending the debugging command to the engineering machinery through wireless communication.

Please refer to S35 in fig. 3 for details, which are not described herein.

S46, receiving video data transmitted by the engineering machinery; the video data includes actual actions of the work machine.

Specifically, after debugging is completed each time, the remote control equipment converts a handle/pedal analog quantity signal input by a debugging person into a digital signal through A/D signal conversion, and transmits the digital signal to an MCU (microprogrammed control unit) end of the engineering machinery through a wireless network or a remote mobile network, and the MCU end of the engineering machinery is provided with a data acquisition device which can acquire a remote control command transmitted by the remote control equipment, calculates the remote control command through the MCU, and transmits the remote control command to an MCU output end of a controller of the engineering machinery to output the actual action of the engineering machinery.

The data acquisition device acquires actual actions of the engineering machinery, generates video data and transmits the video data to the debugging equipment through a wireless network or a remote mobile network.

And S47, determining whether the control parameters of the engineering machinery reach the debugging standard in an auxiliary mode based on the video data.

In an optional implementation manner, the debugging device assists in determining whether the debugging of the control parameter of the engineering machine reaches the standard according to comparison between an actual action in the video data and an ideal action corresponding to the actual action.

For example, it is assumed that the actual motion of the construction machine in the video data advances by 50m at a speed of 10m/s, and the ideal motion corresponding to the actual motion advances by 45m at a speed of 29 m/s.

In another alternative embodiment, the debugging device may determine whether the debugging device completes the preset task according to the actual action in the video data, and then assist in determining whether the control parameter of the engineering machine meets the debugging standard.

According to the remote debugging method provided by the embodiment of the invention, the state information of the engineering machinery during the actual action period is output according to the remote control command and the control parameter by receiving the engineering machinery, and then the actual action of the engineering machinery is analyzed according to the state information, so that the accuracy of the acquired actual action of the engineering machinery is ensured. In addition, whether the debugging of the control parameters of the engineering machinery reaches the standard is determined in an auxiliary mode by receiving the video data corresponding to the engineering machinery and according to the actual actions of the engineering machinery included in the video data. Whether the corresponding control parameters of the engineering machinery are debugged to reach the standard can be determined more accurately and rapidly, the efficiency of verifying the debugging result is improved, and the efficiency of debugging the control parameters of the engineering machinery is further improved.

According to an embodiment of the present invention, there is provided an embodiment of a remote commissioning method, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a work machine and that, although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different from the order presented herein.

In this embodiment, a remote debugging method is provided, which can be used in a construction machine, and fig. 5 is a flowchart of the remote debugging method according to the embodiment of the present invention, as shown in fig. 5, the flowchart includes the following steps:

and S51, receiving the remote control command and the debugging command sent by the debugging equipment.

Specifically, the engineering machine can receive remote control commands sent by the debugging equipment and debugging commands based on remote communication with the debugging equipment.

And S52, adjusting the control parameters of the engineering machinery according to the debugging command to obtain the adjusted control parameters.

In an optional implementation manner, the engineering machine receives a debugging command sent by the debugging device through wireless communication based on remote communication with the debugging device, and correspondingly debugs the control parameters according to the debugging command to obtain the adjusted control parameters.

In another alternative embodiment, the debug command includes the adjusted control parameters. The engineering machinery receives the debugging command transmitted by the debugging equipment through a wireless network or a mobile network, so that the adjusted control parameters are obtained. And the engineering machinery updates the control parameters of the controller in the engineering machinery according to the adjusted control parameters included in the debugging command. And then, transmitting the data in the control parameters to a controller end of the engineering machinery frame by using protocols such as ISOTP (integrated Circuit programmable) and UDS (Universal data bus), and flashing the latest version of control parameter data into the controller by the controller through burning software so as to finish updating a debugging result once.

And S53, controlling the engineering machinery to output actual actions according to the remote control commands and the control parameters.

Specifically, after the engineering machine acquires the remote control command, the acquired remote control command may be input to an MCU end of the engineering machine, and the MCU end of the engineering machine performs internal calculation on the received remote control command based on the control parameters, and transmits the calculation result to an MCU output end of a controller of the engineering machine to output an actual motion of the engineering machine. The actual action may include, but is not limited to, a handle of the work machine, a pedaling state, and the like. The actual action may also include the operating parameters of hydraulic pumps, hydraulic valves, hydraulic cylinders, etc.

And S54, collecting the state information of the engineering machinery during the actual action.

The state information comprises hydraulic pressure, a movable arm posture, oil cylinder displacement, an action signal waveform and video data.

Specifically, the data acquisition module of the construction machine may acquire state information during actual actions of the construction machine.

And S55, sending the state information to the debugging equipment through wireless communication.

Specifically, the engineering machinery transmits the acquired state information to the debugging equipment based on wireless communication with the debugging equipment.

The present embodiment provides a remote debugging apparatus 60, which is applied to a debugging device, as shown in fig. 6, and includes:

and the remote control module 61 is used for acquiring a remote control command, outputting the remote control command to the simulation model of the engineering machine, and sending the remote control command to the engineering machine through wireless communication.

And the simulation model module 62 is used for responding to the remote control command, and the simulation model outputs the target action of the engineering machinery.

The model matching correction module 63 is used for acquiring the actual action output by the engineering machinery according to the remote control command and the control parameter; and determining a difference value between the target action and the actual action according to the target action and the actual action, debugging the control parameters of the engineering machinery based on the difference value, and outputting a debugging command.

And the wireless transmission module 64 is used for transmitting the debugging command to the engineering machinery through wireless communication.

The remote debugging device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC circuit, a processor and a memory executing one or more software or fixed programs, and/or other devices that can provide the above-described functions.

Further functional descriptions of the modules are the same as those of the corresponding embodiments, and are not repeated herein.

The present embodiment provides a remote debugging apparatus 70, including:

and the receiving module 71 is configured to receive a remote control command and a debugging command sent by the debugging device.

The control module 72 is used for adjusting the control parameters of the engineering machinery according to the debugging command to obtain the adjusted control parameters; and controlling the engineering machinery to output actual actions according to the remote control commands and the control parameters.

And the data acquisition module 73 is used for acquiring state information during the actual action of the engineering machinery, wherein the state information comprises hydraulic pressure, a movable arm posture, oil cylinder displacement, an action signal waveform and video data.

And a sending module 74, configured to send the status information to the debugging device through wireless communication.

The present embodiment provides a working machine, which may include the remote commissioning apparatus 70 described above. The engineering machine may further include a controller and an engineering machine body, wherein the controller is connected to the engineering machine body, and the controller may be connected to the engineering machine body according to a requirement, a specific connection manner and a setting position, which are not limited herein. The controller may be configured to perform the steps of fig. 5 described above.

The present embodiment provides a remote debugging system 80, as shown in fig. 8, the system includes a model simulation device 81, a remote control device 82, a data acquisition device 83, a model matching correction device 84, a communication device 85, and an engineering machine 86; wherein,

and the remote control device 82 is connected with the model simulation device 81 and the engineering machine 86, and is used for acquiring a remote control command and sending the remote control command to the model simulation device 81 and the engineering machine 86 through wireless communication.

The remote control device 82 includes, but is not limited to, a remote control cabin with remote control function, a short-range remote control handle, etc., and the remote control device may include a handle, a foot pedal, etc.

And a model simulation device 81 connected to the remote control device 82 and the model matching correction device 84, wherein the model simulation device 81 outputs a target motion of the construction machine 86 in response to a remote control command.

The execution main body of the model simulation device 81 may be a model simulation device, and the model simulation device may be implemented as part or all of a computer device in a software, hardware, or a combination of software and hardware, where the computer device may be a server or a terminal, where the server in this embodiment may be one server or a server cluster composed of multiple servers, and the terminal in this embodiment may be another intelligent hardware device such as a smart phone, a personal computer, a tablet computer, a wearable device, and an intelligent robot.

A model matching correction device 84 connected to the model simulation device 81, the data acquisition device 83, and the communication device 85, and configured to acquire a target motion output by the model simulation device 81 and an actual motion of the construction machine 86 output by the data acquisition device 83 in response to a remote control command; and determining a difference value between the target action and the actual action according to the target action and the actual action, debugging the control parameters of the engineering machinery 86 and outputting a debugging command to the communication equipment 85.

The model matching correction device 84 may be implemented as part or all of a computer device in a software, hardware, or a combination of software and hardware, where the computer device may be a server or a terminal, where the server in this embodiment of the present application may be one server or a server cluster composed of multiple servers, and the terminal in this embodiment of the present application may be another intelligent hardware device such as a smart phone, a personal computer, a tablet computer, a wearable device, and an intelligent robot.

The model simulation device 81 and the model matching correction device 84 may be in the same computer device or in different computer devices. The embodiments of the present application are not particularly limited.

The communication device 85 transmits the debug command to the construction machine 86 through wireless communication.

The communication device 85 may be a separate hardware communication device interconnected with the work machine 86, or may be a communication device integrated within the work machine 86.

The engineering machine 86 receives the remote control command and the debugging command, and adjusts the control parameters of the engineering machine 86 according to the debugging command to obtain the adjusted control parameters. And controlling the engineering machinery 86 to output actual actions according to the remote control commands and the control parameters.

The construction machine 86 includes an electronic device and a construction machine body. The electronic device is connected with the engineering machine body, and the electronic device can be connected with the engineering machine body according to requirements, and the specific connection mode and the setting position are not limited at all.

The specific structure of the engineering machine body can be set according to actual requirements, and is not limited herein. The electronic equipment is used for receiving remote control commands and debugging commands. And adjusting the control parameters of the engineering machinery 86 according to the debugging command to obtain the adjusted control parameters. And controlling the engineering machinery 86 to output actual actions according to the remote control commands and the control parameters.

And a data acquisition device 83 provided in the construction machine 86, which acquires state information during actual operation of the construction machine 86 and outputs the state information to the outside.

The data acquisition device 83 may be a device externally connected to the construction machine 86, or may be a device internally installed in the construction machine 86. For example, the data acquisition device 83 may be a camera externally connected to the construction machine 86, or may be a camera internally installed in the construction machine 86.

Referring to fig. 9, fig. 9 is a schematic structural diagram of a debugging device according to an alternative embodiment of the present invention, and as shown in fig. 9, the debugging device may include: at least one processor 91, such as a CPU (Central Processing Unit), at least one communication interface 93, memory 94, and at least one communication bus 92. Wherein a communication bus 92 is used to enable the connection communication between these components. The communication interface 93 may include a Display (Display) and a Keyboard (Keyboard), and the optional communication interface 93 may also include a standard wired interface and a standard wireless interface. The Memory 94 may be a high-speed RAM (Random Access Memory) or a non-volatile Memory, such as at least one disk Memory. The memory 94 may alternatively be at least one memory device located remotely from the processor 91. Wherein the processor 91 may be combined with the apparatus described in fig. 5, an application program is stored in the memory 94, and the processor 91 calls the program code stored in the memory 94 for performing any of the above-mentioned method steps.

The communication bus 92 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus 92 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 9, but this does not indicate only one bus or one type of bus.

The memory 94 may include a volatile memory (RAM), such as a random-access memory (RAM); the memory may also include a non-volatile memory (english: non-volatile memory), such as a flash memory (english: flash memory), a hard disk (english: hard disk drive, abbreviated: HDD) or a solid-state drive (english: SSD); memory 94 may also comprise a combination of the above types of memory.

The processor 91 may be a Central Processing Unit (CPU), a Network Processor (NP), or a combination of a CPU and an NP.

The processor 91 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.

Optionally, the memory 94 is also used to store program instructions. The processor 91 may call program instructions to implement the remote debugging method as shown in the embodiments of fig. 1 to 4 of the present application.

The embodiment of the invention also provides a non-transitory computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the remote debugging method in any method embodiment. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.

Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A remote debugging method is applied to debugging equipment, and comprises the following steps:

acquiring an actual action output by the engineering machinery according to the remote control command and the control parameter;

determining a difference value between the target action and the actual action according to the target action and the actual action, debugging the control parameters of the engineering machinery based on the difference value and outputting a debugging command;

2. The remote debugging method according to claim 1, wherein the determining a difference value between the target action and the actual action according to the target action and the actual action, and debugging the control parameter of the construction machine based on the difference value and outputting a debugging command comprises:

outputting prompt information corresponding to the difference value and displaying the difference value;

receiving a debugging instruction input based on the difference value;

and debugging the control parameters according to the debugging instruction and outputting the debugging command.

3. The remote debugging method according to claim 1, wherein the determining a difference value between the target action and the actual action according to the target action and the actual action, and debugging the control parameter of the construction machine based on the difference value and outputting a debugging command comprises:

determining the debugging range of a target parameter in the control parameters according to the difference value;

and debugging the target parameters and outputting the debugging command according to the debugging range.

4. The remote debugging method of claim 1, further comprising:

and determining whether the control parameters of the engineering machinery reach the debugging standard or not based on the video data in an auxiliary mode.

5. The remote debugging method of claim 1, wherein the obtaining of the actual action of the construction machine output according to the remote control command and the control parameter comprises:

6. A remote debugging method is characterized by being applied to engineering machinery, and comprises the following steps:

controlling the engineering machinery to output actual actions according to the remote control commands and the control parameters;

acquiring state information of the engineering machinery during actual action, wherein the state information comprises hydraulic pressure, a movable arm posture, oil cylinder displacement, an action signal waveform and video data;

7. A remote debugging apparatus, comprising:

the remote control module is used for acquiring a remote control command, outputting the remote control command to a simulation model of the engineering machinery, and sending the remote control command to the engineering machinery through wireless communication;

the simulation model module is used for responding to the remote control command, and the simulation model outputs a target action of the engineering machinery;

the model matching correction module is used for acquiring the actual action output by the engineering machinery according to the remote control command and the control parameters; determining a difference value between the target action and the actual action according to the target action and the actual action, debugging the control parameters of the engineering machinery based on the difference value and outputting a debugging command;

8. A remote debugging apparatus, comprising:

the control module is used for adjusting the control parameters of the engineering machinery according to the debugging command to obtain the adjusted control parameters; controlling the engineering machinery to output actual actions according to the remote control commands and the control parameters;

9. A commissioning device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the remote debugging method of any of claims 1-5.

10. A work machine, comprising: the remote debugging apparatus of claim 8; alternatively, the construction machine includes: a controller for performing the remote commissioning method of claim 6.

11. A remote debugging system is characterized by comprising model simulation equipment, remote control equipment, a data acquisition device, a model matching correction device, communication equipment and engineering machinery; wherein,

the remote control equipment is connected with the model simulation equipment and the engineering machinery and is used for acquiring a remote control command and sending the remote control command to the model simulation equipment and the engineering machinery through wireless communication;

the model simulation equipment is connected with the remote control equipment and the model matching correction device, and responds to the remote control command, and the model simulation equipment outputs a target action of the engineering machinery;

the model matching correction device is connected with the model simulation equipment, the data acquisition device and the communication equipment, and is used for acquiring the target action output by the model simulation equipment and the actual action of the engineering machinery output by the data acquisition device, which is in response to the remote control command; determining a difference value between the target action and the actual action according to the target action and the actual action, debugging the control parameters of the engineering machinery and outputting a debugging command to communication equipment;

the engineering machine is used for receiving a remote control command and a debugging command, and adjusting the control parameters of the engineering machine according to the debugging command to obtain adjusted control parameters; controlling the engineering machinery to output actual actions according to the remote control commands and the control parameters;

and the data acquisition device is arranged in the engineering machinery, acquires the state information during the actual action of the engineering machinery and outputs the state information to the outside.