CN114397844B - Control method and control device of building dismantling machine based on multi-channel interaction - Google Patents
Control method and control device of building dismantling machine based on multi-channel interaction Download PDFInfo
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Abstract
The invention provides a control method and a control device of a building dismantling machine based on multichannel interaction, wherein the control method comprises the following steps: acquiring the overall working power of the processing arm; the working power of each of the first channel, the second channel, the third channel and the fourth channel is regulated based on the whole working power of the processing arm, wherein in the working process of the building dismantling machine, the fourth channel and the third channel carry out working power interaction, and the working power interaction is used as a first interaction program at the moment; monitoring the action track of the third channel, if the action track of the third channel is kept at the same position, adjusting the working power of the third channel to be standby power, and adding the rest power to the working power of the fourth channel; and acquiring the height difference between the first channel and the second channel, and performing working power interaction between the first channel and the second channel based on the height difference, wherein the working power interaction is used as a second interaction program.
Description
Technical Field
The invention relates to the technical field of building dismantling machines, in particular to a control method and a control device of a building dismantling machine based on multichannel interaction.
Background
Along with the development of science and technology, tear building machine open and dismantle the floor through the processing arm, the processing arm is connected by a plurality of passageways to dismantle the floor under the operation of a plurality of passageways, in prior art, the operating power of a plurality of passageways is the manual setting, and is fixed unchangeable easily, leads to the operating power utilization of a plurality of passageways not enough.
Disclosure of Invention
The invention aims to provide a control method and a control device of a building dismantling machine based on multichannel interaction.
In order to solve the technical problems, the invention adopts the following technical scheme:
according to one aspect of the invention, the invention provides a control method of a building removing machine based on multi-channel interaction, which comprises the following steps: the building dismantling machine is provided with a first channel, a second channel, a third channel and a fourth channel, wherein the first channel, the second channel, the third channel and the fourth channel are sequentially connected and form a processing arm of the building dismantling machine; acquiring the overall working power of the processing arm; the working power of each of the first channel, the second channel, the third channel and the fourth channel is regulated based on the whole working power of the processing arm, wherein in the working process of the building dismantling machine, the fourth channel and the third channel carry out working power interaction, and the first channel and the second channel maintain standby power and serve as a first interaction program at the moment; monitoring the action track of the third channel, if the action track of the third channel is kept at the same position, adjusting the working power of the third channel to be standby power, and adding the rest power to the working power of the fourth channel; acquiring the height difference between the first channel and the second channel, and performing working power interaction between the first channel and the second channel based on the height difference, wherein the working power interaction is used as a second interaction program; acquiring an operation instruction of the building splitting machine, and constructing the association among the first channel, the second channel, the third channel and the fourth channel based on the operation instruction so as to construct an auxiliary power program; embedding the auxiliary power program into the first interactive program and the second interactive program.
According to an aspect of the present disclosure, there is provided a control device of a building removing machine based on multi-channel interaction, including: the first acquisition module is used for a building dismantling machine and is provided with a first channel, a second channel, a third channel and a fourth channel, wherein the first channel, the second channel, the third channel and the fourth channel are sequentially received and form a processing arm of the building dismantling machine; acquiring the overall working power of the processing arm; the first interaction module is used for allocating the working power of each of the first channel, the second channel, the third channel and the fourth channel based on the overall working power of the processing arm, wherein in the working process of the building dismantling machine, the fourth channel and the third channel carry out working power interaction, and the first channel and the second channel maintain standby power and serve as a first interaction program at the moment; the second interaction module is used for monitoring the action track of the third channel, if the action track of the third channel is kept at the same position, the working power of the third channel is adjusted to be standby power, and the rest of power is added to the working power of the fourth channel; the second acquisition module is used for acquiring the height difference between the first channel and the second channel, and performing working power interaction between the first channel and the second channel based on the height difference, and the working power interaction is used as a second interaction program; the building construction module is used for acquiring an operation instruction of the building splitting machine and constructing the association among the first channel, the second channel, the third channel and the fourth channel based on the operation instruction so as to construct an auxiliary power program; embedding the auxiliary power program into the first interactive program and the second interactive program.
According to an aspect of the present disclosure, there is provided a computer readable storage medium storing computer program instructions which, when executed by a computer, cause the computer to perform a method according to the above.
According to an aspect of the present disclosure, there is provided an electronic apparatus including: a processor; and a memory having stored thereon computer readable instructions which, when executed by the processor, implement the method described above.
As can be seen from the technical scheme, the embodiment of the invention has at least the following advantages and positive effects:
in the control method and the control device for the building dismantling machine based on multi-channel interaction, the working power between the fourth channel and the third channel is regulated and controlled based on the first interaction program, the processing arm is guaranteed to output larger power outwards, centralized processing of the working powers of the fourth channel and the third channel is achieved, standby power is guaranteed to be maintained for the first channel and the second channel, the working power between the second channel and the first channel is regulated and controlled based on the second interaction program, regulation and control are conducted according to the height difference between the second channel and the first channel, so that the cooperation mode of the second channel and the first channel is optimized, in addition, an auxiliary power program is built in an operation instruction of the building dismantling machine, the auxiliary power program is embedded into the first interaction program and the second interaction program, and is used as an auxiliary program, connection of the first interaction program and the second interaction program is further customized, and the working power of each channel under normal work is guaranteed to be fully utilized.
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Fig. 1 is a flowchart corresponding to a control method of a building extractor based on multi-channel interaction according to an exemplary embodiment.
Fig. 2 is a block diagram illustrating a control device of a multi-channel interaction-based building extractor according to an exemplary embodiment.
Fig. 3 is a hardware diagram of an electronic device, according to an example embodiment.
Fig. 4 is a computer readable storage medium illustrating a method of controlling a floor extractor based on multi-channel interaction according to an exemplary embodiment.
Detailed Description
Exemplary embodiments that embody features and advantages of the present invention will be described in detail in the following description. It will be understood that the invention is capable of various modifications in various embodiments, all without departing from the scope of the invention, and that the description and illustrations herein are intended to be by way of illustration only and not to be construed as limiting the invention.
Along with development of science and technology, tear open building machine gradually and be applied to in the floor dismantlement, in prior art, tear open building machine and dismantle the floor in high altitude construction, all adopt conventional fixed mode on the different positions of tearing open building machine to tear open building machine and generally tend to dismantle the middle part position of floor, lead to tearing open building machine at the accuracy of high operation lower.
According to an embodiment of the present disclosure, there is provided a control method of a building removing machine based on multi-channel interaction, as shown in fig. 1, including:
step S110, a building dismantling machine is provided with a first channel, a second channel, a third channel and a fourth channel, wherein the first channel, the second channel, the third channel and the fourth channel are sequentially received and form a processing arm of the building dismantling machine; acquiring the overall working power of the processing arm;
step S120, allocating the working powers of the first channel, the second channel, the third channel and the fourth channel based on the overall working power of the processing arm, wherein in the working process of the building removing machine, the fourth channel and the third channel perform working power interaction, and the first channel and the second channel maintain standby power at the moment as a first interaction program;
step S130, monitoring the action track of the third channel, if the action track of the third channel is kept at the same position, adjusting the working power of the third channel to be standby power, and adding the rest power to the working power of the fourth channel;
step S140, acquiring a height difference between the first channel and the second channel, and performing working power interaction between the first channel and the second channel based on the height difference, which is used as a second interaction program;
step S150, acquiring an operation instruction of the building splitting machine, and constructing the association among the first channel, the second channel, the third channel and the fourth channel based on the operation instruction so as to construct an auxiliary power program; embedding the auxiliary power program into the first interactive program and the second interactive program.
In the control method of the building dismantling machine based on multi-channel interaction, the working power between the fourth channel and the third channel is regulated and controlled based on the first interaction program, the processing arm is guaranteed to output larger power outwards, centralized processing of the working powers of the fourth channel and the third channel is achieved, standby power is guaranteed to be maintained for the first channel and the second channel, the working power between the second channel and the first channel is regulated and controlled based on the second interaction program, the regulation and control are conducted according to the height difference of the second channel and the first channel, so that the cooperation mode of the second channel and the first channel is optimized, in addition, an auxiliary power program is built in the operation instruction of the building dismantling machine, the auxiliary power program is embedded into the first interaction program and the second interaction program, the auxiliary power program is used as an auxiliary program, connection of the first interaction program and the second interaction program is further customized, and the full utilization of the working power of each channel under normal work is improved.
These steps are described in detail below.
In step S110, the building removing machine has a first channel, a second channel, a third channel and a fourth channel, where the first channel, the second channel, the third channel and the fourth channel are sequentially received and form a processing arm of the building removing machine; acquiring the overall working power of the processing arm;
the method comprises the following specific steps of: acquiring respective identification codes in the first channel, the second channel, the third channel and the fourth channel; determining bearing parts of the first channel, the second channel, the third channel and the fourth channel based on the correspondence of the identification codes, and sequentially bearing the first channel, the second channel, the third channel and the fourth channel to form a processing arm of the building dismantling machine; the whole working power of the processing arm is obtained relative to the building dismantling machine, and the degree of dismantling of the building dismantling machine is corresponding to that of the building dismantling machine; changing a disassembly process of the building disassembly machine based on adjustment of the overall working power of the machining arm; and controlling the time interval of the disassembly mode of the building disassembly machine according to the adjustment variable quantity of the overall working power, thereby ensuring the working process of the building disassembly machine in each disassembly mode.
And determining the bearing parts of the first channel, the second channel, the third channel and the fourth channel based on the correspondence of the identification codes, and ensuring the accurate positioning of the bearing positions of the first channel, the second channel, the third channel and the fourth channel, and ensuring that the first channel, the second channel, the third channel and the fourth channel bear according to a preset direction.
In addition, changing the disassembly progress of the building disassembly machine based on the adjustment of the overall working power of the machining arm; the time interval of the disassembly mode of the building disassembly machine is controlled according to the adjustment variable quantity of the overall working power, so that the working process of the building disassembly machine in each disassembly mode is guaranteed, corresponding procedures can be completed in different disassembly modes, and the disassembly modes can be an emergency disassembly mode, a stable disassembly mode and an intermittent disassembly mode. The whole working power corresponding to different disassembly modes is inconsistent, the conversion process of the disassembly modes is adjusted at intervals of increased time, and the working power is ensured to be changed within the intervals.
In step S120, the working powers of the first channel, the second channel, the third channel and the fourth channel are allocated based on the overall working power of the processing arm, where in the working process of the building removing machine, the fourth channel and the third channel perform working power interaction, and the first channel and the second channel maintain standby power, which is used as a first interaction program at this time.
The method comprises the following specific steps of: determining respective operating powers in the first, second, third, and fourth channels based on an overall operating power of the processing arm; the respective operating powers in the first, second, third, and fourth channels vary with the overall operating power of the processing arm, and preferentially vary the operating powers of the third and fourth channels; acquiring the working state of the building dismantling machine and monitoring the working process of the building dismantling machine; performing working power interaction on the fourth channel and the third channel based on the working state of the building removing machine, wherein the working power of the fourth channel and the working power of the third channel are changed along with different working states; when the working power interaction of the fourth channel and the third channel is ensured, the first channel and the second channel maintain standby power; the first channel and the second channel maintain the positioning of the first channel and the second channel based on standby power, and a first interactive program mainly comprising the fourth channel and the third channel is constructed.
The working powers of the first channel, the second channel, the third channel and the fourth channel respectively change along with the change of the whole working power of the processing arm, and the working powers of the third channel and the fourth channel are preferentially changed, so that the processing part of the processing arm can obtain more working powers, and the priority of the processing part under the distribution of the working powers is ensured.
In addition, the fourth channel and the third channel are used for carrying out working power interaction based on the working state of the building dismantling machine, wherein the working power of the fourth channel and the working power of the third channel are changed along with different working states and are adjusted according to the change of the working states, so that the degree of freedom of adjusting the working power of the building dismantling machine in different states is improved.
When the working power interaction of the fourth channel and the third channel is ensured, the first channel and the second channel maintain standby power; the first channel and the second channel maintain the positioning of the first channel and the second channel based on standby power, and a first interactive program mainly comprising the fourth channel and the third channel is constructed, wherein the working power between the fourth channel and the third channel is regulated and controlled based on the first interactive program, the larger power output by a processing arm is ensured, the centralized processing of the working power of the fourth channel and the third channel is realized, and the first channel and the second channel are ensured to maintain standby power.
In step S130, the motion track of the third channel is monitored, if the motion track of the third channel is kept at the same position, the working power of the third channel is adjusted to be the standby power, and the rest of the power is added to the working power of the fourth channel.
The method comprises the following specific steps of: monitoring the action track of the third channel and determining the state of the third channel; if the action track of the third channel is kept at the same position, determining that the third channel is in a static state; adjusting the working power of the third channel to be standby power according to the static state, and transmitting redundant working power to the fourth channel; acquiring the current working power of the fourth channel in the transmission process of the redundant working power; adjusting the disassembly strength of the fourth channel based on the current working power of the fourth channel; and adding the redundant working power to the current working power of the fourth channel, forming the working power of the fourth channel, and stripping the disassembly strength and the disassembly progress of the fourth channel.
The working efficiency of the third channel and the fourth channel is guaranteed based on priority, the action track of the third channel is monitored in interaction of the working efficiency of the third channel and the working efficiency of the fourth channel, the working state of the third channel is determined based on the action track of the third channel, if the action track of the third channel is kept at the same position, the third channel is determined to be in a static state, the working power of the third channel is adjusted to be standby power according to the static state, and redundant working power is transmitted to the fourth channel.
And when the third channel is in a static state, reserving the third channel to standby power, and adding redundant working power to the current working power of the fourth channel, so that the working power of the fourth channel is effectively utilized, and the working power of the fourth channel is regulated and controlled according to the respective working states of the third channel and the fourth channel.
In step S140, a height difference between the first channel and the second channel is obtained, and working power interaction between the first channel and the second channel is performed based on the height difference, which is used as a second interaction program.
The method comprises the following specific steps of: acquiring the position of the first channel and the position of the second channel; determining the height difference based on the position of the first channel and the position of the second channel, wherein the height difference is determined by using the open square of the sum of arm lengths between the first channel and the second channel, and positioning the center of gravity between the first channel and the second channel; regulating and controlling the direction of the inclined force between the first channel and the second channel according to the gravity center; performing an operating power interaction of the first channel and the second channel based on the height difference, and determining a priority order between the first channel and the second channel based on the direction of the biasing force; regulating and controlling the transfer direction of the working power according to the priority order, and interacting the working power of the first channel and the working power of the second channel in the transfer direction of the working power as a second interaction program.
Wherein the direction of the inclined force between the first channel and the second channel is regulated and controlled according to the gravity center; and carrying out working power interaction of the first channel and the second channel based on the height difference, wherein the direction of the trend force influences the flow direction of the working power, and determining the priority sequence between the first channel and the second channel based on the direction of the trend force.
In addition, the transfer direction of the working power is regulated according to the priority order, and the working power of the second channel and the working power of the first channel are interacted with each other as a second interaction program in the transfer direction of the working power and the working power of the second channel and the working power of the first channel are regulated based on the second interaction program, and the working power between the second channel and the working power between the first channel are regulated according to the height difference of the second channel and the working power between the first channel are regulated so as to optimize the cooperation mode of the second channel and the working power between the first channel.
In step S150, an operation instruction of the building removing machine is obtained, and the association among the first channel, the second channel, the third channel and the fourth channel is configured based on the operation instruction, so as to construct an auxiliary power program; embedding the auxiliary power program into the first interactive program and the second interactive program.
The method comprises the following specific steps of: acquiring an operation instruction of the building splitting machine, and analyzing the operation instruction to determine a field about an interactive program; forming an interaction flow chart based on the field of the interaction program; constructing an association among the first channel, the second channel, the third channel and the fourth channel according to the interaction flow chart to construct an auxiliary power program, wherein the auxiliary power program acts on the first interaction program and the second interaction program and has a lower priority than the first interaction program and the second interaction program; embedding the auxiliary power program into the first interactive program and the second interactive program, and assisting the first interactive program and the second interactive program to customize auxiliary work power distribution of the processing arm.
The auxiliary power program acts on the first interactive program and the second interactive program, the priority order is lower than that of the first interactive program and the second interactive program, the first interactive program and the second interactive program are embedded aiming at the auxiliary power program, the first interactive program and the second interactive program are assisted, and the auxiliary power distribution of the processing arm is customized, so that the customizing requirement is met, and the operation of the building splitting machine under different environments can be also facilitated.
In addition, an auxiliary power program is built on the operation instruction of the building dismantling machine, the auxiliary power program is embedded into the first interactive program and the second interactive program, the auxiliary power program is used as an auxiliary program, the connection of the first interactive program and the second interactive program is further customized, and the working power of each channel of the building dismantling machine under the condition that normal work is ensured is improved.
As can be seen from the technical scheme, the embodiment of the invention has at least the following advantages and positive effects:
in the control method and the control device for the building dismantling machine based on multi-channel interaction, the working power between the fourth channel and the third channel is regulated and controlled based on the first interaction program, the processing arm is guaranteed to output larger power outwards, centralized processing of the working powers of the fourth channel and the third channel is achieved, standby power is guaranteed to be maintained for the first channel and the second channel, the working power between the second channel and the first channel is regulated and controlled based on the second interaction program, regulation and control are conducted according to the height difference between the second channel and the first channel, so that the cooperation mode of the second channel and the first channel is optimized, in addition, an auxiliary power program is built in an operation instruction of the building dismantling machine, the auxiliary power program is embedded into the first interaction program and the second interaction program, and is used as an auxiliary program, connection of the first interaction program and the second interaction program is further customized, and the working power of each channel under normal work is guaranteed to be fully utilized.
The foregoing detailed description is directed to embodiments of the invention which are not intended to limit the scope of the invention, but rather to cover all modifications and variations within the scope of the invention.
As shown in fig. 2, in one embodiment, the control device 200 of the building extractor based on multi-channel interaction further includes:
a first obtaining module 210, configured to enable a building extractor to have a first channel, a second channel, a third channel, and a fourth channel, where the first channel, the second channel, the third channel, and the fourth channel are sequentially received and form a processing arm of the building extractor; acquiring the overall working power of the processing arm;
a first interaction module 220, configured to allocate respective working powers of the first channel, the second channel, the third channel, and the fourth channel based on an overall working power of the processing arm, where during a working process of the building splitting machine, the fourth channel and the third channel perform working power interaction, and the first channel and the second channel maintain standby power, which is used as a first interaction program at this time;
a second interaction module 230, configured to monitor an action track of the third channel, adjust the working power of the third channel to be standby power if the action track of the third channel is kept at the same position, and add the rest of power to the working power of the fourth channel;
a second obtaining module 240, configured to obtain a height difference between the first channel and the second channel, and perform working power interaction between the first channel and the second channel based on the height difference, where the working power interaction is used as a second interaction program;
the building module 250 is configured to obtain an operation instruction of the building removal machine, and construct an association among the first channel, the second channel, the third channel and the fourth channel based on the operation instruction, so as to build an auxiliary power program; embedding the auxiliary power program into the first interactive program and the second interactive program.
An electronic device 40 according to this embodiment of the invention is described below with reference to fig. 3. The electronic device 40 shown in fig. 3 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 3, the electronic device 40 is in the form of a general purpose computing device. Components of electronic device 40 may include, but are not limited to: the at least one processing unit 41, the at least one memory unit 42, a bus 43 connecting the different system components, including the memory unit 42 and the processing unit 41.
Wherein the storage unit stores program code that is executable by the processing unit 41 such that the processing unit 41 performs the steps according to various exemplary embodiments of the present invention described in the above-described "example methods" section of the present specification.
The memory unit 42 may include readable media in the form of volatile memory units, such as Random Access Memory (RAM) 421 and/or cache memory 422, and may further include Read Only Memory (ROM) 423.
The storage unit 42 may also include a program/utility 424 having a set (at least one) of program modules 425, such program modules 425 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
The bus 43 may be one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.
According to an embodiment of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a program product capable of implementing the method described above in the present specification. In some possible embodiments, the various aspects of the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the invention as described in the "exemplary methods" section of this specification, when said program product is run on the terminal device.
Referring to fig. 4, a program product 50 for implementing the above-described method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
Furthermore, the above-described drawings are only schematic illustrations of processes included in the method according to the exemplary embodiment of the present invention, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.
It is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (9)
1. The control method of the building dismantling machine based on multi-channel interaction is characterized by comprising the following steps of:
the building dismantling machine is provided with a first channel, a second channel, a third channel and a fourth channel, wherein the first channel, the second channel, the third channel and the fourth channel are sequentially connected and form a processing arm of the building dismantling machine; acquiring the overall working power of the processing arm;
the working power of each of the first channel, the second channel, the third channel and the fourth channel is regulated based on the whole working power of the processing arm, wherein in the working process of the building dismantling machine, the fourth channel and the third channel carry out working power interaction, and the first channel and the second channel maintain standby power and serve as a first interaction program at the moment;
monitoring the action track of the third channel, if the action track of the third channel is kept at the same position, adjusting the working power of the third channel to be standby power, and adding the rest power to the working power of the fourth channel;
acquiring the height difference between the first channel and the second channel, and performing working power interaction between the first channel and the second channel based on the height difference, wherein the working power interaction is used as a second interaction program;
acquiring an operation instruction of the building splitting machine, and constructing the association among the first channel, the second channel, the third channel and the fourth channel based on the operation instruction so as to construct an auxiliary power program; embedding the auxiliary power program into the first interactive program and the second interactive program.
2. The control method of a building extractor based on multi-channel interaction of claim 1, wherein the building extractor has a first channel, a second channel, a third channel, and a fourth channel, the first channel, the second channel, the third channel, and the fourth channel are sequentially received and form a processing arm of the building extractor; the method for obtaining the whole working power of the processing arm comprises the following steps:
acquiring respective identification codes in the first channel, the second channel, the third channel and the fourth channel;
determining bearing parts of the first channel, the second channel, the third channel and the fourth channel based on the correspondence of the identification codes, and sequentially bearing the first channel, the second channel, the third channel and the fourth channel to form a processing arm of the building dismantling machine;
the whole working power of the processing arm is obtained relative to the building dismantling machine, and the degree of dismantling of the building dismantling machine is corresponding to that of the building dismantling machine;
changing a disassembly process of the building disassembly machine based on adjustment of the overall working power of the machining arm;
and controlling the time interval of the disassembly mode of the building disassembly machine according to the adjustment variable quantity of the overall working power, thereby ensuring the working process of the building disassembly machine in each disassembly mode.
3. The control method of a building removing machine based on multi-channel interaction according to claim 2, wherein the working power of each of the first channel, the second channel, the third channel and the fourth channel is allocated based on the overall working power of the processing arm, wherein during the working process of the building removing machine, the fourth channel and the third channel perform working power interaction, and the first channel and the second channel maintain standby power, and at this time, as a first interaction program, the control method comprises:
determining respective operating powers in the first, second, third, and fourth channels based on an overall operating power of the processing arm;
the respective operating powers in the first, second, third, and fourth channels vary with the overall operating power of the processing arm, and preferentially vary the operating powers of the third and fourth channels;
acquiring the working state of the building dismantling machine and monitoring the working process of the building dismantling machine;
performing working power interaction on the fourth channel and the third channel based on the working state of the building removing machine, wherein the working power of the fourth channel and the working power of the third channel are changed along with different working states;
when the working power interaction of the fourth channel and the third channel is ensured, the first channel and the second channel maintain standby power;
the first channel and the second channel maintain the positioning of the first channel and the second channel based on standby power, and a first interactive program mainly comprising the fourth channel and the third channel is constructed.
4. The control method of the building extractor based on multi-channel interaction of claim 3, wherein the monitoring the motion trajectory of the third channel, if the motion trajectory of the third channel is kept at the same position, adjusts the working power of the third channel to be standby power, and the remaining power is added to the working power of the fourth channel, includes:
monitoring the action track of the third channel and determining the state of the third channel;
if the action track of the third channel is kept at the same position, determining that the third channel is in a static state;
adjusting the working power of the third channel to be standby power according to the static state, and transmitting redundant working power to the fourth channel;
acquiring the current working power of the fourth channel in the transmission process of the redundant working power;
adjusting the disassembly strength of the fourth channel based on the current working power of the fourth channel;
and adding the redundant working power to the current working power of the fourth channel, forming the working power of the fourth channel, and stripping the disassembly strength and the disassembly progress of the fourth channel.
5. The method for controlling a building extractor based on multi-channel interaction according to claim 4, wherein the step of obtaining the height difference between the first channel and the second channel, and performing the working power interaction between the first channel and the second channel based on the height difference, includes, as a second interaction program:
acquiring the position of the first channel and the position of the second channel;
determining the height difference based on the position of the first channel and the position of the second channel, wherein the height difference is determined by using the open square of the sum of arm lengths between the first channel and the second channel, and positioning the center of gravity between the first channel and the second channel;
regulating and controlling the direction of the inclined force between the first channel and the second channel according to the gravity center;
performing an operating power interaction of the first channel and the second channel based on the height difference, and determining a priority order between the first channel and the second channel based on the direction of the biasing force;
regulating and controlling the transfer direction of the working power according to the priority order, and interacting the working power of the first channel and the working power of the second channel in the transfer direction of the working power as a second interaction program.
6. The method for controlling a building extractor based on multi-channel interaction according to claim 5, wherein the operation instruction of the building extractor is acquired, and the association among the first channel, the second channel, the third channel and the fourth channel is configured based on the operation instruction, so as to construct an auxiliary power program; embedding the auxiliary power program into the first interactive program and the second interactive program, comprising:
acquiring an operation instruction of the building splitting machine, and analyzing the operation instruction to determine a field about an interactive program;
forming an interaction flow chart based on the field of the interaction program;
constructing an association among the first channel, the second channel, the third channel and the fourth channel according to the interaction flow chart to construct an auxiliary power program, wherein the auxiliary power program acts on the first interaction program and the second interaction program and has a lower priority than the first interaction program and the second interaction program;
embedding the auxiliary power program into the first interactive program and the second interactive program, and assisting the first interactive program and the second interactive program to customize auxiliary work power distribution of the processing arm.
7. Control device of tear building machine open based on multichannel is mutual, characterized by, include:
the first acquisition module is used for a building dismantling machine and is provided with a first channel, a second channel, a third channel and a fourth channel, wherein the first channel, the second channel, the third channel and the fourth channel are sequentially received and form a processing arm of the building dismantling machine; acquiring the overall working power of the processing arm;
the first interaction module is used for allocating the working power of each of the first channel, the second channel, the third channel and the fourth channel based on the overall working power of the processing arm, wherein in the working process of the building dismantling machine, the fourth channel and the third channel carry out working power interaction, and the first channel and the second channel maintain standby power and serve as a first interaction program at the moment;
the second interaction module is used for monitoring the action track of the third channel, if the action track of the third channel is kept at the same position, the working power of the third channel is adjusted to be standby power, and the rest of power is added to the working power of the fourth channel;
the second acquisition module is used for acquiring the height difference between the first channel and the second channel, and performing working power interaction between the first channel and the second channel based on the height difference, and the working power interaction is used as a second interaction program;
the building construction module is used for acquiring an operation instruction of the building splitting machine and constructing the association among the first channel, the second channel, the third channel and the fourth channel based on the operation instruction so as to construct an auxiliary power program; embedding the auxiliary power program into the first interactive program and the second interactive program.
8. A computer readable storage medium, characterized in that it stores computer program instructions, which when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 6.
9. An electronic device, comprising:
a processor;
a memory having stored thereon computer readable instructions which, when executed by the processor, implement the method of any of claims 1 to 6.
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