CN115774454A - Method and system for adjusting posture of engineering equipment accessory and computer equipment - Google Patents

Abstract

The embodiment of the invention provides a method and a system for adjusting the posture of engineering equipment accessories and computer equipment, and belongs to the technical field of engineering machinery. The method for adjusting the posture of the engineering equipment accessory comprises the following steps: the method comprises the steps of determining the working condition of the engineering equipment under the condition that the engineering equipment is in an automatic control mode and in a traveling state, determining the current posture of the accessory under the condition that the working condition belongs to a transition working condition, acquiring a ground inclination angle, and adjusting the current posture of the accessory based on the ground inclination angle and a preset posture. The state of the engineering equipment is judged, the accessory state of the engineering equipment is adjusted if necessary, the walking safety of the engineering equipment on the slope is improved, and after the accessory posture is adjusted, the walking speed of the engineering equipment on the slope is not limited according to a limit condition, so that the walking speed of the engineering equipment on a steep slope is improved, and the working efficiency of the engineering equipment is further improved.

Description

Method and system for adjusting posture of engineering equipment accessory and computer equipment

Technical Field

The invention relates to the technical field of engineering machinery, in particular to a method and a system for adjusting the posture of an engineering equipment accessory and computer equipment.

Background

When the engineering mechanical equipment runs or works on a slope, overturning needs to be prevented. The combined machine consisting of the main machine and the working attachment is often more risky to transition on a slope than to work. Firstly, the transition speed of the combined machinery is generally relatively high, and the impact force generated by bumping and the inertial centrifugal force during turning are larger; secondly, the working accessory is often lifted to the highest position when the combined machine is transferred, the gravity center of the whole machine is higher than that in the working state, and the overturning is easy to happen. On the premise that the structure of the combined machinery is certain, the safety of the combined machinery walking on a slope is ensured mainly through speed limitation in the prior art, the speed set in the speed limitation mode is mainly determined by using the working state of the engineering machinery under the limit condition, and the speed value is usually lower. In practical application, the working state of the engineering equipment is not always under a limit condition, and a direct speed limit mode has a certain negative effect on the working efficiency of the engineering equipment.

Disclosure of Invention

In view of the foregoing defects in the prior art, an object of the embodiments of the present invention is to provide a method, a system and a computer device for adjusting an attitude of an engineering device accessory.

In order to achieve the above object, a first aspect of the present invention provides a method for adjusting an attitude of an engineering equipment accessory, including:

determining the working condition of the engineering equipment under the conditions that the engineering equipment is in an automatic control mode and in a running state;

determining the current posture of the accessory under the condition that the working condition belongs to a transition working condition;

acquiring a ground inclination angle;

and adjusting the current posture of the accessory based on the ground inclination angle and the preset posture.

In the embodiment of the invention, the current posture of the accessory is adjusted based on the ground inclination angle and the preset posture, and the method comprises the following steps:

determining the relation between the ground inclination angle and a first preset inclination angle and a second preset inclination angle, wherein the first preset inclination angle is smaller than the second preset inclination angle;

and under the condition that the ground inclination angle is greater than or equal to a second preset inclination angle, adjusting the current posture of the accessory based on the preset posture.

In the embodiment of the present invention, the method further includes:

determining the traveling speed of the engineering equipment under the condition that the ground inclination angle is greater than the first preset inclination angle and less than or equal to the second preset inclination angle;

and if the traveling speed is greater than the preset speed, adjusting the current posture of the accessory based on the preset posture.

In the embodiment of the invention, the current posture of the accessory is adjusted based on the preset posture, and the method comprises the following steps:

respectively determining current position information corresponding to the current posture and preset position information corresponding to the preset posture;

determining a displacement difference between the current position information and a preset position;

and adjusting the current posture of the accessory based on the displacement difference.

In the embodiment of the present invention, the method further includes:

and entering a non-automatic control mode under the condition that the ground inclination angle is smaller than a first preset inclination angle.

In the embodiment of the present invention, the method further includes:

determining the model of an accessory;

and determining a first preset inclination angle, a second preset inclination angle and a preset speed based on the model.

In the embodiment of the present invention, the method further includes:

and under the condition that the working condition belongs to the working condition, entering a non-automatic control mode.

In the embodiment of the present invention, the method further includes:

and under the condition of entering the non-automatic control mode, re-entering the automatic control mode based on the preset interval time.

The second aspect of the present invention provides a system for adjusting the posture of an engineering equipment accessory, including:

the state determining module is used for determining whether the engineering equipment is in a traveling state or not in an automatic control mode;

the attitude acquisition module is used for determining the current attitude of the accessory under the condition that the engineering equipment is in a traveling state;

the inclination angle acquisition module is used for acquiring a ground inclination angle;

and the attitude adjusting module is used for adjusting the current attitude of the accessory based on the ground inclination angle and the preset attitude.

A third aspect of the present invention provides a computer device, which includes a memory and a processor, where the memory stores a computer program, and the computer program, when running on the processor, executes the method for adjusting the posture of an engineering device accessory according to the foregoing embodiment.

According to the technical scheme, under the condition that the engineering equipment is in the automatic control mode and in the advancing state, the working condition of the engineering equipment is determined, under the condition that the working condition belongs to the transition working condition, the current posture of the accessory is determined, the ground inclination angle is obtained, and the current posture of the accessory is adjusted based on the ground inclination angle and the preset posture. The state of the engineering equipment is judged, so that the accessory state of the engineering equipment is adjusted if necessary, the walking safety of the engineering equipment on the slope is improved, and after the accessory posture is adjusted, the walking speed of the engineering equipment on the slope is not limited according to a limit condition, the walking speed of the engineering equipment on a steep slope is improved, the safety of the engineering equipment is ensured, and meanwhile the working efficiency of the engineering equipment is further improved.

Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:

FIG. 1 is a flowchart illustrating a method for adjusting an attitude of an attachment of an engineering device according to an embodiment of the present disclosure;

FIG. 2 is a scene diagram illustrating an accessory first current pose according to an embodiment of the present invention;

FIG. 3 is a diagram illustrating a second current posture scenario of an accessory according to an embodiment of the present invention;

fig. 4 is a scene diagram illustrating an accessory preset posture according to an embodiment of the present invention.

Description of the reference numerals

1. A host; 11. a ground inclination angle detection device; 12. a travel speed sensor; 2. an accessory.

Detailed Description

The following describes in detail embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

It should be noted that if directional indications (such as upper, lower, left, right, front, rear, 8230; \8230;) are referred to in the embodiments of the present application, the directional indications are only used for explaining the relative positional relationship between the components in a specific posture (as shown in the attached drawings), the motion situation, etc., and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.

Fig. 1 is a flowchart illustrating a method for adjusting an attitude of an engineering equipment accessory according to an embodiment of the present invention. As shown in fig. 1, in the embodiment of the present invention, a method for adjusting an engineering equipment accessory posture is provided, which is described by taking an example that the method is applied to a processor, and the method may include the following steps:

step S100, under the conditions that the engineering equipment is in an automatic control mode and in a traveling state, determining the working condition of the engineering equipment;

in this embodiment, it should be noted that the engineering equipment refers to a combined machine including a host and an accessory, and when the engineering equipment works, the accessory is usually in different postures according to different work requirements. When the engineering equipment travels on a slope, if the posture of the accessory is at the highest position, the gravity center of the whole engineering equipment is likely to shift, and the engineering equipment topples. Therefore, the posture of the accessory needs to be adjusted in a timely manner. The automatic control mode is a mode for automatically adjusting the posture of the accessory. When the engineering equipment works, the engineering equipment has two states, one state is a static state, and the engineering equipment works at a fixed position and does not move; the other is a traveling state in which the construction equipment travels in a certain direction and performs or does not perform work while traveling. The engineering equipment is not overturned normally in a static state, and the posture of the accessory is adjusted mainly when the engineering equipment is in a moving state. The working conditions of the engineering equipment comprise an operation working condition and a transition working condition, and the working conditions of the engineering equipment have limitation on whether the automatic adjustment can be executed on the posture of the accessory or not. Specifically, the processor determines the working condition of the engineering equipment when the engineering equipment is in the advancing state under the automatic control mode.

Step S200, determining the current posture of the accessory under the condition that the working condition belongs to the transition working condition;

in this embodiment, it should be noted that the transition working condition refers to a working condition where the engineering equipment only includes a walking motion and does not include a working motion. Engineering equipment is usually in a transition state when switching operation sites. The current posture comprises the current shape of the accessory and represents that the accessory is the position currently. Specifically, when the processor determines that the engineering equipment is in the transition working condition, the processor determines the current posture of the engineering equipment accessory.

Step S300, acquiring a ground inclination angle;

and S400, adjusting the current posture of the accessory based on the ground inclination angle and the preset posture.

In this embodiment, it should be noted that the ground inclination angle refers to an angle of the ground where the engineering equipment is located relative to a horizontal line. The magnitude of the ground inclination has a direct influence on whether the engineering equipment is at risk of overturning. The preset posture is an accessory posture which does not cause the engineering equipment to overturn when a ground inclination angle exists, and the preset posture can be determined based on operation experience and a large number of tests. And adjusting the current posture to be the preset posture.

It can be appreciated that, in an embodiment, the preset posture may also have different postures based on the ground inclination angle; the preset postures can also have different postures based on different engineering equipment.

According to the method for adjusting the posture of the engineering equipment accessory, the working condition of the engineering equipment is determined under the condition that the engineering equipment is in the automatic control mode and in the advancing state, the current posture of the accessory is determined under the condition that the working condition belongs to the transition working condition, the ground inclination angle is obtained, and the current posture of the accessory is adjusted based on the ground inclination angle and the preset posture. By judging the state of the engineering equipment, the accessory state of the engineering equipment is adjusted if necessary, the walking safety of the engineering equipment on the slope is improved, and after the accessory posture is adjusted, the walking speed of the engineering equipment on the slope is not limited according to a limit condition, so that the walking speed of the engineering equipment on a steep slope is improved, and the working efficiency of the engineering equipment is further improved.

Referring to fig. 2, fig. 3 and fig. 4 together, in an application scenario of an embodiment, the engineering equipment includes a host 1, a ground tilt angle detection device 11, a traveling speed sensor 12 and an accessory 2. The main machine 1 is mechanically connected with the accessory 2, the ground inclination angle detection device 11 is installed on the main machine 1 and used for detecting the ground inclination angle, and the traveling speed sensor 12 is installed on a wheel of the main machine 1 and used for acquiring the traveling speed of the engineering equipment. The first current posture of the accessory 2 including the engineering equipment in fig. 2 is the low position, the second current posture of the accessory 2 in fig. 3 is the high position, and the posture of the accessory 2 including the engineering equipment in fig. 4 is the preset posture which is the middle position. When the current posture of the accessory 2 is adjusted to the preset posture, the first current posture of fig. 2 is adjusted to the preset posture to adjust the accessory 2 from the low position to the middle position; the second current posture of fig. 3 is adjusted to the preset posture to adjust the accessory 2 from the high position to the middle position.

In one embodiment, adjusting the current posture of the accessory based on the ground inclination angle and the preset posture comprises:

step a, determining the relation between a ground inclination angle and a first preset inclination angle and a second preset inclination angle, wherein the first preset inclination angle is smaller than the second preset inclination angle;

and b, under the condition that the ground inclination angle is greater than or equal to a second preset inclination angle, adjusting the current posture of the accessory based on the preset posture.

In this embodiment, it should be noted that the first preset inclination angle and the second preset inclination angle refer to reference angles for whether to adjust an accessory posture of the engineering equipment, where the first preset inclination angle is smaller than the second preset inclination angle. After the processor obtains the ground inclination angle, the ground inclination angle is respectively compared with a first preset inclination angle and a second preset inclination angle, the relation between the ground inclination angle and the first preset inclination angle and the second preset inclination angle is determined, and under the condition that the ground inclination angle is determined to be larger than or equal to the second preset inclination angle, the processor adjusts the current posture of the accessory based on the preset posture.

Specifically, the method for adjusting the posture of the engineering equipment accessory further comprises the following steps:

step c, determining the model of the accessory;

and d, determining a first preset inclination angle, a second preset inclination angle and a preset speed based on the model.

It should be noted that characteristics such as the volume and the weight of the accessory have a great influence on whether the engineering equipment with the accessory overturns at a certain ground inclination angle, and generally, the volume and the weight of the accessory can be represented by the model of the accessory. Different engineering equipment has different accessory models, or a single engineering equipment can be adapted to accessories of different models, so that different first preset inclination angles and second preset inclination angles are set according to different accessory models. The preset speed is a reference speed for adjusting the posture of the engineering equipment, and different types of accessories have different acceptable advancing speeds, so that the preset speed is determined according to the types of the accessories, and the adaptability of the posture adjustment of the engineering equipment accessories is improved.

In this embodiment, the first preset inclination angle, the second preset inclination angle and the preset speed are determined according to the model of the accessory, so that the effectiveness of safety protection on the engineering equipment is improved.

In one embodiment, the method for adjusting the posture of the engineering equipment accessory further comprises the following steps:

e, determining the traveling speed of the engineering equipment under the condition that the ground inclination angle is greater than the first preset inclination angle and less than or equal to the second preset inclination angle;

and f, if the traveling speed is greater than the preset speed, adjusting the current posture of the accessory based on the preset posture.

In this embodiment, it should be noted that, when the current ground inclination is greater than the first preset inclination and smaller than the second preset inclination, whether to adjust the posture of the accessory needs to refer to the current traveling speed of the engineering equipment. When the current traveling speed of the engineering equipment is too high, the risk of overturning is very likely to be generated; and if the current traveling speed of the engineering equipment is too low, the working efficiency of the engineering equipment is influenced. The preset speed is a critical reference value of the advancing speed, when the advancing speed is higher than the preset speed, the processor adjusts the current posture of the accessory based on the preset posture to reduce the overturning risk, and when the advancing speed is lower than or equal to the preset speed, the processor enters a non-automatic control mode to avoid negative effects caused by automatic adjustment of the posture of the accessory.

In this embodiment, whether to carry out accessory posture adjustment is restricted based on the speed of advance of engineering equipment under the condition of transition, and the work efficiency of the engineering equipment is ensured while the engineering equipment is ensured to be in a safe state.

In one embodiment, adjusting the current posture of the accessory based on the preset posture comprises:

step g, respectively determining current position information corresponding to the current posture and preset position information corresponding to the preset posture;

h, determining the displacement difference between the current position information and a preset position;

and i, adjusting the current posture of the accessory based on the displacement difference.

In this embodiment, it should be noted that the current position information represents a position representation of the current posture; the preset position information represents a position representation of a preset gesture. The current position information and the preset position information are relative positions in the same coordinate system. The same coordinate system can be specifically determined according to actual conditions, and only the relative positions of the current position information and the preset position information can be reflected. And the processor compares the current position information with preset position information to obtain a displacement difference between the current position information and the preset position information, and adjusts the current posture of the accessory according to the displacement difference. It will be appreciated that the adjustment of the attitude of the accessory may be an adjustment made by controlling a hydraulic system for driving the accessory.

In this embodiment, the accessory state is adjusted by determining the displacement difference between the current position information and the preset position, so that the accuracy of accessory adjustment is improved.

In one embodiment, the method for engineering equipment accessory posture adjustment further comprises:

and j, entering a non-automatic control mode under the condition that the ground inclination angle is smaller than the first preset inclination angle.

In this embodiment, it should be noted that when the ground inclination is smaller than the first preset inclination, the risk of overturning is small, and the engineering equipment may be in an operation memory state, so as to facilitate direct entering into an operation in the next starting, and at this time, the posture of the accessory does not need to be automatically adjusted, and the accessory enters into a non-automatic control mode, so that the posture of the accessory can be manually adjusted in a specific scene.

In this embodiment, under the condition that the ground inclination angle is smaller than the first preset inclination angle, the non-automatic control mode is entered, and the energy consumption of the system is reduced.

Further, the method for adjusting the posture of the engineering equipment accessory further comprises the following steps:

and step k, under the condition that the working condition belongs to the working condition, entering a non-automatic control mode.

It should be noted that the working condition refers to a working condition that the engineering equipment includes not only the walking action but also the working action. For example, a construction machine in weeding operation needs to walk on a specified lawn to complete weeding work for a specified working area. The posture of the accessory cannot be automatically adjusted in the non-automatic control mode, and manual control can be performed. In the working condition, if the posture of the accessory is automatically adjusted, the working action may not be completed, so that the completion of the working task is affected.

Further, the method for adjusting the posture of the engineering equipment accessory further comprises the following steps:

and step l, under the condition of entering the non-automatic control mode, re-entering the automatic control mode based on the preset interval time.

In addition, if the operator is in the non-automatic control mode for a long time, the operator of the construction equipment needs to pay attention to the control of the posture of the attachment for a long time to adjust the posture of the attachment. In the embodiment, the preset interval time is set, and after the non-automatic control mode is started for the preset interval time, the automatic control mode is restarted, so that the operation safety of the engineering equipment is improved.

The embodiment of the invention provides a system for adjusting the posture of an engineering equipment accessory, which comprises:

the state determining module is used for determining whether the engineering equipment is in a running state or not in the automatic control mode;

the attitude acquisition module is used for determining the current attitude of the accessory under the condition that the engineering equipment is in a traveling state;

the inclination angle acquisition module is used for acquiring a ground inclination angle;

and the attitude adjusting module is used for adjusting the current attitude of the accessory based on the ground inclination angle and the preset attitude.

The system for adjusting the posture of the engineering equipment accessory comprises a processor and a memory, wherein the state determining module, the posture acquiring module, the inclination angle acquiring module, the posture adjusting module and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the posture of the engineering equipment accessory is automatically adjusted by adjusting the kernel parameters.

The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

The system for adjusting the posture of the engineering equipment accessory provided by the embodiment of the application can realize each process of the method for adjusting the posture of the engineering equipment accessory in the method embodiment of fig. 1, can achieve the same technical effect, and is not repeated here to avoid repetition.

The embodiment of the invention provides computer equipment, which comprises a processor, a memory and a program which is stored in the memory and can run on the processor, wherein when the processor executes the program, each process of the method for adjusting the posture of the engineering equipment accessory in the embodiment of the method in fig. 1 is realized, the same technical effect can be achieved, and the repeated description is omitted for avoiding the repetition. The device herein may be a server, a PC, a PAD, a mobile phone, etc.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

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

The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both permanent and non-permanent, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (10)

1. A method for adjusting the posture of an engineering equipment accessory is characterized by comprising the following steps:

determining the working condition of the engineering equipment under the conditions that the engineering equipment is in an automatic control mode and in a running state;

determining the current posture of the accessory under the condition that the working condition belongs to a transition working condition;

acquiring a ground inclination angle;

and adjusting the current posture of the accessory based on the ground inclination angle and the preset posture.

2. The method of claim 1, wherein adjusting the current attitude of the accessory based on the ground inclination and a preset attitude comprises:

determining the relation between the ground inclination angle and a first preset inclination angle and a second preset inclination angle, wherein the first preset inclination angle is smaller than the second preset inclination angle;

and under the condition that the ground inclination angle is greater than or equal to a second preset inclination angle, adjusting the current posture of the accessory based on a preset posture.

3. The method of claim 2, further comprising:

determining the traveling speed of the engineering equipment under the condition that the ground inclination angle is larger than a first preset inclination angle and smaller than or equal to a second preset inclination angle;

and if the traveling speed is greater than the preset speed, adjusting the current posture of the accessory based on the preset posture.

4. The method according to any one of claims 2 or 3, wherein the adjusting the current posture of the accessory based on a preset posture comprises:

respectively determining current position information corresponding to the current posture and preset position information corresponding to the preset posture;

determining a displacement difference between the current position information and the preset position;

and adjusting the current posture of the accessory based on the displacement difference.

5. The method of claim 2, further comprising:

and entering a non-automatic control mode under the condition that the ground inclination angle is smaller than the first preset inclination angle.

6. The method of claim 2, further comprising:

determining the model of the accessory;

and determining a first preset inclination angle, a second preset inclination angle and a preset speed based on the model.

7. The method of claim 1, further comprising:

and under the condition that the working condition belongs to the working condition, entering a non-automatic control mode.

8. The method of claim 5 or 7, further comprising:

and under the condition of entering the non-automatic control mode, re-entering the automatic control mode based on a preset interval time.

9. A system for engineering equipment accessory attitude adjustment, comprising:

the state determining module is used for determining whether the engineering equipment is in a running state or not in the automatic control mode;

the attitude acquisition module is used for determining the current attitude of the accessory under the condition that the engineering equipment is in a traveling state;

the inclination angle acquisition module is used for acquiring a ground inclination angle;

and the attitude adjusting module is used for adjusting the current attitude of the accessory based on the ground inclination angle and the preset attitude.

10. A computer device, comprising a memory and a processor, the memory storing a computer program which, when run on the processor, performs the method for engineering equipment accessory pose adjustment of any of claims 1 to 8.

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