An automatic switching control system and method for tools of emergency rescue engineering equipment

Abstract

This invention provides an automatic attachment switching control system (100) for unmanned attachment switching of emergency rescue engineering equipment. The system comprises a complete machine system (110) and an attachment system (120). The complete machine system (110) includes a control unit (111), a main engine oil circuit (118), a main engine solenoid valve group (112), a quick-change device solenoid valve group (117), an execution unit (113), a working unit (114), a motion feedback unit (115), and a visual feedback unit (116). The attachment system (120) includes a working attachment (121) and a position tag (122). The working attachment (121) is used to perform operations such as grasping, crushing, cutting, shearing, and breaking. This invention also provides an automatic attachment switching control method. This control system and method enable unmanned attachment switching of emergency rescue engineering equipment, improving the safety and efficiency of operators during rescue and disaster relief operations.

Description

Technical Field

[0001] This invention relates to the field of emergency rescue engineering equipment technology, and more specifically to a fully automatic switching control system and method for attachments of emergency rescue engineering equipment. Background Technology

[0002] my country's demand for the technological level, multiple operational functions, and intelligence of emergency rescue engineering equipment is constantly increasing. Currently, engineering equipment equipped with quick-change devices already possesses multiple operational functions. However, the method of manually switching attachments to change the operational functions of equipment generally has the following problems:

[0003] (1) In high-risk environments, remote operation of rescue equipment is often used to complete emergency work. When switching attachments remotely, the image viewed by the operator on the display screen is different from the real environment. The attachment switching time is long and the work efficiency is reduced.

[0004] (2) In non-high-risk environments, on-site operation of rescue equipment is often used to complete the rescue work. The switching of attachments is a delicate operation. Repeated operations can easily cause driver fatigue and increase the risk of work.

[0005] Therefore, in order to address the problems existing in the current method of manually switching attachments to change the operation function of equipment, it is necessary to develop a control system and method with automatic attachment switching, which is of great significance for improving the safety and efficiency of operators. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automatic attachment switching control system to solve the problems of high operator risk and low switching efficiency in the prior art.

[0007] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automatic attachment switching control method to solve the problems of high operator risk and low work efficiency in the prior art.

[0008] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0009] An automatic attachment switching control system for unmanned attachment switching of emergency rescue engineering equipment, characterized in that it includes a whole machine system and an attachment system;

[0010] The complete system includes a control unit, main engine oil circuit, main engine solenoid valve group, quick-change device solenoid valve group, execution unit, working unit, motion feedback unit and visual feedback unit;

[0011] The attachment system includes working attachments, which are used to perform gripping, crushing, cutting, shearing, and shredding operations;

[0012] The main unit solenoid valve assembly, the main unit oil circuit, the quick-change device solenoid valve assembly, the motion feedback unit, and the visual feedback unit are all electrically connected to the control unit.

[0013] The inlet fluid passage of the main unit solenoid valve group and the inlet fluid passage of the quick-change device solenoid valve group are respectively connected to the outlet fluid passage of the main unit oil circuit.

[0014] The liquid inlet circuit of the actuator is connected to the liquid outlet circuit of the main solenoid valve group and the liquid outlet circuit of the quick-change device solenoid valve group, respectively; the actuator is mechanically connected to the working unit.

[0015] The control unit is used to send electrical signals to the main engine oil circuit to control the oil supply of the main engine oil circuit, and to send electrical signals to the main engine solenoid valve group and the quick-change device solenoid valve group to drive the execution unit and thus control the movement of the working unit.

[0016] The control unit is also used to receive motion state information collected by the motion feedback unit and image information collected by the visual feedback unit;

[0017] The motion status information includes fuselage rotation angle, boom rotation angle, stick rotation angle, connecting frame rotation angle, swing device rotation angle, slewing device rotation angle, and locking device locking information; the image information includes left field of view image information and right field of view image information.

[0018] Furthermore, the control unit includes a vision detection module, an attitude perception module, a trajectory planning module, and a motion control module;

[0019] The visual inspection module is used to calculate the pose information of the pose label relative to the whole machine based on the image information collected by the visual feedback unit and convert it into the pose information of the rear pin of the working attachment relative to the whole machine.

[0020] The attitude perception module is used to calculate the pose information of the end effector relative to the whole machine based on the motion state information collected by the motion feedback unit.

[0021] The trajectory planning module is used to plan a motion trajectory model based on the pose information of the rear pin of the working attachment relative to the whole machine calculated by the vision detection module and the pose information of the end effector of the whole machine relative to the whole machine calculated by the attitude perception module.

[0022] The motion control module is used to determine the current process based on the motion trajectory model planned by the trajectory planning module and the motion state information collected by the motion feedback unit, calculate the theoretical motion amount of each actuator in the execution unit, and adjust the valve opening of the main solenoid valve group and the quick-change device solenoid valve group to control the motion of the working unit. During the motion process, the motion amount of each actuator is adjusted in real time based on the collected motion state information and the PID algorithm.

[0023] Furthermore, the origin of the overall machine coordinate system is located at the intersection of the machine's rotation axis and the ground. The X-axis is horizontally forward, and the Z-axis is vertically upward. The origin of the end coordinate system is located at the center of the rear pin hook axis. The X-axis points from the center of the rear pin hook axis to the center of the front pin hook axis, and the Z-axis is perpendicular to the X-axis and downward. The origin of the rear pin axis coordinate system of the working attachment is located at the center of the rear pin axis of the working attachment. The X-axis direction is the same as the projection direction of the straight line formed by the center of the rear pin axis of the working attachment and the center of the front pin axis of the working attachment onto the plane formed by the X-axis and Y-axis of the overall machine coordinate system. The Z-axis direction is perpendicular to the X-axis and downward.

[0024] Furthermore, the motion feedback unit includes an inertial navigation sensor, a boom tilt sensor, a stick tilt sensor, a pitch tilt sensor, a swing tilt sensor, an encoder, and a locking device sensor;

[0025] Inertial navigation sensors are used to collect information on the rotation angle of the fuselage; boom tilt sensors are used to collect information on the rotation angle of the boom; stick tilt sensors are used to collect information on the rotation angle of the stick; pitch tilt sensors are used to collect information on the rotation angle of the connecting frame; swing tilt sensors are used to collect information on the rotation angle of the swing device; encoders are used to collect information on the rotation angle of the slewing device; and locking sensors are used to collect information on the locking of the locking device.

[0026] Furthermore, the visual feedback unit includes a first monocular camera and a second monocular camera;

[0027] The first monocular camera is used to capture left-side visual information and transmit it to the control unit, while the second monocular camera is used to capture right-side visual information and transmit it to the control unit.

[0028] Furthermore, the pose tag is not limited to being installed at a certain position on the work attachment. The pose tag can be acquired by the visual feedback unit, and the pose tag includes at least one AprilTag code or ArUco code.

[0029] The present invention also provides an automatic attachment switching control method, applied to the automatic attachment switching control system described in claim 1, characterized in that:

[0030] The control unit calculates the pose information of the end effector based on the motion state information collected by the motion feedback unit, and uses the current pose as the starting pose point.

[0031] The control unit shown calculates the pose of the rear pin of the work attachment to be assembled based on the image information collected by the visual feedback unit, and uses the current pose as the termination pose point.

[0032] The control unit plans the motion trajectory model based on the pose information of the starting pose point and the ending pose point;

[0033] The control unit determines the current process based on its calculated motion trajectory model and the motion state information collected by the motion feedback unit, calculates the theoretical motion of each actuator in the execution unit, and adjusts the valve opening of the main solenoid valve group and the quick-change device solenoid valve group to control the movement of the working unit.

[0034] The control unit adjusts the motion of each actuator in real time based on the theoretical motion of each actuator and the motion state information collected by the motion feedback unit, combined with the PID algorithm.

[0035] The motion trajectory model includes the attachment disassembly trajectory model, the attachment docking trajectory model, and the attachment assembly trajectory model. The attachment disassembly trajectory model includes the front pin release process, the front pin disengagement process, and the rear pin disengagement process. The attachment assembly trajectory model includes the rear pin engagement process, the front pin engagement process, and the front pin locking process.

[0036] Furthermore, the motion status information includes fuselage rotation angle information, boom rotation angle information, stick rotation angle information, connecting frame rotation angle information, swing device rotation angle information, slewing device rotation angle information, and locking device locking information; the image information includes left field of view image information and right field of view image information.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] The automatic switching control system and method described herein are applicable to all emergency rescue engineering equipment equipped with quick-change devices. Only sensors and cameras need to be added to the original equipment, requiring minimal modification to the original emergency rescue engineering equipment control system, which is conducive to mass production and modification.

[0039] Rescue operations in high-risk environments require remote control. Due to factors such as differences in perspective in remote images, the switching time for attachments under remote control is long and the switching efficiency is low. This control system and method automatically calculates the position and posture of the working attachment relative to the whole machine and establishes a motion trajectory model by receiving visual information collected by the visual feedback unit and motion state information collected by the motion feedback unit through the control unit. This enables unmanned and fully automatic attachment switching of rescue equipment. Combined with PID algorithm to improve motion accuracy, it effectively shortens the attachment switching time of emergency rescue engineering equipment in high-risk environments and improves work efficiency.

[0040] Rescue operations in non-high-risk environments often employ on-site control methods. Attachment control is a delicate operation, and repeated operation can easily cause operator fatigue and reduce work safety. However, this control system and method can achieve unmanned operation, avoid the operator fatigue caused by multiple attachment switching operations, and improve work safety. Attached Figure Description

[0041] Appendix Figure 1This is a schematic diagram of an automatic switching control system for attachments.

[0042] Appendix Figure 2 This is a partial schematic diagram of the automatic switching control system for attachments.

[0043] Appendix Figure 3 This is a schematic diagram of the automatic attachment switching system.

[0044] Appendix Figure 4 Appendix Figure 5 and attached Figure 6 This is a schematic diagram of the host system.

[0045] Appendix Figure 7 and attached Figure 8 This is a schematic diagram of the attachment system.

[0046] Appendix Figure 9 This is a schematic diagram of the attachment disassembly trajectory model.

[0047] Appendix Figure 10 This is a schematic diagram of the docking trajectory model of the attachment.

[0048] Appendix Figure 11 This is a schematic diagram of the attachment assembly trajectory model.

[0049] Appendix Figure 12 This is a flowchart of the automatic switching control method for attachments.

[0050] Wherein: 100—Automatic attachment switching control system; 110—Complete machine system; 120—Attachment system; 121—Work attachment; 122—Position tag; 111—Control unit; 112—Main machine solenoid valve assembly; 113—Execution unit; 114—Working unit; 115—Motion feedback unit; 116—Visual feedback unit; 117—Quick-change device solenoid valve assembly; 118—Main machine hydraulic circuit; 1111—Visual detection module; 1112—Posture perception module; 1113—Trajectory planning module; 1114—Motion control module; 1131—First hydraulic motor; 1132—Boom cylinder; 1133—Stick cylinder; 1134—Connecting frame cylinder; 1135—Linear cylinder; 1136—Second hydraulic motor 1137 - Locking cylinder; 1141 - Body; 1142 - Boom; 1143 - Stick; 1144 - Connecting frame; 1145 - Swing device; 1146 - Rotation device; 1147 - Locking device; Rear pin hook; 1148 - Front pin hook; 1149 - Inertial navigation sensor; 1152 - Boom tilt sensor; 1153 - Stick tilt sensor; 1154 - Pitch tilt sensor; 1155 - Swing tilt sensor; 1156 - Encoder; 1157 - Locking sensor; 1161 - First monocular camera; 1162 - Second monocular camera; 1191 - Whole machine; 1192 - End of whole machine; 1211 - Rear pin of working attachment; 1212 - Front pin of working attachment. Detailed Implementation

[0051] To facilitate understanding by those skilled in the art, the following description is provided in conjunction with the appendix. Figure 1-12 The present invention will be described in detail below.

[0052] First embodiment:

[0053] Please refer to the appendix. Figure 1-11 This embodiment proposes an automatic attachment switching control system 100 for unmanned attachment switching of emergency rescue engineering equipment, which includes a whole system 110 and an attachment system 120.

[0054] In this embodiment, the attachment system 120 includes a working attachment 121 and a position tag 122. The working attachment 121 is used to perform operations such as gripping, crushing, cutting, shearing, and breaking.

[0055] In this embodiment, the complete system 110 includes a control unit 111, a main engine oil circuit 118, a main engine solenoid valve group 112, a quick-change device solenoid valve group 117, an execution unit 113, a working unit 114, a motion feedback unit 115, and a visual feedback unit 116. The main engine solenoid valve group 112, the main engine oil circuit 118, the quick-change device solenoid valve group 117, the motion feedback unit 115, and the visual feedback unit 116 are electrically connected to the control unit 111. The inlet fluid passage of the main engine solenoid valve group 112 and the inlet fluid passage of the quick-change device solenoid valve group 117 are respectively connected to the outlet fluid passage of the main engine oil circuit 118. The execution unit 113 is respectively connected to the outlet fluid passage of the main engine solenoid valve group 112 and the outlet fluid passage of the quick-change device solenoid valve group 117.

[0056] The control unit 111 is used to send an electrical signal to the main oil circuit 118 to control the oil supply of the main oil circuit 118, and to send an electrical signal to the main valve group 112 and the quick-change device valve group 117 to drive the execution unit 113 and thus control the movement of the working unit 114.

[0057] The control unit 111 is also used to receive motion state information collected by the motion feedback unit 115 and image information collected by the visual feedback unit 116.

[0058] The motion status information includes fuselage rotation angle information, boom rotation angle information, stick rotation angle information, connecting frame rotation angle information, swing device rotation angle information, slewing device rotation angle information, and locking device locking information; the image information includes left field of view image information and right field of view image information.

[0059] In this embodiment, the control unit 111 includes a vision detection module 1111, a posture perception module 1112, a trajectory planning module 1113, and a motion control module 1114. The vision detection module 1111 is used to calculate the posture information of the pose label 122 relative to the whole machine 1191 based on the image information collected by the vision feedback unit 116 and convert it into the posture information of the rear pin 1211 of the working attachment relative to the whole machine 1191. The posture perception module is used to calculate the posture information of the end effector 1192 relative to the whole machine 1191 based on the motion state information collected by the motion feedback unit. The trajectory planning module 1113 is used to plan a motion trajectory model based on the pose information of the working attachment rear pin 1211 calculated by the vision detection module 1111 and the pose information of the end effector 1192 calculated by the posture perception module 1112; the motion control module 1114 is used to determine the current process based on the motion trajectory model calculated by the trajectory planning module 1113 and the motion state information collected by the motion feedback unit 115, calculate the theoretical motion amount of each actuator in the execution unit 113, and adjust the valve opening of the main solenoid valve group 112 and the quick-change device solenoid valve group 117 to control the motion. The working unit 114 moves, and during the movement, the motion of each actuator is adjusted in real time based on the collected motion state information and a PID algorithm to complete the unmanned switching of the attachment. The motion trajectory model includes an attachment disassembly trajectory model, an attachment docking trajectory model, and an attachment assembly trajectory model. The attachment disassembly trajectory model includes the front pin release process, the front pin disengagement process, and the rear pin disengagement process. The attachment assembly trajectory model includes the rear pin engagement process, the front pin engagement process, and the front pin locking process. The origin of the coordinate system of the whole machine 1191 is located at the intersection of the rotation axis of the whole machine 1191 and the ground, and the X-axis... The direction is horizontally forward, and the Z-axis is vertically upward. The origin of the coordinate system 1192 at the end of the whole machine is located at the center of the axis of the rear pin hook 1148. The X-axis direction points from the center of the axis of the rear pin hook 1148 to the center of the axis of the front pin hook 1149. The Z-axis is perpendicular to the X-axis and downward. The origin of the coordinate system 1211 of the working attachment is located at the center of the axis of the rear pin shaft 1211 of the working attachment. The X-axis direction is the same as the projection direction of the straight line formed by the axis of the rear pin shaft 1211 of the working attachment and the axis of the front pin shaft 1212 of the working attachment onto the plane formed by the X-axis and Y-axis of the coordinate system 1191 of the whole machine. The Z-axis direction is perpendicular to the X-axis and downward.

[0060] In this embodiment, the motion feedback unit includes an inertial navigation sensor 1151, a boom tilt sensor 1152, a stick tilt sensor 1153, a pitch tilt sensor 1154, a swing tilt sensor 1155, an encoder 1156, and a locking device sensor 1157. The inertial navigation sensor 1151 is used to collect the rotation angle information of the fuselage 1141, the boom tilt sensor 1152 is used to collect the rotation angle information of the boom 1142, the stick tilt sensor 1153 is used to collect the rotation angle information of the stick 1143, the pitch tilt sensor 1154 is used to collect the rotation angle information of the connecting frame, the swing tilt sensor 1155 is used to collect the rotation angle information of the swing device 1145, the encoder 1156 is used to collect the rotation angle information of the slewing device 1146, and the locking sensor 1157 is used to collect the locking information of the locking device 1147.

[0061] In this embodiment, the visual feedback unit 116 includes a first monocular camera 1161 and a second monocular camera 1162. The first monocular camera 1161 is used to capture left visual field image information and transmit it to the control unit, and the second monocular camera 1162 is used to capture right visual field image information and transmit it to the control unit.

[0062] In this embodiment, the pose tag 122 is not limited to being installed at a certain position on the working attachment 121, as shown in the attached figure. Figure 7 Appendix Figure 8 As shown, at least the pose label 122 needs to be able to be acquired by the visual feedback unit 116, and the pose label 122 includes at least an AprilTag code or an ArUco code; the pose label is an AprilTag label or an ArUco label.

[0063] Second embodiment:

[0064] Please refer to the appendix. Figure 12 This invention provides an automatic attachment switching control method, which can be used in the automatic attachment switching control system provided in the first embodiment. For the sake of brevity, parts not mentioned in this embodiment can be referred to the corresponding content in the first embodiment.

[0065] The following will be about Figure 12 The specific process shown will be explained in detail.

[0066] Step S101: The control unit 111 calculates the pose information of the end unit 1192 to be assembled based on the motion state information collected by the motion feedback unit 115, and takes the current pose as the starting pose point.

[0067] Step S102: The control unit 111 calculates the pose of the rear pin 1211 of the work attachment to be assembled based on the image information collected by the visual feedback unit 116, and takes the current pose as the termination pose point.

[0068] Step S103: The control unit 111 plans a motion trajectory model based on the pose information of the starting pose point, the ending pose point, and the process pose point.

[0069] Step S104: The control unit 111 determines the current process based on its calculated motion trajectory model and the motion state information collected by the motion feedback unit 115, calculates the theoretical motion of each actuator in the execution unit 113, and adjusts the valve opening of the host solenoid valve group 112 and the quick-change device solenoid valve group 117 to control the movement of the working unit 114.

[0070] Step S105: The control unit 111 adjusts the motion of each actuator in real time based on the theoretical motion of each actuator and the motion state information collected by the motion feedback unit 115, combined with the PID algorithm.

[0071] In summary, the automatic attachment switching control system and method provided in this invention are applicable to all emergency rescue engineering equipment equipped with quick-change devices. Only sensors and cameras need to be added to the existing equipment, requiring minimal modification to the original emergency rescue engineering equipment control system, which facilitates mass production and modification. In high-risk environments, rescue operations require remote control. Due to factors such as differences in viewing angles in remote images, attachment switching time is long and efficiency is low. This control system and method, through the control unit receiving visual information collected by the visual feedback unit and motion state information collected by the motion feedback unit, automatically calculates the position and posture of the working attachment relative to the whole machine, establishes a motion trajectory model, and achieves unmanned, fully automatic attachment switching of rescue equipment. Combined with a PID algorithm, it improves motion accuracy, effectively shortening the time for operators to remotely switch attachments in high-risk environments and improving work efficiency. In non-high-risk environments, rescue operations often use on-site control. Attach control is a delicate operation, and repeated operations can easily cause operator fatigue and reduce work safety. This control system and method can achieve unmanned operation, avoiding operator fatigue caused by repeated attachment switching operations and improving work safety.

[0072] However, it should be understood that these descriptions of the present invention are merely illustrative of the principles and implementation methods using specific examples, and are not intended to limit the application of this patent. The scope of protection of this invention is defined by the appended claims, and may include various modifications, reforms, and equivalent solutions made to the invention without departing from the scope and spirit of this patent.

Claims

1. An automatic attachment switching control system (100) for unmanned attachment switching of emergency rescue engineering equipment, characterized in that, Includes the complete system (110) and the attachment system (120); The complete system (110) includes a control unit (111), a main engine oil circuit (118), a main engine solenoid valve group (112), a quick-change device solenoid valve group (117), an execution unit (113), a working unit (114), a motion feedback unit (115), and a visual feedback unit (116). The attachment system (120) includes a working attachment (121) for performing gripping, crushing, cutting, shearing and shredding operations; The main unit solenoid valve group (112), the main unit oil circuit (118), the quick-change device solenoid valve group (117), the motion feedback unit (115), and the visual feedback unit (116) are electrically connected to the control unit (111) respectively; The inlet liquid path of the main engine solenoid valve group (112) and the inlet liquid path of the quick-change device solenoid valve group (117) are respectively connected to the outlet liquid path of the main engine oil circuit (118). The liquid inlet of the execution unit (113) is connected to the liquid outlet of the main solenoid valve group (112) and the liquid outlet of the quick-change device solenoid valve group (117), respectively; the execution unit (113) is mechanically connected to the working unit (114); The control unit (111) is used to send an electrical signal to the main oil circuit (118) to control the oil supply of the main oil circuit (118), and to send an electrical signal to the main solenoid valve group (112) and the quick-change device solenoid valve group (117) to drive the execution unit (113) and thus control the movement of the working unit (114). The control unit (111) is also used to receive motion state information collected by the motion feedback unit (115) and image information collected by the visual feedback unit (116); The motion status information includes fuselage rotation angle, boom rotation angle, stick rotation angle, connecting frame rotation angle, swing device rotation angle, slewing device rotation angle, and locking device locking information; the image information includes left field of view image information and right field of view image information. The control unit (111) includes a vision detection module (1111), an attitude perception module (1112), a trajectory planning module (1113), and a motion control module (1114). The visual inspection module (1111) is used to calculate the pose information of the pose label (122) relative to the whole machine (1191) based on the image information collected by the visual feedback unit (116) and convert it into the pose information of the rear pin (1211) of the working attachment relative to the whole machine (1191). The posture perception module (1112) is used to calculate the pose information of the end effector (1192) relative to the whole machine (1191) based on the motion state information collected by the motion feedback unit (115); The trajectory planning module (1113) is used to plan a motion trajectory model based on the pose information of the rear pin (1211) of the working attachment relative to the whole machine (1191) calculated by the vision detection module (1111) and the pose information of the end effector (1192) of the whole machine relative to the whole machine (1191) calculated by the posture perception module (1112). The motion control module (1114) is used to determine the current process based on the motion trajectory model planned by the trajectory planning module (1113) and the motion state information collected by the motion feedback unit (115), calculate the theoretical motion amount of each actuator in the execution unit (113), and adjust the valve opening of the main solenoid valve group (112) and the quick-change device solenoid valve group (117) to control the motion of the working unit (114). During the motion process, the motion amount of each actuator is adjusted in real time based on the collected motion state information combined with the PID algorithm.

2. The attachment automatic switching control system according to claim 1, characterized in that, The origin of the coordinate system of the whole machine (1191) is located at the intersection of the rotation axis of the whole machine (1191) and the ground. The X-axis is horizontally forward and the Z-axis is vertically upward. The origin of the coordinate system of the end of the whole machine (1192) is located at the center of the axis of the rear pin hook (1148). The X-axis is from the center of the axis of the rear pin hook (1148) to the center of the axis of the front pin hook (1149). The Z-axis is perpendicular to the X-axis and downward. The origin of the coordinate system of the rear pin shaft (1211) of the working attachment is located at the center of the axis of the rear pin shaft (1211) of the working attachment. The X-axis is the same as the projection direction of the straight line formed by the axis of the rear pin shaft (1211) of the working attachment and the axis of the front pin shaft (1212) of the working attachment on the plane formed by the X-axis and Y-axis of the coordinate system of the whole machine (1191). The Z-axis is perpendicular to the X-axis and downward.

3. The attachment automatic switching control system according to claim 1, characterized in that, The motion feedback unit includes an inertial navigation sensor (1151), a boom tilt sensor (1152), a stick tilt sensor (1153), a pitch tilt sensor (1154), a swing tilt sensor (1155), an encoder (1156), and a locking device sensor (1157). The inertial navigation sensor (1151) is used to collect the rotation angle information of the fuselage (1141), the boom tilt sensor (1152) is used to collect the rotation angle information of the boom (1142), the stick tilt sensor (1153) is used to collect the rotation angle information of the stick (1143), the pitch tilt sensor (1154) is used to collect the rotation angle information of the connecting frame (1144), the swing tilt sensor (1155) is used to collect the rotation angle information of the swing device (1145), the encoder (1156) is used to collect the rotation angle information of the slewing device (1146), and the locking sensor (1157) is used to collect the locking information of the locking device (1147).

4. The attachment automatic switching control system according to claim 1, characterized in that, The visual feedback unit (116) includes a first monocular camera (1161) and a second monocular camera (1162). The first monocular camera (1161) is used to capture left field of view image information and transmit it to the control unit (111), and the second monocular camera (1162) is used to capture right field of view image information and transmit it to the control unit (111).

5. The attachment automatic switching control system according to claim 1, characterized in that, The pose tag (122) is not limited to being installed at a certain position on the work attachment (121). The pose tag (122) can be collected by the visual feedback unit (116). The pose tag (122) includes at least one AprilTag code or ArUco code.

6. An automatic attachment switching control method, applied to the automatic attachment switching control system (100) of claim 1, characterized in that: The control unit (111) calculates the pose information of the end effector (1192) based on the motion state information collected by the motion feedback unit (115) and takes the current pose as the starting pose point. The control unit (111) shown calculates the pose of the rear pin (1211) of the work attachment to be assembled based on the image information collected by the visual feedback unit (116), and takes the current pose as the termination pose point. The control unit (111) plans a motion trajectory model based on the pose information of the starting pose point and the ending pose point; The control unit (111) judges the current process based on the motion trajectory model it calculates and the motion state information collected by the motion feedback unit (115), calculates the theoretical motion amount of each actuator in the execution unit (113), and adjusts the valve opening of the main solenoid valve group (112) and the quick-change device solenoid valve group (117) to control the movement of the working unit (114); The control unit (111) adjusts the motion of each actuator in real time based on the theoretical motion of each actuator and the motion state information collected by the motion feedback unit (115) and the PID algorithm. The motion trajectory model includes the attachment disassembly trajectory model, the attachment docking trajectory model, and the attachment assembly trajectory model. The attachment disassembly trajectory model includes the front pin release process, the front pin disengagement process, and the rear pin disengagement process. The attachment assembly trajectory model includes the rear pin engagement process, the front pin engagement process, and the front pin locking process.

7. The attachment automatic switching control method according to claim 6, characterized in that, The motion status information includes fuselage rotation angle, boom rotation angle, stick rotation angle, connecting frame rotation angle, swing device rotation angle, slewing device rotation angle, and locking device locking information; the image information includes left field of view image information and right field of view image information.

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