Control method, device, equipment and operating machine

Abstract

The present invention relates to the technical field of emergency stop control for operating machinery, and provides a control method, device, equipment, and operating machinery for operating machinery. The method comprises: obtaining corresponding operating information of the operating machinery when it is operating, when it is determined that the operating machinery is in an automatic emergency stop mode, wherein the operating information includes: at least one abnormality determination information for determining that the operating machinery is performing an unexpected action; determining whether the operating machinery is performing an unexpected action based on pre-set abnormality determination logic and abnormality determination information, and obtaining a determination result; when it is determined that the determination result is that the operating machinery is performing an unexpected action, controlling the operating machinery to stop. The present invention is used to solve the safety problems that may arise from the need for manual operation of a manual emergency stop switch in the prior art, and to achieve a rapid and automatic emergency stop of the operating machinery.

Description

Technical Field

[0001] The present invention relates to the technical field of emergency stop control of operating machinery, and in particular to a control method, device, equipment and operating machinery for operating machinery. Background Art

[0002] To ensure the safety of operating machinery, all machines are equipped with manual emergency stop switches. In an emergency, the switch must be manually pressed to stop the machine. However, in some special circumstances, such as emergency stop switch failure or the operator being unable to press the switch due to various factors, varying degrees of damage may occur to personnel or the machine. Summary of the Invention

[0003] The present invention provides a control method, device, equipment and operating machine for an operating machine, which are used to solve the safety problems that may be caused by the need for human operation of a manual emergency stop switch in the prior art, and to achieve rapid and automatic emergency stop of the operating machine.

[0004] The present invention provides a control method for an operating machine, comprising:

[0005] When it is determined that the working machine is in an automatic emergency stop mode, obtaining corresponding working information of the working machine during operation, wherein the working information includes: at least one abnormality determination information for determining that the working machine performs an undesired action;

[0006] determining, based on a preset abnormality determination logic and the abnormality determination information, whether the working machine is performing the undesired action, and obtaining a determination result;

[0007] If it is determined that the working machine is performing the undesired action as a result of the determination, the working machine is controlled to stop.

[0008] According to a control method for a working machine provided by the present invention, determining whether the working machine is performing the undesired action based on a preset abnormality determination logic and the abnormality determination information to obtain a determination result includes:

[0009] Based on the preset correspondence between abnormality determination information and abnormality determination logic, obtaining target abnormality determination logic corresponding to the abnormality determination information;

[0010] Based on the target abnormality determination logic, it is determined from the abnormality determination information whether the working machine is performing the undesired action to obtain the determination result.

[0011] According to a control method for a working machine provided by the present invention, the working machine includes: a vehicle-mounted device, and the abnormality determination information includes: vehicle-mounted rotation action information;

[0012] The determining, based on the target abnormality determination logic, from the abnormality determination information, whether the working machine is performing the undesired action, and obtaining the determination result, includes:

[0013] Determining the rotation direction, number of rotations, and rotation time per rotation of the boarding device from the boarding rotation action information;

[0014] When it is determined that the rotation direction is the same direction, the number of rotations reaches a preset number of rotations, and the rotation time per rotation is less than or equal to a preset rotation time, the determination result is determined to be that the working machine is performing the undesired action.

[0015] According to a control method for a working machine provided by the present invention, the working machine includes: a working device, the working device includes: at least two working structures, the abnormality determination information includes: force information corresponding to any two connected working structures;

[0016] The determining, based on the target abnormality determination logic, from the abnormality determination information, whether the working machine is performing the undesired action, and obtaining the determination result, includes:

[0017] Based on the force information and the target abnormality determination logic, it is determined from the abnormality determination information whether the working machine is performing the undesired action to obtain the determination result.

[0018] According to a control method for a working machine provided by the present invention, the force information includes: first force information, the first force information being the magnitude of the force exerted on a first contact surface of the two connected working structures, wherein the first contact surface is a plane perpendicular to a connection axis of the two connected working structures;

[0019] The determining, based on the force information and the target abnormality determination logic, whether the working machine is performing the undesired action from the abnormality determination information to obtain the determination result includes:

[0020] Determining, from the first force information, a first pressure value corresponding to any two of the connected operating structures and a first duration corresponding to the first pressure value;

[0021] When it is determined that the first pressure value is greater than a first preset pressure value and the first duration is greater than a first preset duration, it is determined that the determination result is that the working machine is performing the undesired action.

[0022] According to a control method for an operating machine provided by the present invention, the force information includes: second force information, the second force information being: the magnitude of the force exerted on the second contact surface of the two connected operating mechanisms, wherein the second contact surface is the axial surface of the connecting shaft of the two connected operating mechanisms;

[0023] The determining, based on the force information and the target abnormality determination logic, whether the working machine is performing the undesired action from the abnormality determination information to obtain the determination result includes:

[0024] Determining, from the second force information, a second pressure value corresponding to any two connected operating structures, a second duration corresponding to the second pressure value, and a force duration interval;

[0025] When it is determined that the second pressure value is greater than the second preset pressure value, the second duration is greater than the second preset duration, and the force duration interval is less than the preset duration interval, the determination result is determined to be that the working machine is performing the undesired action.

[0026] According to a control method for an operating machine provided by the present invention, before obtaining the operating information corresponding to the operation of the operating machine when the operating machine is determined to be in the automatic emergency stop mode, the method further includes:

[0027] Obtaining an operation authority instruction, the operation authority instruction including: an indication mark for indicating that the working machine is in the automatic emergency stop mode, and the abnormality determination logic that can be used by the working machine;

[0028] Based on the operation authority instruction, the operating machine is configured to be in the automatic emergency stop mode, and the abnormality determination logic corresponding to the operating machine is configured.

[0029] The present invention further provides a control device for an operating machine, comprising:

[0030] an acquisition module, configured to, when determining that the working machine is in an automatic emergency stop mode, acquire operating information corresponding to the working machine during operation, wherein the operating information includes: at least one type of abnormality determination information for determining that the working machine performs an undesirable action;

[0031] a determination module, configured to determine whether the working machine is performing the undesired action based on a preset abnormality determination logic and the abnormality determination information, and obtain a determination result;

[0032] The control module is configured to control the working machine to stop when it is determined that the working machine is performing the undesired action.

[0033] The present invention also provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a control method for an operating machine as described above is implemented.

[0034] The present invention also provides an operating machine, comprising a control device for the operating machine as described above, or implementing a control method for the operating machine as described above.

[0035] The control method, device, equipment and working machine provided by the present invention obtain corresponding working information of the working machine when the working machine is operating, when it is determined that the working machine is in automatic emergency stop mode, wherein the working information includes: at least one abnormality judgment information for determining that the working machine is performing an unexpected action; based on the pre-set abnormality judgment logic and abnormality judgment information, determine whether the working machine is performing an unexpected action, and obtain a determination result. The present invention does not require manual determination of whether the working machine is performing an unexpected action, and can automatically determine it; and when it is determined that the determination result is that the working machine is performing an unexpected action, the working machine is controlled to stop. The present invention does not require manual operation for the emergency stop control of the working machine, and can automatically stop the working machine when it is determined that the working machine is performing an unexpected action, thereby avoiding damage to personnel or the working machine due to failure of the emergency stop switch or the operator's inability to manually perform the emergency stop operation, and realizes fast and emergency stop operation of the working machine.

[0036] The present invention determines the target abnormality determination logic corresponding to the current abnormality determination information through a preset corresponding relationship, thereby improving the efficiency of determining whether the operating machine is performing an unexpected action.

[0037] The present invention performs emergency stop control based on the rotation operation of the vehicle mounting device of the working machine, that is, performs emergency stop operation when the working machine performs unidirectional continuous high-speed rotation, thereby ensuring the safety of personnel and avoiding damage to the working machine.

[0038] The present invention performs an emergency stop operation when it is determined that the operating structure of the operating machine is continuously performing high-load movement along the first contact surface, thereby ensuring the safety of personnel and avoiding damage to the operating machine.

[0039] The present invention performs an emergency stop operation when it is determined that the operating structure of the operating machine is performing overload reciprocating motion, thereby ensuring the safety of personnel and avoiding damage to the operating machine.

[0040] The present invention sets the automatic emergency stop mode and abnormality determination logic according to actual working conditions, thereby ensuring the normal operation of the operating machinery and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 This is one of the flow charts of the control method for the working machine provided by the present invention;

[0043] Figure 2 This is the second flow chart of the control method for the operating machine provided by the present invention;

[0044] Figure 3 This is the third flow chart of the control method for the operating machine provided by the present invention;

[0045] Figure 4 This is the fourth flow chart of the control method for the operating machine provided by the present invention;

[0046] Figure 5 It is a structural schematic diagram of the control device of the working machine provided by the present invention;

[0047] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0048] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0049] The following combination Figures 1 to 4 A method for controlling a working machine according to the present invention will be described.

[0050] An embodiment of the present invention provides a control method for a working machine. The method can be applied to smart terminals, such as mobile phones, computers, tablets, etc., can also be applied to servers, and can also be applied to the controller of a working machine. Below, the method is described using the controller of a working machine as an example, but it should be noted that it is only an example and is not used to limit the scope of protection of the present invention. Some other descriptions in the embodiments of the present invention are also examples and are not used to limit the scope of protection of the present invention, and will not be described one by one later. Figure 1 As shown, the method includes:

[0051] Step 101: When it is determined that the operating machine is in an automatic emergency stop mode, corresponding operating information of the operating machine is obtained.

[0052] The operation information includes: at least one abnormality determination information for determining that the operation machine performs an unexpected action.

[0053] In one specific embodiment, to enable automatic emergency stop control during operation, the operating machine needs to be pre-set in automatic emergency stop mode. This is accomplished by obtaining an operating authority instruction; based on the operating authority instruction, the operating machine is configured in automatic emergency stop mode, as well as the corresponding abnormality determination logic for the operating machine.

[0054] The operation authority instruction includes: an indication mark for indicating that the operating machine is in automatic emergency stop mode, and abnormality determination logic that can be used by the operating machine.

[0055] Specifically, the operating machine includes a display screen. The user triggers an operation authorization command through the display screen. Based on the indicator, the operating machine is configured to enter automatic emergency stop mode. This configuration is based on the abnormality determination logic included in the authorization operation command. Later, when determining whether the operating machine is performing an unintended action, the configured abnormality determination logic is used as a basis for judgment.

[0056] There are multiple abnormality determination logics, and each abnormality determination logic can be configured independently, for example, opening, closing and modifying operations, so as to operate under special working conditions.

[0057] Of course, not every operator has the authority to configure the abnormality determination logic. It is necessary to set the operator's operating authority so that operators with the authority to configure the abnormality determination logic can configure the abnormality determination logic.

[0058] The present invention sets the automatic emergency stop mode and abnormality determination logic according to actual working conditions, thereby ensuring the normal operation of the operating machinery and improving the user experience.

[0059] Specifically, after obtaining the corresponding operation information of the working machine during operation, the abnormality determination information is found from the obtained operation information.

[0060] Specifically, the operation characteristics of the operation information are parsed; pre-set judgment information and characteristics of the judgment information are obtained; the operation characteristics obtained by parsing are compared with the characteristics of the pre-set judgment information; when the comparison results are consistent, the corresponding operation information is extracted as abnormal judgment information.

[0061] The present invention identifies abnormality determination information from operation information, and provides an effective data basis for subsequent determination of whether the operation machine is performing an unexpected action.

[0062] Step 102: Based on the preset abnormality determination logic and abnormality determination information, determine whether the working machine is performing an unexpected action to obtain a determination result.

[0063] In a specific embodiment, based on the correspondence between the pre-set abnormality determination information and the abnormality determination logic, the target abnormality determination logic corresponding to the abnormality determination information is obtained; based on the target abnormality determination logic, it is determined from the abnormality determination information whether the operating machine is performing an unexpected action to obtain a determination result.

[0064] Specifically, the present application includes multiple abnormality determination logics, and different abnormality determination information corresponds to different abnormality determination logics. Therefore, it is necessary to determine the target abnormality determination logic corresponding to the current abnormality determination information. Furthermore, the determined target abnormality determination logic is used to verify the abnormality determination information to determine whether the working machine is performing an unintended action.

[0065] The present invention determines the target abnormality determination logic corresponding to the current abnormality determination information through a preset corresponding relationship, thereby improving the efficiency of determining whether the operating machine is performing an unexpected action.

[0066] In a specific embodiment, the working machine includes: a vehicle mounting device, and the abnormality determination information includes: vehicle rotation action information. The specific implementation method of obtaining the determination result includes:

[0067] From the vehicle rotation action information, determine the corresponding rotation direction, number of rotations and rotation time per circle of the vehicle device; when it is determined that the rotation direction is the same direction, the number of rotations reaches the preset number of rotations, and the rotation time per circle is less than or equal to the preset rotation time, it is determined that the determination result is that the working machine is performing an unexpected action.

[0068] Among them, the preset number of revolutions is the maximum number of continuous one-way rotations corresponding to the normal operation of the operating machine; the preset rotation time is the shortest time taken for one rotation corresponding to the normal operation of the operating machine.

[0069] Specifically, the boarding device includes a slewing mechanism, and a sensor is provided at a position corresponding to the slewing mechanism for collecting boarding rotation action information corresponding to the boarding device.

[0070] The same direction of rotation means that the rotary mechanism is continuously rotating in one direction.

[0071] Specifically, if it is determined that the slewing mechanism is continuously rotating in one direction, the number of continuous unidirectional rotations reaches a preset number of rotations, and the rotation time per rotation is less than or equal to the preset rotation time, the result is determined to be that the working machine is performing an unintended action. If any of these three conditions is not met, the working machine is determined to be operating normally.

[0072] The following is an example of an excavator as an operating machine:

[0073] For example, the preset number of revolutions is 2, that is, the maximum number of revolutions of a continuous one-way rotation when the excavator is working normally is 2. This is just an example, and the user can set it according to actual needs.

[0074] For example, the preset rotation time is 6.6 seconds, that is, the minimum time for the upper device of the excavator to rotate one circle at high speed is 6.6 seconds. This is an example, and the user can set it according to actual needs.

[0075] That is, when the excavator's vehicle-mounted device determines that the slewing mechanism is continuously rotating in one direction, the number of continuous unidirectional rotations reaches 2 circles, and the rotation time per circle is less than or equal to 6.6 seconds, it determines that the working machine is performing an unexpected action.

[0076] Next, through Figure 2 The above embodiment is described in detail:

[0077] Step 201: Identify vehicle rotation action information from operation information.

[0078] The on-board rotation action information includes the rotation direction, number of rotations, and rotation time of each rotation corresponding to the on-board device.

[0079] Step 202 , determining whether the rotation direction is continuous unidirectional rotation, if so, executing step 203 , otherwise executing step 206 .

[0080] Step 203 , determining whether the number of continuous unidirectional rotations reaches a preset number of rotations, if so, executing step 204 , otherwise executing step 206 .

[0081] Step 204 , determining whether the rotation time per circle is less than or equal to the preset rotation time, if so, executing step 205 , otherwise executing step 206 .

[0082] Step 205: Control the fuel injector of the engine to stop injecting fuel, so that the working machine stops working.

[0083] Step 206: Control the operating machine to continue operating.

[0084] The present invention performs emergency stop control based on the rotation operation of the vehicle mounting device of the working machine, that is, performs emergency stop operation when the working machine performs unidirectional continuous high-speed rotation, thereby ensuring the safety of personnel and avoiding damage to the working machine.

[0085] In a specific embodiment, the working machine includes a working device, the working device includes at least two working structures, and the abnormality determination information includes force information corresponding to any two connected working structures.

[0086] The specific implementation methods for obtaining the determined results include:

[0087] Based on the force information and the target abnormality determination logic, it is determined from the abnormality determination information whether the working machine is performing an unexpected action to obtain a determination result.

[0088] The present invention determines whether the operating machine is performing an unexpected action based on the force information of the operating structure and the target abnormality judgment logic, thereby ensuring the accuracy of the determination of the unexpected action.

[0089] In a specific embodiment, the force information includes: first force information, the first force information is: the magnitude of the force applied to the first contact surface of the two connected working structures, wherein the first contact surface is a plane perpendicular to the connection axis of the two connected working structures.

[0090] The specific implementation methods for obtaining the determined results include:

[0091] From the first force information, determine the first pressure value corresponding to any two connected working structures and the first duration corresponding to the first pressure value; when it is determined that the first pressure value is greater than the first preset pressure value and the first duration is greater than the first preset duration, determine that the determination result is that the working machine is performing an unexpected action.

[0092] Among them, the first preset pressure value is the maximum value of the force applied to the corresponding working structure along the normal direction of the end face of the connecting shaft when the working machine is working normally; the first preset duration is the duration for which the corresponding working structure is subjected to the maximum force along the normal direction of the end face of the connecting shaft when the working machine is working normally.

[0093] The determined arbitrary two connected operating structures include: any group of two connected operating structures, or any multiple groups of two connected operating structures.

[0094] The first pressure value and the first duration are based on the same group of connected operating structures.

[0095] The following is an example of an excavator as an operating machine:

[0096] Among them, the operating structure includes: bucket, dipper arm, boom and platform.

[0097] The bucket and the dipper arm are connected, the dipper arm and the boom are connected, and the boom and the platform are connected. The magnitude of the force applied to the first contact surfaces of any two connected working structures is the first force information.

[0098] Specifically, the first force information of the present invention includes one or more pieces of information. If there are several sets of connected working structures, there will be multiple pieces of first force information. For example, in an excavator, due to the complex connection structures between the bucket and the dipper arm, the connection structure between the dipper arm and the boom, and the connection structure between the boom and the platform, multiple pieces of first force information may be present.

[0099] Next, through Figure 3 The above embodiment is described in detail:

[0100] Step 301: Identify first force information from operation information.

[0101] The first force information includes: a first pressure value and a first duration.

[0102] Step 302 , determining whether the first pressure value is greater than a first preset pressure value, if so, executing step 303 , otherwise, executing step 305 .

[0103] Step 303 , determining whether the first duration is greater than a first preset duration, if so, executing step 304 , otherwise, executing step 305 .

[0104] Step 304: Control the fuel injector of the engine to stop injecting fuel, so that the working machine stops working.

[0105] Step 305: Control the operating machine to continue operating.

[0106] The present invention performs an emergency stop when determining that the working structure of the working machine is continuously moving under high load along the first contact surface, thereby ensuring the safety of personnel and preventing damage to the working machine. For example, in the case of an excavator, the emergency stop operation is performed when the working structure of the excavator is moving under high load along the normal direction of the bucket side.

[0107] In addition, a torque sensor may be provided on the slewing mechanism. When the actual torque corresponding to the slewing mechanism is greater than a preset torque, the determination result indicates that the working machine is performing an undesired action. The preset torque is the maximum torque corresponding to the slewing mechanism when the working machine is operating normally.

[0108] Specifically, when the actual torque corresponding to the rotating structure is greater than the preset torque, it is determined that the operating machine is performing high-load movement, and the engine's fuel injector is controlled to stop injecting fuel, so that the operating machine stops working, ensuring the safety of personnel and avoiding damage to the operating machine.

[0109] In a specific embodiment, the force information includes: second force information, the second force information is: the magnitude of the force exerted on the second contact surface of the two connected working mechanisms, wherein the second contact surface is the axial surface of the connecting shaft of the two connected working mechanisms.

[0110] The specific implementation methods for obtaining the determined results include:

[0111] From the second force information, determine the second pressure value corresponding to any two connected working structures, the second duration corresponding to the second pressure value, and the force duration interval; when it is determined that the second pressure value is greater than the second preset pressure value, the second duration is greater than the second preset duration, and the force duration interval is less than the preset duration interval, it is determined that the determination result is that the working machine is performing an unexpected action.

[0112] Among them, the second preset pressure value is the maximum value of the force applied to the corresponding working structure along the axial surface of the connecting shaft when the working machine is working normally; the second preset time length is the duration for which the corresponding working structure is subjected to the maximum force along the axial surface of the connecting shaft when the working machine is working normally; and the preset time interval is the time interval for which the working structure is subjected to the maximum force when the working machine is working normally.

[0113] The determined arbitrary two connected operating structures include: any group of two connected operating structures, or any multiple groups of two connected operating structures.

[0114] The second pressure value, the second duration and the force-bearing duration interval are based on the same group of connected operating structures.

[0115] The following is an example of an excavator as an operating machine:

[0116] Among them, the operating structure includes: bucket, dipper arm, boom and platform.

[0117] The bucket and the dipper arm are connected, the dipper arm and the boom are connected, and the boom and the platform are connected. The magnitude of the force applied to the second contact surfaces of any two connected working structures is the second force information.

[0118] Specifically, the second force information of the present invention includes one or more sets of connected working structures, that is, multiple sets of second force information. For example, in an excavator, due to the complex connection structures of the bucket and dipper arm, the connection structure of the dipper arm and boom, and the connection structure of the boom and platform, multiple sets of second force information are generated.

[0119] Next, through Figure 4 The above embodiment is described in detail:

[0120] Step 401: Identify second force information from the operation information.

[0121] The second force information includes: a second pressure value, a second duration and a force duration interval.

[0122] Step 402 , determining whether the second pressure value is greater than a second preset pressure value, if so, executing step 403 , otherwise executing step 406 .

[0123] Step 403 , determining whether the second duration is greater than a preset duration, if so, executing step 404 , otherwise executing step 406 .

[0124] Step 404 , determining whether the force-bearing time interval is less than a preset time interval, if so, executing step 405 , otherwise, executing step 406 .

[0125] Step 405: Control the fuel injector of the engine to stop injecting fuel, so that the working machine stops working.

[0126] Step 406: Control the operating machine to continue operating.

[0127] The present invention performs an emergency stop operation when the working structure of the working machine is performing overload reciprocating motion, thereby ensuring the safety of personnel and avoiding damage to the working machine. For example, for an excavator, the excavator's boom performs an emergency stop operation when performing overload high-speed reciprocating motion.

[0128] Among them, for Figure 2 、 Figure 3 and Figure 4 The illustrated specific embodiments are acceptable as long as any one or more of them are true.

[0129] In addition, the system can monitor the hydraulic cylinder pressure to determine whether the machine is performing an unintended action. Different working structures correspond to different hydraulic cylinders, and the correspondence between each working structure and the hydraulic cylinder is predetermined. The system then compares the monitored hydraulic cylinder pressure with the preset cylinder pressure to determine whether the machine is performing an unintended action. If the hydraulic cylinder pressure is greater than the preset cylinder pressure, the machine is determined to be performing an unintended action.

[0130] Step 103 : If it is determined that the working machine is performing an unexpected action, the working machine is controlled to stop.

[0131] Among them, the method of controlling the shutdown of the operating machine includes controlling the engine fuel injector of the operating machine to stop injecting fuel.

[0132] Specifically, when it is determined that the working machine has not performed an unexpected action, the working machine is controlled to continue normal operation.

[0133] The present invention automatically performs an emergency stop when the operating machine makes an unexpected or abnormal action, thereby avoiding personal injury and machine failure to the greatest extent.

[0134] The control method, device, equipment and working machine provided by the present invention obtain corresponding working information of the working machine when the working machine is operating, when it is determined that the working machine is in automatic emergency stop mode, wherein the working information includes: at least one abnormality judgment information for determining that the working machine is performing an unexpected action; based on the pre-set abnormality judgment logic and abnormality judgment information, determine whether the working machine is performing an unexpected action, and obtain a determination result. The present invention does not require manual determination of whether the working machine is performing an unexpected action, and can automatically determine it; and when it is determined that the determination result is that the working machine is performing an unexpected action, the working machine is controlled to stop. The present invention does not require manual operation for the emergency stop control of the working machine, and can automatically stop the working machine when it is determined that the working machine is performing an unexpected action, thereby avoiding damage to personnel or the working machine due to failure of the emergency stop switch or the operator's inability to manually perform the emergency stop operation, and realizes fast and emergency stop operation of the working machine.

[0135] The control device of the working machine provided by the present invention is described below. The control device of the working machine described below and the control method of the working machine described above can be referred to each other, and the repeated parts will not be repeated. Figure 5 As shown, the device includes:

[0136] The acquisition module 501 is configured to acquire operation information corresponding to the operation of the operation machine when it is determined that the operation machine is in the automatic emergency stop mode, wherein the operation information includes: at least one abnormality determination information for determining that the operation machine performs an unexpected action;

[0137] A determination module 502 is configured to determine whether the working machine is performing an unexpected action based on a preset abnormality determination logic and abnormality determination information, and obtain a determination result;

[0138] The control module 503 is configured to control the working machine to stop if it is determined that the working machine is performing an unexpected action.

[0139] In a specific embodiment, the determination module 502 is specifically used to obtain the target abnormality determination logic corresponding to the abnormality determination information based on the correspondence between the preset abnormality determination information and the abnormality determination logic; based on the target abnormality determination logic, determine from the abnormality determination information whether the operating machine is performing an unexpected action to obtain a determination result.

[0140] In a specific embodiment, the operating machine includes: a boarding device, and the abnormal judgment information includes: boarding rotation action information; a determination module 502 is specifically used to determine the corresponding rotation direction, number of rotations and rotation time per circle of the boarding device from the boarding rotation action information; when it is determined that the rotation direction is the same direction, the number of rotations reaches a preset number of rotations, and the rotation time per circle is less than or equal to the preset rotation time, it is determined that the operating machine is performing an unexpected action.

[0141] In a specific embodiment, the working machine includes: a working device, the working device includes: at least two working structures, and the abnormality judgment information includes: force information corresponding to any two connected working structures; the determination module 502 is specifically used to determine whether the working machine is performing an unexpected action from the abnormality judgment information based on the force information and the target abnormality judgment logic, and obtain a determination result.

[0142] In a specific embodiment, the force information includes: first force information, the first force information is: the magnitude of the force exerted on the first contact surface of two connected working structures, wherein the first contact surface is a plane perpendicular to the connection axis of the two connected working structures; a determination module 502 is specifically used to determine the first pressure value corresponding to any two connected working structures and the first duration corresponding to the first pressure value from the first force information; when it is determined that the first pressure value is greater than the first preset pressure value and the first duration is greater than the first preset duration, it is determined that the determination result is that the working machine is performing an unexpected action.

[0143] In a specific embodiment, the force information includes: second force information, the second force information is: the magnitude of the force exerted on the second contact surface of the two connected working mechanisms, wherein the second contact surface is the axial surface of the connecting axis of the two connected working mechanisms; the determination module 502 is specifically used to determine the second pressure value corresponding to any two connected working structures, the second duration corresponding to the second pressure value, and the force duration interval from the second force information; when it is determined that the second pressure value is greater than the second preset pressure value, the second duration is greater than the second preset duration, and the force duration interval is less than the preset duration interval, it is determined that the determination result is that the working machine is performing an unexpected action.

[0144] In a specific embodiment, the acquisition module 501 is also used to obtain operating authority instructions, which include: an indicator mark for indicating that the operating machine is in automatic emergency stop mode, and abnormality judgment logic that can be used by the operating machine; based on the operating authority instructions, the operating machine is configured to be in automatic emergency stop mode, and the abnormality judgment logic corresponding to the operating machine.

[0145] An embodiment of the present invention further provides an operating machine, including the control device of the operating machine as described in any of the above embodiments, or implementing the control method of the operating machine as described in any of the above embodiments.

[0146] Among them, operating machinery includes excavators, cranes, etc.

[0147] Figure 6 An example of a physical structure diagram of an electronic device is shown below. Figure 6 As shown, the electronic device may include: a processor 601, a communication interface 602, a memory 603, and a communication bus 604, wherein the processor 601, the communication interface 602, and the memory 603 communicate with each other via the communication bus 604. The processor 601 may call the logic instructions in the memory 603 to execute a control method for an operating machine, the method comprising: upon determining that the operating machine is in an automatic emergency stop mode, obtaining operating information corresponding to the operating machine during operation, wherein the operating information includes: at least one abnormality determination information for determining that the operating machine is performing an undesirable action; based on a preset abnormality determination logic and the abnormality determination information, determining whether the operating machine is performing an undesirable action and obtaining a determination result; and upon determining that the determination result is that the operating machine is performing an undesirable action, controlling the operating machine to stop.

[0148] In addition, the logic instructions in the above-mentioned memory 603 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0149] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the control method of the working machine provided by the above-mentioned methods, the method including: when it is determined that the working machine is in an automatic emergency stop mode, obtaining corresponding working information when the working machine is working, wherein the working information includes: at least one abnormality judgment information for determining that the working machine performs an unexpected action; based on pre-set abnormality judgment logic and abnormality judgment information, determining whether the working machine is performing an unexpected action, and obtaining a determination result; when it is determined that the determination result is that the working machine is performing an unexpected action, controlling the working machine to stop.

[0150] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the control method of the working machine provided by the above-mentioned methods, the method comprising: when determining that the working machine is in an automatic emergency stop mode, obtaining corresponding working information when the working machine is operating, wherein the working information comprises: at least one abnormality judgment information for determining that the working machine is performing an unexpected action; based on pre-set abnormality judgment logic and abnormality judgment information, determining whether the working machine is performing an unexpected action, and obtaining a determination result; when the determination result is that the working machine is performing an unexpected action, controlling the working machine to stop.

[0151] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0152] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for controlling an operating machine, characterized in that: include: When it is determined that the working machine is in an automatic emergency stop mode, obtaining corresponding working information of the working machine during operation, wherein the working information includes: at least one abnormality determination information for determining that the working machine performs an undesired action; determining, based on a preset abnormality determination logic and the abnormality determination information, whether the working machine is performing the undesired action, and obtaining a determination result; If it is determined that the working machine is performing the undesired action, controlling the working machine to stop; The determining, based on the preset abnormality determination logic and the abnormality determination information, whether the working machine is performing the undesired action and obtaining the determination result includes: obtaining, based on a correspondence between the preset abnormality determination information and the abnormality determination logic, a target abnormality determination logic corresponding to the abnormality determination information; and determining, based on the target abnormality determination logic, from the abnormality determination information whether the working machine is performing the undesired action and obtaining the determination result; The working machine includes: a working device, the working device includes: at least two working structures, and the abnormality determination information includes: force information corresponding to any two connected working structures; The determining, based on the target abnormality determination logic, from the abnormality determination information whether the working machine is performing the undesired action to obtain the determination result includes: determining, based on the force information and the target abnormality determination logic, from the abnormality determination information whether the working machine is performing the undesired action to obtain the determination result; The force information includes: first force information, which is: the magnitude of the force applied to the first contact surface of the two connected working structures, wherein the first contact surface is a plane perpendicular to the connection axis of the two connected working structures.

2. The control method of the working machine according to claim 1, characterized in that: The working machine includes: a vehicle-mounted device, and the abnormality determination information includes: vehicle-mounted rotation action information; The determining, based on the target abnormality determination logic, from the abnormality determination information, whether the working machine is performing the undesired action, and obtaining the determination result, includes: Determining the rotation direction, number of rotations, and rotation time per rotation of the boarding device from the boarding rotation action information; When it is determined that the rotation direction is the same direction, the number of rotations reaches a preset number of rotations, and the rotation time per rotation is less than or equal to a preset rotation time, the determination result is determined to be that the working machine is performing the undesired action.

3. The control method of the working machine according to claim 1, characterized in that: The determining, based on the force information and the target abnormality determination logic, whether the working machine is performing the undesired action from the abnormality determination information to obtain the determination result includes: Determining, from the first force information, a first pressure value corresponding to any two of the connected operating structures and a first duration corresponding to the first pressure value; When it is determined that the first pressure value is greater than a first preset pressure value and the first duration is greater than a first preset duration, it is determined that the determination result is that the working machine is performing the undesired action.

4. The control method for a working machine according to claim 1, wherein: The force information includes: second force information, the second force information being: the magnitude of the force exerted on the second contact surface of the two connected working structures, wherein the second contact surface is the axial surface of the connecting shaft of the two connected working structures; The determining, based on the force information and the target abnormality determination logic, whether the working machine is performing the undesired action from the abnormality determination information to obtain the determination result includes: Determining, from the second force information, a second pressure value corresponding to any two connected operating structures, a second duration corresponding to the second pressure value, and a force duration interval; When it is determined that the second pressure value is greater than the second preset pressure value, the second duration is greater than the second preset duration, and the force duration interval is less than the preset duration interval, the determination result is determined to be that the working machine is performing the undesired action.

5. The control method for a working machine according to any one of claims 1 to 4, characterized in that: Before obtaining the operation information corresponding to the operation of the operating machine when it is determined that the operating machine is in the automatic emergency stop mode, the method further includes: Obtaining an operation authority instruction, the operation authority instruction including: an indication mark for indicating that the working machine is in the automatic emergency stop mode, and the abnormality determination logic that can be used by the working machine; Based on the operation authority instruction, the operating machine is configured to be in the automatic emergency stop mode, and the abnormality determination logic corresponding to the operating machine is configured.

6. A control device for an operating machine, characterized in that: include: an acquisition module, configured to, when determining that the working machine is in an automatic emergency stop mode, acquire operating information corresponding to the working machine during operation, wherein the operating information includes: at least one type of abnormality determination information for determining that the working machine performs an undesirable action; a determination module, configured to determine whether the working machine is performing the undesired action based on a preset abnormality determination logic and the abnormality determination information, and obtain a determination result; a control module configured to control the working machine to stop if it is determined that the working machine is performing the undesired action; The determining, based on the preset abnormality determination logic and the abnormality determination information, whether the working machine is performing the undesired action and obtaining the determination result includes: obtaining, based on a correspondence between the preset abnormality determination information and the abnormality determination logic, a target abnormality determination logic corresponding to the abnormality determination information; and determining, based on the target abnormality determination logic, from the abnormality determination information whether the working machine is performing the undesired action and obtaining the determination result; The working machine includes: a working device, the working device includes: at least two working structures, and the abnormality determination information includes: force information corresponding to any two connected working structures; The determining, based on the target abnormality determination logic, from the abnormality determination information whether the working machine is performing the undesired action to obtain the determination result includes: determining, based on the force information and the target abnormality determination logic, from the abnormality determination information whether the working machine is performing the undesired action to obtain the determination result; The force information includes: first force information, which is: the magnitude of the force applied to the first contact surface of the two connected working structures, wherein the first contact surface is a plane perpendicular to the connection axis of the two connected working structures.

7. An electronic device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the control method for the working machine according to any one of claims 1 to 5 when executing the program.

8. A working machine, characterized in that: The method comprises the control device for the working machine according to claim 6, or implements the control method for the working machine according to any one of claims 1 to 5.

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