Safety warning method, control device and working machine for working machine

Abstract

The application relates to the field of engineering machinery, and discloses a safety early warning method, a control device and engineering machinery for engineering machinery. The safety early warning method comprises the following steps: acquiring an actual value of first working condition data and an actual value of second working condition data of the engineering machinery; wherein the first working condition data comprises a first luffing angle of a main arm, a stretching distance of the main arm, a second luffing angle of a fly arm and a load of a working platform; the second working condition data comprises a linear distance between two axial ends of the main arm; based on a pre-stored corresponding relationship between the first working condition data and the second working condition data, a theoretical value of the second working condition data corresponding to the actual value of the first working condition data is determined; the actual value of the second working condition data is compared with the theoretical value of the second working condition data to obtain a comparison result; and early warning information is sent according to the comparison result. The safety early warning method, the control device and the engineering machinery for engineering machinery are simple in method and easy to implement, and can effectively protect the engineering machinery.

Description

Technical Field

[0001] This application belongs to the field of engineering machinery technology, specifically relating to a safety early warning method, control device, and engineering machinery for engineering machinery. Background Technology

[0002] Construction machinery that requires high-altitude operations (such as aerial work platforms) is generally equipped with a boom and a working platform. During operation, the operator stands on the working platform facing the counterweight side of the boom. There are blind spots above, behind, to the left and right, and below. When lifting upwards, there is a risk that the working platform or the operator may be touched by foreign objects. When lowering downwards, there is a risk that the boom (including the wire rope) may be hit by the factory beams.

[0003] To address these issues, existing construction machinery uses load cells on the work platform to detect load weight, or wire sensors for collision or load identification during hoisting. Anti-collision devices are also installed to prevent collisions with the work platform and operators. Anti-pinch systems can prevent operator injuries from being crushed after a collision. However, these methods cannot completely prevent damage to the construction machinery. Alternatively, radar sensors or cameras can be used to roughly identify obstacles and issue alarms. However, this method is prone to false alarms. Furthermore, because radar sensors or cameras cannot be placed on the telescopic parts of the construction machinery (which are nested inside when retracted, preventing them from being exposed and performing detection functions), their detection range is limited, creating blind spots and hindering effective protection of the construction machinery. Summary of the Invention

[0004] The purpose of this application is to provide a safety early warning method, control device, and engineering machinery for construction machinery. The method is simple, easy to implement, and can effectively protect the construction machinery.

[0005] To achieve the above objectives, the first aspect of this application provides a safety warning method for construction machinery, the construction machinery including a main boom, a boom arm, and a work platform, the safety warning method comprising:

[0006] The actual values ​​of the first working condition data and the actual values ​​of the second working condition data of the construction machinery are obtained. The first working condition data includes the first luffing angle of the main boom, the extension of the main boom, the second luffing angle of the boom, and the load of the work platform. The second working condition data includes the straight distance between the two ends of the main boom along the axis.

[0007] Based on the pre-stored correspondence between the first working condition data and the second working condition data, determine the theoretical value of the second working condition data corresponding to the actual value of the first working condition data.

[0008] The actual values ​​of the second working condition data are compared with the theoretical values ​​of the second working condition data to obtain the comparison results;

[0009] Warning information is issued based on the comparison results.

[0010] In the embodiments of this application, the correspondence between the pre-stored first operating condition data and the second operating condition data is determined in the following manner:

[0011] Obtain multiple theoretical combination arrays of first and second condition data obtained through multiple theoretical experiments;

[0012] Multiple theoretical combination arrays are subjected to first interpolation processing using interpolation methods to obtain multiple first interpolated theoretical combination arrays;

[0013] Multiple theoretical combination arrays and multiple first interpolation theoretical combination arrays are subjected to second interpolation processing by interpolation method to obtain multiple second interpolation theoretical combination arrays;

[0014] The corresponding relationships are obtained based on multiple theoretical combination arrays, multiple first interpolation theoretical combination arrays, and multiple second interpolation theoretical combination arrays.

[0015] In the embodiments of this application, the theoretical combination array includes first working condition data and second working condition data obtained from theoretical tests of engineering machinery under impact conditions.

[0016] In embodiments of this application, comparing the actual value of the second operating condition data with the theoretical value of the second operating condition data to obtain a comparison result includes:

[0017] When the actual value of the second working condition data is inconsistent with the theoretical value of the second working condition data, it is determined that there is a collision risk for the construction machinery.

[0018] In the embodiments of this application, the axial straight-line distance between the two ends includes the first axial straight-line distance between the two ends on the bottom wall of the main arm and the second axial straight-line distance between the two ends on the side wall of the main arm;

[0019] Furthermore, when the actual values ​​of the second working condition data differ from the theoretical values ​​of the second working condition data, it is determined that the construction machinery faces a collision risk, including:

[0020] If the actual value of the straight distance between the two ends of the first axis is inconsistent with the theoretical value of the straight distance between the two ends of the first axis, it is determined that there is a collision risk at the bottom wall of the main boom;

[0021] Alternatively, if the actual value of the straight-line distance between the two ends of the second axis is inconsistent with the theoretical value of the straight-line distance between the two ends of the second axis, it is determined that there is a collision risk on the side wall of the main boom.

[0022] In the embodiments of this application, the axial straight-line distance between the two ends includes the first axial straight-line distance between the two ends on the bottom wall of the main arm and the second axial straight-line distance between the two ends on the side wall of the main arm;

[0023] Furthermore, the actual values ​​of the second operating condition data are compared with the theoretical values ​​of the second operating condition data to obtain comparison results, including:

[0024] If the actual value of the straight-line distance between the two ends of the first axis is inconsistent with the theoretical value, and the actual value of the straight-line distance between the two ends of the second axis is inconsistent with the theoretical value, then the construction machinery is determined to have a lifting risk.

[0025] In embodiments of this application, the security warning method further includes:

[0026] After issuing an early warning based on the comparison results, the construction machinery is controlled to stop moving.

[0027] In embodiments of this application, the security warning method further includes:

[0028] After the construction machinery stops moving, it is determined that the actual value of the second working condition data has changed;

[0029] To obtain the direction of motion of the construction machinery before it comes to a stop;

[0030] Control the construction machinery to move in the opposite direction to the direction of motion.

[0031] A second aspect of this application provides a control device for engineering machinery, the control device comprising:

[0032] The first angle detector is used to detect the first amplitude angle of the main boom;

[0033] The second angle detector is used to detect the second amplitude angle of the boom;

[0034] Weight detector, used to detect the load on the work platform;

[0035] Axial length detector, used to detect the straight-line distance between the two ends of the main boom along the axis;

[0036] The early warning module is used to issue early warning information; and

[0037] The processor is configured to execute the aforementioned safety warning method for engineering machinery.

[0038] A third aspect of this application provides an engineering machinery, which includes the aforementioned control device for engineering machinery.

[0039] As can be seen from the above technical solution, the safety early warning method includes: acquiring the actual values ​​of the first working condition data and the actual values ​​of the second working condition data of the construction machinery. The first working condition data includes the first luffing angle of the main boom, the extension distance of the main boom, the second luffing angle of the boom, and the load on the work platform. The second working condition data includes the straight-line distance between the two ends of the main boom along its axial direction. Based on the pre-stored correspondence between the first and second working condition data, the theoretical value of the second working condition data corresponding to the actual value of the first working condition data is determined. The actual value of the second working condition data is compared with the theoretical value of the second working condition data to obtain a comparison result. An early warning message is issued based on the comparison result. Both the first and second working condition data are not easily affected by the external environment, enabling the construction machinery using this safety early warning method to maintain high risk prediction accuracy even in complex working environments such as close-range or collaborative operations, further improving the operational safety of the construction machinery. This safety early warning method also has the advantages of simple steps and ease of operation.

[0040] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0041] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings:

[0042] Figure 1 This is a schematic diagram of the main process of the security early warning method in the embodiments of this application;

[0043] Figure 2 This is a schematic diagram of the composition of the engineering machinery in the embodiments of this application;

[0044] Figure 3 This is a schematic diagram of the boom device in normal state in the embodiments of this application;

[0045] Figure 4 This is a schematic diagram of the boom device in an unauthorized lifting state in an embodiment of this application;

[0046] Figure 5 This is a schematic diagram of the boom device in a collision state in an embodiment of this application (the obstacle comes from below the main boom);

[0047] Figure 6 This is a frontal view of the boom device in a collision state in an embodiment of this application (the obstacle comes from the side of the main boom);

[0048] Figure 7This is a top view of the boom device in a collision state in an embodiment of this application (the obstacle comes from the side of the main boom).

[0049] Explanation of reference numerals in the attached figures

[0050] 1. Main boom 2. Flying boom

[0051] 3. Working platform; 4. Pull wire of the first pull wire sensor.

[0052] 5. The point of collision between the pull wire of the first pull wire sensor and the obstacle.

[0053] 6. The pull wire θ1 of the second pull wire sensor is the first amplitude angle.

[0054] θ2 Second amplitude angle l Extension of the telescopic component

[0055] L1 Length of the pull wire of the first pull wire sensor under normal conditions

[0056] L2 Length of the pull wire of the first pull wire sensor under unauthorized load conditions

[0057] The length of the first wire segment of the L3 first wire sensor under collision conditions.

[0058] The length of the second wire segment of the L4 first wire sensor under collision conditions.

[0059] The length of the pull cable of the L5 second pull cable sensor under normal conditions. Detailed Implementation

[0060] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0061] This application provides a safety early warning method for engineering machinery in its embodiments, such as... Figure 2 As shown, the construction machinery includes a main boom 1, a boom 2, and a working platform 3, as follows: Figure 1 As shown, this safety warning method includes the following steps:

[0062] Step S101: Obtain the actual values ​​of the first working condition data and the second working condition data of the construction machinery. The first working condition data includes the first luffing angle θ1 of the main boom 1, the extension of the main boom 1, the second luffing angle θ2 of the boom 2, and the load of the work platform 3. The second working condition data includes the straight distance between the two ends of the main boom 1 along the axis.

[0063] Step S102: Based on the pre-stored correspondence between the first working condition data and the second working condition data, determine the theoretical value of the second working condition data corresponding to the actual value of the first working condition data;

[0064] Step S103: Compare the actual value of the second working condition data with the theoretical value of the second working condition data to obtain the comparison result;

[0065] Step S104: Issue a warning message based on the comparison results.

[0066] Specifically, the engineering machinery in this embodiment can be an aerial work platform, which includes a boom assembly, a telescopic component, and a control device. The boom assembly includes a main boom 1, a boom 2, and a work platform 3. The telescopic component can be a hydraulic cylinder installed inside the main boom 1 and used to drive the main boom 1 to extend and retract. The control device includes a first angle detector, a second angle detector, a weight detector, a telescopic component extension distance detector, an axial length detector, a warning module, and a processor. The first angle detector can be an angle sensor and is used to detect the first amplitude angle θ1 of the main boom 1; the second angle detector can be an angle sensor and is used to detect the second amplitude angle θ2 of the boom 2; the weight detector is used to detect the load on the work platform 3; the telescopic component extension distance detector is used to detect the extension distance of the telescopic component, and the telescopic component extension distance detector can be a cable sensor; the axial length detector is used to detect the straight-line distance between the two ends of the main boom 1 in the axial direction, and the axial length detector can be a cable sensor; the warning module is used to issue warning information; and the processor is configured to execute the safety warning method in this embodiment.

[0067] Furthermore, in this embodiment, one end of the pull wire sensor corresponding to the axial length detector (i.e., the fixed end of the pull wire sensor) is set at the first axial end of the main arm 1, and the other end of the pull wire sensor (i.e., the free end of the pull wire sensor) is set at the second axial end of the main arm 1. One end of the pull wire of the pull wire sensor is fixed, and the other end of the pull wire is wound around the winch of the pull wire sensor.

[0068] In practical applications, the first angle detector detects the actual value of the first amplitude angle θ1 and sends it to the processor after detection, so the processor can obtain the actual value of the first amplitude angle θ1; the second angle detector detects the actual value of the second amplitude angle θ2 and sends it to the processor after detection, so the processor can obtain the actual value of the second amplitude angle θ2; the weight detector detects the actual value of the load on the work platform 3 and sends it to the processor after detection, so the processor can obtain the actual value of the load; the axial length detector detects the actual value of the straight distance between the two ends of the main boom 1 and sends it to the processor after detection, so the processor can obtain the actual value of the straight distance between the two ends of the main boom 1.

[0069] Furthermore, in this embodiment, the extension of the main boom 1 can be calculated according to formula (1):

[0070] l1 = Initial extension length of main boom 1 + l * (Number of segments of main boom 1 - 1) (1)

[0072] Where l1 is the extension distance of the main boom 1, and l is the extension distance of the telescopic component.

[0073] The above formula is pre-stored in the processor and can be retrieved when needed. The initial extension length of the main boom 1 and the number of sections of the main boom 1 are both fixed values ​​and pre-stored in the processor. After the telescopic component extension detector detects the actual value of the extension of the telescopic component, it sends it to the processor. The processor can then obtain the actual value of the extension of the telescopic component and substitute it into the formula for calculating the extension of the main boom 1 to obtain the actual value of the extension of the main boom 1.

[0074] Since the total weight of the main boom 1, the total weight of the boom 2, the total weight of the work platform 3, the load on the work platform 3, and the posture of the construction machinery can all cause the main boom 1 to bend and deform in the axial direction, thus changing the straight-line distance between the two ends of the main boom 1 in any posture and under any load of the work platform 3, the straight-line distance between the two ends of the main boom 1 in the axial direction can be expressed by the following formula:

[0075]

[0076] L is the straight-line distance between the two ends of the main boom 1 along its axis, θ1 is the first amplitude angle of the main boom 1, l1 is the extension distance of the main boom 1, and G is the extension distance of the main boom 1. b Let G be the total weight of the main boom 1, θ2 be the second amplitude angle of the flying boom 2, and G be the weight of the main boom 1 assembly. j For the total weight of the flying arm 2, G r For the load of operating platform 3, G p The total weight of the work platform 3 is as follows: G b G j and G pAll are fixed values. Therefore, in actual use, there is a corresponding relationship between the first working condition data (the first amplitude angle θ1 of the main boom 1, the extension of the main boom 1, the second amplitude angle θ2 of the boom 2, and the load of the work platform 3) and the second working condition data (i.e., the straight distance between the two ends of the main boom 1 along the axis). The database reflecting the above correspondence is pre-stored in the processor and can be retrieved when needed. After obtaining the actual value of the first working condition data, the processor retrieves the aforementioned database and, based on the correspondence between the first and second working condition data, determines the theoretical value of the second working condition data corresponding to the actual value of the first working condition data. Then, it compares the actual value of the second working condition data with the theoretical value. If the actual value of the second working condition data does not match the theoretical value, it is determined that there is a safety hazard in the boom device of the construction machinery (such as collision and / or lifting). At this time, the processor controls the early warning module to issue an early warning signal (such as issuing an early warning sound or illuminating a light) so that the operator can quickly notice the abnormality and take action. If the actual value of the second working condition data matches the theoretical value, it is determined that there is no safety hazard in the boom device of the construction machinery, and the processor does not need to control other components.

[0077] The safety warning method in this application determines whether there is a safety hazard in the boom device of the construction machinery by comparing the actual value of the second working condition data with the theoretical value of the second working condition data. It issues a warning message when a safety hazard is found. The method is simple and easy to implement. The first and second working condition data are the construction machinery's own data during operation, which are not easily affected by external factors and are less prone to false alarms. Therefore, even when multiple construction machinery are operating close together or in coordination, this safety warning method can maintain high accuracy and effectively protect the boom device. In addition, this safety warning method also considers the influence of the load of the work platform 3 on the axial deformation of the main boom 1, which can effectively prevent the construction machinery from tipping over, further improving the overall safety of the construction machinery.

[0078] Furthermore, in step S101 of this embodiment, the actual value of the first working condition data refers to the actual value of the first working condition data after rounding. Specifically, the first amplitude angle θ1 of the main boom 1 and the second amplitude angle θ2 of the boom 2 are both rounded to the nearest integer, such as 3.4° to 3° after rounding. The actual value of the extension of the main boom 1 is rounded to the nearest integer in 10mm increments, such as 13mm to 10mm and 17mm to 20mm.

[0079] In one embodiment of this application, the correspondence between the pre-stored first operating condition data and the second operating condition data is determined in the following manner:

[0080] Step S201: Obtain multiple theoretical combination arrays of first working condition data and second working condition data obtained through multiple theoretical experiments.

[0081] Specifically, each theoretical combination array includes multiple components, including the experimental value of the first amplitude angle θ1 of the main boom 1, the experimental value of the extension of the main boom 1, the experimental value of the second amplitude angle θ2 of the boom 2, the experimental value of the load of the work platform 3, and the experimental value of the straight distance between the two ends of the main boom 1 in the axial direction.

[0082] Step S201: Obtaining multiple theoretical combination arrays of first and second working condition data obtained through multiple theoretical experiments further includes steps S301-S306, wherein:

[0083] Step S301: Determine the first preset test amplitude range of the main boom 1;

[0084] Step S302: Determine the second preset test amplitude range of the boom 2;

[0085] Step S303: Determine the preset test load range of the work platform 3.

[0086] Specifically, in this embodiment, the first preset test amplitude range of the main boom 1 is -5° to 75°, the second preset test amplitude range of the boom 2 is -55° to 65°, and the preset test load range of the work platform 3 is 0 to 340 kg.

[0087] Step S304: Control the boom device of the construction machinery to conduct n theoretical tests, and control the main boom 1 from fully retracted to fully extended during each theoretical test.

[0088] Step S304, which involves conducting n theoretical tests on the boom device of the construction machinery, further includes steps S401-S406, wherein:

[0089] Step S401: Determine the first preset test amplitude angle array according to the first preset test amplitude angle range. The components in the first preset test amplitude angle array are all test values ​​of the first amplitude angle θ1 of the main boom 1. 1a For the a-th component in the first preset experimental amplitude angle array, θ1( a+1 ) represents the (a+1)th component in the first preset experimental amplitude angle array, θ 1a and θ1( a+1 The difference between the values ​​is the first preset difference. In this embodiment, the first preset difference is preferably 5°~, that is, starting from -5°~. The first preset test amplitude angle array has 17 components.

[0090] Step S402: Determine the second preset test amplitude angle array according to the second preset test amplitude angle range. The components in the second preset test amplitude angle array are all test values ​​of the second amplitude angle θ2 of the boom 2. 2c For the c-th component in the second preset experimental amplitude angle array, θ2( c+1 ) represents the (c+1)th component in the second preset experimental amplitude angle array, θ 2c and θ2( c+1 The difference between the two values ​​is the second preset difference. In this embodiment, the second preset difference is preferably 5°~, that is, starting from -55°~. The first preset test amplitude angle array has 25 components.

[0091] Step S403: Determine the preset test load array according to the preset test load range. The components in the preset test load array are all test values ​​of the load on the work platform 3, G rd The d-th component in the preset test load array is used as an example. In this embodiment, the preset test load array has two components. The value of one component is in the range of 0 to 249 kg, and the value of the other component is in the range of 249 kg to 340 kg.

[0092] Step S404: According to θ 1a θ 2c and G rd A single theoretical test was conducted on the control boom device. During the single theoretical test, the main boom 1 was controlled to change from fully retracted to fully extended.

[0093] Step S405: During a single theoretical test, at each preset interval, the test value of the extension distance of the main boom 1 is recorded, and the test value of the straight-line distance between the two ends of the main boom 1 is also recorded. The preset interval can be selected as 10mm, that is, in a single theoretical test, θ 1a θ 2c and G rd Without changing the main boom 1 from fully contracted to fully extended, when the main boom 1 is extended, the test value of the straight distance between the two ends of the main boom 1 along the axis is collected every 10 mm.

[0094] Step S406: After a single theoretical experiment is completed, change θ 1a θ 2c and G rd The value of any one of the values ​​is used to conduct the next theoretical experiment, until n experiments are completed, where θ in any two theoretical experiments is... 1a θ 2c and G rd At least one value is different.

[0095] The data collected during the theoretical experiment are shown below:

[0096] The test value of the load of the working platform 3 is 249kg, the test value of the first amplitude angle θ1 of the main boom 1 is -5°, the test value of the second amplitude angle θ2 of the boom 2 is -55°, the main boom 1 is controlled to change from fully retracted to fully extended, and the test value of the straight distance between the two ends of the main boom 1 is collected every 10mm when the test value of the extension distance of the main boom 1 is measured.

[0097] The test value of the load of the working platform 3 is 249kg, the test value of the first amplitude angle θ1 of the main boom 1 is -5°, the test value of the second amplitude angle θ2 of the boom 2 is -50°, the main boom 1 is controlled to change from fully retracted to fully extended, and the test value of the straight distance between the two ends of the main boom 1 is collected every 10mm when the test value of the extension distance of the main boom 1 is measured.

[0098] ...

[0099] The test value of the load of the working platform 3 is 249kg, the test value of the first amplitude angle θ1 of the main boom 1 is 0°, the test value of the second amplitude angle θ2 of the boom 2 is -55°, the main boom 1 is controlled to change from fully retracted to fully extended, and the test value of the straight distance between the two ends of the main boom 1 is collected every 10mm when the test value of the extension distance of the main boom 1 is measured.

[0100] The test value of the load of the working platform 3 is 249kg, the test value of the first amplitude angle θ1 of the main boom 1 is 0°, the test value of the second amplitude angle θ2 of the boom 2 is -50°, the main boom 1 is controlled to change from fully retracted to fully extended, and the test value of the straight distance between the two ends of the main boom 1 is collected every 10mm when the test value of the extension distance of the main boom 1 is measured.

[0101] ...

[0102] The test value of the load of the working platform 3 is 340kg, the test value of the first amplitude angle θ1 of the main boom 1 is -5°, the test value of the second amplitude angle θ2 of the boom 2 is -55°, the main boom 1 is controlled to change from fully retracted to fully extended, and the test value of the straight distance between the two ends of the main boom 1 is collected every 10mm when the test value of the extension distance of the main boom 1 is measured.

[0103] ...

[0104] Based on the above method, the following test values ​​can be collected: the first amplitude angle θ1 within the first preset test amplitude angle range at 5° intervals; the second amplitude angle θ2 within the second preset test amplitude angle range at 5° intervals; the load test value within the two ranges of 0–249 kg and 249 kg–340 kg; and the extension distance test value during the transition of the main boom 1 from full retraction to full extension at 10mm intervals. Combining these test values ​​of the straight distances at both ends of each axis with their corresponding test values ​​of the first amplitude angle θ1, second amplitude angle θ2, load, and extension distance can form a theoretical combination array.

[0105] Step S202: Perform first interpolation processing on multiple theoretical combination arrays using interpolation method to obtain multiple first interpolated theoretical combination arrays.

[0106] Specifically, before performing the first interpolation process, it is necessary to determine the first polynomial interpolation function. When determining the first polynomial interpolation function, a cubic polynomial interpolation function can be used to calculate with the first amplitude angle θ1 (or the second amplitude angle θ2) as a single variable. For example, if the test value of the load on the work platform 3 is determined to be 249 kg, the test value of the second amplitude angle θ2 of the boom 2 is -55°, and the test value of the extension of the main boom 1 is 100 mm, a cubic polynomial interpolation function can be used to interpolate the test value of the straight distance between the two ends of the main boom 1 with the first amplitude angle θ1 of the main boom 1 being -2°. The calculated value is the first interpolated theoretical value of the straight distance between the two ends of the main boom 1. Then, the boom device is tested. During the test, the first amplitude angle θ1 of the main boom 1 is set to... The experimental value of the amplitude angle θ1 is -2°, the experimental value of the load on the working platform 3 is 249kg, the experimental value of the second amplitude angle θ2 of the boom 2 is -55°, and the experimental value of the extension of the main boom 1 is 100mm. The first interpolation experimental value of the straight distance between the two ends of the axis is obtained by detecting the axial length detector. The error between the first interpolation theoretical value and the first interpolation experimental value is compared. If the error between the two is within a preset range (e.g., within 10%), the first polynomial interpolation function is determined to be a cubic polynomial interpolation function; otherwise, the cubic polynomial interpolation function is replaced with a quartic polynomial interpolation function and the first interpolation theoretical value is recalculated until the error between the first interpolation theoretical value and the first interpolation experimental value is within a preset range. The first polynomial interpolation function can be determined in the above way.

[0107] After determining the first polynomial interpolation function, the first interpolation method is used to perform first interpolation processing on multiple theoretical combination arrays one by one with the first amplitude angle θ1 (or the second amplitude angle θ2) as a single variable, so as to obtain multiple first interpolation theoretical combination arrays. Each first interpolation theoretical combination array includes multiple components, including the first interpolation theoretical value of the first amplitude angle θ1 of the main boom 1, the first interpolation theoretical value of the extension of the main boom 1, the first interpolation theoretical value of the second amplitude angle θ2 of the boom 2, the first interpolation theoretical value of the load of the working platform 3, and the first interpolation theoretical value of the straight-line distance between the two ends of the main boom 1 along the axis.

[0108] Step S203: Perform a second interpolation process on multiple theoretical combination arrays and multiple first interpolation theoretical combination arrays using the interpolation method to obtain multiple second interpolation theoretical combination arrays.

[0109] Similarly, before performing the second interpolation, it is necessary to determine the second polynomial interpolation function. When determining the second polynomial interpolation function, a cubic polynomial interpolation function can be used first, with the second amplitude angle θ2 (or the first amplitude angle θ1) as a single variable for calculation. For example, if the test value of the load on the work platform 3 is determined to be 249 kg, the test value of the first amplitude angle θ1 of the main boom 1 is -5°, and the test value of the extension of the main boom 1 is 100 mm, a cubic polynomial interpolation function can be used to interpolate the test value of the straight distance between the two ends of the main boom 1 with the second amplitude angle θ2 of the boom 2 being -52°. The calculated value is the second interpolated theoretical value of the straight distance between the two ends of the boom. Then, the boom device is tested. During the test, the first amplitude angle of the main boom 1 is set to... The experimental value of the amplitude angle θ1 is -5°, the experimental value of the load on the working platform 3 is 249kg, the experimental value of the second amplitude angle θ2 of the boom 2 is -52°, and the experimental value of the extension of the main boom 1 is 100mm. The second interpolation experimental value of the straight distance between the two ends of the axis is obtained by detecting the axial length detector. The error of the second interpolation theoretical value and the second interpolation experimental value is compared. If the error between the two is within a preset range (e.g., within 10%), the second polynomial interpolation function is determined to be a cubic polynomial interpolation function; otherwise, the cubic polynomial interpolation function is replaced with a quartic polynomial interpolation function and the second interpolation theoretical value is recalculated until the error between the second interpolation theoretical value and the second interpolation experimental value is within the preset range. The second polynomial interpolation function can be determined in the above way.

[0110] After determining the second polynomial interpolation function, the interpolation method is used to perform first interpolation processing on multiple theoretical combination arrays and multiple first interpolation theoretical combinations one by one with the second amplitude angle θ2 (or the first amplitude angle θ1) as a single variable, to obtain multiple second interpolation theoretical combination arrays. Each second interpolation theoretical combination array includes multiple components, including the second interpolation theoretical value of the first amplitude angle θ1 of the main boom 1, the second interpolation theoretical value of the extension of the main boom 1, the second interpolation theoretical value of the second amplitude angle θ2 of the boom 2, the second interpolation theoretical value of the load of the working platform 3, and the second interpolation theoretical value of the straight-line distance between the two ends of the main boom 1 along the axis.

[0111] The experimental value of the first amplitude angle θ1 of the main boom 1, the first interpolated theoretical value of the first amplitude angle θ1 of the main boom 1, and the second interpolated theoretical value of the first amplitude angle θ1 of the main boom 1 are all theoretical values ​​of the first amplitude angle θ1 of the main boom 1; the experimental value of the extension distance of the main boom 1, the first interpolated theoretical value of the extension distance of the main boom 1, and the second interpolated theoretical value of the extension distance of the main boom 1 are all theoretical values ​​of the extension distance of the main boom 1; the experimental value of the second amplitude angle θ2 of the flying boom 2, the first interpolated theoretical value of the second amplitude angle θ2 of the flying boom 2, and the second interpolated theoretical value of the flying boom 2... The second interpolation theoretical value of the second amplitude angle θ2 is the theoretical value of the second amplitude angle θ2 of the boom 2; the test value of the load of the work platform 3, the first interpolation theoretical value of the load of the work platform 3, and the second interpolation theoretical value of the load of the work platform 3 are all theoretical values ​​of the load of the work platform 3; the test value of the straight distance between the two ends of the axial direction of the main boom 1, the first interpolation theoretical value of the straight distance between the two ends of the axial direction of the main boom 1, and the second interpolation theoretical value of the straight distance between the two ends of the axial direction of the main boom 1 are all theoretical values ​​of the straight distance between the two ends of the axial direction of the main boom 1.

[0112] The first and second interpolation processes can supplement the correspondence between the first and second working condition data that have not undergone theoretical testing. This helps reduce experimental operations and increases the amount of theoretical values ​​of the first and second working condition data, thereby further improving the accuracy of the safety warning method in this embodiment.

[0113] Step S204: Obtain the corresponding relationship based on multiple theoretical combination arrays, multiple first interpolation theoretical combination arrays, and multiple second interpolation theoretical combination arrays.

[0114] Each theoretical combination array, the first interpolation theoretical combination array, and the second interpolation theoretical combination array includes first working condition data (the first amplitude angle θ1 of the main boom 1, the extension of the main boom 1, the second amplitude angle θ2 of the boom 2, and the load of the work platform 3) and second working condition data corresponding to the first working condition data (i.e., the straight-line distance between the two ends of the main boom 1 along the axis). Therefore, by combining multiple theoretical combination arrays, multiple first interpolation theoretical combination arrays, and multiple second interpolation theoretical combination arrays together, a database reflecting the correspondence between the first working condition data and the second working condition data can be formed.

[0115] In one embodiment of this application, the theoretical combination array includes first working condition data and second working condition data obtained from theoretical tests of engineering machinery under impact conditions.

[0116] Specifically, the impact condition theoretical test refers to applying an impact to the boom device during the theoretical test in the above embodiments. The impact application methods include, but are not limited to, the sudden stop of the main boom 1 after luffing to its maximum position, and / or the sudden stop of the boom 2 after luffing to its maximum position, and / or the sudden stop of the main boom 1 after extension to its maximum position during the theoretical test. By applying an impact to the boom device during the theoretical test, the second working condition data obtained by the processor can be made to be the second working condition data under the impact condition. By performing a first interpolation process on the multiple theoretical combination arrays obtained after the impact condition theoretical test using an interpolation method, a first interpolated theoretical combination array under multiple impact conditions can be obtained. By performing a second interpolation process on the multiple theoretical combination arrays obtained after the impact condition theoretical test and the first interpolated theoretical combination array under multiple impact conditions, a second interpolated theoretical combination array under multiple impact conditions can be obtained.

[0117] By combining multiple theoretical combination arrays obtained from the theoretical tests of impact conditions, multiple first interpolation theoretical combination arrays under multiple impact conditions, and multiple second interpolation theoretical combination arrays under multiple impact conditions, a database reflecting the correspondence between the first and second condition data under impact conditions can be formed.

[0118] Since impacts occur during the telescopic start-up and stop of the main boom 1, the luffing start-up and stop of the main boom 1, and the start-up and stop of the boom 2 in practical applications, the theoretical value of the second working condition data under the impact condition is determined based on the correspondence between the first working condition data and the second working condition data under the impact condition. Then, the actual value of the second working condition data is compared with the theoretical value of the second working condition data under the impact condition. This makes the comparison results closer to the actual use of construction machinery, thus making the safety warning method in this embodiment more realistic and practical.

[0119] In one embodiment of this application, step S103 compares the actual value of the second operating condition data with the theoretical value of the second operating condition data to obtain a comparison result, including the following steps:

[0120] Step S501: If the actual value of the second working condition data is inconsistent with the theoretical value of the second working condition data, it is determined that there is a collision risk in the construction machinery.

[0121] Specifically, in this embodiment, the actual value of the straight-line distance between the two ends of the main arm 1 is detected by an axial length detector. The axial length detector is preferably a wire sensor mounted on the surface of the main arm 1. When the actual value of the straight-line distance between the two ends detected by the wire sensor is inconsistent with the theoretical value, it indicates that the wire of the wire sensor has been impacted and the length of the wire has changed, such as from a straight line in its normal state (e.g., ...). Figure 3 As shown) becomes a broken line in a collision state (such as Figure 5 As shown), taking the first pull-wire sensor as an example, in Figure 3 In the middle, the length of the pull wire 4 of the first pull wire sensor in the normal state is L1; in Figure 5 In the process, after the pull wire 4 of the first pull wire sensor is hit by an obstacle, it splits into two parts, a first pull wire segment and a second pull wire segment, at the collision point 5. The length of the first pull wire segment of the first pull wire sensor in the collision state is L3, and the length of the second pull wire segment of the first pull wire sensor in the collision state is L4. The change in the length of the pull wire 4 of the first pull wire sensor after being hit by the obstacle is calculated as follows:

[0122] ΔL1=|(L3+L4)-L1| (3)

[0123] Wherein, ΔL1 is the change in length of the pull wire 4 of the first pull wire sensor after being hit by an obstacle.

[0124] At this time, the construction machinery is at risk of collision. If the construction machinery moves toward the obstacle, or the obstacle moves toward the construction machinery, the construction machinery may be collided with and damaged.

[0125] Furthermore, when installing the pull-wire sensor, there is a preset distance between the pull wire of the pull-wire sensor and the surface of the main boom 1 to reserve a buffer zone. The preset distance ranges from 1 / 3 to 1 / 2 of the buffer zone width (e.g., 5cm to 10cm). This setting allows obstacles to come into contact with the pull wire first, thereby effectively warning of potential collision risks of construction machinery, rather than waiting until a collision occurs before detecting and issuing an alarm, as is the case with existing technologies. This further improves the effectiveness of warning of collision risks of construction machinery.

[0126] In one embodiment of this application, the axial distance between the two ends includes a first axial distance between the two ends on the bottom wall of the main arm 1 and a second axial distance between the two ends on the side wall of the main arm 1.

[0127] In step S501, if the actual value of the second working condition data is inconsistent with the theoretical value of the second working condition data, it is determined that there is a collision risk for the construction machinery, including steps S601-602, wherein:

[0128] Step S601: If the actual value of the straight-line distance between the two ends of the first axial direction is inconsistent with the theoretical value of the straight-line distance between the two ends of the first axial direction, it is determined that there is a collision risk at the bottom wall of the main boom 1; or,

[0129] Step 602: If the actual value of the straight distance between the two ends of the second axis is inconsistent with the theoretical value of the straight distance between the two ends of the second axis, it is determined that there is a collision risk on the side wall of the main boom 1.

[0130] Specifically, since obstacles may move towards the main arm 1 from different directions and collide with it, a first axial end linear detector and a second axial end linear detector are respectively installed on the bottom wall and vertical side wall of the main arm 1 (the main arm 1 has a rectangular cross-section), such as... Figures 3-7 As shown, the first axial end line detector is used to detect the straight-line distance between the first axial ends on the bottom wall of the main boom 1. The first axial end line detector can be selected as a first wire sensor. The second axial end line detector is used to detect the straight-line distance between the first axial ends on the vertical side wall of the main boom 1. The second axial end line detector can be selected as a second wire sensor. Figure 6 and Figure 7 L5 in the figure represents the length of the pull wire 6 of the second pull wire sensor under normal conditions.

[0131] When the actual value of the straight-line distance between the two ends of the first axis is inconsistent with the theoretical value, it indicates that the pull wire 4 of the first pull wire sensor has been impacted and its length has changed. This means that the obstacle is moving from bottom to top, and there is a risk of collision with the bottom wall of the main arm 1. Similarly, when the actual value of the straight-line distance between the two ends of the second axis is inconsistent with the theoretical value, it indicates that the pull wire 6 of the second pull wire sensor has been impacted and its length has changed. This means that the obstacle is moving from the side where the second pull wire sensor is located towards the main arm 1, and there is a risk of collision with the vertical side wall of the main arm 1. By using the above method, the direction of the collision risk (or the direction of the obstacle) can be determined, and the main arm 1 can be protected from multiple directions.

[0132] Furthermore, in this embodiment, pull-selection sensors can also be installed on the top wall of the main boom 1, the other vertical side wall of the main boom 1, the bottom wall of the boom 2 (the cross-section of the boom 2 is rectangular), the top wall of the boom 2, and the two vertical side walls of the boom 2, so as to detect the collision risk of the top wall of the main boom 1, the other vertical side wall of the main boom 1, the bottom wall of the boom 2, the top wall of the boom 2, and the two vertical side walls of the boom 2, which can further improve the comprehensiveness of the protection of the boom device.

[0133] In one embodiment of this application, the axial distance between the two ends includes a first axial distance between the two ends on the bottom wall of the main arm 1 and a second axial distance between the two ends on the side wall of the main arm 1.

[0134] Step S103 compares the actual value of the second working condition data with the theoretical value of the second working condition data to obtain a comparison result, including the following steps:

[0135] Step S701: If the actual value of the straight distance between the two ends of the first axis is inconsistent with the theoretical value of the straight distance between the two ends of the first axis, and the actual value of the straight distance between the two ends of the second axis is inconsistent with the theoretical value of the straight distance between the two ends of the second axis, it is determined that there is a risk of lifting the construction machinery.

[0136] Specifically, due to unauthorized lifting on boom 2 and / or work platform 3, the main boom 1 will undergo bending deformation as a whole, that is, the straight-line distance between the two ends of the first axis (e.g. Figure 4 As shown), the straight-line distance between the two ends of the second axis will change. Taking the first pull-wire sensor as an example, in Figure 4 In the above, the length of the pull wire 4 of the first pull wire sensor under the illegal load condition is L2. The change in the length of the pull wire 4 of the first pull wire sensor under the illegal load condition is calculated as follows:

[0137] ΔL2=|L2-L1| (4)

[0138] Wherein, ΔL2 is the change in length of the pull wire 4 of the first pull wire sensor under the condition of illegal hoisting.

[0139] Therefore, it is necessary to compare the actual values ​​of the straight-line distances at both ends of the first axis and the second axis simultaneously to distinguish between collision risk and hoisting risk. That is, if only one of the actual values ​​of the straight-line distances at both ends of the first axis and the second axis is inconsistent with its corresponding theoretical value, then a collision risk is determined to exist. At this time, the processor can control the warning module to issue a "collision risk" sound or illuminate a red light. If the actual value of the straight-line distances at both ends of the first axis is inconsistent with the theoretical value of the straight-line distances at both ends of the first axis, and the actual value of the straight-line distances at both ends of the second axis is inconsistent with the theoretical value of the straight-line distances at both ends of the second axis, then a hoisting risk is determined to exist for the construction machinery. At this time, the processor can control the warning module to issue a "violation of hoisting regulations" sound or illuminate a yellow light.

[0140] Furthermore, since the collision and hoisting states of construction machinery can be reflected through the second working condition data, the safety warning method in this embodiment can not only determine whether there are safety hazards in the construction machinery, but also determine the type of safety hazard, that is, whether the safety hazard is a collision risk or an illegal hoisting risk.

[0141] In one embodiment of this application, the security warning method further includes the following steps:

[0142] Step S105: After issuing a warning message based on the comparison results, control the construction machinery to stop moving.

[0143] Specifically, since the method in this embodiment provides early warning of potential collision or lifting risks to construction machinery, when the processor determines that there is a collision or lifting risk to the construction machinery, the construction machinery has not yet been damaged by collision or suffered severe bending deformation due to lifting. Therefore, after the processor issues an early warning message, it immediately controls the construction machinery to stop moving. On the one hand, this can prevent the construction machinery from being damaged by collision or suffering severe bending deformation in the future. On the other hand, it can enable the operator to quickly notice the above risks and eliminate them.

[0144] In one embodiment of this application, the security warning method further includes the following steps:

[0145] Step S106: After the construction machinery stops moving, determine that the actual value of the second working condition data has changed;

[0146] Step S107: Obtain the direction of motion of the construction machinery before it stops moving;

[0147] Step S108: Control the engineering machinery to move in the opposite direction to the direction of movement.

[0148] Specifically, if the collision risk is caused by an obstacle actively moving towards the construction machinery, even if the processor immediately stops the construction machinery after the control and warning module issues a warning message, the collision risk cannot be eliminated. Therefore, after the construction machinery stops moving, the axial length detector continuously monitors the straight-line distance between the two ends of the main boom 1. If the actual value of the straight-line distance between the two ends of the main boom 1 is still changing (e.g., continuously increasing), it indicates that the collision risk is caused by an obstacle actively moving towards the construction machinery. In this case, the processor needs to retrieve the construction machinery's motion program and determine the direction of movement of the construction machinery before it stopped. Then, it controls the construction machinery to move in the opposite direction to the direction of movement to widen the distance between the construction machinery and the obstacle as quickly as possible, thereby preventing the obstacle from actually colliding with the construction machinery and further enhancing the effectiveness of the protection for the construction machinery.

[0149] Another embodiment of this application provides a control device for engineering machinery, the control device comprising:

[0150] The first angle detector is used to detect the first amplitude angle θ1 of the main arm 1;

[0151] The second angle detector is used to detect the second amplitude angle θ2 of the flying arm 2;

[0152] A weight detector is used to detect the load on the work platform 3;

[0153] Axial length detector, used to detect the straight-line distance between the two ends of the main arm 1 in the axial direction;

[0154] The early warning module is used to issue early warning information; and

[0155] The processor is configured to execute the safety warning method for engineering machinery in the above embodiments.

[0156] Specifically, the engineering machinery in this embodiment can be an aerial work platform, which includes a boom assembly, a telescopic component, and a control device. The boom assembly includes a main boom 1, a boom 2, and a work platform 3. The telescopic component can be a hydraulic cylinder installed inside the main boom 1 and used to drive the main boom 1 to extend and retract. The control device includes a first angle detector, a second angle detector, a weight detector, a telescopic component extension distance detector, an axial length detector, a warning module, and a processor. The first angle detector can be an angle sensor and is used to detect the first amplitude angle θ1 of the main boom 1; the second angle detector can be an angle sensor and is used to detect the second amplitude angle θ2 of the boom 2; the weight detector is used to detect the load on the work platform 3; the telescopic component extension distance detector can be a cable sensor and is used to detect the extension distance of the telescopic component; the axial length detector can be a cable sensor and is used to detect the straight-line distance between the two ends of the main boom 1 in the axial direction; and the warning module is used to issue warning information.

[0157] Furthermore, in this embodiment, one end of the pull wire sensor corresponding to the axial length detector (i.e., the fixed end of the pull wire sensor) is set at the first axial end of the main arm 1, and the other end of the pull wire sensor (i.e., the free end of the pull wire sensor) is set at the second axial end of the main arm 1. One end of the pull wire of the pull wire sensor is fixed, and the other end of the pull wire is wound around the winch of the pull wire sensor.

[0158] Furthermore, in this embodiment, there are multiple axial length detectors, including a first axial length detector and a second axial length detector. The first axial length detector is disposed on the bottom wall of the main arm 1 and is used to detect the straight distance between the two ends of the first axial direction on the bottom wall of the main arm 1. The first axial length detector can be selected as a first wire sensor. The second axial length detector is disposed on the vertical side wall of the main arm 1 and is used to detect the straight distance between the two ends of the second axial direction on the vertical side wall of the main arm 1. The second axial length detector can be selected as a second wire sensor.

[0159] Another embodiment of this application provides an engineering machinery, which includes the control device for engineering machinery described in the above embodiments.

[0160] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0161] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0162] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0163] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A safety early warning method for construction machinery, the construction machinery comprising a main boom (1), a boom (2), and a working platform (3), characterized in that, The security early warning method includes: The actual values ​​of the first working condition data and the second working condition data of the construction machinery are obtained; wherein, the first working condition data includes the first amplitude angle θ1 of the main boom (1), the extension distance of the main boom (1), the second amplitude angle θ2 of the boom (2) and the load of the work platform (3), and the second working condition data includes the straight distance between the two ends of the main boom (1) along the axis. Based on the pre-stored correspondence between the first working condition data and the second working condition data, the theoretical value of the second working condition data corresponding to the actual value of the first working condition data is determined; The actual value of the second working condition data is compared with the theoretical value of the second working condition data to obtain the comparison result; Warning information is issued based on the comparison results.

2. The safety early warning method for engineering machinery according to claim 1, characterized in that, The correspondence between the pre-stored first operating condition data and the second operating condition data is determined according to the following method: Obtain multiple theoretical combination arrays of first and second condition data obtained through multiple theoretical experiments; The multiple theoretical combination arrays are subjected to a first interpolation process using an interpolation method to obtain multiple first interpolated theoretical combination arrays; The plurality of theoretical combination arrays and the plurality of first interpolation theoretical combination arrays are subjected to a second interpolation process using an interpolation method to obtain a plurality of second interpolation theoretical combination arrays; The correspondence is obtained based on the plurality of theoretical combination arrays, the plurality of first interpolation theoretical combination arrays, and the plurality of second interpolation theoretical combination arrays.

3. The safety early warning method for engineering machinery according to claim 2, characterized in that, The theoretical combination array includes the first working condition data and the second working condition data obtained from the theoretical test of the engineering machinery under impact conditions.

4. The safety early warning method for engineering machinery according to claim 1, characterized in that, The step of comparing the actual value of the second operating condition data with the theoretical value of the second operating condition data to obtain a comparison result includes: If the actual value of the second working condition data is inconsistent with the theoretical value of the second working condition data, it is determined that the construction machinery is at risk of collision.

5. The safety early warning method for engineering machinery according to claim 4, characterized in that, The axial straight distance between the two ends includes the first axial straight distance between the two ends on the bottom wall of the main arm (1) and the second axial straight distance between the two ends on the side wall of the main arm (1); Furthermore, determining that the construction machinery faces a collision risk when the actual value of the second working condition data differs from the theoretical value of the second working condition data includes: If the actual value of the straight distance between the two ends of the first axial direction is inconsistent with the theoretical value of the straight distance between the two ends of the first axial direction, it is determined that there is a risk of collision on the bottom wall of the main arm (1); Alternatively, if the actual value of the straight distance between the two ends of the second axis is inconsistent with the theoretical value of the straight distance between the two ends of the second axis, it is determined that there is a collision risk on the side wall of the main arm (1).

6. The safety early warning method for engineering machinery according to claim 1, characterized in that, The axial straight distance between the two ends includes the first axial straight distance between the two ends on the bottom wall of the main arm (1) and the second axial straight distance between the two ends on the side wall of the main arm (1); Furthermore, the step of comparing the actual value of the second operating condition data with the theoretical value of the second operating condition data to obtain a comparison result includes: If the actual value of the straight distance between the two ends of the first axial direction is inconsistent with the theoretical value of the straight distance between the two ends of the first axial direction, and the actual value of the straight distance between the two ends of the second axial direction is inconsistent with the theoretical value of the straight distance between the two ends of the second axial direction, it is determined that the engineering machinery has a lifting risk.

7. The safety early warning method for engineering machinery according to claim 1, characterized in that, The security early warning method also includes: After issuing a warning message based on the comparison result, the construction machinery is controlled to stop moving.

8. The safety early warning method for engineering machinery according to claim 7, characterized in that, The security early warning method also includes: After the construction machinery stops moving, it is determined that the actual value of the second working condition data has changed; Obtain the direction of motion of the construction machinery before it stops moving; Control the engineering machinery to move in the opposite direction to the direction of movement.

9. A control device for engineering machinery, characterized in that, The control device includes: A first angle detector is used to detect the first amplitude angle θ1 of the main arm (1); The second angle detector is used to detect the second amplitude angle θ2 of the flying arm (2); A weight detector is used to detect the load on the work platform (3); An axial length detector is used to detect the straight-line distance between the two ends of the main arm (1) along its axial direction. An early warning module is used to issue the early warning information; and A processor configured to execute the safety warning method for engineering machinery according to any one of claims 1-8.

10. An engineering machinery, characterized in that, The construction machinery includes the control device for construction machinery according to claim 9.

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