Control device and control method for an upper body and a power takeoff

Abstract

The application relates to the technical field of engineering vehicles, and particularly discloses a control device and a control method for an upper device and a power take-off device, which are characterized in that a vehicle controller, an upper device controller, a driving device controller, a power take-off device electromagnetic valve and a self-resetting switch are arranged, and the action performed each time the self-resetting switch is pressed is used to sequentially connect the power take-off device and the driving device, start the driving device after the connection, disconnect the power take-off device after the driving device stops, and enable an operator to correctly perform upper device operation or stop the upper device operation through only one self-resetting switch, so that the structure is simplified, the operation difficulty is reduced, and the problem of repeated operation and reduced operation efficiency caused by incorrect operation sequence is avoided.

Description

Technical Field

[0001] This invention relates to the field of engineering vehicle technology, and in particular to a control device and control method for a superstructure and a power take-off. Background Technology

[0002] Many engineering vehicles require constant speed control for their superstructures during operation. For electric engineering vehicles equipped with transmissions, the current power take-off (PTO) configuration involves the PTO being mounted on the vehicle's transmission, the motor connected to the transmission, and the PTO connected to and driving the superstructure. When operating the superstructure, the following steps are required: first, turn on the superstructure's operating switch; then, operate the PTO's operating switch to engage the PTO with the transmission; finally, operate the vehicle's hand throttle to maintain a constant motor speed. This process necessitates adding operating switches for the superstructure, the PTO, and the motor to the vehicle's existing power structure. Furthermore, operators must operate the PTO and motor's hand throttle in the correct sequence; otherwise, the PTO and transmission will fail to engage. When stopping the superstructure operation, the reverse sequence must be followed: first, operate the hand throttle to stop the motor; then, operate the PTO's operating switch to disengage the PTO from the transmission. Otherwise, the PTO and transmission will remain connected.

[0003] The existing control method for superstructure operation requires the addition of several components, including a power take-off switch, a superstructure operation switch, and a hand throttle device for operators to operate. Furthermore, the operation must be carried out in strict sequence. If the operator makes a mistake in the operation sequence, the operation must be repeated, which reduces the efficiency of the operation. Summary of the Invention

[0004] The purpose of this invention is to provide a control device and control method for the upper assembly and power take-off, so as to solve the problem of reduced work efficiency caused by operator errors in existing control methods.

[0005] This invention provides a control device for a superstructure and a power take-off, including a vehicle controller, a superstructure controller, a drive unit controller, a power take-off solenoid valve, and a self-resetting switch;

[0006] The vehicle controller, superstructure controller and drive unit controller are all connected to the CAN line. The vehicle controller is hardwired to the power take-off solenoid valve, and the self-reset switch is hardwired to the superstructure controller.

[0007] The superstructure controller is used to turn the superstructure on or off;

[0008] The drive unit controller is used to make the drive unit rotate or stop at a set speed;

[0009] The power take-off solenoid valve is used to engage or disengage the power take-off from the drive unit;

[0010] The self-reset switch is configured such that: when the self-reset switch is pressed for the first time, the superstructure controller can open the superstructure, and the superstructure controller communicates with the vehicle controller via the CAN line. The vehicle controller can control the PTO solenoid valve to engage the PTO with the drive unit; when the self-reset switch is pressed for the second time, the superstructure controller communicates with the drive unit controller via the CAN line. The drive unit controller can make the drive unit rotate at a set speed; when the self-reset switch is pressed for the third time, the superstructure controller can close the superstructure, the drive unit controller can stop the drive unit, and the vehicle controller can control the PTO solenoid valve to disconnect the PTO from the drive unit.

[0011] As a preferred technical solution for the control device of the superstructure and the power take-off, the drive unit controller includes a motor controller and a transmission controller. Both the motor controller and the transmission controller are connected to the CAN bus. The motor controller is used to adjust the speed of the motor, and the transmission controller is used to change the transmission ratio of the transmission. The power take-off can engage with the transmission.

[0012] As a preferred technical solution for the control device of the superstructure and the power take-off, it also includes a power take-off engagement feedback switch. The power take-off engagement feedback switch is hard-wired to the vehicle controller. The power take-off engagement feedback switch is used to detect whether the power take-off and the drive unit are engaged. Only when the power take-off and the drive unit are engaged can the drive unit controller adjust the speed of the drive unit to the set speed.

[0013] As a preferred technical solution for the control device of the superstructure and the power take-off, the control device of the superstructure and the power take-off also includes an instrument. The instrument is connected to the CAN line. When the power take-off and the drive unit are engaged, the instrument can display engagement information.

[0014] As a preferred technical solution for the control device of the superstructure and the power take-off, it also includes a parking brake switch. The parking brake switch is hard-wired to the vehicle controller. The parking brake switch is used to detect whether the vehicle is parked. When the vehicle is parked, the superstructure controller opens the superstructure, and the vehicle controller controls the power take-off solenoid valve to engage the power take-off with the drive device.

[0015] This invention provides a control method for a superstructure and a power take-off (PTO), applicable to any of the above-described control devices for a superstructure and a PTO. The control method for the superstructure and PTO includes the following steps:

[0016] S1. Continuously monitor the vehicle to see if its initial state meets the requirements. If it does, proceed to step S2.

[0017] S2. Press the self-reset switch;

[0018] S3. The upper structure is opened, and the power take-off unit is engaged with the drive unit;

[0019] S4. Press the self-reset switch again;

[0020] S5. The drive unit rotates at a set speed;

[0021] S6. Press the self-reset switch and hold for the preset time;

[0022] S7. Upper structure closed, drive unit stopped;

[0023] S8, the power take-off unit is disconnected from the drive unit.

[0024] As a preferred technical solution for the control method of the superstructure and the power take-off, the control device for the superstructure and the power take-off further includes a power take-off engagement feedback switch and a parking brake switch. The power take-off engagement feedback switch is used to detect whether the power take-off is engaged or disengaged from the drive unit and sends the detection result to the vehicle controller; the parking brake switch is used to detect whether the vehicle's parking brake is engaged and sends the detection result to the vehicle controller; step S1 includes:

[0025] S11. Check if the vehicle's parking brake is engaged. If it is engaged, proceed to step S12.

[0026] S12. Check if the power take-off and drive device are disconnected; if so, proceed to step S2; otherwise, return to step S11.

[0027] As a preferred technical solution for the control method of the superstructure and the power take-off, the control device for the superstructure and the power take-off further includes a power take-off engagement feedback switch, which is used to detect whether the power take-off is engaged or disengaged from the drive unit, and sends the detection result to the vehicle controller; the following steps are also included between step S4 and step S5:

[0028] S41. Check whether the superstructure is turned on and whether the power take-off and drive device are engaged; if the superstructure is turned on and the power take-off and drive device are engaged, proceed to step S5; otherwise, return to step S3.

[0029] As a preferred technical solution for controlling the superstructure and power take-off, the preset time is 2-5 seconds.

[0030] As a preferred technical solution for the control method of the superstructure and the power take-off, the control device for the superstructure and the power take-off further includes a power take-off engagement feedback switch, which is used to detect whether the power take-off is engaged or disengaged from the drive unit, and sends the detection result to the vehicle controller; after step S8, the following steps are also included:

[0031] S9. Check if the power take-off unit and the drive unit are disconnected; if not, return to step S8.

[0032] The beneficial effects of this invention are as follows:

[0033] This invention provides a control device for the superstructure and power take-off (PTO). By setting up a vehicle controller, superstructure controller, drive unit controller, PTO solenoid valve, and self-reset switch, and based on the action performed each time the self-reset switch is pressed, the device can sequentially connect the PTO and drive unit to start the drive unit, and then disconnect the PTO after the drive unit stops. Operators no longer need to distinguish between switches; they can correctly perform or stop superstructure operations in the correct sequence using only a single self-reset switch. This simplifies the structure, reduces the difficulty of operation, and avoids problems such as repeated operations due to incorrect operation sequence, which reduce work efficiency. Attached Figure Description

[0034] Figure 1 This is a schematic diagram showing the connection relationship between the superstructure and the power take-off control device in an embodiment of the present invention;

[0035] Figure 2 This is a flowchart of the control method for the upper device and the power take-off in an embodiment of the present invention;

[0036] Figure 3 This is a flowchart of the method for detecting the initial state of a vehicle in an embodiment of the present invention.

[0037] In the picture:

[0038] 1. Parking brake switch; 2. Power take-off engagement feedback switch; 3. Vehicle controller; 4. Superstructure controller; 5. Self-reset switch; 6. Power take-off solenoid valve; 7. Motor controller; 8. Transmission controller; 9. Instruments. Detailed Implementation

[0039] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Furthermore, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0042] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0043] like Figure 1As shown, this invention provides a control device for a superstructure and a power take-off (PTO). The device includes a vehicle controller 3, a superstructure controller 4, a drive unit controller, a PTO solenoid valve 6, and a self-resetting switch 5. The vehicle controller 3, superstructure controller 4, and motor controller 7 are all connected to a CAN bus. The vehicle controller 3 is hard-wired to the PTO solenoid valve 6, and the self-resetting switch 5 is hard-wired to the superstructure controller 4. The superstructure controller 4 is used to open or close the superstructure; the drive unit controller is used to rotate or stop the drive unit at a set speed; and the PTO solenoid valve 6 is used to engage or disengage the PTO from the drive unit. The vehicle controller 3 can send a control signal to the PTO solenoid valve 6, thereby engaging or disengaging the PTO from the drive unit. When the self-resetting switch 5 is pressed, it can send a control signal to the superstructure controller 4, thereby opening or closing the superstructure. Simultaneously, the superstructure controller 4 sends a message to the CAN bus, and the vehicle controller 3 or the drive unit controller receives the message and executes the corresponding control program. The self-reset switch 5 is configured as follows: When the self-reset switch 5 is pressed for the first time, the superstructure controller 4 can open the superstructure. The superstructure controller 4 communicates with the vehicle controller 3 via a CAN line. The vehicle controller 3 can control the PTO solenoid valve 6 to engage the PTO with the drive unit. That is, when the operator presses the self-reset switch 5 for the first time, the vehicle's superstructure opens, and the PTO engages with the drive unit. When the self-reset switch 5 is pressed for the second time, the superstructure controller 4 communicates with the drive unit controller via a CAN line. The drive unit controller can make the drive unit rotate at a set speed. That is, when the operator presses the self-reset switch 5 for the second time, the vehicle's drive unit rotates at a set speed, driving the superstructure to operate via the PTO. When the self-reset switch 5 is pressed for the third time, the superstructure controller 4 can close the superstructure, the drive unit controller can stop the drive unit, and the vehicle controller 3 can control the PTO solenoid valve 6 to disconnect the PTO from the drive unit. That is, when the operator presses the self-reset switch 5 for the third time, the vehicle's superstructure operation stops, the drive unit stops, and finally the PTO disconnects from the drive unit. In this embodiment, the control device for the superstructure and power take-off (PTO) performs different actions each time the self-reset switch 5 is pressed. This allows for sequential connection of the PTO and drive device, starting the drive device, and stopping the drive device before disconnecting the PTO. Operators no longer need to differentiate between switches; a single self-reset switch 5 is sufficient to correctly perform or stop the superstructure operation. This simplifies the structure, reduces operational difficulty, and avoids problems such as repetitive operations due to incorrect operating sequence, which reduce work efficiency.

[0044] Furthermore, the drive unit includes a motor and a transmission. The output shaft of the motor is connected to the input shaft of the transmission. The drive unit controller includes a motor controller 7 and a transmission controller 8. The motor controller 7 is used to regulate the motor speed, and the transmission controller 8 is used to change the transmission ratio. The power take-off (PTO) solenoid valve 6 can engage or disengage the PTO and the transmission. Both the motor controller 7 and the transmission controller 8 are connected to the CAN bus. When the self-reset switch 5 is pressed a second time, the superstructure controller 4 communicates with the motor controller 7 and the transmission controller 8 via the CAN bus. The motor controller 7 and the transmission controller 8 respectively control the motor and the transmission to operate at the set speed and transmission ratio, thereby driving the superstructure through the PTO.

[0045] Furthermore, since the engagement of the power take-off (PTO) with the drive unit requires a certain amount of time during the process of the PTO solenoid valve 6 engaging the PTO, a control device for the superstructure and PTO is included to ensure that the PTO is engaged with the drive unit before the drive unit is activated. The PTO engagement feedback switch 2 is connected to the vehicle controller 3 via a hardwired connection. The PTO engagement feedback switch 2 detects whether the PTO is engaged with the drive unit. Only when the PTO is engaged can the drive unit controller adjust the drive unit's speed to the set speed, preventing the drive unit from idling and failing to smoothly drive the superstructure for operation. The PTO engagement feedback switch 2 is preferably a limit switch. When the PTO solenoid valve 6 controls the PTO to engage or disengage with the drive unit, the limit switch sends the PTO's status signal to the vehicle controller 3, allowing the vehicle controller 3 to determine whether the PTO is engaged with the drive unit based on the PTO's status.

[0046] Optionally, the control device for the superstructure and the power take-off (PTO) also includes an instrument cluster 9, which is connected to the CAN bus. When the PTO engages with the drive unit, the PTO engagement feedback switch 2 sends a signal to the vehicle controller 3. After receiving the signal indicating engagement, the vehicle controller 3 displays text and / or image prompts on the instrument cluster 9 via the CAN bus. The operator can then perform subsequent operations based on the prompts displayed on the instrument cluster 9. The method by which the instrument cluster 9 displays corresponding prompts based on the signals from the vehicle controller 3 is prior art and will not be described in detail here.

[0047] Optionally, the control device for the superstructure and power take-off (PTO) also includes a parking brake switch 1, which is connected to the vehicle controller 3 via a hard wire. The parking brake switch 1 is used to detect whether the vehicle is in parking mode. When the vehicle is in parking mode, the superstructure controller 4 can open the superstructure, and the vehicle controller 3 can control the PTO solenoid valve 6 to engage with the PTO drive device. The parking brake switch 1 is preferably a limit switch. When the vehicle is in parking mode, the limit switch sends parking brake information to the vehicle controller 3, thereby ensuring that the vehicle can only operate in the parking brake state, improving the safety of superstructure operations.

[0048] like Figures 2-3 As shown, this invention provides a control method for a superstructure and a power take-off (PTO), which is applied to the control device for the superstructure and PTO in this embodiment. The control method for the superstructure and PTO includes the following steps:

[0049] S1. Continuously monitor the vehicle to see if its initial state meets the requirements. If it does, proceed to step S2.

[0050] The requirement that the vehicle's initial state meets the criteria includes whether the parking brake is engaged and whether the power take-off (PTO) and drive unit are disconnected. That is, step S1 includes:

[0051] S11. Check if the vehicle's parking brake is engaged. If it is engaged, proceed to step S12.

[0052] S12. Check if the power take-off and drive device are disconnected; if so, proceed to step S2; otherwise, return to step S11.

[0053] It should be noted that if the vehicle's parking brake is engaged, the corresponding gear in the transmission should be in neutral. Further checks should be made to ensure the power take-off (PTO) and drive unit are disconnected. If they are, the vehicle's initial condition meets the requirements, and the vehicle is ready for the superstructure operation.

[0054] S2. Press the self-reset switch 5. The self-reset switch 5 sends a control signal to the upper-mounted controller 4.

[0055] S3, the superstructure controller 4 controls the superstructure to open, and at the same time the superstructure controller 4 sends a message to the CAN line. The vehicle controller 3 receives the message sent by the superstructure controller 4 and controls the power take-off solenoid valve 6 to engage, so that the power take-off is engaged with the drive unit.

[0056] S4. Press the self-reset switch 5 again. The self-reset switch 5 sends a control signal to the superstructure controller 4 again. The superstructure controller 4 sends a message to the CAN line and is received by the vehicle controller 3.

[0057] Since the engagement and disengagement of the power take-off solenoid valve 6 both require a certain amount of time, in order to ensure that the power take-off and the drive device are fully engaged before the drive device is turned on, step S4 also includes the following:

[0058] S41. The vehicle controller 3 detects whether the superstructure is turned on and detects whether the power take-off (PTO) and drive unit are engaged via the PTO engagement feedback switch 2. If the superstructure is turned on and the PTO and drive unit are engaged, the vehicle controller 3 continues to execute step S5 according to the information sent by the superstructure controller 4; otherwise, it returns to step S3.

[0059] S5. The vehicle controller 3 sends a message to the CAN line. The drive unit controller receives the message sent by the vehicle controller 3 and starts the drive unit, causing the drive unit to rotate at the set speed.

[0060] The drive unit includes a motor and a transmission. The motor drives the transmission, which in turn drives the power take-off (PTO) to perform the superstructure operation. Therefore, the drive unit controller includes a motor controller 7 and a transmission controller 8. The vehicle controller 3 sends messages to the CAN bus, and both the motor controller 7 and the transmission controller 8 receive the messages sent by the vehicle controller 3. The motor controller 7 controls the motor to rotate at a preset speed, and the transmission controller 8 controls the transmission to operate at a preset gear ratio or gear. Thus, the transmission outputs at the set speed, which drives the superstructure to perform the operation via the PTO.

[0061] When the loading operation is completed, or when it is necessary to temporarily stop the loading operation, the loading operation shall be stopped by means of the following control methods.

[0062] S6. Press the self-reset switch 5 and hold it for a preset time. The self-reset switch 5 sends a control signal to the upper-mounted controller 4.

[0063] To prevent accidental activation of the self-reset switch 5 during the loading process, which could lead to an abnormal stop in the loading operation, the self-reset switch 5 is set to remain pressed for a preset time. Even if accidental activation occurs during the loading process, the self-reset switch 5 will not send a control signal to the loading controller 4 before the preset time is reached, thus preventing an abnormal stop in the loading operation. Furthermore, the preset time is 2-5 seconds to prevent reduced production efficiency due to an excessively long preset time.

[0064] S7. The upper device controller 4 controls the upper device to shut down. At the same time, the upper device controller 4 sends a message to the CAN line. The drive device controller receives the message sent by the upper device controller 4 and controls the drive device to stop.

[0065] S8. After the drive unit stops, the vehicle controller 3 controls the power take-off solenoid valve 6 to disconnect the power take-off from the drive unit.

[0066] S9. Check whether the power take-off (PTO) and drive unit are disconnected via the PTO engagement feedback switch 2. If not disconnected, return to step S8. If disconnected, the upper structure operation ends.

[0067] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A control device for the superstructure and power take-off, characterized in that, It includes a vehicle controller (3), a superstructure controller (4), a drive unit controller, a power take-off solenoid valve (6), and a self-resetting switch (5); The vehicle controller (3), the superstructure controller (4) and the drive unit controller are all connected to the CAN line. The vehicle controller (3) is hard-wired to the power take-off solenoid valve (6). The self-reset switch (5) is hard-wired to the superstructure controller (4). The superstructure controller (4) is used to turn the superstructure on or off; The drive device controller is used to make the drive device rotate or stop at a set speed; The power take-off solenoid valve (6) is used to engage or disengage the power take-off from the drive device; The self-reset switch (5) is configured such that when the self-reset switch (5) is pressed for the first time, the superstructure controller (4) can open the superstructure. The superstructure controller (4) is connected to the vehicle controller (3) via the CAN line. The vehicle controller (3) can control the power take-off solenoid valve (6) to engage the power take-off with the drive device. When the self-reset switch (5) is pressed for the second time, the upper device controller (4) communicates with the drive device controller through the CAN line, and the drive device controller enables the drive device to rotate at a set speed. When the self-reset switch (5) is pressed for the third time, the superstructure controller (4) can shut down the superstructure, the drive device controller can stop the drive device, and the vehicle controller (3) can control the power take-off solenoid valve (6) to disconnect the power take-off from the drive device.

2. The control device for the superstructure and power take-off according to claim 1, characterized in that, The drive unit controller includes a motor controller (7) and a transmission controller (8). Both the motor controller (7) and the transmission controller (8) are connected to the CAN line. The motor controller (7) is used to adjust the speed of the motor, and the transmission controller (8) is used to change the transmission ratio of the transmission. The power take-off unit can engage with the transmission.

3. The control device for the superstructure and power take-off according to claim 1, characterized in that, It also includes a power take-off engagement feedback switch (2), which is hardwired to the vehicle controller (3). The power take-off engagement feedback switch (2) is used to detect whether the power take-off is engaged with the drive device. Only when the power take-off is engaged with the drive device can the drive device controller adjust the speed of the drive device to a set speed.

4. The control device for the superstructure and power take-off according to claim 3, characterized in that, The control device for the superstructure and power take-off also includes an instrument (9), which is connected to the CAN line. When the power take-off is engaged with the drive device, the instrument (9) can display engagement information.

5. The control device for the superstructure and power take-off according to any one of claims 1-4, characterized in that, It also includes a parking brake switch (1), which is hardwired to the vehicle controller (3). The parking brake switch (1) is used to detect whether the vehicle is parked. When the vehicle is parked, the superstructure controller (4) opens the superstructure, and the vehicle controller (3) controls the power take-off solenoid valve (6) to engage the power take-off with the drive device.

6. A control method for the superstructure and the power take-off, characterized in that, The control device for the superstructure and power take-off as described in any one of claims 1-5, wherein the control method for the superstructure and power take-off comprises the following steps: S1. Continuously monitor the vehicle to see if its initial state meets the requirements. If it does, proceed to step S2. S2. Press the self-reset switch (5); S3. The upper structure is opened, and the power take-off unit is engaged with the drive device; S4. Press the self-reset switch (5) again; S5. The drive device rotates at a set speed; S6. Press the self-reset switch (5) and hold for a preset time; S7. The upper structure is closed, and the driving device stops; S8. The power take-off unit is disconnected from the drive device.

7. The control method for the superstructure and power take-off according to claim 6, characterized in that, The control device for the superstructure and the power take-off also includes a power take-off engagement feedback switch (2) and a parking brake switch (1). The power take-off engagement feedback switch (2) is used to detect whether the power take-off is engaged or disengaged from the drive device, and sends the detection result to the vehicle controller (3). The parking brake switch (1) is used to detect whether the vehicle's parking brake is engaged and sends the detection result to the vehicle controller (3); step S1 includes: S11. Check if the vehicle's parking brake is engaged. If it is engaged, proceed to step S12. S12. Detect whether the power take-off unit and the drive device are disconnected; if so, proceed to step S2; otherwise, return to step S11.

8. The control method for the superstructure and power take-off according to claim 6, characterized in that, The control device for the superstructure and the power take-off also includes a power take-off engagement feedback switch (2), which is used to detect whether the power take-off is engaged or disengaged from the drive device, and sends the detection result to the vehicle controller (3); between step S4 and step S5, the following steps are also included: S41. Detect whether the superstructure is open and whether the power take-off and the drive device are engaged; if the superstructure is open and the power take-off and the drive device are engaged, then proceed to step S5. Otherwise, return to step S3.

9. The control method for the superstructure and power take-off according to claim 6, characterized in that, The preset time is 2-5 seconds.

10. The control method for the superstructure and power take-off according to claim 6, characterized in that, The control device for the superstructure and the power take-off also includes a power take-off engagement feedback switch (2), which is used to detect whether the power take-off is engaged or disengaged from the drive device, and sends the detection result to the vehicle controller (3); after step S8, the following steps are also included: S9. Detect whether the power take-off unit is disconnected from the drive device; if not disconnected, return to step S8.

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