Automatic return control system and method for operating machinery, operating machinery

Abstract

This invention relates to the field of construction machinery, providing an automatic return control system and method for construction machinery. The construction machinery includes a control device and a through-beam sensor. The through-beam sensor is communicatively connected to the control device. The control device receives return commands from the construction machinery and controls the motion actuator of the construction machinery to perform a return action based on the return commands. The through-beam sensor generates a feedback signal when the motion actuator returns to its position and sends the feedback signal to the control device. The control device also controls the motion actuator to stop the return action based on the feedback signal. Thus, when the construction machinery issues a return command, it can automatically return to its initial set position and stop moving when it issues the return command, improving the convenience and accuracy of operation and reducing operator actions. Furthermore, it only requires adding a through-beam sensor to the construction machinery, making it easy to implement and cost-effective.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to an automatic return control system and method for operating machinery, and the operating machinery itself. Background Technology

[0002] Excavators often need to be returned to their original position during operation to adjust the vehicle's posture. Currently, this is usually done by the operator manipulating a handle to return the various components of the working device and the upper structure to their original position.

[0003] However, this method relies mainly on the operator's experience to judge whether the various parts of the working device and the upper vehicle have been retracted into place. Moreover, the operator needs to frequently manipulate the handle to retract the various parts of the working device and return the upper vehicle to its correct position, making the operation cumbersome and very inconvenient to use. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic return control system and method for operating machinery, and operating machinery, to solve the problems in the prior art where the return action of operating machinery relies on the operator's experience and requires frequent manipulation of the handle, which is cumbersome and inconvenient to use.

[0005] To achieve the above objectives, the present invention provides an automatic return control system for operating machinery, comprising a control device and a through-beam sensor, wherein the through-beam sensor is communicatively connected to the control device.

[0006] The control device is used to acquire the return command sent by the working machinery, and control the motion actuator of the working machinery to perform the return action according to the return command.

[0007] The through-beam sensor is used to generate a feedback signal when the motion actuator retracts into position, and then sends the feedback signal to the control device.

[0008] The control device is also used to control the motion actuator to stop the return action based on the feedback signal.

[0009] According to the automatic return control system for operating machinery provided by the present invention, the motion actuator includes an upper vehicle rotatably connected to the lower vehicle and a working device rotatably connected to the upper vehicle, and the through-beam sensor includes:

[0010] A first through-beam sensor is positioned opposite the upper vehicle and the lower vehicle. The first through-beam sensor is communicatively connected to the control device. When the upper vehicle returns to center, the control device controls the upper vehicle to stop rotating.

[0011] The second pair of beam sensors is located at a position opposite to the working device on the upper vehicle. The second pair of beam sensors is communicatively connected to the control device. When the working device is retracted into position, the control device controls the working device to stop rotating.

[0012] According to the automatic return control system for working machinery provided by the present invention, the working device includes a boom, a stick, and a bucket that are rotatably connected in sequence, and the boom is rotatably connected to the upper vehicle. The second through-beam sensor is disposed at a position opposite to the boom on the upper vehicle. When the boom is retracted to its position, the control device controls the boom to stop rotating.

[0013] The through-beam sensing device further includes:

[0014] The third pair of shooting sensors is located at the position opposite to the boom and the stick. The third pair of shooting sensors is communicatively connected to the control device. When the stick is retracted to the position, the control device controls the stick to stop rotating.

[0015] A fourth pair of sensors is installed at a position opposite to the boom and the bucket. The fourth pair of sensors is communicatively connected to the control device. When the bucket is retracted into position, the control device controls the bucket to stop rotating.

[0016] According to the automatic return control system for operating machinery provided by the present invention, the first through-beam sensor includes a first transmitting end and a first receiving end arranged opposite each other, wherein one of the upper vehicle and the lower vehicle is provided with the first transmitting end and the other is provided with the first receiving end;

[0017] The second through-beam sensor includes a second transmitting end and a second receiving end arranged opposite each other, wherein the upper vehicle and the boom are provided with the second transmitting end and the other is provided with the second receiving end;

[0018] The third beam-type sensing device includes a third transmitting end and a third receiving end arranged opposite each other, wherein the boom and the stick are provided with the third transmitting end and the other is provided with the third receiving end;

[0019] The fourth pair of beam sensors includes a fourth transmitter and a fourth receiver positioned opposite each other, with the fourth transmitter provided on one of the boom and the bucket, and the fourth receiver provided on the other.

[0020] The automatic return control system for operating machinery provided by the present invention further includes:

[0021] A first protective sleeve is fitted over the third through-beam sensor; and / or,

[0022] The second protective sleeve is fitted over the fourth photoelectric sensor.

[0023] The automatic return control system for operating machinery provided by the present invention further includes:

[0024] An instruction input device is installed on the upper vehicle and is communicatively connected to the control device. The instruction input device is used to issue the return command.

[0025] According to the automatic return control system for operating machinery provided by the present invention, at least one of the first receiving end, the second receiving end, the third receiving end and the fourth receiving end is configured as an elongated strip structure.

[0026] The automatic return control system for operating machinery provided by the present invention further includes:

[0027] A first mounting base has a first mounting surface, and the third transmitting end is disposed on the first mounting surface;

[0028] The second mounting base has a second mounting plane disposed opposite to the first mounting plane, and the third receiving end is disposed on the second mounting plane;

[0029] One of the boom and the stick is provided with the first mounting base, and the other is provided with the second mounting base.

[0030] The present invention also provides an automatic return control method for operating machinery, based on the automatic return control system for operating machinery as described in any of the above claims, comprising the following steps:

[0031] The system acquires a return command sent by the operating machinery and controls the motion actuator of the operating machinery to perform a return action according to the return command.

[0032] When a feedback signal is received from the through-beam sensor, the motion actuator is controlled to stop the return motion.

[0033] The present invention also provides a working machine, including an automatic return control system for the working machine as described in any of the above claims.

[0034] The automatic return control system for construction machinery provided by this invention includes a control device and a through-beam sensor. The through-beam sensor is communicatively connected to the control device. The control device acquires the return command sent by the construction machinery and controls the motion actuator of the construction machinery to perform a return action according to the return command. The through-beam sensor generates a feedback signal when the motion actuator returns to its position and sends the feedback signal to the control device. The control device also controls the motion actuator to stop the return action according to the feedback signal. With this configuration, when the construction machinery issues a return command, it can automatically return to its initial position and stop moving after the control device and through-beam sensor work together. This improves the convenience and accuracy of operation and reduces the operator's manual actions. Furthermore, it only requires adding a through-beam sensor to the construction machinery, making it easy to implement and cost-effective. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the automatic return control system for operating machinery provided by the present invention;

[0037] Figure 2 This is a layout diagram of the automatic return control system for operating machinery provided by the present invention on the operating machinery;

[0038] Figure 3 yes Figure 2 Top view;

[0039] Figure 4 yes Figure 2 Partial schematic diagram at point A in the middle;

[0040] Figure 5 yes Figure 2 Partial schematic diagram at point B in the middle;

[0041] Figure 6 yes Figure 2 Partial schematic diagram at point C;

[0042] Figure 7 yes Figure 2 Partial schematic diagram at point D;

[0043] Figure label:

[0044] 1: Control device; 2: Through-beam sensor; 21: First through-beam sensor; 22: Second through-beam sensor; 23: Third through-beam sensor; 231: Third transmitter; 232: Third receiver; 24: Fourth through-beam sensor; 3: Solenoid valve assembly; 4: Command input device; 5: First protective sleeve; 6: Second protective sleeve; 7: First mounting base; 71: First mounting surface; 8: Second mounting base; 81: Second mounting surface; 9: Lowering; 10: Uppering; 101: Cab; 1011: Cab mounting position; 11: Boom; 111: Boom mounting position; 12: Stick; 13: Bucket; 131: Bucket cylinder. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0046] The following combination Figures 1 to 7 The present invention describes an automatic return control system for operating machinery.

[0047] like Figure 1 As shown, this embodiment of the invention provides an automatic return control system for construction machinery, applicable to excavators, loaders, etc. The following description uses an excavator as an example. The automatic return control system for construction machinery includes a control device 1 and a through-beam sensor 2. The through-beam sensor 2 is communicatively connected to the control device 1; for example, the through-beam sensor 2 and the control device 1 are electrically connected, enabling signal transmission. Specifically, the control device 1 can directly utilize the existing controller configured on the excavator, without the need for a separate setup. Only the through-beam sensor 2 needs to be added to the existing excavator, facilitating modification and reducing investment costs. For example, the controller can be a commonly used microcontroller or programmable logic controller, etc., therefore its specific structure and electrical connections will not be elaborated here.

[0048] Specifically, control device 1 is used to acquire the return command sent by the working machinery, and control the motion actuator of the working machinery to perform a return action according to the return command. Specifically, such as... Figure 1 As shown, when the excavator needs to perform a return operation, the control device 1 sends a control command to the solenoid valve group 3, which acts on the excavator's hydraulic lines to cause the excavator's motion actuator to begin a reset action. Specifically, as... Figure 2 As shown, the control device 1 and the solenoid valve group 3 can be installed inside the excavator body.

[0049] When the motion actuator retracts into position, the through-beam sensor 2 generates a feedback signal and sends it to the control device 1. The control device 1 then uses this feedback signal to stop the motion actuator's return movement. In other words, when the motion actuator retracts into position, the through-beam sensor 2 is triggered, transmitting feedback information to the control device 1. The control device 1 then processes the information internally and closes the corresponding solenoid valve group 3, stopping the hydraulic lines and halting the motion actuator's movement. By controlling the opening and closing of the solenoid valve group 3 through the control device 1, the excavator's hydraulic lines are controlled, causing the motion actuator to return to its initial position. This achieves automatic return control, eliminating the need for frequent handle switching by the operator, reducing reliance on human judgment and control, resulting in more intelligent and precise control with better consistency.

[0050] With this setup, when the machine issues a return command, it can automatically return to its initial position and stop moving simply by using the control device 1 and the through-beam sensor 2. This improves the convenience and accuracy of operation and reduces the operator's manual actions. Furthermore, it only requires adding the through-beam sensor 2 to the machine, making it easy to implement and cost-effective.

[0051] In embodiments of the present invention, such as Figure 2 As shown, the motion actuator includes an upper carriage 10 and a working device. The upper carriage 10 and the lower carriage 9 are rotatably connected via a slewing bearing, and the working device is rotatably connected to the upper carriage 10 via a rotating shaft. That is, there is relative rotation between two adjacent moving parts. Correspondingly, the through-beam sensor 2 includes a first through-beam sensor 21 and a second through-beam sensor 22, both of which are communicatively connected to the control device 1.

[0052] The first pair of beam sensors 21 is positioned opposite the upper vehicle 10 and the lower vehicle 9. The first pair of beam sensors 21 is used to detect the position of the upper vehicle 10. When the upper vehicle 10 returns to center, the control device 1 receives the signal from the first pair of beam sensors 21 and controls the upper vehicle 10 to stop rotating.

[0053] The second pair of beam sensors 22 is located on the upper vehicle 10 opposite to the working device. The second pair of beam sensors 22 is used to detect the position of the working device. When the working device is retracted into position, the control device 1 receives the signal sent by the second pair of beam sensors 22 and controls the working device to stop moving.

[0054] It should be noted that the "relative position" mentioned above refers to the parts between two adjacent moving parts in a rotatable connection that are opposite each other and can move closer or further apart during rotation. Taking the upper carriage 10 and the lower carriage 9 in a rotatable connection as an example, generally, the lower carriage 9 is equipped with a rotating platform, and the upper carriage 10 rotates relative to the rotating platform by utilizing a slewing bearing, thereby realizing the rotation between the upper carriage 10 and the lower carriage 9. At this time, the first through-beam sensor 21 can be set at the rotatable connection. For example, the receiving end of the first through-beam sensor 21 can be set on the rotating platform, and the transmitting end of the first through-beam sensor 21 can be correspondingly set on the slewing bearing and rotate together with the upper carriage 10.

[0055] With this setup, different through-beam sensors can be used to detect whether the corresponding components are in their initial positions, which makes it easier to control the return of each component to its original position and makes the control more precise and faster.

[0056] In specific embodiments of the present invention, such as Figure 2 As shown, the working device includes a boom 11, a stick 12, and a bucket 13 that are rotatably connected in sequence, wherein the boom 11 is also rotatably connected to the upper vehicle 10. Specifically, a second pair of sensors 22 can be set at a position opposite to the boom 11 on the upper vehicle 10. The second pair of sensors 22 is used to detect the position of the boom 11. When the boom 11 is retracted into position, the control device 1 receives a signal from the second pair of sensors 22 and controls the boom 11 to stop rotating.

[0057] Correspondingly, the through-beam sensor 2 also includes a third through-beam sensor 23 and a fourth through-beam sensor 24, both of which are communicatively connected to the control device 1. The third through-beam sensor 23 is positioned opposite the boom 11 and the stick 12. The third through-beam sensor 23 is used to detect the position of the stick 12. When the stick 12 is retracted into position, the control device 1 receives a signal from the third through-beam sensor 23 and controls the stick 12 to stop rotating.

[0058] The fourth pair of sensors 24 is located at the position opposite to the boom 12 and the bucket 13. The fourth pair of sensors 24 is used to detect the position of the bucket 13. When the bucket 13 is retracted into place, the control device 1 receives the signal from the fourth pair of sensors 24 and controls the bucket 13 to stop rotating.

[0059] With this setup, four sets of through-beam sensors are used to detect the positions of the upper vehicle 10, boom 11, stick 12, and bucket 13, respectively, resulting in more precise and accurate control. This ensures that all components of the working device and the upper vehicle 10 are reliably reset, allowing the operator to perform subsequent operations.

[0060] In an optional embodiment of the present invention, the first through-beam sensing device 21 includes a first transmitting end and a first receiving end arranged opposite each other, with one of the upper vehicle 10 and the lower vehicle 9 having the first transmitting end and the other having the first receiving end. That is, as Figure 4 As shown, at the opposite positions of the upper vehicle 10 and the lower vehicle 9, the upper vehicle 10 is provided with a first transmitting end and the lower vehicle 9 is provided with a first receiving end; or, the upper vehicle 10 is provided with a first receiving end and the lower vehicle 9 is provided with a first transmitting end.

[0061] Specifically, for example, an infrared beam sensor can be used. Initially, the first transmitter and the first receiver are vertically aligned. During operation, they may shift and become misaligned. When a return-to-alignment command is received, the upper carriage 10 rotates to reset until the first transmitter and the first receiver are aligned again. The first receiver receives the infrared light emitted by the first transmitter and generates a pulse signal to the control device 1. The control device 1 then stops the upper carriage 10 from rotating, indicating that the upper carriage 10 has returned to its correct position. It should be noted that, for example... Figure 4 Regarding the placement of the machinery shown, the up and down directions in the diagram refer to the indicated positions.

[0062] The second through-beam sensor 22 includes a second transmitting end and a second receiving end positioned opposite each other. One of the upper vehicle 10 and the boom 11 has the second transmitting end, and the other has the second receiving end. Specifically, as shown... Figure 2 As shown, the upper vehicle 10 is equipped with a driver's cab 101, and the boom 11 rotates relative to the driver's cab 101. For example... Figure 3 As shown, at the locations opposite to the cab 101 and boom 11, the cab 101 is provided with a cab mounting position 1011, and the boom 11 is provided with a boom mounting position 111. That is to say, as... Figure 5 As shown, the cab mounting position 1011 is provided with a second transmitter, and the boom mounting position 111 is provided with a second receiver; or, the cab mounting position 1011 is provided with a second receiver, and the boom mounting position 111 is provided with a second transmitter.

[0063] Similarly, in the initial position, the second transmitter and the second receiver are aligned. During operation, they may shift and become misaligned. When a return command is received, the boom 11 retracts and resets until the second transmitter and the second receiver are aligned again. The second receiver receives the infrared light emitted by the second transmitter and generates a pulse signal to the control device 1. The control device 1 then controls the boom 11 to stop rotating, indicating that the boom 11 has retracted to its final position.

[0064] The third beam-and-shoot sensor 23 includes a third transmitter 231 and a third receiver 232 positioned opposite each other. One of the boom 11 and the stick 12 has the third transmitter 231, and the other has the third receiver 232. That is to say, as... Figure 6As shown, at the opposite positions of the boom 11 and the stick 12, the boom 11 is provided with a third launching end 231 and the stick 12 is provided with a third receiving end 232; or, the boom 11 is provided with a third receiving end 232 and the stick 12 is provided with a third launching end 231.

[0065] Similarly, in the initial position, the third transmitter 231 and the third receiver 232 are aligned. During operation, they may shift and become misaligned. When a return command is received, the boom 12 retracts and resets until the third transmitter 231 and the third receiver 232 are aligned again. The third receiver 232 receives the infrared light emitted by the third transmitter 231 and generates a pulse signal to the control device 1. The control device 1 then stops the boom 12 from rotating, indicating that the boom 12 has retracted to its correct position.

[0066] The fourth through-beam sensor 24 includes a fourth transmitter and a fourth receiver positioned opposite each other. One of the boom 12 and the bucket 13 has the fourth transmitter, and the other has the fourth receiver. That is to say, as... Figure 2 As shown, at the opposite positions of the boom 12 and bucket 13, the boom 12 is equipped with a fourth transmitting end, and the bucket 13 is equipped with a fourth receiving end; or, the boom 12 is equipped with a fourth receiving end, and the bucket 13 is equipped with a fourth transmitting end. However, in actual applications, the working environment of the bucket 13 is relatively harsh, frequently coming into contact with dust, gravel, etc., which can easily cause contamination of the fourth photoelectric sensor 24, posing a risk of failure. Generally, such as Figure 2 As shown, the bucket cylinder 131 is rotatably connected to the stick 12. The bucket 13 rotates by the bucket cylinder 131, thus achieving rotation between the bucket 13 and the stick 12. At this time, as... Figure 7 As shown, the fourth receiving end can be mounted on the boom 12, and the fourth transmitting end can be correspondingly mounted on the bucket cylinder 131, rotating together with the bucket 13. Alternatively, the fourth transmitting end can also be mounted on the boom 12, and the fourth receiving end can be correspondingly mounted on the bucket cylinder 131, rotating together with the bucket 13. This reduces damage to the fourth photoelectric sensor 24 and ensures reliable operation of the device.

[0067] Similarly, in the initial position, the fourth transmitter and the fourth receiver are aligned. During operation, they may shift and become misaligned. When a return command is received, the bucket 13 retracts and resets until the fourth transmitter and the fourth receiver are aligned again. The fourth receiver receives the infrared light emitted by the fourth transmitter and generates a pulse signal to the control device 1. The control device 1 then controls the bucket 13 to stop rotating, indicating that the bucket 13 has retracted to its correct position.

[0068] With this configuration, control device 1 receives signals from four sets of transmitting and receiving devices to control each corresponding component to return to its initial position. Furthermore, using an infrared through-beam sensor provides more accurate testing results, eliminates the need for calibration, and is convenient to use. Of course, in other embodiments, the through-beam sensor is not limited to the aforementioned infrared through-beam sensor; laser through-beam sensors, etc., can also be used.

[0069] In a specific embodiment of the present invention, at least one of the first receiving end, the second receiving end, the third receiving end 232, and the fourth receiving end is configured as an elongated structure. Specifically, the first receiving end, the second receiving end, the third receiving end 232, and the fourth receiving end are all configured as elongated structures. In practical applications, there is a time difference between the transmission of a pulse signal from the receiving end to the control device and the actual cessation of rotation of the moving part. During this time difference, the moving part may rotate at a certain angle, potentially exceeding its initial position. Therefore, by configuring an elongated receiving end, a certain lead time is provided, which is equivalent to transmitting a pulse signal before the moving part reaches its initial position. It should be noted that since the return rotation is automatically controlled, this lead time can theoretically be calculated. Furthermore, if the moving part stops rotating after exceeding its initial position, i.e., the transmitting end and the receiving end are no longer aligned, the elongated receiving end ensures that the transmitting end remains within the detection range of the receiving end, thereby guaranteeing that the moving part can rotate back to its initial position.

[0070] Furthermore, in this embodiment of the invention, the automatic return control system for the operating machinery also includes a first protective sleeve 5, which is fitted over the third through-beam sensor 23. Specifically, as... Figure 6 As shown, the first protective sleeve 5 can be made of plastic, such as an existing spiral sleeve, and can be telescopic to accommodate the relative displacement changes between the boom 11 and the stick 12. One end of the first protective sleeve 5 is connected to the boom 11, and the other end is connected to the stick 12, so as to reliably cover the third through-beam sensor 23 with the first protective sleeve 5.

[0071] In addition, the automatic return control system for the operating machinery also includes a second protective sleeve 6, which is fitted over the fourth through-beam sensor 24. Specifically, as... Figure 7 As shown, the second protective sleeve 6 can be made of plastic, such as the existing spiral sleeve, to accommodate the relative displacement changes between the boom 12 and the bucket cylinder 131. One end of the second protective sleeve 6 is connected to the boom 12, and the other end is connected to the bucket cylinder 131, so that the second protective sleeve 6 is securely wrapped around the fourth through-beam sensor 24.

[0072] With this setup, since the working device comes into contact with a lot of dust and gravel, the protective cover can protect the through-beam sensor on the working device that is close to the construction site, prevent damage to the through-beam sensor during excavation, and avoid dust accumulation on the through-beam sensor, thus ensuring the reliable operation of the through-beam sensor and avoiding affecting its measurement accuracy.

[0073] In an optional embodiment of the present invention, the automatic return control system for the operating machinery further includes a command input device 4, which is disposed on the upper vehicle 10. The command input device 4 is communicatively connected to the control device 1 and is used to issue a return command. Specifically, the command input device 4 can be an existing switch button, touch switch, etc., to facilitate the operator in inputting the return command. For example, a switch button can be disposed on the armrest box to perform the return operation.

[0074] like Figure 1 As shown, taking the one-key return button as an example, each component of the working device and the upper carriage 10 are equipped with corresponding infrared photoelectric sensors and solenoid valves. After pressing the one-key return button, the control device 1 sends a command to the solenoid valve group 3, which directly acts on the hydraulic lines to retract each component of the working device and return the upper carriage 10 to its upright position. When the transmitting and receiving ends of each group of infrared photoelectric sensors are aligned, they transmit signals to the control device 1, which closes the corresponding solenoid valves to stop the hydraulic lines from working, thus achieving the purpose of one-key self-return. In addition, the priority of the one-key return button should be lower than that of the handle, so that in the event of a danger, other operations can be performed using the handle to interrupt the self-return operation.

[0075] In a specific embodiment of the present invention, the automatic return control system for the operating machinery further includes a first mounting base 7 and a second mounting base 8. For example... Figure 6 As shown, the first mounting base 7 has a first mounting plane 71, and the third transmitting end 231 is disposed on the first mounting plane 71. The second mounting base 8 has a second mounting plane 81 opposite to the first mounting plane 71, and the third receiving end 232 is disposed on the second mounting plane 81. One of the boom 11 and the stick 12 is provided with the first mounting base 7, and the other with the second mounting base 8. This arrangement, with its opposite mounting planes, facilitates the placement of the through-beam sensor on the working device, resulting in convenient installation and accurate measurement.

[0076] The automatic return control method for operating machinery provided by the present invention is described below. The automatic return control method for operating machinery described below can be referred to in correspondence with the automatic return control system for operating machinery described above.

[0077] This invention also provides an automatic return control method for operating machinery, based on the automatic return control system for operating machinery as described in the above embodiments, including the following steps:

[0078] The system receives the return command sent by the operating machinery and controls the motion actuator of the operating machinery to perform the return action according to the return command.

[0079] When a feedback signal is received from the through-beam sensor 2, the motion actuator is controlled to stop its return motion.

[0080] With this configuration, when the working machinery issues a return command, control device 1 receives the command and then controls the motion actuator to automatically reset. Combined with the signal from the through-beam sensor 2, when the machinery is fully retracted, control device 1 stops the motion actuator, improving operational convenience and accuracy, reducing operator actions, and offering a simple, easy-to-operate structure at a low cost. The derivation of this beneficial effect is similar to that of the automatic return control system for the working machinery described above, and therefore will not be repeated here.

[0081] The working machinery provided by the present invention is described below. The working machinery described below and the automatic return control system of the working machinery described above can be referred to in correspondence.

[0082] This invention also provides a type of work machinery, specifically, such as an excavator or a loader. The work machinery includes the automatic return control system described in the various embodiments above. With this configuration, when the work machinery issues a return command, it can automatically return to its initial position and stop moving simply through the cooperation of the control device 1 and the through-beam sensor 2. This improves the convenience and accuracy of operation and reduces the operator's manual actions. Furthermore, it only requires adding the through-beam sensor 2 to the work machinery, making it easy to implement and cost-effective. The derivation process of this beneficial effect is roughly similar to the derivation process of the beneficial effects of the automatic return control system for work machinery described above, and therefore will not be repeated here.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic return control system for operating machinery, characterized in that, It includes a control device and a through-beam sensor, wherein the through-beam sensor is communicatively connected to the control device. The control device is used to acquire the return command sent by the working machinery, and control the motion actuator of the working machinery to perform the return action according to the return command. The through-beam sensor is used to generate a feedback signal when the motion actuator retracts into position, and then sends the feedback signal to the control device. The control device is also used to control the motion actuator to stop the return action according to the feedback signal; The motion actuator includes an upper vehicle rotatably connected to the lower vehicle and a working device rotatably connected to the upper vehicle; the through-beam sensor includes: A first through-beam sensor is positioned opposite the upper vehicle and the lower vehicle. The first through-beam sensor is communicatively connected to the control device. When the upper vehicle returns to center, the control device controls the upper vehicle to stop rotating. The second pair of beam sensors is located at a position opposite to the working device on the upper vehicle. The second pair of beam sensors is communicatively connected to the control device. When the working device is retracted into position, the control device controls the working device to stop rotating. The working device includes a boom, stick, and bucket that are rotatably connected in sequence, and the boom is rotatably connected to the upper vehicle. The second through-beam sensor is located at the position opposite to the boom on the upper vehicle. When the boom is retracted to its full position, the control device controls the boom to stop rotating. The through-beam sensing device further includes: The third pair of shooting sensors is located at the position opposite to the boom and the stick. The third pair of shooting sensors is communicatively connected to the control device. When the stick is retracted to the position, the control device controls the stick to stop rotating. The fourth pair of sensors is located at the position opposite to the boom and the bucket. The fourth pair of sensors is communicatively connected to the control device. When the bucket is retracted to the desired position, the control device controls the bucket to stop rotating. The first, second, third, and fourth through-beam sensors each include a transmitter and a receiver.

2. The automatic return control system for operating machinery according to claim 1, characterized in that, The first through-beam sensor includes a first transmitter and a first receiver positioned opposite each other, wherein one of the upper vehicle and the lower vehicle is provided with the first transmitter and the other is provided with the first receiver; The second through-beam sensor includes a second transmitting end and a second receiving end arranged opposite each other, wherein the upper vehicle and the boom are provided with the second transmitting end and the other is provided with the second receiving end; The third beam-type sensing device includes a third transmitting end and a third receiving end arranged opposite each other, wherein the boom and the stick are provided with the third transmitting end and the other is provided with the third receiving end; The fourth pair of beam sensors includes a fourth transmitter and a fourth receiver positioned opposite each other, with the fourth transmitter provided on one of the boom and the bucket, and the fourth receiver provided on the other.

3. The automatic return control system for operating machinery according to claim 1, characterized in that, Also includes: The first protective sleeve is fitted over the third through-beam sensor; And / or, a second protective sleeve, fitted over the fourth through-beam sensor.

4. The automatic return control system for operating machinery according to claim 1, characterized in that, Also includes: An instruction input device is installed on the upper vehicle and is communicatively connected to the control device. The instruction input device is used to issue the return command.

5. The automatic return control system for operating machinery according to claim 2, characterized in that, At least one of the first receiving end, the second receiving end, the third receiving end, and the fourth receiving end is configured as a long strip structure.

6. The automatic return control system for operating machinery according to claim 2, characterized in that, Also includes: A first mounting base has a first mounting surface, and the third transmitting end is disposed on the first mounting surface; The second mounting base has a second mounting plane disposed opposite to the first mounting plane, and the third receiving end is disposed on the second mounting plane; One of the boom and the stick is provided with the first mounting base, and the other is provided with the second mounting base.

7. An automatic return control method for operating machinery, characterized in that, The automatic return control system for operating machinery as described in any one of claims 1-6 includes the following steps: The system acquires a return command sent by the operating machinery and controls the motion actuator of the operating machinery to perform a return action according to the return command. When a feedback signal is received from the through-beam sensor, the motion actuator is controlled to stop the return motion.

8. A type of operating machinery, characterized in that, Including the automatic return control system for operating machinery as described in any one of claims 1-6.

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