A working machine with a flip-up ladder and a method of controlling a flip-up ladder

Abstract

This invention discloses an engineering machinery with a tilting ladder and a control method for the tilting ladder. The engineering machinery includes: a mechanical body, a ladder rotatably mounted on the mechanical body, and a surround view system. The mechanical body is equipped with a first controller and a second controller. The first controller is used to acquire information from an upward or downward limit sensor, parking lights, and gear position, and determines whether to disable the upward or downward self-reset button and activate the surround view system based on the acquired information. The second controller responds to a no-obstacle signal sent by the surround view system and a signal indicating that the downward or upward self-reset button has been activated, controlling the ladder to tilt down to a preset distance from the ground or tilt upward. This invention fully considers the situation of obstacles encountered in the ladder's movement area and the ladder's adaptability to different ground heights, improving the safety of the ladder's tilting operation and reducing the risk of damage during the downward tilting process.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery technology, specifically relating to an engineering machine with a tilting ladder and a control method for the tilting ladder. Background Technology

[0002] In the existing technology, most of the ladders that move from the ground to the platform of construction machinery (such as loaders) are fixed. During the operation of the loader, due to the uneven ground, the ladder is easily bumped and deformed.

[0003] To address the aforementioned issues, a solution using hydraulic cylinders to achieve ladder tilting has been proposed. However, this solution does not consider the presence of obstacles in the ladder's movement area, posing a significant safety risk. Furthermore, existing technologies lack methods to limit the ladder's descent height based on ground elevation variations. If a protruding section of ground is encountered, the ladder may touch the ground before reaching the tilting limit, potentially causing damage. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an engineering machine with a flip ladder and a control method for the flip ladder. It fully considers the situation of obstacles encountered in the ladder's movement area and the ladder's adaptability to different ground heights, improves the safety of the ladder's flip operation, and reduces the risk of damage during the ladder's descent.

[0005] This invention provides the following technical solution:

[0006] Firstly, an engineering machine with a tilting ladder is provided, comprising:

[0007] The mechanical body is equipped with an up-flip self-reset button, a down-flip self-reset button, a first controller, and a second controller.

[0008] A ladder is rotatably mounted on the mechanical body, and the ladder is equipped with an upward limit sensor and a downward limit sensor;

[0009] A surround view system is used to monitor whether there are obstacles in the areas where the ladder flips up and down;

[0010] The first controller is used to acquire information from the upward or downward limit sensor, parking lights, and gear position, and to determine whether to disable the upward or downward self-reset button and start the surround view system based on the acquired information.

[0011] The second controller, in response to the obstacle-free signal sent by the surround view system and the signal that the down-flip self-reset button or the up-flip self-reset button is activated, controls the ladder to flip down to a preset distance from the ground or flip up.

[0012] Furthermore, the mechanical body is provided with an upward limit and a downward limit. When the ladder is tilted upward to the limit position, it abuts against the upward limit and the upward limit sensor is activated. When the ladder is tilted downward to the limit position, it abuts against the downward limit and the downward limit sensor is activated. The bottom of the ladder is provided with a bottom sensor for detecting the height of the bottom of the ladder from the ground.

[0013] Furthermore, when the ladder is at the upward limit position, the first controller acquires information from the upward limit sensor, parking light, and gear position.

[0014] When the controller receives information that the upward limit sensor is activated, the parking light is on, and the gear is in neutral, it disables the upward self-reset button and simultaneously activates the upward limit sensor, the downward limit sensor, the bottom sensor, and the surround view system.

[0015] When the second controller receives the obstacle-free signal from the surround view system and the signal that the self-reset button is activated, it controls the ladder to descend to a specified height above the ground or to ascend.

[0016] Furthermore, if the downward area of ​​the ladder is a raised surface relative to the resting surface of the mechanical body, when the bottom sensor reaches a preset distance from the ground, the bottom sensor transmits a signal to the second controller, and the second controller controls the ladder to stop downward.

[0017] If the downward-folding area of ​​the ladder is at the same level as the resting surface of the mechanical body or is a concave ground, when the ladder folds down to the downward-folding limit, the downward-folding limit sensor transmits a signal to the second controller, and the second controller controls the ladder to stop folding down. At this time, the bottom of the ladder is greater than or equal to the preset distance from the ground.

[0018] Furthermore, when the ladder is at the downward limit position, the first controller acquires information from the downward limit sensor, parking light, and gear position.

[0019] When the lower limit sensor is activated, the parking light is on, and the gear is in neutral, the first controller disables the lower self-reset button and simultaneously activates the upper limit sensor, the lower limit sensor, the bottom sensor, and the surround view system.

[0020] When the second controller receives the obstacle-free signal from the surround view system and the signal that the self-reset button is activated, it controls the ladder to start climbing. When the ladder climbs to the climbing limit, the climbing limit sensor transmits a signal to the second controller, and the second controller controls the ladder to stop climbing.

[0021] Furthermore, the surround view system includes surround view cameras installed on both sides of the ladder, a surround view display screen and a surround view controller installed on the mechanical body, and an alarm device is also provided on the mechanical body. The surround view controller is connected to the surround view cameras, the surround view display screen and the alarm device respectively.

[0022] When the surround-view camera detects an obstacle in the area where the ladder is turned up or down, it sends an obstacle presence signal to the surround-view controller and the second controller. The surround-view controller controls the surround-view display screen to display a warning of danger, and the alarm device to sound an alarm. The second controller then controls the ladder to prevent it from turning up or down.

[0023] Secondly, a control method for the tilting and climbing ladder of the engineering machinery described in the first aspect is provided, comprising:

[0024] The first controller acquires information from the upward or downward limit sensor, parking lights, and gear position, and determines whether to disable the upward or downward self-reset button and activate the surround view system based on the acquired information.

[0025] The second controller responds to the obstacle-free signal sent by the surround view system and the signal that the down-flip self-reset button or the up-flip self-reset button is activated, and controls the ladder to flip down to a preset distance from the ground or flip up.

[0026] Furthermore, when the ladder is at the upward limit position, the first controller acquires information from the upward limit sensor, parking light, and gear position.

[0027] When the system receives information that the upward limit sensor is activated, the parking light is on, and the gear is in neutral, the first controller disables the upward self-reset button and activates the surround view system.

[0028] When the second controller receives the obstacle-free signal from the surround view system and the signal that the self-reset button is activated, it controls the ladder to descend to a specified height above the ground or to ascend.

[0029] Furthermore, when the ladder is at the downward limit position, the first controller acquires information from the downward limit sensor, parking light, and gear position.

[0030] When the down-limit sensor is activated, the parking light is on, and the gear is in neutral, the first controller disables the down-reset button and activates the surround view system.

[0031] When the second controller receives the obstacle-free signal from the surround view system and the signal that the self-reset button is activated, it controls the ladder to start climbing. When the ladder climbs to the climbing limit, the climbing limit sensor transmits a signal to the second controller, and the second controller controls the ladder to stop climbing.

[0032] Furthermore, the mechanical body is also equipped with an engineering mode rocker switch;

[0033] If the ladder needs maintenance, the first controller acquires information about the engineering mode rocker switch, parking light, and gear position. When the engineering mode rocker switch is activated on one side, the parking light is on, and the gear is in neutral, the first controller activates the up-and-down self-reset buttons and simultaneously disables the surround view system, the up-and-down limit sensor, the down-and-down limit sensor, and the bottom sensor. The second controller responds to the signal that the up-and-down self-reset button is activated and controls the ladder to perform the up-and-down operation in a jogging manner.

[0034] If the ladder completes maintenance, the first controller acquires information from the engineering mode rocker switch, parking light, and gear position. When it acquires information that the engineering mode rocker switch is closed on one side, the parking light is on, and the gear is in neutral, the first controller disables the down-flip self-reset button and enables the up-flip self-reset button, the up-flip limit sensor, the down-flip limit sensor, the bottom sensor, and the surround view system. The second controller responds to the signal that the up-flip self-reset button is activated and controls the ladder to perform the up-flipping operation in a continuous motion. When the second controller receives the signal that the up-flip limit sensor is activated, it controls the ladder to stop flipping.

[0035] Compared with the prior art, the beneficial effects of the present invention are:

[0036] The present invention provides an engineering machinery with a tilting ladder and a control method for the tilting ladder. The first controller acquires information from the upward or downward limit sensor, parking lights, and gear position, and determines whether to disable the upward or downward self-reset button and activate the surround view system based on the acquired information. The second controller responds to the obstacle-free signal sent by the surround view system and the signal that the downward or upward self-reset button is activated, and controls the ladder to tilt down to a preset distance from the ground or tilt up. The present invention fully considers the situation of obstacles encountered in the ladder's movement area and the ladder's adaptability to different ground heights, improves the safety of the ladder's tilting operation, and reduces the risk of damage to the ladder during the tilting process. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of the flip-up ladder part in an embodiment of the present invention;

[0038] Figure 2 This is one of the schematic diagrams of the tilting ladder control cabinet in an embodiment of the present invention;

[0039] Figure 3 This is one of the schematic diagrams of the tilting ladder control cabinet in an embodiment of the present invention;

[0040] Figure 4 This is a control logic diagram for the ladder descent in an embodiment of the present invention;

[0041] Figure 5 This is a control logic diagram for the ladder flipping upwards in an embodiment of the present invention;

[0042] Figure 6 This is the control logic diagram for when the ladder is in engineering mode in an embodiment of the present invention;

[0043] Figure 7 This is the control logic diagram for the ladder closing engineering mode in an embodiment of the present invention;

[0044] The markings in the diagram are as follows: 1-Ladder; 2-Upward limit switch; 3-Upward limit sensor; 4-Downward limit sensor; 5-Downward limit switch; 6-Surround view camera; 7-Bottom sensor; 8-First controller; 9-Second controller; 10-Surround view controller; 11-Engineering mode rocker switch; 12-Surround view display screen; 13-Upward self-reset button; 14-Downward self-reset button. Detailed Implementation

[0045] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0046] Example 1

[0047] like Figures 1-3 As shown, this embodiment provides an engineering machine with a flip-up ladder, including a machine body, a ladder 1, and a surround view system; the machine body is provided with an upward self-reset button 13, a downward self-reset button 14, a first controller 8, and a second controller 9; the ladder 1 is rotatably mounted on the machine body, and the ladder 1 is provided with an upward limit sensor 3 and a downward limit sensor 4; the surround view system is used to monitor whether there are obstacles in the upward and downward areas of the ladder 1; the first controller 8 is used to acquire information from the upward limit sensor 3 or the downward limit sensor 4, the parking light, and the gear position, and determines whether to disable the upward self-reset button 13 or the downward self-reset button 14 and activate the surround view system based on the acquired information; the second controller 9 responds to the obstacle-free signal sent by the surround view system and the signal that the downward self-reset button 14 or the upward self-reset button 13 is activated, and controls the ladder 1 to flip down to a preset distance from the ground or flip up.

[0048] The mechanical body is equipped with an upward limit switch 2 and a downward limit switch 5. In this embodiment, guardrails are installed on both sides of the ladder 1. The upward limit sensor 3 is installed on the top of the guardrails. The upward limit switch 2 is a locking block with a groove. When the ladder 1 is tilted upward to its limit position, the guardrail of the ladder 1 engages with the groove of the upward limit switch 2, and at the same time, the upward limit sensor 3 is activated. The lower part of the ladder 1 is equipped with a downward limit switch 5 and a downward limit sensor 4. When the ladder 1 is tilted downward to its limit position, it abuts against the downward limit switch 5, and at the same time, the downward limit sensor 4 is activated. The bottom of the ladder 1 is also equipped with a bottom sensor 7 for detecting the height of the bottom of the ladder 1 from the ground.

[0049] In this embodiment, the surround view system is a 360° surround view system, which includes surround view cameras 6 installed on both sides of the ladder 1, a surround view display screen 12 installed on the mechanical body, and a surround view controller 10. The mechanical body is also equipped with an alarm device. The surround view controller 10 is connected to the surround view cameras 6, the surround view display screen 12, and the alarm device respectively. When the surround view camera 6 detects an obstacle in the area where the ladder 1 is flipped up or down, it sends an obstacle presence signal to the surround view controller 10 and the second controller 9. The surround view controller 10 controls the surround view display screen 12 to indicate danger, the alarm device to sound an alarm, and the second controller 9 to prevent the ladder 1 from flipping up or down.

[0050] The working principle of the tilting ladder of the engineering machinery provided in this embodiment is as follows:

[0051] 1. For example Figure 4 As shown, this is the ladder-climbing and descending operation.

[0052] (1) When the ladder 1 is at the upward limit 2, the first controller 8 acquires the upward limit sensor 3, parking light and gear information.

[0053] (2) When the first controller 8 obtains information that the upward limit sensor 3 is turned on, the parking light is on, and the gear is in neutral, the upward self-reset button 13 is disabled, the downward self-reset button 14 is enabled, and the upward limit sensor 3, the downward limit sensor 4, the bottom sensor 7 and the surround view system are started at the same time.

[0054] (3) Manually operate the self-reset button 14 to flip down and output the climbing ladder 1 flip-down start signal to the second controller 9.

[0055] (4) The surround view system monitors whether there are obstacles in the area where the ladder 1 falls down. When there are obstacles in the area where the ladder 1 falls down, the surround view display screen 12 indicates danger, the alarm device emits a "beep beep beep" alarm sound, and outputs a stop signal to the second controller 9. The second controller 9 prohibits the ladder 1 from falling down. When there are no obstacles in the area where the ladder 1 falls down, the surround view system outputs a signal to the second controller 9.

[0056] (5) When the second controller 9 receives the obstacle-free signal sent by the surround view system and the signal that the self-reset button is activated, it controls the ladder 1 to fall down to a specified height from the ground or to flip up.

[0057] If the downward-folding area of ​​ladder 1 is a raised surface relative to the resting surface of the mechanical body, when the bottom sensor 7 reaches a preset distance from the ground, the bottom sensor 7 transmits a signal to the second controller 9, and the second controller 9 controls ladder 1 to stop folding down; if the downward-folding area of ​​ladder 1 is the same horizontal plane or a recessed surface relative to the resting surface of the mechanical body, when ladder 1 folds down to the downward-folding limit 5, the downward-folding limit sensor 4 transmits a signal to the second controller 9, and the second controller 9 controls ladder 1 to stop folding down, at which time the bottom of ladder 1 is greater than or equal to the preset distance from the ground.

[0058] 2. For example Figure 5 As shown, this is the ladder climbing operation.

[0059] (1) When the ladder 1 is at the downward limit position, the first controller 8 acquires the downward limit sensor 4, parking light and gear information.

[0060] (2) When the first controller 8 obtains information that the downward limit sensor 4 is turned on, the parking light is on, and the gear is in neutral, the downward self-reset button 14 is disabled, the upward self-reset button 13 is enabled, and the upward limit sensor 3, the downward limit sensor 4, the bottom sensor 7 and the surround view system are started at the same time.

[0061] (3) Manually operate the up-reset button 13, and the up-reset button 13 outputs the ladder 1 down-start signal to the second controller 9.

[0062] (4) The surround view system monitors whether there are obstacles in the climbing area of ​​ladder 1. When there are obstacles in the climbing area of ​​ladder 1, the surround view display screen 12 indicates danger, the alarm device emits a "beep beep beep" alarm sound, and outputs a stop signal to the second controller 9. The second controller 9 prohibits ladder 1 from climbing. When there are no obstacles in the climbing area of ​​ladder 1, the surround view system outputs a signal to the second controller 9.

[0063] (5) When the second controller 9 receives the obstacle-free signal sent by the surround view system and the signal that the self-reset button 13 is activated, it controls the ladder 1 to start to climb. When the ladder 1 climbs to the climbing limit 2, the climbing limit sensor 3 transmits a signal to the second controller 9, and the second controller 9 controls the ladder 1 to stop climbing.

[0064] Example 2

[0065] This embodiment provides a control method for the tilting ladder of the engineering machinery described in Embodiment 1, including control methods for ladder tilting up, ladder tilting down, ladder starting and stopping engineering modes.

[0066] 1. For example Figure 4 As shown, the control method for the ladder to flip upwards involves the following steps:

[0067] Step 1.1: When the ladder 1 is at the upward limit position, the first controller 8 acquires the upward limit sensor 3, parking light and gear position information.

[0068] Step 1.2: When the first controller 8 obtains information that the upward limit sensor 3 is turned on, the parking light is on, and the gear is in neutral, the upward self-reset button 13 is disabled, the downward self-reset button 14 is enabled, and the upward limit sensor 3, the downward limit sensor 4, the bottom sensor 7 and the surround view system are activated at the same time.

[0069] Step 1.3: Manually operate the down-reset button 14. The down-reset button 14 outputs a down-start signal to the second controller 9.

[0070] Step 1.4: The surround view system monitors whether there are obstacles in the area where the ladder 1 descends. When there are obstacles in the area where the ladder 1 descends, the surround view display screen 12 indicates danger, the alarm device emits a "beep beep beep" alarm sound, and outputs a stop signal to the second controller 9. The second controller 9 prohibits the ladder 1 from descending. When there are no obstacles in the area where the ladder 1 descends, the surround view system outputs a signal to the second controller 9.

[0071] Step 1.5: When the second controller 9 simultaneously receives the obstacle-free signal sent by the surround view system and the signal that the self-reset button 14 is activated, it controls the ladder 1 to fall down to a specified height from the ground or to flip up.

[0072] If the downward-folding area of ​​the ladder 1 is a raised surface relative to the resting surface of the mechanical body, when the bottom sensor 7 reaches a preset distance from the ground (340mm in this embodiment), the bottom sensor 7 transmits a signal to the second controller 9, and the second controller 9 controls the ladder 1 to stop folding down; if the downward-folding area of ​​the ladder 1 is the same horizontal plane or a recessed surface relative to the resting surface of the mechanical body, when the ladder 1 folds down to the downward-folding limit 5, the downward-folding limit sensor 4 transmits a signal to the second controller 9, and the second controller 9 controls the ladder 1 to stop folding down, at which time the bottom of the ladder 1 is greater than or equal to 340mm from the ground.

[0073] 2. For example Figure 5 As shown, the control method for the ladder to flip upwards involves the following steps:

[0074] Step 2.1: When the ladder 1 is at the downward limit 5, the first controller 8 acquires the downward limit sensor 4, parking light and gear information.

[0075] Step 2.2: When the first controller 8 obtains information that the downward limit sensor 4 is turned on, the parking light is on, and the gear is in neutral, the downward self-reset button 14 is disabled, the upward self-reset button 13 is enabled, and the upward limit sensor 3, the downward limit sensor 4, the bottom sensor 7 and the surround view system are activated at the same time.

[0076] Step 2.3: Manually operate the up-reset button 13. The up-reset button 13 outputs a down-start signal to the second controller 9.

[0077] Step 2.4: The surround view system monitors whether there are obstacles in the upward climbing area of ​​ladder 1. When there are obstacles in the upward climbing area of ​​ladder 1, the surround view display screen 12 indicates danger, the alarm device emits a "beep beep beep" alarm sound, and outputs a stop signal to the second controller 9. The second controller 9 prohibits ladder 1 from climbing upward. When there are no obstacles in the upward climbing area of ​​ladder 1, the surround view system outputs a signal to the second controller 9.

[0078] Step 2.5: When the second controller 9 simultaneously receives the obstacle-free signal sent by the surround view system and the signal that the self-reset button 13 is activated, it controls the ladder 1 to start climbing. When the ladder 1 climbs to the climbing limit 2, the climbing limit sensor 3 transmits a signal to the second controller 9, and the second controller 9 controls the ladder 1 to stop climbing.

[0079] 3. The control method for starting and stopping the ladder in engineering mode is as follows:

[0080] Step 3.1, as follows Figure 6 As shown, when the ladder 1 needs maintenance, the first controller 8 acquires the engineering mode rocker switch 11, parking light and gear information on the mechanical body. When it acquires that the engineering mode rocker switch 11 is activated on one side, the parking light is on, and the gear is in neutral, the first controller 8 activates the up-reset button 13 and the down-reset button 14, and at the same time disables the surround view system, the up-limit sensor 3, the down-limit sensor 4 and the bottom sensor 7. The second controller 9 responds to the signal that the up-reset button 13 or the down-reset button 14 is activated, and controls the ladder 1 to perform the up-reset or down-reset operation in a jogging manner.

[0081] Step 3.2, as follows Figure 7As shown, after the ladder 1 completes maintenance, the first controller 8 acquires the engineering mode rocker switch 11, parking light, and gear position information. When it acquires that the engineering mode rocker switch 11 is closed on one side, the parking light is on, and the gear is in neutral, the first controller 8 disables the downward self-reset button 14 and enables the upward self-reset button 13, the upward limit sensor 3, the downward limit sensor 4, the bottom sensor 7, and the surround view system. The second controller 9 responds to the signal that the upward self-reset button 13 is activated and controls the ladder 1 to perform the upward operation in a continuous motion. When the second controller 9 receives the signal that the upward limit sensor 3 is activated, it controls the ladder 1 to stop upward.

[0082] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0083] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0084] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0085] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0086] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An engineering machine with a tilting ladder, characterized in that, include: The mechanical body is equipped with an up-flip self-reset button, a down-flip self-reset button, a first controller, and a second controller. A ladder is rotatably mounted on the mechanical body, and the ladder is equipped with an upward limit sensor and a downward limit sensor; A surround view system is used to monitor whether there are obstacles in the areas where the ladder flips up and down; The first controller is used to acquire information from the upward or downward limit sensor, parking lights, and gear position, and to determine whether to disable the upward or downward self-reset button and start the surround view system based on the acquired information. The second controller, in response to the obstacle-free signal sent by the surround view system and the signal that the down-flip self-reset button or the up-flip self-reset button is activated, controls the ladder to flip down to a preset distance from the ground or flip up.

2. The engineering machinery with a tilting ladder according to claim 1, characterized in that, The mechanical body is provided with an upward limit and a downward limit. When the ladder is tilted upward to the limit position, it abuts against the upward limit and the upward limit sensor is activated. When the ladder is tilted downward to the limit position, it abuts against the downward limit and the downward limit sensor is activated. The bottom of the ladder is provided with a bottom sensor for detecting the height of the bottom of the ladder from the ground.

3. The engineering machinery with a tilting ladder according to claim 2, characterized in that, When the ladder is at the upward limit position, the first controller acquires information from the upward limit sensor, parking light, and gear position. When the controller receives information that the upward limit sensor is activated, the parking light is on, and the gear is in neutral, it disables the upward self-reset button and simultaneously activates the upward limit sensor, the downward limit sensor, the bottom sensor, and the surround view system. When the second controller receives the obstacle-free signal from the surround view system and the signal that the self-reset button is activated, it controls the ladder to descend to a specified height above the ground or to ascend.

4. The engineering machinery with a tilting ladder according to claim 3, characterized in that, If the area where the ladder descends is a raised surface relative to the resting surface of the mechanical body, when the bottom sensor reaches a preset distance from the ground, the bottom sensor transmits a signal to the second controller, and the second controller controls the ladder to stop descending. If the downward-folding area of ​​the ladder is at the same level as the resting surface of the mechanical body or is a concave ground, when the ladder folds down to the downward-folding limit, the downward-folding limit sensor transmits a signal to the second controller, and the second controller controls the ladder to stop folding down. At this time, the bottom of the ladder is greater than or equal to the preset distance from the ground.

5. The engineering machinery with a tilting ladder according to claim 2, characterized in that, When the ladder is at the downward limit position, the first controller obtains information from the downward limit sensor, parking light, and gear position. When the lower limit sensor is activated, the parking light is on, and the gear is in neutral, the first controller disables the lower self-reset button and simultaneously activates the upper limit sensor, the lower limit sensor, the bottom sensor, and the surround view system. When the second controller receives the obstacle-free signal from the surround view system and the signal that the self-reset button is activated, it controls the ladder to start climbing. When the ladder climbs to the climbing limit, the climbing limit sensor transmits a signal to the second controller, and the second controller controls the ladder to stop climbing.

6. The engineering machinery with a tilting ladder according to claim 1, characterized in that, The surround view system includes surround view cameras installed on both sides of the ladder, a surround view display screen and a surround view controller installed on the mechanical body, and an alarm device is also provided on the mechanical body. The surround view controller is connected to the surround view cameras, the surround view display screen and the alarm device respectively. When the surround-view camera detects an obstacle in the area where the ladder is turned up or down, it sends an obstacle presence signal to the surround-view controller and the second controller. The surround-view controller controls the surround-view display screen to display a warning of danger, and the alarm device to sound an alarm. The second controller then controls the ladder to prevent it from turning up or down.

7. A control method for the tilting and climbing ladder of the engineering machinery according to any one of claims 1 to 6, characterized in that, include: The first controller acquires information from the upward or downward limit sensor, parking lights, and gear position, and determines whether to disable the upward or downward self-reset button and activate the surround view system based on the acquired information. The second controller responds to the obstacle-free signal sent by the surround view system and the signal that the down-flip self-reset button or the up-flip self-reset button is activated, and controls the ladder to flip down to a preset distance from the ground or flip up.

8. The control method for the flip-up ladder according to claim 7, characterized in that, When the ladder is at the upward limit position, the first controller acquires information from the upward limit sensor, parking light, and gear position. When the system receives information that the upward limit sensor is activated, the parking light is on, and the gear is in neutral, the first controller disables the upward self-reset button and activates the surround view system. When the second controller receives the obstacle-free signal from the surround view system and the signal that the self-reset button is activated, it controls the ladder to descend to a specified height above the ground or to ascend.

9. The control method for the flip-up ladder according to claim 7, characterized in that, When the ladder is at the downward limit position, the first controller obtains information from the downward limit sensor, parking light, and gear position. When the down-limit sensor is activated, the parking light is on, and the gear is in neutral, the first controller disables the down-reset button and activates the surround view system. When the second controller receives the obstacle-free signal from the surround view system and the signal that the self-reset button is activated, it controls the ladder to start climbing. When the ladder climbs to the climbing limit, the climbing limit sensor transmits a signal to the second controller, and the second controller controls the ladder to stop climbing.

10. The control method for the flipping ladder according to claim 7, characterized in that, The mechanical body is also equipped with an engineering mode rocker switch; If the ladder needs maintenance, the first controller acquires information about the engineering mode rocker switch, parking light, and gear position. When the engineering mode rocker switch is activated on one side, the parking light is on, and the gear is in neutral, the first controller activates the up-and-down self-reset buttons and simultaneously disables the surround view system, the up-and-down limit sensor, the down-and-down limit sensor, and the bottom sensor. The second controller responds to the signal that the up-and-down self-reset button is activated and controls the ladder to perform the up-and-down operation in a jogging manner. If the ladder completes maintenance, the first controller acquires information from the engineering mode rocker switch, parking light, and gear position. When it acquires information that the engineering mode rocker switch is closed on one side, the parking light is on, and the gear is in neutral, the first controller disables the down-flip self-reset button and enables the up-flip self-reset button, the up-flip limit sensor, the down-flip limit sensor, the bottom sensor, and the surround view system. The second controller responds to the signal that the up-flip self-reset button is activated and controls the ladder to perform the up-flipping operation in a continuous motion. When the second controller receives the signal that the up-flip limit sensor is activated, it controls the ladder to stop flipping.

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