Construction machine control method, apparatus, processor, and computer readable storage medium

Abstract

An engineering machinery control method and device, processor and computer readable storage medium, the engineering machinery control method comprising: starting engineering machinery to work; obtaining the current working condition of the engineering machinery; obtaining the predetermined load under the current working condition; determining whether the current load is greater than or equal to the predetermined load under the current working condition, when the current load is greater than or equal to the predetermined load under the current working condition, the telescopic arm of the engineering machinery is not allowed to telescope; when the current load is less than the predetermined load under the current working condition, the first oil cylinder is allowed to telescope, and the second oil cylinder is not allowed to telescope. In the technical scheme of the present application, the function of the engineering machinery telescoping with load is expanded, while the safety and reliability of the product are well ensured; at the same time, the direct influence of the load on the telescopic mechanism during telescoping with load is ingeniously eliminated, the failure rate of the telescopic mechanism is greatly reduced, the reliability of the product is improved; and the telescopic arm shaking phenomenon is obviously improved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to an engineering machinery control method and device, a processor, and a computer-readable storage medium. Background Art

[0002] The booms of construction machinery, such as cranes, typically consist of multiple-section telescopic arms, which can be extended and retracted using either a single-cylinder latch mechanism or a rope-type mechanism. For example, the five-section boom of a tire crane typically utilizes a dual-cylinder rope-type mechanism. This mechanism includes key components such as the telescopic cylinder and wire rope. When retracting under load, the forces acting on the cylinder and wire rope increase dramatically, potentially damaging the mechanism and causing noticeable boom vibration. Therefore, to avoid damage to the telescopic mechanism, most construction machinery prohibits the retraction and extension of the telescopic arm under load, unless the mechanism is specifically designed for this purpose.

[0003] In the actual application of construction machinery, the inability to extend and retract under load often brings inconvenience to construction and reduced efficiency. Especially under certain specific working conditions, due to space limitations, the inability to extend and retract under load makes it difficult or even impossible to complete the construction work smoothly. Summary of the Invention

[0004] In view of this, an object of the present invention is to provide an engineering machinery control method and device, a processor, and a computer-readable storage medium that allow load extension and retraction and ensure safety.

[0005] To achieve the above-mentioned object, the present invention provides a construction machinery control method for controlling construction machinery, wherein the construction machinery includes a telescopic arm, the telescopic arm including a basic arm and n-section telescopic arms, where n is a positive integer greater than or equal to 2, and the multiple sections of the telescopic arms are controlled to be telescopic by a multi-cylinder rope-type telescopic mechanism, the multi-cylinder rope-type telescopic mechanism including a first oil cylinder, at least one second oil cylinder, and a steel wire rope, the first section of the telescopic arm is driven by the first oil cylinder to be telescopically sleeved on the basic arm, and the second section of the telescopic arm to the n-section telescopic arm are driven by the second oil cylinder and the steel wire rope to be telescopically sleeved in sequence, the construction machinery control method comprising:

[0006] Starting the engineering machinery to perform operations;

[0007] Obtaining the current working condition of the engineering machinery;

[0008] Obtaining a predetermined load under the current working condition;

[0009] Determine whether the current load is greater than or equal to the predetermined load under the current working condition. When the current load is greater than or equal to the predetermined load under the current working condition, the telescopic arm of the engineering machinery is not allowed to be extended or retracted; when the current load is less than the predetermined load under the current working condition, the first cylinder is allowed to be extended or retracted, and the second cylinder is not allowed to be extended or retracted.

[0010] Optionally, when the first oil cylinder is allowed to extend and retract, and the second oil cylinder is not allowed to extend and retract, the engineering machinery control method further includes:

[0011] Controlling the extension and retraction of the first oil cylinder to drive the telescopic arm to retract and retract with load;

[0012] The pressure of the first oil cylinder is obtained, and it is determined whether the pressure of the first oil cylinder is less than a predetermined pressure. When the pressure of the first oil cylinder is greater than or equal to the predetermined pressure, the telescopic arm of the engineering machinery is not allowed to be extended or retracted. When the pressure of the first oil cylinder is less than the predetermined pressure, the step of allowing the first oil cylinder to be extended or retracted and not allowing the second oil cylinder to be extended or retracted is entered again.

[0013] Optionally, the pressure of the first oil cylinder includes the rod chamber pressure and the rodless chamber pressure of the first oil cylinder, and judging whether the pressure of the first oil cylinder is less than a predetermined pressure is specifically as follows: judging whether one of the rod chamber pressure and the rodless chamber pressure of the first oil cylinder is less than the predetermined pressure; when both the rod chamber pressure and the rodless chamber pressure of the first oil cylinder are less than the predetermined pressure, entering the step of not allowing the telescopic arm of the engineering machinery to be extended or retracted again; when any one of the rod chamber pressure and the rodless chamber pressure of the first oil cylinder is greater than or equal to the predetermined pressure, the telescopic arm of the engineering machinery is not allowed to be extended or retracted.

[0014] Optionally, in the step of obtaining the predetermined load under the current working condition, the current working condition of the engineering machinery and the loaded telescopic load table obtain the predetermined load under the current working condition.

[0015] The present application also provides a processor configured to execute the above-mentioned engineering machinery control method.

[0016] The present application also provides an engineering machinery control device, which includes a working condition parameter acquisition module and the above-mentioned processor. The working condition parameter acquisition module is used to obtain the current working condition of the engineering machinery during operation, and a load-bearing telescopic load table is preset in the processor.

[0017] Optionally, the construction machinery control device further comprises a pressure detecting element for acquiring the pressure of the first oil cylinder, and the processor is further configured to determine whether the pressure of the first oil cylinder is less than the predetermined pressure when the telescopic boom is telescoping with load, and control the construction machinery arm of the construction machinery not to be allowed to telescope when the pressure of the first oil cylinder is greater than or equal to the predetermined pressure.

[0018] Optionally, the pressure of the first oil cylinder comprises the rod cavity pressure and the rodless cavity pressure of the first oil cylinder, and the processor is specifically configured to determine whether one of the rod cavity pressure and the rodless cavity pressure of the first oil cylinder is less than the predetermined pressure, and control the telescopic boom of the construction machinery not to be allowed to telescope when any one of the rod cavity pressure and the rodless cavity pressure of the first oil cylinder is greater than or equal to the predetermined pressure.

[0019] Optionally, the processor is further configured to generate a first electric signal when the load is greater than or equal to the predetermined load under the current working condition, and generate a second electric signal when the load is less than the predetermined load under the current working condition, the first electric signal being used to control the oil supply to the first oil cylinder and the second oil cylinder to be prohibited, and the second electric signal being used to control the oil supply to the first oil cylinder to be allowed and the oil supply to the second oil cylinder to be prohibited.

[0020] The application further provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to implement the steps of the construction machinery control method.

[0021] In the construction machinery control method and device, the processor and the computer readable storage medium of the application, without special customization design, the function of telescoping with load of the construction machinery is expanded without changing the existing structure of the construction machinery, and the safety and reliability of the product are well ensured. Meanwhile, the second oil cylinder is prohibited to telescope with load, and the first oil cylinder is used to telescope with load, which not only expands the working function of the construction machinery, but also ingeniously eliminates the direct influence of the load on the telescopic mechanism during telescoping with load, greatly reduces the failure rate of the telescopic mechanism, and improves the reliability of the product. Moreover, since the force on the second oil cylinder and the wire rope pulley system is complex, when the second oil cylinder is used to telescope with load, the force on the second oil cylinder and the telescopic wire rope will sharply increase and be easily damaged, and when the first oil cylinder is used to telescope with load, the influence of the elastic deformation of the wire rope is eliminated, and the telescopic boom is obviously improved in the phenomenon of shaking. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 The figure is a structural schematic diagram of a telescopic arm with a double-cylinder rope-type telescopic mechanism.

[0024] Figure 2 A schematic flow chart of a construction machinery control method provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0025] Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the described embodiments are merely some, and not all, of the embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the description of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0026] In the description of the present invention, unless otherwise specified or limited, the terms "disposed," "installed," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms based on the specific circumstances.

[0027] The terms "first," "second," "third," etc. are merely used to distinguish between values ​​or elements of similar attributes, and do not indicate or imply relative importance or a particular order.

[0028] The terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than the listed elements and may also include additional elements not specifically listed.

[0029] An embodiment of the present invention provides a method for controlling engineering machinery, which is used to control engineering machinery. The engineering machinery includes a telescopic arm, which includes a basic arm and n-section telescopic arms. The multi-section telescopic arm is controlled to extend and retract by a dual-cylinder rope-type telescopic mechanism. The first telescopic arm is driven by a first oil cylinder and telescopically mounted on the basic arm. The second to n-th telescopic arms are driven by a second oil cylinder and a wire rope and telescopically mounted in sequence. The basic arm is an arm section connected to the fuselage of the engineering machinery. It is understood that n is a positive integer greater than or equal to 2. It is understood that when the value of n is large, the multi-section telescopic arm is controlled to extend and retract by a multi-cylinder rope-type telescopic mechanism, and in this case, the number of oil cylinders can be three or even more.

[0030] For details, please refer to Figure 1 In one embodiment, n is equal to 4, that is, the telescopic arm is a five-section arm, the telescopic arm includes a basic arm 91, a first telescopic arm 92, a second telescopic arm 93, a third telescopic arm 94 and a fourth telescopic arm 95, and the double-cylinder rope-type telescopic mechanism includes a first oil cylinder 97, a second oil cylinder 98, a first steel wire rope 991, a second steel wire rope 992 and a third steel wire rope 993. The piston rod of the first oil cylinder 97 is fixedly connected to the basic arm 91, the cylinder barrel of the first oil cylinder 97 is fixedly connected to the first telescopic arm 92 and the piston rod of the second oil cylinder 98, and the cylinder barrel of the second oil cylinder 98 is fixedly connected to the first telescopic arm 92. The second telescopic boom 93 has one end of a first steel wire rope 991 connected to the third telescopic boom 94, which passes around a pulley fixed to the second telescopic boom 93 before being connected to the first telescopic boom 92. The second steel wire rope 992 has one end connected to the fourth telescopic boom 95, which passes around a pulley fixed to the third telescopic boom 94 before being connected to the second telescopic boom 93. The third steel wire rope 993 has one end connected to the second telescopic boom 93, which passes around a pulley fixed to the barrel of the first oil cylinder 97, then around a pulley fixed to the barrel of the second oil cylinder 98, before being fixed to the fourth telescopic boom 95. The first oil cylinder 97 is used to drive the first telescopic boom 92 to extend and retract relative to the base boom 91. The second oil cylinder 98 and the first steel wire rope 991, the second steel wire rope 992, and the third steel wire rope 993 are used to drive the second telescopic boom 93, the third telescopic boom 94, and the fourth telescopic boom 95 to extend and retract synchronously.

[0031] Please refer to Figure 2 , an engineering machinery control method of an embodiment includes the following steps:

[0032] S10, start the construction machinery to perform operation.

[0033] S11, obtaining the current working condition of the construction machinery.

[0034] S13, obtaining a predetermined load under the current working condition.

[0035] S15, determining whether the current load is greater than or equal to the predetermined load under the current working condition, if yes, entering step S17, if no, entering step S19.

[0036] S17, not allowing the telescopic arm of the engineering machinery to be telescoped.

[0037] S19, allowing the first oil cylinder 97 to be telescoped, and not allowing the second oil cylinder 98 to be telescoped.

[0038] Specifically, the engineering machinery can be a crane, an aerial working machinery, etc. When the engineering machinery is a crane, the telescopic arm is a hoisting arm, in step S10, the crane is started to perform hoisting operation; in step S11, the current working condition of the crane is acquired; in step S13, the predetermined weight under the current working condition is acquired according to the current working condition of the crane; in step S15, it is determined whether the current hoisting load is greater than or equal to the predetermined weight under the current working condition.

[0039] Generally, the force of the second oil cylinder 98 and the steel wire rope pulley system is complex, when the second oil cylinder 98 is used for telescoping with load, the force of the second oil cylinder 98 and the telescopic steel wire rope will increase sharply, which is easy to damage; at the same time, due to the obvious elastic deformation of the steel wire rope, the telescoping with load is not conducive to establishing stable dynamic balance, and the telescoping with load is easy to show the phenomenon of serious shaking of the boom. When the second oil cylinder 98 is used for telescoping with load, the force of the second oil cylinder 98 and the telescopic steel wire rope will increase sharply, which can be protected by reducing the load, but the absolute value of the load determined by the second oil cylinder 98 and the telescopic steel wire rope is generally relatively small, which greatly reduces the engineering application value; at the same time, due to the obvious elastic deformation of the steel wire rope, the telescoping with load is not conducive to establishing stable dynamic balance, and the telescoping with load is easy to show the phenomenon of serious shaking of the boom. When the first oil cylinder 97 is used for telescoping with load, the force of the first oil cylinder 97 will also increase sharply, which can be protected by reducing the load, and since the relative value of the load determined by the first oil cylinder 97 is generally large, even if the load determined by the first oil cylinder 97 is reduced, it still has good practical engineering application value.

[0040] In the engineering machinery control method of this embodiment, no special customized design is required. Without changing the existing engineering machinery structure, the function of load-bearing telescopic extension of the engineering machinery is expanded, while the safety and reliability of the product are well guaranteed. At the same time, the second cylinder is prohibited from performing load-bearing telescopic extension, and load-bearing telescopic extension is performed through the first cylinder, which not only expands the operating function of the engineering machinery, but also cleverly eliminates the direct impact of the load of load-bearing telescopic extension on the telescopic mechanism, greatly reduces the failure rate of the telescopic mechanism, and improves the reliability of the product. In addition, due to the complex force of the second cylinder and the wire rope pulley system, when load-bearing telescopic extension is performed through the second cylinder, the force on the second cylinder and the telescopic wire rope will increase sharply, and it is easy to be damaged. However, when load-bearing telescopic extension is performed through the first cylinder, the influence of the elastic deformation of the wire rope is eliminated, and the vibration phenomenon of the boom telescopic extension is significantly improved.

[0041] In this embodiment, in step S11, the current working condition of the construction machinery is determined based on the working condition parameters of the construction machinery. Specifically, for a crane, the working condition parameters of the crane, such as boom length, outrigger support condition, working range, etc., can be obtained through a torque limiter.

[0042] In this embodiment, in step S13, the predetermined load under the current working condition is obtained based on the current working condition of the engineering machinery and the load-bearing telescopic load table. Specifically, the load-bearing telescopic load table can be established based on the load-bearing telescopic conditions, and the load-bearing telescopic load table can also be measured in advance through experiments. After obtaining the current working condition, the predetermined load under the current working condition can be obtained by querying the load-bearing telescopic load table. The load-bearing telescopic load table can be pre-stored in the control device of the engineering machinery. It can be understood that the predetermined load under the current working condition can also be directly obtained by the operator based on experience according to the current working condition of the engineering machinery, or the control device can calculate the predetermined load under the current working condition according to a pre-stored algorithm based on the current working condition. In other words, the predetermined load under the current working condition does not necessarily have to be obtained by querying the load-bearing telescopic load table.

[0043] For cranes, the telescopic load table can be a telescopic lifting capacity table. In the telescopic lifting capacity table, each working condition corresponds to a predetermined weight. For example, when the arm length is 40 meters and the working range is 3 meters, it is one working condition. At this time, the corresponding predetermined weight in the telescopic lifting capacity table can be 5 tons; when the arm length is 40 meters and the working range is 4 meters, it is another working condition. At this time, the corresponding predetermined weight in the telescopic lifting capacity table can be 4 tons; when the arm length is 30 meters and the working range is 3 meters, it is another working condition. At this time, the corresponding predetermined weight in the telescopic lifting capacity table can be 6 tons. In this way, after obtaining the current working condition, the predetermined weight under the current working condition can be obtained by querying the telescopic lifting capacity table. Of course, in addition to the arm length and working range, the current working condition may also include other parameters such as the outrigger condition. The above use of different arm lengths and working ranges as parameters for different working conditions is only for illustration and is not limited to this.

[0044] In this embodiment, in step S17, a first electrical signal is also generated.

[0045] In this embodiment, in step S19, if the multi-cylinder rope row telescopic mechanism includes three or more cylinders, only the first cylinder 97 is allowed to telescope, and the remaining cylinders are not allowed to telescope.

[0046] In this embodiment, in step S19, a second electrical signal is also generated.

[0047] In this embodiment, when the first oil cylinder 97 is allowed to extend and retract, and the second oil cylinder 98 is not allowed to extend and retract, the engineering machinery control method further includes:

[0048] S21, controlling the first oil cylinder 97 to extend and retract to drive the telescopic arm to extend and retract with load.

[0049] S23, obtaining the pressure of the first oil cylinder 97, and determining whether the pressure of the first oil cylinder 97 is less than a predetermined pressure, if yes, proceeding to step S19, if no, proceeding to step S17.

[0050] By detecting the pressure of the first oil cylinder 97 in real time, the theoretical calculation error can be well corrected, which can effectively ensure the operation safety of the engineering machinery, further ensure the safety of load-bearing telescopic operation, and reduce the dependence on the operator.

[0051] Specifically, the pressure of the first oil cylinder 97 includes the rod chamber pressure and the rodless chamber pressure of the first oil cylinder 97. The method of judging whether the pressure of the first oil cylinder 97 is less than the predetermined pressure is as follows: judging whether one of the rod chamber pressure and the rodless chamber pressure of the first oil cylinder 97 is less than the predetermined pressure. When both the rod chamber pressure and the rodless chamber pressure of the first oil cylinder 97 are less than the predetermined pressure, step S19 is entered. When either one of the rod chamber pressure and the rodless chamber pressure of the first oil cylinder 97 is greater than or equal to the predetermined pressure, step S17 is entered.

[0052] An embodiment of the present application also provides a processor configured to execute the engineering machinery control method of any of the above embodiments.

[0053] This application also provides a construction machinery control device for controlling a construction machine. The construction machine includes a telescopic boom, which includes a base boom and n telescopic boom sections. The specific structure of the telescopic boom is as described above and will not be further described here. The construction machinery control device in one embodiment includes a working condition parameter acquisition module and the aforementioned processor. The working condition parameter acquisition module is used to obtain the current working condition of the construction machine during operation. The processor is pre-configured with a load table for telescopic loading. Specifically, the working condition parameter acquisition module may be a torque limiter.

[0054] In this embodiment, the construction machinery control device further includes a pressure detection element for detecting the pressure in the first oil cylinder 97. The processor is further configured to determine whether the pressure in the first oil cylinder 97 is less than a predetermined pressure when the telescopic arm is extended or retracted under load. When the pressure in the first oil cylinder 97 is greater than or equal to the predetermined pressure, the processor controls the telescopic arm of the construction machinery to not extend or retract. It will be appreciated that the pressure detection element may be located within the rodless or rodded chamber of the first oil cylinder 97, or at the oil outlet of a hydraulic pump supplying oil to the first oil cylinder 97.

[0055] Specifically, the pressure of the first oil cylinder 97 includes the rod chamber pressure and the rodless chamber pressure of the first oil cylinder 97. The processor is specifically used to determine whether one of the rod chamber pressure and the rodless chamber pressure of the first oil cylinder 97 is less than a predetermined pressure. When any one of the rod chamber pressure and the rodless chamber pressure of the first oil cylinder 97 is greater than or equal to the predetermined pressure, the processor control does not allow the telescopic arm of the engineering machinery to be extended or retracted.

[0056] In this embodiment, the processor is also used to generate a first electrical signal when the current load is greater than or equal to the predetermined load under the current working conditions, and to generate a second electrical signal when the current load is less than the predetermined load under the current working conditions. The first electrical signal is used to control the prohibition of oil supply to the rodless chamber and rod chamber of the first cylinder 97 and the second cylinder 98, and the second electrical signal is used to control the permission of oil supply to the rodless chamber and rod chamber of the first cylinder 97, while prohibiting oil supply to the rodless chamber and rod chamber of the second cylinder 98.

[0057] Specifically, a first main valve is provided between the hydraulic pump supplying oil to the first cylinder 97 and the first cylinder 97, and a second main valve is provided between the hydraulic pump supplying oil to the second cylinder 98 and the second cylinder 98. The first electrical signal and the second electrical signal are used to control the switching of the first main valve and the second main valve.

[0058] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the engineering machinery control method described in any of the above embodiments are implemented.

[0059] The computer readable storage medium can be a ferromagnetic random access memory (FRAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, a compact disc read-only memory (CD-ROM), or the like memory; or can be various devices including one or any combination of the above memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, and the like. The computer program stored in the computer readable storage medium is run by the processor, and the above-described construction machinery boom fault identification method is implemented.

[0060] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for controlling engineering machinery, for controlling engineering machinery, wherein the engineering machinery includes a telescopic arm, the telescopic arm includes a basic arm and n-section telescopic arms, n is a positive integer greater than or equal to 2, the multiple sections of the telescopic arms are controlled to be telescopic by a multi-cylinder rope-type telescopic mechanism, the multi-cylinder rope-type telescopic mechanism includes a first oil cylinder (97), at least one second oil cylinder (98) and a steel wire rope, the first section of the telescopic arm is driven by the first oil cylinder (97) to be telescopically sleeved on the basic arm, the second section of the telescopic arm to the n-th section of the telescopic arm are driven by the second oil cylinder (98) and the steel wire rope to be telescopically sleeved in sequence, characterized in that The engineering machinery control method comprises: Starting the engineering machinery to perform operations; Obtaining the current working condition of the engineering machinery; Obtaining a predetermined load under the current working condition; It is determined whether the current load is greater than or equal to the predetermined load under the current working condition. When the current load is greater than or equal to the predetermined load under the current working condition, the telescopic arm of the engineering machine is not allowed to be extended or retracted. When the current load is less than the predetermined load under the current working condition, the first oil cylinder (97) is allowed to be extended or retracted, and the second oil cylinder (98) is not allowed to be extended or retracted.

2. The construction machinery control method according to claim 1, wherein: When the first oil cylinder (97) is allowed to extend and retract, and the second oil cylinder (98) is not allowed to extend and retract, the engineering machinery control method further comprises: Controlling the first oil cylinder (97) to extend and retract to drive the telescopic arm to extend and retract with load; The pressure of the first oil cylinder (97) is obtained, and it is determined whether the pressure of the first oil cylinder (97) is less than a predetermined pressure. When the pressure of the first oil cylinder (97) is greater than or equal to the predetermined pressure, the telescopic arm of the engineering machine is not allowed to be extended or retracted; when the pressure of the first oil cylinder (97) is less than the predetermined pressure, the first oil cylinder (97) is allowed to be extended or retracted, and the second oil cylinder (98) is not allowed to be extended or retracted.

3. The construction machinery control method according to claim 2, wherein: The pressure of the first oil cylinder (97) includes the rod chamber pressure and the rodless chamber pressure of the first oil cylinder (97). Judging whether the pressure of the first oil cylinder (97) is less than the predetermined pressure is specifically as follows: judging whether one of the rod chamber pressure and the rodless chamber pressure of the first oil cylinder (97) is less than the predetermined pressure; when both the rod chamber pressure and the rodless chamber pressure of the first oil cylinder (97) are less than the predetermined pressure, the step of allowing the first oil cylinder (97) to extend and retract and not allowing the second oil cylinder (98) to extend and retract is entered again; when any one of the rod chamber pressure and the rodless chamber pressure of the first oil cylinder (97) is greater than or equal to the predetermined pressure, the telescopic arm of the engineering machinery is not allowed to extend and retract.

4. The construction machinery control method according to claim 1, wherein: In the step of obtaining the predetermined load under the current working condition, the current working condition of the engineering machine and the loaded telescopic load table are used to obtain the predetermined load under the current working condition.

5. A processor, characterized in that: The method is configured to execute the construction machinery control method according to any one of claims 1 to 4.

6. A control device for engineering machinery, characterized in that: The engineering machinery control device includes a working condition parameter acquisition module and a processor as claimed in claim 5, wherein the working condition parameter acquisition module is used to obtain the current working condition of the engineering machinery during operation, and a load-bearing telescopic load table is preset in the processor.

7. The engineering machinery control device according to claim 6, wherein: The engineering machinery control device further comprises a pressure detection element, the pressure detection element being used to obtain the pressure of the first oil cylinder (97), and the processor being further configured to determine whether the pressure of the first oil cylinder (97) is less than the predetermined pressure when the telescopic arm is extended or retracted with a load, and when the pressure of the first oil cylinder (97) is greater than or equal to the predetermined pressure, the control does not allow the telescopic arm of the engineering machinery to be extended or retracted.

8. The engineering machinery control device according to claim 7, wherein: The pressure of the first oil cylinder (97) includes the rod chamber pressure and the rodless chamber pressure of the first oil cylinder (97), and the processor is specifically configured to determine whether one of the rod chamber pressure and the rodless chamber pressure of the first oil cylinder (97) is less than the predetermined pressure. When any one of the rod chamber pressure and the rodless chamber pressure of the first oil cylinder (97) is greater than or equal to the predetermined pressure, the processor controls the telescopic arm of the engineering machinery not to be extended or retracted.

9. The engineering machinery control device according to claim 6, wherein: The processor is further configured to generate a first electrical signal when the current load is greater than or equal to the predetermined load under the current operating condition, and to generate a second electrical signal when the current load is less than the predetermined load under the current operating condition, wherein the first electrical signal is used to control prohibition of oil supply to the first oil cylinder (97) and the second oil cylinder (98), and the second electrical signal is used to control permission of oil supply to the first oil cylinder (97) and prohibition of oil supply to the second oil cylinder (98).

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the engineering machinery control method according to any one of claims 1 to 4 are implemented.

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