A multi-degree-of-freedom boom limit control system and method for operating equipment

Abstract

This invention discloses a multi-degree-of-freedom boom limit control system and method for operational equipment, belonging to the technical field of emergency rescue equipment. It includes a power compartment mounted on a tracked chassis, with a boom for material suction and positioning mounted on the power compartment. The power compartment also houses a control unit for controlling the overall vehicle's movements and providing protection. The boom is equipped with a detection unit for detecting its position and attitude to achieve boom limit protection and reset. The boom also includes a boom control valve assembly to provide power to the boom. This invention utilizes a multi-sensor fusion detection method formed by the detection unit, control unit, and boom control valve assembly to achieve boom limit protection and one-button reset control logic, enabling the boom to automatically return to its transport state, simplifying operation complexity, and improving boom control accuracy and safety.

Description

Technical Field

[0001] This invention relates to a multi-degree-of-freedom boom limit control system and method for operating equipment, belonging to the field of emergency rescue equipment technology. Background Technology

[0002] With the rapid development of urban construction in my country, the construction of numerous foundation pits, river channels, ditches, and other infrastructure has led to frequent landslide accidents. Previously, rescue operations could only be carried out by manually digging and shoveling soil, which was inefficient and prone to secondary collapses that endangered rescuers. In recent years, suction equipment has been developed, which uses a remote control to operate the suction boom to remove buried materials. However, when controlling the suction boom, operators are prone to collisions with other components due to misoperation, causing damage. Moreover, during relocation rescue, the operation of resetting the boom to the transport state is complex, with low control accuracy, long time, and low automation, which cannot meet the needs of rapid relocation. Therefore, there is an urgent need for a rescue equipment with a high degree of automation, boom protection function, and one-button reset function to meet the timeliness requirements of relocation rescue.

[0003] Currently, most domestic suction equipment uses tracked and wheeled chassis and is equipped with multi-section booms for material suction. When moving the boom to the suction point via remote control, incorrect operating sequence or misoperation can easily cause the boom to collide with certain supporting components, resulting in damage. When transferring the equipment after suction operation, the operator must manually return the boom to its initial transport state. Controlling multi-section booms is not only cumbersome but also has low return control efficiency, poor accuracy, and long reset time, affecting the efficiency of suction operation transfer.

[0004] The existing technology has the following two shortcomings: First, when controlling a multi-section boom, there are few limit protections, and misoperation can easily cause the boom to collide with other components, resulting in damage.

[0005] Secondly, when resetting the boom to its initial state after the suction operation is completed, the operator only controls the boom to perform the corresponding actions by visually following the operation steps. The operation is complicated, the reset control efficiency and accuracy are low, the safety is poor, and the degree of automation is low. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-degree-of-freedom boom limit control system and method for operating equipment, which solves the problem of the boom colliding with other components when misoperated, ensures operational safety, and realizes one-button quick, accurate and safe reset of the boom to the initial transportation state, thereby improving the efficiency of rescue and relocation and the convenience of operation. To achieve the above objectives / to solve the above technical problems, the present invention is implemented using the following technical solution: First aspect: A multi-degree-of-freedom boom limit protection control system for a work equipment, including a power compartment mounted on a tracked chassis, a boom for material suction and positioning mounted on the power compartment, a control unit for controlling the execution and protection of the vehicle's movements within the power compartment, a detection unit for detecting the boom's position and attitude to achieve boom limit protection and reset, and a boom control valve group for providing execution power to the boom.

[0007] Optionally, the boom includes a first boom section, a second boom section, a third boom section, and a fourth boom section that are hinged sequentially. The end of the first boom section is mounted on the power compartment via a slewing bearing. A first boom cylinder for extending or retracting the first boom section is provided between the first boom section and the slewing bearing. A second boom cylinder for extending or retracting the second boom section is provided between the first boom section and the second boom section. A third boom cylinder for extending or retracting the third boom section is provided between the second boom section and the third boom section. A fourth boom cylinder for extending or retracting the fourth boom section is provided between the third boom section and the fourth boom section.

[0008] Optionally, the slewing bearing is equipped with a limit detection plate that cooperates with the detection unit to realize the limit protection of the boom.

[0009] Optionally, the end of the four-section arm is provided with a rotary motor, the rotary motor is connected to a gripper cylinder, and the gripper cylinder is connected to a gripper.

[0010] Optionally, the detection unit includes position sensors A and B located on both sides of the limit detection plate, tilt sensor A located above the first arm section, displacement sensor A located on the first arm section cylinder, displacement sensor B located on the second arm section cylinder, position sensor C located on the second arm section near the end of the first arm section, displacement sensor C located at the extended end of the third arm section cylinder, displacement sensor D located at the extended end of the fourth arm section cylinder, displacement sensor E located on the gripper cylinder, tilt sensor B located on the gripper, and position sensor D located on the gripper support plate.

[0011] Optionally, the boom control valve group includes a single-section boom extension solenoid valve cooperating with displacement sensor A, a two-section boom extension solenoid valve cooperating with displacement sensor B, a three-section boom retraction solenoid valve cooperating with displacement sensor C, a four-section boom retraction solenoid valve cooperating with displacement sensor D, a gripper closing solenoid valve cooperating with displacement sensor E, a support clockwise rotation solenoid valve and a support counterclockwise rotation solenoid valve cooperating with tilt sensor A, a motor clockwise rotation solenoid valve and a motor counterclockwise rotation solenoid valve cooperating with tilt sensor B, and a single-section boom retraction solenoid valve cooperating with position sensors C and D.

[0012] Optionally, the two-section boom is fixed to the power compartment by a boom support.

[0013] Second aspect: A control method based on the multi-degree-of-freedom boom limit protection control system for operating equipment described in the first aspect, the method comprising: When position sensor C detects a signal, control unit 5 sends a restriction command to the first-section arm retraction solenoid valve, the second-section arm retraction solenoid valve, the support clockwise solenoid valve, and the support counterclockwise solenoid valve to prohibit the operation. When position sensor D detects a signal, control unit 5 sends a limiting command to motor forward solenoid valve and motor reverse solenoid valve 724 to prevent the operation from being performed; When the boom is rotating, if the limit detection plate is below position sensor A or position sensor B and a signal is detected, the control unit sends a limit command to the support forward rotation solenoid valve or the support reverse rotation solenoid valve to prohibit the operation.

[0014] Optionally, the method includes one-button boom reset, as follows: The control unit sends a command to energize the solenoid valve of the first arm extension, the cylinder of the first arm begins to extend and lifts the first arm. At the same time, the displacement sensor A detects the extension length of the cylinder and sends the signal to the control unit. When the detected extension length of the cylinder is greater than or equal to the preset value L1, the solenoid valve of the first arm extension is de-energized and the lifting of the first arm stops. When the two-section boom extension solenoid valve is energized, the two-section boom cylinder begins to extend and lifts the two-section boom. At the same time, displacement sensor B detects the cylinder extension length signal and sends it to the control unit. When the detected cylinder extension length value is greater than or equal to the preset value L2, the two-section boom extension solenoid valve is de-energized and the lifting of the two-section boom stops. When the three-section boom retraction solenoid valve is energized, the three-section boom cylinder begins to retract and the three-section boom is retracted. At the same time, the displacement sensor C detects the retraction length of the three-section boom cylinder and sends the signal to the control unit. When the detected cylinder extension length value is less than or equal to the preset value L3, the three-section boom retraction solenoid valve is de-energized and the three-section boom retraction stops. When the four-section boom retraction solenoid valve is energized, the four-section boom cylinder begins to retract and the four-section boom is retracted. At the same time, the displacement sensor D detects the retraction length of the cylinder and sends the signal to the control unit. When the detected cylinder extension length value is less than or equal to the preset value L4, the four-section boom retraction solenoid valve is de-energized and the four-section boom retraction stops. The opening, closing and rotation of the gripper are carried out simultaneously. When the gripper closes, the solenoid valve is energized, the gripper cylinder begins to extend and closes the gripper. At the same time, the displacement sensor E detects the extension length of the cylinder and sends the signal to the control unit. When the detected cylinder extension length is greater than or equal to the preset value L5, the gripper closing solenoid valve is de-energized, and the gripper stops closing; simultaneously, the gripper rotates. When the tilt sensor BY axis is greater than the positive angle R of the tilt sensor, the rotary motor clockwise solenoid valve is energized, and the gripper rotates clockwise; when the tilt sensor BY axis is less than the negative angle -R of the tilt sensor, the rotary motor reverse solenoid valve is energized, and the gripper reverses; when the negative angle -R of the tilt sensor is less than or equal to the tilt sensor BY axis and less than or equal to the positive angle R of the tilt sensor, the rotary motor stops rotating. When the tilt sensor AX axis is greater than the positive angle R of the tilt sensor, the slewing support clockwise solenoid valve is energized, and the boom rotates clockwise; When the tilt sensor AX axis is less than the negative angle of the tilt sensor -R, the slewing support reverse solenoid valve is energized, and the boom reverses. When the negative angle -R of the tilt sensor ≤ the tilt sensor AX axis ≤ the positive angle R of the tilt sensor, the slewing support stops rotating; When the boom retraction solenoid valve is energized, the boom cylinder begins to retract and lowers the boom section. At the same time, position sensors C and D send signals to the control unit. When a signal is detected by either sensor, the boom retraction solenoid valve is de-energized, and the lowering of the boom section stops. At this point, the boom is reset to its initial transport state with a single key press.

[0015] Optionally, the maximum rotation angle of the boom is ±135°.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: This invention forms a multi-sensor fusion detection method by using a detection unit, a control unit, and a boom control valve group to realize boom limit protection and one-key reset control logic, so that the boom can automatically return to the transportation state, simplifying the complexity of operation and improving the accuracy and safety of boom control. The detection unit of this invention uses a multi-sensor detection method to prevent damage caused by operator error when the boom collides with certain components, thereby improving operational safety. Attached Figure Description

[0017] Figure 1 The diagram shown is a schematic representation of one embodiment of the operating equipment system of the present invention. Figure 2 The diagram shown is a schematic representation of one embodiment of the boom element of the present invention. Figure 3 The diagram shown is a schematic representation of the component composition of an embodiment of the boom control system of the present invention. Figure 4 The diagram shown is a schematic representation of an embodiment of the boom limit protection control logic of the present invention. Figure 5 The diagram shown is a schematic representation of the boom of the present invention in its working state. Figure 6 The diagram shown is a schematic of the automatic control logic for one-key reset of the boom of the present invention. In the diagram: 1. Tracked chassis; 2. Dust collection bin; 3. Power compartment; 4. Boom; 5. Control unit; 6. Detection unit; 7. Boom control valve assembly; 8. Boom support; 411. Slewing bearing; 412. Limit detection plate; 413. First-section boom; 414. First-section boom cylinder; 415. Second-section boom; 416. Second-section boom cylinder; 417. Third-section boom; 418. Third-section boom cylinder; 419. Fourth-section boom; 420. Fourth-section boom cylinder; 421. Slewing motor; 422. Gripper; 423. Gripper cylinder; 611. Position sensor A; 612. Position sensor B; 613. Tilt sensor A; 614. Displacement sensor A; 615. Displacement sensor B; 616. Position sensor C; 617. Displacement sensor C; 618. Displacement sensor D; 619. Displacement sensor E; 620. Tilt sensor B; 621. Position sensor D; 711. One-section boom extension solenoid valve; 712. One-section boom retraction solenoid valve; 713. Two-section boom extension solenoid valve; 714. Two-section boom retraction solenoid valve; 715. Three-section boom extension solenoid valve; 716. Three-section boom retraction solenoid valve; 717. Four-section boom extension solenoid valve; 718. Four-section boom retraction solenoid valve; 719. Grip open solenoid valve; 720. Grip close solenoid valve; 721. Support forward rotation solenoid valve; 722. Support reverse rotation solenoid valve; 723. Motor forward rotation solenoid valve; 724. Motor reverse rotation solenoid valve. Detailed Implementation

[0018] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0019] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] Example 1, such as Figures 1-3 As shown, a multi-degree-of-freedom boom limit protection control system for operating equipment is disclosed, as detailed below: The system utilizes a tracked chassis 1 for movement, a dust collection bin 2 for material storage, a power compartment 3 for power and control, and a boom 4 for rapid material suction. The dust collection bin 2 and power compartment 3 are located on the upper part of the tracked chassis 1. The boom 4 is fixed to the dust collection bin 2 via a slewing bearing 411 for material suction positioning. The control unit 5 is installed inside the power compartment 3 to control the overall vehicle's movements and provide protection. Detection units 6 are bolted to the boom 4 to detect its position and attitude, enabling boom limit protection and one-button reset. The boom control valve group 7 is bolted to the boom 4 to provide power. The boom support 8 is bolted to the power compartment 3 to provide fixed support for the boom 4.

[0022] In the specific implementation of this embodiment: the boom includes a first boom 413, a second boom 415, a third boom 417, and a fourth boom 419 that are hinged in sequence. The end of the first boom 413 is mounted on the power compartment 3 via a slewing bearing 411. A first boom cylinder 414 for extending or retracting the first boom 413 is provided between the first boom 413 and the slewing bearing 411. A second boom cylinder 416 for extending or retracting the second boom is provided between the first boom and the second boom 415. A third boom cylinder 418 for extending or retracting the third boom is provided between the second boom 415 and the third boom 417. A fourth boom cylinder 420 for extending or retracting the fourth boom is provided between the third boom and the fourth boom 419. The slewing bearing is equipped with a limit detection plate 412 that works in conjunction with a detection unit to achieve boom limit protection. The limit detection plate 412 is fixed to the slewing bearing 411 by bolts. Signals are detected by position sensors A611 and B612 to achieve the boom limit protection function. The first to fourth boom sections are interconnected via pins and linkage mechanisms to achieve multi-angle luffing of the boom 4. The cylinders for the first to fourth boom sections are mounted on the first to fourth boom sections via pins to execute the boom 4 movements. In this embodiment, the end of the four-section arm 419 is provided with a rotary motor 421. The rotary motor is connected to a gripper cylinder, and the gripper cylinder is connected to a gripper. The gripper 422 realizes the gripper opening and closing gripping action through the gripper cylinder 423 and is installed on the four-section arm through the rotary motor 421 to realize the gripper 422 rotation function.

[0023] like Figure 1 and Figure 2 As shown, the detection unit includes position sensors A611 and B612 located on both sides of the limit detection plate, tilt sensor A613 located above the first arm, displacement sensor A614 located on the first arm cylinder, displacement sensor B615 located on the second arm cylinder, position sensor C616 located on the second arm near the end of the first arm, displacement sensor C617 located at the extended end of the third arm cylinder, displacement sensor D618 located at the extended end of the fourth arm cylinder, displacement sensor E619 located on the gripper cylinder, tilt sensor B620 located on the gripper, and position sensor D621 located on the gripper support plate. like Figure 3 As shown, the boom control valve group includes a single-section boom extension solenoid valve 711 and a single-section boom retraction solenoid valve 712, which cooperate with displacement sensor A to control the extension or retraction of the single boom section; a two-section boom extension solenoid valve 713 and a two-section boom retraction solenoid valve 714, which cooperate with displacement sensor B to control the extension or retraction of the two boom sections; a three-section boom retraction solenoid valve 716 and a three-section boom extension solenoid valve 715, which cooperate with displacement sensor C to control the three boom sections; a four-section boom retraction solenoid valve 718 and a four-section boom extension solenoid valve 717, which cooperate with displacement sensor D; a gripper closing solenoid valve 720, which cooperates with displacement sensor E; a support clockwise rotation solenoid valve 721 and a support counterclockwise rotation solenoid valve 722, which cooperates with tilt sensor A; a motor clockwise rotation solenoid valve 723 and a motor counterclockwise rotation solenoid valve 724, which cooperates with tilt sensor B; and a single-section boom retraction solenoid valve 712, which cooperates with position sensors C and D.

[0024] like Figure 4The diagram shows the boom limit protection control logic. During the movement of boom 4, a multi-sensor detection method is used to implement boom limit protection measures. When the position sensor C616 signal is 1, the control unit 5 sends a restriction command to the first boom retraction solenoid valve 712, the second boom retraction solenoid valve 714, the support forward rotation solenoid valve 721, and the slewing bearing reverse rotation solenoid valve 722 to prohibit the operation and prevent boom 4 from colliding with boom support 8 and causing damage. When the position sensor D621 signal is 1, the control unit 5 sends a restriction command to the motor forward rotation solenoid valve 723 and the slewing motor reverse rotation solenoid valve 724 to prohibit the operation and prevent the grab 422 from colliding with the front heat dissipation mesh of the power compartment 3 and deforming it when rotating. When the boom 4 is rotating, if the limit detection plate 412 is below the A position sensor 611 or the B position sensor 612 and the signal detection = 1, the control unit 5 sends a limit command to the support forward rotation solenoid valve 721 or the slewing support reverse rotation solenoid valve 722 to prohibit the action and limit the maximum rotation of the boom 4 to ±135° to avoid collision with structural components and damage.

[0025] Example 2: As Figures 4-6 Based on the system of Embodiment 1, this invention discloses a method for limiting the movement of a multi-degree-of-freedom boom of a work equipment: When the position sensor C signal detection = 1, the control unit 5 sends a restriction command to the first arm retraction solenoid valve, the second arm retraction solenoid valve, the support clockwise solenoid valve, and the support counterclockwise solenoid valve to prohibit the execution of the action. When the position sensor D signal detects = 1, the control unit 5 sends a limiting command to the motor forward solenoid valve and the motor reverse solenoid valve 724 to prohibit the operation. When the boom is rotating, if the limit detection plate is below position sensor A or position sensor B and the signal detection is 1, the control unit sends a limit command to the support forward rotation solenoid valve or the support reverse rotation solenoid valve to prohibit the action.

[0026] like Figure 6 As shown, the method includes one-button boom reset, as detailed below: The control unit sends a command to energize the solenoid valve of the first arm extension, the cylinder of the first arm begins to extend and lifts the first arm. At the same time, the displacement sensor A detects the extension length of the cylinder and sends the signal to the control unit. When the detected extension length of the cylinder is greater than or equal to the preset value L1, the solenoid valve of the first arm extension is de-energized and the lifting of the first arm stops. When the two-section boom extension solenoid valve is energized, the two-section boom cylinder begins to extend and lifts the two-section boom. At the same time, displacement sensor B detects the cylinder extension length signal and sends it to the control unit. When the detected cylinder extension length value is greater than or equal to the preset value L2, the two-section boom extension solenoid valve is de-energized and the lifting of the two-section boom stops. When the three-section boom retraction solenoid valve is energized, the three-section boom cylinder begins to retract and the three-section boom is retracted. At the same time, the displacement sensor C detects the retraction length of the three-section boom cylinder and sends the signal to the control unit. When the detected cylinder extension length value is less than or equal to the preset value L3, the three-section boom retraction solenoid valve is de-energized and the three-section boom retraction stops. When the four-section boom retraction solenoid valve is energized, the four-section boom cylinder begins to retract and the four-section boom is retracted. At the same time, the displacement sensor D detects the retraction length of the cylinder and sends the signal to the control unit. When the detected cylinder extension length value is less than or equal to the preset value L4, the four-section boom retraction solenoid valve is de-energized and the four-section boom retraction stops. The opening, closing and rotation of the gripper are carried out simultaneously. When the gripper closes, the solenoid valve is energized, the gripper cylinder begins to extend and closes the gripper. At the same time, the displacement sensor E detects the extension length of the cylinder and sends the signal to the control unit. When the detected cylinder extension length is greater than or equal to the preset value L5, the gripper closing solenoid valve is de-energized, and the gripper stops closing; simultaneously, the gripper rotates. When the tilt sensor BY axis is greater than R, the rotary motor clockwise solenoid valve is energized, and the gripper rotates clockwise; when the tilt sensor BY axis is less than -R, the rotary motor reverse solenoid valve is energized, and the gripper reverses; when -R ≤ tilt sensor BY axis ≤ R, the rotary motor stops rotating. When the tilt sensor AX axis > R, the slewing bearing clockwise solenoid valve is energized, and the boom rotates clockwise. When the tilt sensor AX axis < -R, the slewing support reverse solenoid valve is energized, and the boom reverses; When -R≤ tilt sensor AX axis≤R, the slewing support stops rotating; When the boom retraction solenoid valve is energized, the boom cylinder begins to retract and lowers the boom section. At the same time, position sensors C and D send detection signals to the control unit. When one of the signals is detected as 1, the boom retraction solenoid valve is de-energized, and the lowering of the boom section stops. At this point, the boom is reset to its initial transport state with a single key press.

[0027] In the above embodiment, when signal detection = 1, it means that the sensor has detected a signal, R represents the positive angle of the tilt sensor, and -R represents the negative angle of the tilt sensor.

[0028] In summary, this invention employs a multi-sensor fusion detection method to achieve one-button reset control logic for the boom, enabling the boom to automatically return to the transportation state, simplifying operational complexity, and improving the accuracy and safety of boom control. This invention employs a sensor detection method to prevent damage caused by operator error when the boom collides with certain components, thereby improving operational safety.

[0029] 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. A limit protection control system for a multi-degree-of-freedom boom of an operating device, characterized in that, It includes a power compartment mounted on a tracked chassis, a boom for material suction and positioning, a control unit for controlling the vehicle's movements and protection, a detection unit for detecting boom position and attitude to achieve boom limit protection and reset, and a boom control valve group for providing execution power to the boom. The boom includes a first boom section, a second boom section, a third boom section, and a fourth boom section that are hinged together in sequence. The end of the first boom section is mounted on the power compartment via a slewing bearing. A first boom cylinder is provided between the first boom section and the slewing bearing to extend or retract the first boom section. A second boom cylinder is provided between the first boom section and the second boom section to extend or retract the second boom section. A third boom cylinder is provided between the second boom section and the third boom section to extend or retract the third boom section. A fourth boom cylinder is provided between the third boom section and the fourth boom section to extend or retract the fourth boom section. The slewing bearing is equipped with a limit detection plate that cooperates with the detection unit to realize the limit protection of the boom; The detection unit includes position sensors A and B located on both sides of the limit detection plate, tilt sensor A located above the first arm section, displacement sensor A located on the first arm cylinder, displacement sensor B located on the second arm cylinder, position sensor C located on the second arm near the end of the first arm section, displacement sensor C located at the extended end of the third arm cylinder, displacement sensor D located at the extended end of the fourth arm cylinder, displacement sensor E located on the gripper cylinder, tilt sensor B located on the gripper, and position sensor D located on the gripper support plate.

2. The multi-degree-of-freedom boom limit protection control system for operating equipment according to claim 1, characterized in that, The end of the four-section arm is equipped with a rotary motor, the rotary motor is connected to a gripper cylinder, and the gripper cylinder is connected to a gripper.

3. The multi-degree-of-freedom boom limit protection control system for operating equipment according to claim 1, characterized in that, The boom control valve group includes a single-section boom extension solenoid valve that works with displacement sensor A, a two-section boom extension solenoid valve that works with displacement sensor B, a three-section boom retraction solenoid valve that works with displacement sensor C, a four-section boom retraction solenoid valve that works with displacement sensor D, a gripper closing solenoid valve that works with displacement sensor E, a support clockwise rotation solenoid valve and a support counterclockwise rotation solenoid valve that work with tilt sensor A, a motor clockwise rotation solenoid valve and a motor counterclockwise rotation solenoid valve that work with tilt sensor B, and a single-section boom retraction solenoid valve that works with position sensors C and D.

4. The multi-degree-of-freedom boom limit protection control system for operating equipment according to claim 1, characterized in that, The two-section boom is fixed to the power compartment by a boom support.

5. A control method for a multi-degree-of-freedom boom limit protection control system for operating equipment according to any one of claims 1-4, characterized in that, The method includes: When the position sensor C detects a signal, the control unit (5) sends a restriction command to the first arm retraction solenoid valve, the second arm retraction solenoid valve, the support forward rotation solenoid valve and the support reverse rotation solenoid valve to prohibit the operation; When the position sensor D detects a signal, the control unit (5) sends a limiting command to the motor forward solenoid valve and the motor reverse solenoid valve (724) to prohibit the operation; When the boom is rotating, if the limit detection plate is below position sensor A or position sensor B and a signal is detected, the control unit sends a limit command to the support forward rotation solenoid valve or the support reverse rotation solenoid valve to prohibit the operation.

6. The control method of the multi-degree-of-freedom boom limit protection control system for operating equipment according to claim 5, characterized in that, The method includes one-button boom reset, as detailed below: The control unit sends a command to energize the solenoid valve of the first arm extension, the cylinder of the first arm begins to extend and lifts the first arm. At the same time, the displacement sensor A detects the extension length of the cylinder and sends the signal to the control unit. When the detected extension length of the cylinder is greater than or equal to the preset value L1, the solenoid valve of the first arm extension is de-energized and the lifting of the first arm stops. When the two-section boom extension solenoid valve is energized, the two-section boom cylinder begins to extend and lifts the two-section boom. At the same time, displacement sensor B detects the cylinder extension length signal and sends it to the control unit. When the detected cylinder extension length value is greater than or equal to the preset value L2, the two-section boom extension solenoid valve is de-energized and the lifting of the two-section boom stops. When the three-section boom retraction solenoid valve is energized, the three-section boom cylinder begins to retract and the three-section boom is retracted. At the same time, the displacement sensor C detects the retraction length of the three-section boom cylinder and sends the signal to the control unit. When the detected cylinder extension length value is less than or equal to the preset value L3, the three-section boom retraction solenoid valve is de-energized and the three-section boom retraction stops. When the four-section boom retraction solenoid valve is energized, the four-section boom cylinder begins to retract and the four-section boom is retracted. At the same time, the displacement sensor D detects the retraction length of the cylinder and sends the signal to the control unit. When the detected cylinder extension length value is less than or equal to the preset value L4, the four-section boom retraction solenoid valve is de-energized and the four-section boom retraction stops. The opening, closing and rotation of the gripper are carried out simultaneously. When the gripper closes, the solenoid valve is energized, the gripper cylinder begins to extend and closes the gripper. At the same time, the displacement sensor E detects the extension length of the cylinder and sends the signal to the control unit. When the detected cylinder extension length is greater than or equal to the preset value L5, the gripper closing solenoid valve is de-energized, and the gripper stops closing; simultaneously, the gripper rotates. When the tilt sensor BY axis is greater than the positive angle R of the tilt sensor, the rotary motor clockwise solenoid valve is energized, and the gripper rotates clockwise; when the tilt sensor BY axis is less than the negative angle -R of the tilt sensor, the rotary motor reverse solenoid valve is energized, and the gripper reverses; when the negative angle -R of the tilt sensor is less than or equal to the tilt sensor BY axis and less than or equal to the positive angle R of the tilt sensor, the rotary motor stops rotating. When the tilt sensor AX axis is greater than the positive angle R of the tilt sensor, the slewing support clockwise solenoid valve is energized, and the boom rotates clockwise; When the tilt sensor AX axis is less than the negative angle of the tilt sensor -R, the slewing support reverse solenoid valve is energized, and the boom reverses. When the negative angle -R of the tilt sensor ≤ the tilt sensor AX axis ≤ the positive angle R of the tilt sensor, the slewing support stops rotating; When the boom retraction solenoid valve is energized, the boom cylinder begins to retract and lowers the boom section. At the same time, position sensors C and D send signals to the control unit. When a signal is detected by either sensor, the boom retraction solenoid valve is de-energized, and the lowering of the boom section stops. At this point, the boom is reset to its initial transport state with a single key press.

7. The control method of the multi-degree-of-freedom boom limit protection control system for operating equipment according to claim 5, characterized in that, The maximum rotation angle of the boom is ±135°.

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