Risk avoidance control method and system for operating machinery and operating machinery

Abstract

The present invention relates to the field of construction safety technology for operating machinery, and in particular to a risk avoidance control method, system and operating machinery for operating machinery, wherein a data collection module collects geological environment information around the operating machinery and geological environment information of the working surface in real time and transmits it to a data storage module, and the data storage module transmits the relevant information to a risk avoidance control module, and the risk avoidance control module analyzes and determines the risk level based on the collected information and sends it to the operating machinery controller module, and the operating machinery controller module takes corresponding actions based on the level information to enable the operating machinery to continue working or evacuate. The present invention collects real-time dynamic information of the operating environment of the operating machinery to determine whether there is a safety risk. If there is an imminent safety risk, the method guides the operator to quickly escape on his own or reasonably plan a retreat path and operate the excavator to leave the dangerous area, so as to better ensure the safety of the operating machinery and the operating machinery operator.

Description

Technical Field

[0001] The present invention relates to the technical field of construction safety of operating machinery, and in particular to a risk avoidance control method and system for operating machinery, and the operating machinery. Background Art

[0002] Excavators and other operating machinery have a wide range of applications, and their operating range can cover almost all kinds of environmental areas. Some operating environments of operating machinery are relatively harsh and have high safety risks. For example, in some environments that are prone to collapse or landslides, or in operating environments where houses are being demolished, it is easy to cause safety accidents of operating machinery. At present, the main focus of operating machinery is still on improving operating efficiency and reducing fuel consumption. For the operational safety of operating machinery, it is only about the safety data collection of a certain independent collection device on the operating machinery or other independent equipment. Therefore, how to ensure the operational safety of operating machinery in different operating environments has become a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0003] The present invention provides a risk avoidance control method and system for an operating machine, and an operating machine, for solving the defects in the prior art that operating machines such as excavators have poor safety in different operating environments and are prone to operating accidents.

[0004] The present invention provides a risk avoidance control method for an operating machine, comprising: S1, when the operating machine is working at the operating position, real-time collection of environmental information around the operating machine, environmental information of the working surface, and operating information of the excavator itself; S2, based on the collected environmental information around the operating machine, environmental information of the working surface, and operating information of the excavator itself, analysis and determination of the risk level of the operating environment of the operating machine; S3, according to the risk level determined by the analysis, determination of whether the operating machine should continue to perform the operation or evacuate, and execution of the operating machine operation according to the determination result.

[0005] According to a risk avoidance control method for a working machine provided by the present invention, the risk avoidance control method for a working machine also includes: when the working machine travels to a working position, environmental information around the route is collected during the travel, as well as operating parameter information of the working machine is collected to plan an evacuation route for the working machine.

[0006] According to a risk avoidance control method for a working machine provided by the present invention, the step of analyzing and determining the risk level of the working environment of the working machine includes: based on the collected environmental information around the working machine, the environmental information of the working surface and the operating information of the excavator itself, matching and comparing with the information in a cloud database, matching high-similarity data, and generating a risk level; the information in the cloud database includes the historical environmental geological information of the working machine, status information, whether a danger has occurred, and the disposal information after the danger has occurred.

[0007] According to a risk avoidance control method for an operating machine provided by the present invention, after the operating machine operation is performed according to the determination result, the relevant data of the risk avoidance matter and the information on whether the risk avoidance should be made and whether the risk avoidance is ultimately effective are uploaded to a cloud database, and the cloud database continuously iterates and learns the response strategies under different scenarios.

[0008] According to a risk avoidance control method for operating machinery provided by the present invention, the risk levels determined based on the analysis include Level I to Level III, wherein Level I: the operating environment of the operating machinery is safe, defined as no risk or a low-level risk, and the operating machinery does not make any safety prompts; Level II: there is a risk of small-scale damage to the operating machinery, defined as a medium-level risk, and the operator is prompted that there is a medium-level risk in the working environment, and a voice prompt is given to the operator to prepare for timely evacuation; Level III: there is a situation that endangers the safety of the operating machinery and the personal safety of the operator, defined as a major risk, and a warning signal for the operating machinery to evacuate is generated.

[0009] The present invention also provides a risk avoidance control system for a working machine, which is suitable for executing any one of the risk avoidance control methods for a working machine described above. The risk avoidance control system for a working machine includes a data collection module, a data storage module, a risk avoidance control module and a working machine controller module, wherein the data collection module includes a camera module, a noise detection module and a radar module, the camera module is used to identify the surrounding environment of the working machine and the geological information, status information and possible or existing displacement information of the working surface through video information; the noise detection module is used to monitor the infrasound or ultrasonic information generated before the danger occurs; the radar module is used to monitor whether there are abnormal changes in the working surface; the data storage module is electrically connected to the data collection module, and is used to collect and store the information collected by the camera module, the noise detection module and the radar module; the risk avoidance control module is electrically connected to the data storage module, and is used to determine the risk level according to the information collected and stored by the data storage module; the working machine controller module is electrically connected to the risk avoidance control module, and is used to prompt the operating machine operator to execute control instructions according to the risk level determined by the risk avoidance control module.

[0010] According to a risk avoidance control system for a working machine provided by the present invention, the camera module includes a camera and a drone camera; the radar module includes a laser radar and a millimeter-wave radar, the laser radar is used to perform real-time imaging of the working surface and the surrounding environment of the working machine, and perceive changes in the surrounding environment of the working machine; the millimeter-wave radar is used to perform real-time scanning imaging and early warning of possible dangerous objects.

[0011] According to a risk avoidance control system for a working machine provided by the present invention, the risk avoidance control system for the working machine also includes a cloud database module, the cloud database module stores the historical environmental geological information, status information and whether a danger occurs and the disposal information after the danger occurs of the working machine, the cloud database module and the data storage module are connected by wireless communication, and are used to match and compare with the information collected and stored by the data storage module, and send the comparison result to the risk avoidance control module.

[0012] According to a hazard avoidance control system for a working machine provided by the present invention, the hazard avoidance control system for the working machine also includes a display screen module connected to the working machine controller module and a working machine actuator, and the working machine actuator includes at least the engine, main valve, main pump and cylinder of the working machine.

[0013] The present invention also provides an operating machine, which can execute the risk avoidance control method for an operating machine as described in any one of the above claims, or includes the risk avoidance control system for an operating machine as described in any one of the above claims.

[0014] The risk avoidance control method, system and working machine provided by the present invention for working machinery collect geological environment information around the working machinery and geological environment information of the working surface in real time through the camera module, noise detection module and radar module arranged on the working machinery, and transmit the information to the data storage module, the data storage module collects and stores the working condition information of the working machinery during operation, and also receives the information collected by the camera module, noise detection module and radar module, and transmits the relevant information to the risk avoidance control module, the risk avoidance control module analyzes and determines the risk level according to the information collected by the camera module, noise detection module and radar module, when the risk level is determined, the risk avoidance control module sends the level information to the working machinery controller module, and the working machinery controller module makes corresponding actions according to the level information, so that the working machinery continues to work or evacuates. The present invention is used to solve the hidden danger of poor working safety of working machinery in different working conditions, by collecting real-time dynamic information of the working environment of the working machinery, judging whether there is a safety risk, if there is an imminent safety risk, guiding the operator to quickly escape by himself or reasonably plan the retreat path and operate the excavator to leave the dangerous area, so as to better ensure the safety of the working machinery and the operating machinery operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a flow chart of the risk avoidance control method for operating machinery provided by the present invention.

[0017] Figure 2 It is a schematic diagram of the principle of the risk avoidance control system for operating machinery provided by the present invention.

[0018] Figure numerals: 1. Camera module; 2. Noise detection module; 3. Radar module; 4. Data storage module; 5. Hazard avoidance control module; 6. Operating machinery controller module; 7. Cloud database module; 8. Display screen module; 9. Operating machinery actuator. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0021] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0022] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0023] Combine the following Figure 1 and Figure 2 The present invention describes a risk avoidance control method and system for a working machine and a working machine.

[0024] One embodiment of the present invention provides a risk avoidance control method for an operating machine, see Figure 1 As shown, it includes: S1. When the operating machine is working at the working position, the environmental information around the operating machine, the environmental information of the working surface and the operating information of the excavator itself are collected in real time; S2. Based on the collected environmental information around the operating machine, the environmental information of the working surface and the operating information of the excavator itself, the risk level of the operating environment of the operating machine is analyzed and determined; S3. According to the risk level determined by the analysis, it is determined whether the operating machine continues to perform the operation or evacuates, and the operating machine operation is performed according to the determination result.

[0025] It can be understood that the risk avoidance control method for operating machinery in the present embodiment is used to solve the hidden danger of poor operating safety of operating machinery in different working conditions. By collecting real-time dynamic information on the working environment of the operating machinery, it is determined whether there is a safety risk. If there is an imminent safety risk, the operator is guided to escape quickly on his own or reasonably plan a retreat route and operate the excavator to leave the dangerous area, so as to better ensure the safety of the operating machinery and the operating machinery operator.

[0026] Specifically, combined Figure 2The risk avoidance control system for the working machinery shown is explained. After the working machinery drives to the working position and starts working, the geological environment information around the working machinery and the geological environment information of the working surface are collected in real time by the camera module 1, the noise detection module 2 and the radar module 3 arranged on the working machinery, and the information is transmitted to the data storage module 4. The data storage module 4 collects and stores the working condition information of the working machinery during operation, and also receives the information collected by the camera module 1, the noise detection module 2 and the radar module 3, and transmits the relevant information to the risk avoidance control module 5. The risk avoidance control module 5 analyzes and determines the risk level based on the information collected by the camera module 1, the noise detection module 2 and the radar module 3. When the risk level is determined, the risk avoidance control module 5 sends the level information to the working machinery controller module 6. The working machinery controller module 6 takes corresponding actions based on the level information to enable the working machinery to continue working or evacuate.

[0027] In some embodiments of the risk avoidance control method for working machinery of the present invention, the risk avoidance control method for working machinery also includes: in the process of the working machinery traveling to the working position, collecting environmental information around the route during the driving process, and collecting operating parameter information of the working machinery, and planning an evacuation route for the working machinery.

[0028] Continue to combine Figure 2 As can be understood from the risk avoidance control system shown, the risk avoidance control method for the working machinery of this embodiment, in the process of the working machinery traveling to the working position, collects environmental information around the route during the driving process, as well as the operating parameter information of the excavator itself, through the camera module 1, the noise detection module 2 and the radar module 3 arranged on the working machinery, and transmits the information to the data storage module 4 for data storage. When the working machinery arrives at the working position and starts working, the risk avoidance control module 5 plans the evacuation route of the working machinery according to the relevant information of the driving route of the working machinery in the data storage module 4 and the relevant geological environment information at the working position of the working machinery. When the system generates a danger signal indicating evacuation, the evacuation can be carried out according to the planned evacuation route of the working machinery.

[0029] In other embodiments of the risk avoidance control method for working machinery of the present invention, the step of analyzing and determining the risk level of the working environment of the working machinery includes: based on the collected environmental information around the working machinery, the environmental information of the working surface and the operating information of the excavator itself, matching and comparing with the information in the cloud database, matching high-similarity data, and generating a risk level; the information in the cloud database includes the historical environmental geological information of the working machinery, status information, whether a danger has occurred, and the disposal information after the danger has occurred.

[0030] It should be understood that in some specific examples, for some situations that may immediately endanger the safety of the driver or vehicle, such as falling rocks, when such information is collected, it is not necessary to match and compare it with the information in the cloud database. The risk avoidance control module 5 needs to directly control the operating machinery through the operating machinery controller module 6 to perform emergency risk avoidance, such as immediately executing disposal plans such as moving the entire vehicle, rotating the vehicle, and blocking with a working device.

[0031] Continue to combine Figure 2 In the illustrated risk avoidance control system, it can be understood that the cloud database module 7 in the system can be used as the cloud database of the risk avoidance control method for the operating machine of this embodiment. The cloud database module 7 mainly stores a large amount of historical data information of the operating machine, including environmental geological information, the status information of the operating machine, whether a danger occurs, and the disposal information after the danger occurs. The risk avoidance control module 5 matches and compares the texture information, crack information, displacement information, sound wave information, etc. collected by the camera module 1, the noise detection module 2 and the radar module 3 collected and stored by the data storage module 4 with the information in the cloud database module 7, downloads the data with high similarity, and transmits the corresponding disposal method to the operating machine controller module 6 to execute the corresponding control instructions. For example: if the matched information shows that a working machine in the cloud has encountered a similar problem, but the working machine did not take risk avoidance actions, but eventually a safety accident occurred, under this information prompt, the risk avoidance control module 5 will immediately generate a risk avoidance action instruction, and remind the operator that he is about to take a risk avoidance operation action, and then implement the corresponding risk avoidance action.

[0032] Furthermore, in some examples of the risk avoidance control method for working machinery of the present invention, after the operating machinery operation is performed according to the determined result, it is necessary to upload the relevant data of this risk avoidance matter and the information on whether risk avoidance should be taken and whether the risk avoidance is ultimately effective to the cloud database. The cloud database continuously iterates and learns the response strategies under different scenarios to improve the accuracy of risk judgment and help the operator to successfully evacuate the dangerous area.

[0033] In other embodiments of the risk avoidance control method for operating machinery of the present invention, the risk levels determined according to the analysis include Level I to Level III, wherein Level I: the operating environment of the operating machinery is safe, defined as no risk or low-level risk, and the operating machinery does not make safety prompts; Level II: there is a risk of small-scale damage to the operating machinery, defined as a medium-level risk, and the operator is prompted that there is a medium-level risk in the working environment, and a voice prompt is given to the operator to prepare for timely evacuation; Level III: there is a situation that endangers the safety of the operating machinery and the personal safety of the operator, defined as a major risk, and a warning signal for the evacuation of the operating machinery is generated.

[0034] It can be understood that when data with high similarity can be matched in the cloud database module 7, corresponding control instructions can be made according to the matching data. When the risk avoidance control module 5 fails to match similar data in the data storage module 4 in the cloud database module 7, it is necessary to make control instructions by its own judgment. The risk avoidance control module 5 conducts a comprehensive evaluation based on the texture information, crack information, displacement information, sound wave information, etc. collected by the camera module 1, the noise detection module 2 and the radar module 3, and calculates the stability coefficient σ of the working surface. When the stability coefficient σ>1, the risk level is determined to be level I, when the stability coefficient σ=1, the risk level is determined to be level II, and when the stability coefficient σ<1, the risk level is determined to be level III. When the risk level is Level I (no risk or small risk), the display screen module 8 prompts the operator that there is a small risk in the working environment; when the risk level is Level II (intermediate risk), the display screen module 8 prompts the operator that there is an intermediate risk in the working environment, and a voice prompts the operator to prepare for timely evacuation; when the risk level is Level III (large risk), the display screen module 8 prompts the operator that there is a large risk in the working environment, and a voice prompts the operator to evacuate in time.

[0035] On the other hand, the present invention further provides a risk avoidance control system for a working machine, which is suitable for executing the risk avoidance control method for a working machine of any one of the above-mentioned embodiments. In some embodiments of the risk avoidance control system for a working machine of the present invention, the risk avoidance control system includes a data collection module, a data storage module 4, a risk avoidance control module 5 and a working machine controller module 6, wherein the data collection module includes a camera module 1, a noise detection module 2 and a radar module 3, the camera module 1 is used to identify the surrounding environment of the working machine and the geological information, status information and possible or existing displacement information of the working surface through video information; the noise detection module 2 is used to monitor the infrasound or ultrasonic information generated before the danger occurs; the radar module 3 is used to monitor whether there are abnormal changes in the working surface; the data storage module 4 is electrically connected to the data collection module, and is used to collect and store information collected by the camera module 1, the noise detection module 2 and the radar module 3; the risk avoidance control module 5 is electrically connected to the data storage module 4, and is used to judge the risk level according to the information collected and stored by the data storage module 4; the working machine controller module 6 is electrically connected to the risk avoidance control module 5, and is used to prompt the operating machine operator to execute control instructions according to the risk level judged by the risk avoidance control module 5.

[0036] It should be understood that each module involved in the present invention is a device or component for performing corresponding functions. Some existing devices or components can be used to perform corresponding functions. They are not introduced and exemplified in detail here. Existing execution elements can be selected according to the functions.

[0037] It can be understood that the risk avoidance control system for the working machinery of the present embodiment collects environmental information around the route during driving, as well as operating parameter information of the excavator itself, through the camera module 1, noise detection module 2 and radar module 3 arranged on the working machinery during the driving process of the working machinery to the working position, and transmits the information to the data storage module 4. The risk avoidance control module 5 plans the excavator evacuation route based on the relevant information of the driving route of the working machinery in the data storage module 4 and the relevant geological environment information at the working position of the working machinery. When the operating machine drives to the working position and starts working, the camera module 1, the noise detection module 2 and the radar module 3 collect the environmental information around the operating machine, the environmental information of the working surface and the operating information of the operating machine itself in real time, and transmit the information to the data storage module 4. The risk avoidance control module 5 makes a risk rating judgment based on the geological information, crack information, displacement information, sound wave information, etc. collected by the data storage module 4, and sends the risk level information to the operating machine controller module 6. The operating machine controller module 6 takes corresponding actions based on the risk level information. If the risk level is low, the operating machine can continue to carry out construction work. If the risk level is high, the risk avoidance control module 5 generates an operating machine evacuation signal, and sends the evacuation signal and the planned route to the operating machine controller module 6. The operating machine controller module 6 evacuates the high-risk area as quickly as possible based on the evacuation signal and the planned route of the risk avoidance control module 5.

[0038] In some embodiments of the risk avoidance control system for working machinery of the present invention, the camera module 1 includes but is not limited to cameras and drone cameras; the radar module 3 is but not limited to lidar, phased array radar, ultrasonic radar, etc. In some specific examples, the radar module 3 includes lidar and millimeter wave radar. The lidar is used to perform real-time imaging of the working surface and the surrounding environment of the working machinery and perceive changes in the environment around the working machinery; the millimeter wave radar is used to perform real-time scanning imaging and early warning of possible dangerous objects.

[0039] It is understandable that the camera module 1 can collect the route of the working machine to the working position and the environmental information around and at the working position. For example, for the environment around the route, a camera or a drone is used to collect and record the route for easy evacuation; for the environment at the working position, the camera or drone is used to identify the texture of the surrounding environment, determine whether it is sand, soil, rock, and whether it is in a loose state or a polymerized state, generate a three-dimensional simulation image in real time, and detect whether there is or is cracked, and transmit the relevant information to the data storage module 4; the noise detection module 2 collects vibration information around the working environment of the excavator, including infrasound, ultrasound and audible sound waves. The radar module 3 mainly monitors whether there are abnormal changes in the working surface, such as large-scale displacement or small-scale shedding, gravel shedding, etc. Specifically, the laser radar of the radar module 3 mainly performs real-time imaging on the working surface of the working machine and the surrounding environment of the working machine, and perceives changes in the surrounding environment of the excavator. The millimeter wave radar mainly performs real-time scanning and imaging warning for possible dangerous objects such as falling rocks. The radar module 3 transmits the scanned information to the data storage module 4 in real time.

[0040] In some other embodiments of the risk avoidance control system for working machinery of the present invention, the risk avoidance control system for working machinery also includes a cloud database module 7, which stores the historical environmental geological information, status information and whether a danger occurs and the disposal information after the danger occurs of the working machinery. The cloud database module 7 is connected to the data storage module 4 by wireless communication, which is used to match and compare the information collected and stored by the data storage module 4, and send the comparison result to the risk avoidance control module 5.

[0041] It can be understood that the data storage module 4 collects and stores geological information, crack information, displacement information, sound wave information, etc., which can be matched and compared with the information in the cloud database module 7, download data with high similarity, and transmit the corresponding disposal method to the risk avoidance control module 5 to generate corresponding action instructions; for example: if the matched information shows that an excavator in the cloud has encountered a similar problem, but the excavator did not take any risk avoidance action, but a safety incident eventually occurred, the risk avoidance control module 5 immediately generates a risk avoidance action instruction, and reminds the driver that he is about to perform a risk avoidance operation, and then implements the corresponding risk avoidance action, and finally records whether a safety incident actually occurs after the risk avoidance action, and uploads the results and other relevant information to the data storage module 4. The data storage module 4 uploads all the corresponding data to the cloud database module 7 for storage, and continuously iterates and learns the response strategies in different scenarios, improves the accuracy of risk judgment and helps the operator to successfully evacuate the dangerous area.

[0042] In some other specific embodiments of the risk avoidance control system for working machinery of the present invention, the risk avoidance control system for working machinery also includes a display screen module 8 and a working machinery actuator 9 connected to the working machinery controller module 6, and the working machinery actuator 9 includes at least the engine, main valve, main pump and oil cylinder of the working machinery. The working machinery controller module 6 sends the risk information to the display screen module 8 of the working machinery according to the risk level information sent by the risk avoidance control module 5, reminding the operator. For risk levels above level II (intermediate risk), a voice prompt is also given. For risk levels above level III (higher risk), on the basis of the text prompt and voice prompt of the display screen module 8, current signals are respectively generated to the working machinery actuator 9 (engine, main valve, main pump and oil cylinder, etc.), so as to automatically operate the excavator to evacuate the dangerous area according to the planned route.

[0043] On the other hand, the present invention also provides a working machine, which can execute any one of the risk avoidance control methods for working machines described above, or include any one of the risk avoidance control systems for working machines described above. It can be understood that the working machine provided by the present invention has the corresponding risk avoidance control function because it executes the risk avoidance control method for working machines in the above embodiments, or includes the risk avoidance control system for working machines in the above embodiments. The real-time information near the working position of the working machine is detected through the data collection module, and the risk level is determined by comprehensive analysis. For risks of level II (intermediate risk) and below, only text and voice prompts are given. For risks of level III (higher risk), in addition to text and voice prompts, the working machine is operated to evacuate the risk area according to the planned route, further improving the safety of the operating machine operator and the working machine.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A risk avoidance control method for an operating machine, characterized in that: include: S1. When the operating machine is working at the operating position, the environmental information around the operating machine, the environmental information of the working surface and the operating information of the excavator itself are collected; S2. Analyze and determine the risk level of the working environment of the working machine based on the collected environmental information around the working machine, the environmental information of the working surface, and the operating information of the excavator itself; S3. Based on the risk level determined by the analysis, determine whether the operating machinery should continue the operation or evacuate, and perform the operation of the operating machinery based on the determination result.

2. The risk avoidance control method for a working machine according to claim 1, characterized in that: Also includes: When the operating machinery is traveling to the operating location, environmental information around the route is collected, as well as operating parameter information of the operating machinery, to plan the evacuation route of the operating machinery.

3. The risk avoidance control method for a working machine according to claim 1, characterized in that: The step of analyzing and determining the risk level of the working environment of the working machine includes: matching and comparing the collected environmental information around the working machine, the environmental information of the working surface and the operation information of the excavator itself with the information in the cloud database, matching highly similar data and generating a risk level; The information in the cloud database includes historical environmental geological information of the operating machinery, status information, whether a danger has occurred, and information on how to deal with the danger after it has occurred.

4. The risk avoidance control method for a working machine according to claim 3, characterized in that: After the operation of the operating machinery is performed according to the determined result, the relevant data of the risk avoidance event and the information on whether the risk avoidance should be carried out and whether the risk avoidance is ultimately effective are uploaded to the cloud database, and the cloud database continuously iterates and learns the response strategies under different scenarios.

5. The risk avoidance control method for a working machine according to claim 1, characterized in that: The risk levels determined based on the analysis include: Level I: The operating environment of the operating machinery is safe, which is defined as no risk or low-level risk, and the operating machinery does not provide safety warnings; Level II: There is a risk of minor damage to the operating machinery, which is defined as a medium risk. The operator is prompted to prepare for timely evacuation in the working environment with a voice prompt. Level III: There is a situation that endangers the safety of the operating machinery and the personal safety of the operator. It is defined as a major risk and a warning signal for the evacuation of the operating machinery is generated.

6. A risk avoidance control system for an operating machine, characterized in that: Suitable for executing the risk avoidance control method for a working machine as claimed in any one of claims 1 to 5, the risk avoidance control system for the working machine comprises: A data collection module, the data collection module comprising a camera module (1), a noise detection module (2) and a radar module (3), the camera module (1) being used to identify geological information, status information and possible or existing displacement information of the surrounding environment of the operating machine and the working surface through video information; the noise detection module (2) being used to monitor infrasound or ultrasonic information generated before a danger occurs; and the radar module (3) being used to monitor whether there are any abnormal changes on the working surface; A data storage module (4), electrically connected to the data collection module, and used to collect and store information collected by the camera module (1), the noise detection module (2) and the radar module (3); A risk avoidance control module (5), electrically connected to the data storage module (4), and used to determine the risk level based on information collected and stored by the data storage module (4); The operating machine controller module (6) is electrically connected to the risk avoidance control module (5) and is used to prompt an operating machine operator to execute a control instruction according to the risk level determined by the risk avoidance control module (5).

7. The risk avoidance control system for a working machine according to claim 6, characterized in that: The camera module (1) comprises a camera and a drone camera; the radar module (3) comprises a laser radar and a millimeter wave radar, wherein the laser radar is used to perform real-time imaging of the working surface of the operating machine and the surrounding environment, and to sense changes in the surrounding environment of the operating machine; and the millimeter wave radar is used to perform real-time scanning imaging and early warning of possible dangerous objects.

8. The risk avoidance control system for a working machine according to claim 6, characterized in that: The risk avoidance control system for the operating machine further comprises a cloud database module (7), wherein the cloud database module (7) stores historical environmental geological information of the operating machine, status information, and information on whether a danger has occurred and the disposal information after the danger has occurred. The cloud database module (7) is connected to the data storage module (4) by wireless communication, and is used to match and compare the information collected and stored by the data storage module (4), and send the comparison result to the risk avoidance control module (5).

9. The risk avoidance control system for a working machine according to any one of claims 6 to 8, characterized in that: The risk avoidance control system for an operating machine further comprises a display screen module (8) connected to the operating machine controller module (6) and an operating machine actuator (9), wherein the operating machine actuator (9) comprises at least an engine, a main valve, a main pump and a cylinder of the operating machine.

10. A working machine, characterized in that: The working machine is suitable for executing the risk avoidance control method for the working machine described in any one of claims 1 to 5, or includes the risk avoidance control system for the working machine described in any one of claims 6 to 9.

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