Control method and control system for preventing tipping of boom type operation machine and operation machine

Abstract

The invention relates to the technical field of operation machinery, in particular to a control method and a control system for preventing tipping of an arm support type operation machinery and the operation machinery, and the control method comprises the following steps: acquiring an inclination angle alpha of a vehicle body, a rotation angle beta of an operation arm and an absolute angle gamma of the operation arm; the angle omega of the working arm relative to the vehicle body is obtained based on the inclination angle alpha of the vehicle body, the rotation angle beta of the working arm and the absolute angle gamma of the working arm, and the overturning moment is obtained based on the angle omega of the working arm relative to the vehicle body, the length of the arm frame and the mass of the arm frame; and the supporting leg overturning moment of the arm frame of the arm frame type operation mechanical arm frame is obtained, and the real-time overturning moment is controlled to be smaller than the supporting leg overturning moment. According to the anti-rollover control method and control system for the arm support type operation machine and the operation machine, the overturning moment is obtained by calculating the angle of the operation arm relative to the vehicle body, the real-time overturning moment is controlled to be smaller than the supporting leg overturning moment, the anti-rollover capacity of the operation machine is improved, and therefore the operation safety of equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of operating machinery, and in particular to a control method and control system for preventing an arm-type operating machinery from tipping over, and the operating machinery. Background Art

[0002] With the development of diversified applications of operating machinery, the structure of operating machinery is becoming more refined, user-friendly, and easier to operate and maintain. For example, concrete pump trucks currently have tilt sensors installed on the working boom to prevent tipping. These sensors detect the absolute angle of the boom, that is, the angle of the boom relative to the horizontal plane.

[0003] However, only the tilt angle of the entire vehicle and the absolute angle of the boom are considered, and the rotation angle of the boom relative to the vehicle body is not considered. Due to different rotation angles, the relative angles between the boom and the vehicle body are also different, resulting in poor accuracy in anti-rollover. Summary of the Invention

[0004] The present invention provides a control method and control system for preventing tipping of an arm-type working machine, and the working machine, so as to solve the defect of poor anti-tipping accuracy in the prior art, thereby enhancing the anti-tipping capability of the working machine and improving the operating safety of the equipment.

[0005] The present invention provides a control method for preventing a boom-type working machine from tipping over. The boom-type working machine includes a working arm, and the working arm includes a multi-section boom, wherein the multi-section booms are hinged to each other; the method comprises: Obtain the tilt angle α of the vehicle body, the rotation angle β of the working arm, and the absolute angle γ of the working arm; Based on the tilt angle α of the vehicle body, the rotation angle β of the working arm and the absolute angle γ of the working arm, an angle ω of the working arm relative to the vehicle body is obtained; Obtaining a tipping moment based on the angle ω of the working arm relative to the vehicle body, the length of the boom, and the mass of the boom; The overturning moment of the supporting legs of the boom-type working robot is obtained, and the real-time overturning moment is controlled to be smaller than the overturning moment of the supporting legs.

[0006] According to a control method for preventing an arm-type working machine from tipping over provided by the present invention, the step of obtaining the inclination angle α of the vehicle body, the rotation angle β of the working arm, and the absolute angle γ of the working arm comprises: Obtaining an inclination angle α1 of the vehicle body in the first direction and an absolute angle γ1 of the working arm in the first direction; Alternatively, the inclination angle α2 of the vehicle body in the second direction and the absolute angle γ2 of the working arm in the second direction are obtained, wherein the first direction and the second direction are the X direction and the Y direction perpendicular to each other in the horizontal plane.

[0007] According to a control method for preventing rollover of a boom-type working machine provided by the present invention, the angle ω of the working arm relative to the vehicle body is obtained based on the tilt angle α of the vehicle body, the rotation angle β of the working arm, and the absolute angle γ of the working arm, including: Based on the inclination angle α1 of the vehicle body in the first direction, the absolute angle γ1 of the working arm in the first direction and the rotation angle β of the working arm, the angle ω1 of the working arm relative to the vehicle body in the X direction is obtained. .

[0008] According to a control method for preventing rollover of a boom-type working machine provided by the present invention, an angle ω of the working arm relative to the vehicle body is obtained based on the tilt angle α of the vehicle body, the rotation angle β of the working arm, and the absolute angle γ of the working arm, including: Based on the inclination angle α2 of the vehicle body in the second direction, the absolute angle γ2 of the working arm in the second direction and the rotation angle β of the working arm, the angle ω2 of the working arm relative to the vehicle body in the Y direction is obtained. .

[0009] According to the present invention, a control method for preventing a boom-type working machine from tipping over further includes: When the real-time overturning moment exceeds the overturning moment of the legs of the boom-type operating mechanical arm, an alarm command is issued.

[0010] The present invention also provides an anti-rollover control system for a boom-type working machine, comprising: A first detection device is used to detect the tilt angle α of the vehicle body; A second detection device is used to detect the rotation angle β of the working arm; A third detection device is used to detect the absolute angle γ of the working arm; a calculation device, communicatively connected to the first detection device, the second detection device, and the third detection device; the calculation device is configured to calculate an angle ω of the working arm relative to the vehicle body based on the tilt angle α of the vehicle body, the rotation angle β of the working arm, and the absolute angle γ of the working arm, and further calculate a real-time overturning moment based on the angle ω of the working arm relative to the vehicle body, the length of the boom, and the mass of the boom; The control device obtains the overturning moment of the support legs of the boom-type working robot arm and controls the real-time overturning moment to be smaller than the overturning moment of the support legs.

[0011] According to an anti-rollover control system for a boom-type working machinery provided by the present invention, the first detection device includes an electronic level, the second detection device includes a rotary encoder, and the third detection device includes a single-axis inclination sensor.

[0012] According to an anti-rollover control system for a boom-type working machinery provided by the present invention, the first detection device includes an electronic level, the second detection device includes a rotary encoder, and the third detection device includes a single-axis inclination sensor.

[0013] According to the present invention, an anti-rollover control system for a boom-type working machine further includes a control device connected to a computing device; the control device is configured to receive a calculation result from the computing device and compare the calculation result with a preset range of an angle ω of the working arm relative to the vehicle body; when the real-time overturning moment exceeds the overturning moment of the support legs of the boom-type working machine, the control device issues an alarm command.

[0014] According to the present invention, an anti-rollover control system for a boom-type working machine further includes an alarm device for receiving the alarm instruction and issuing an alarm signal.

[0015] The present invention further provides an operating machine, comprising the anti-rollover control system for the boom-type operating machine described in any one of the above items.

[0016] The present invention provides a control method for preventing rollover of a boom-type working machine, which obtains the tilt angle α of the vehicle body, the rotation angle β of the working arm, and the absolute angle γ of the working arm; based on the tilt angle α of the vehicle body, the rotation angle β of the working arm, and the absolute angle γ of the working arm, the angle ω of the working arm relative to the vehicle body is calculated to obtain a calculation result, so that the angle monitoring of the mechanical arm is more accurate, and based on the angle ω of the working arm relative to the vehicle body, the length of the boom, and the mass of the boom, a real-time overturning torque is obtained; the overturning torque of the support legs of the boom-type working machine is obtained, and the real-time overturning torque is controlled to be less than the overturning torque of the support legs, thereby improving the anti-rollover capability of the working machine and thus improving the operation safety of the equipment.

[0017] The anti-rollover control system for a boom-type working machinery provided by the present invention detects the inclination angle α of the vehicle body by a first detection device, detects the rotation angle β of the working arm by a second detection device, and detects the absolute angle γ of the working arm by a third detection device. The calculation device calculates the angle ω of the working arm relative to the vehicle body based on the inclination angle α of the vehicle body, the rotation angle β of the working arm, and the absolute angle γ of the working arm, so that the angle monitoring of the mechanical arm is more accurate, and the overturning moment is obtained based on the angle ω of the working arm relative to the vehicle body, the length of the boom, and the mass of the boom; the overturning moment of the support leg of the boom-type working machinery is obtained, and the real-time overturning moment is controlled to be less than the overturning moment of the support leg, thereby improving the anti-rollover capability of the working machinery and thus improving the operation safety of the equipment.

[0018] The present invention further provides a working machine, which includes the boom-type working machine anti-rollover control system as described above and thus has the various advantages as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to 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 any creative work.

[0020] Figure 1 It is a flow chart of the anti-rollover control method of the boom-type working machinery provided by the present invention.

[0021] Figure 2 This is one of the structural schematic diagrams of the anti-rollover control system for the boom-type working machinery provided by the present invention.

[0022] Figure 3 This is the second structural diagram of the anti-rollover control system for the boom-type working machinery provided by the present invention.

[0023] Reference numerals: 1. First detection device; 2. Second detection device; 3. Third detection device; 4. Calculation device; 5. Control device; 6. Alarm device. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0025] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0026] The following combination Figure 1 The present invention describes the anti-rollover control method of the boom-type working machine. Figure 1This is one of the flow charts of the control method for preventing the arm-type working machinery from overturning provided by the present invention, such as Figure 1 As shown, the method includes the following: Step S1: Obtain the tilt angle α of the vehicle body, the rotation angle β of the working arm, and the absolute angle γ of the working arm.

[0027] The tilt angle α of the vehicle body can be understood as the tilt angle of the vehicle body relative to the horizontal plane. The tilt angle of the vehicle body can be measured by tilt sensors installed on the vehicle. These tilt sensors can detect the tilt state of the vehicle in real time and output a corresponding tilt angle value.

[0028] In addition, the tilt sensor may be an acceleration sensor, a gyroscope, etc. In practical applications, in order to ensure measurement accuracy, the sensor may also need to be calibrated and the dynamic changes of the vehicle under different road conditions may be taken into account.

[0029] The rotation angle β of the working arm can be measured by an encoder or rotation sensor installed at the joint of the working arm. These sensors can record the rotation angle β of the working arm in real time and output the corresponding digital signal.

[0030] The absolute angle γ of the working arm can be calculated using an absolute angle sensor or by combining the readings of multiple relative angle sensors (such as encoders). An absolute angle sensor directly outputs the absolute angle value of the working arm relative to a fixed reference point.

[0031] Step S2: Calculate the angle ω of the working arm relative to the vehicle body based on the tilt angle α of the vehicle body, the rotation angle β of the working arm, and the absolute angle γ of the working arm to obtain a calculation result.

[0032] It should be noted that during the calculation process, various error sources, such as sensor errors, need to be considered, and corresponding measures need to be taken to compensate and correct the errors.

[0033] Step S3: obtaining a real-time overturning moment based on the angle ω of the working arm relative to the vehicle body, the length of the boom, and the mass of the boom; Step S4: obtaining the overturning moment of the support legs of the boom-type working robot, and controlling the real-time overturning moment to be smaller than the overturning moment of the support legs.

[0034] The present invention calculates the angle ω of the working arm relative to the vehicle body based on the inclination angle α of the vehicle body, the rotation angle β of the working arm and the absolute angle γ of the working arm, and then obtains the real-time overturning moment based on the angle ω of the working arm relative to the vehicle body, the length of the arm and the mass of the arm, and obtains the overturning moment of the support legs of the arm of the arm-type working machine. The real-time overturning moment is controlled to be less than the overturning moment of the support legs, thereby improving the anti-rollover capability of the working machine and thus improving the operation safety of the equipment.

[0035] In a feasible embodiment of the present invention, step S1 includes: S11 . Obtain an inclination angle α1 of the vehicle body in a first direction and an absolute angle γ1 of the working arm in the first direction.

[0036] The vehicle body in the first direction can generally be understood as measuring the vehicle along its length. The inclination angle α1 of the vehicle body in the first direction can be achieved by installing a sensor on the vehicle that can detect the inclination in the first direction. The sensor outputs a value representing the inclination angle of the vehicle body in the first direction.

[0037] At the same time, the absolute angle of the working arm relative to a fixed reference point in the first direction can be obtained by installing an absolute angle sensor on the working arm.

[0038] In another embodiment, step S1 includes: S12 acquires the inclination angle α2 of the vehicle body in the second direction and the absolute angle γ2 of the working arm in the second direction.

[0039] It is understood that the tilt angle α2 of the vehicle body in the second direction is the degree of tilt of the vehicle along its width direction. Similarly, this can be achieved by installing a sensor on the vehicle that can detect the tilt in the second direction, and the sensor will output a value representing the tilt angle of the vehicle body in the second direction.

[0040] Similarly, the absolute angle γ2 of the working arm in the second direction can be obtained by installing a sensor that can measure the absolute angle of the working arm in the second direction.

[0041] In a feasible embodiment of the present invention, further, step S2 includes: Based on the inclination angle α1 of the vehicle body in the first direction, the absolute angle γ1 of the working arm in the first direction and the rotation angle β of the working arm, the angle ω1 of the working arm relative to the vehicle body in the X direction is obtained. .

[0042] The tilt angle α1 of the vehicle body in the first direction represents the tilt degree of the vehicle along its longitudinal direction (X axis).

[0043] Absolute angle γ1 of the working arm in the first direction: represents the absolute angle of the manipulator in the first direction relative to a fixed reference point (such as the ground or a fixed part of the vehicle itself).

[0044] Rotation angle β of the working arm: represents the degree of rotation of the working arm relative to its initial position or a fixed point.

[0045] According to the known conditions, the angle ω1 of the working arm relative to the vehicle body in the first direction can be calculated using the following formula: .

[0046] The above embodiment considers the effect of the vehicle body's tilt angle on the working arm angle and corrects this effect by multiplying it by sinβ. This is because as the working arm rotates, the effect of the vehicle body's tilt angle on the working arm in the first direction changes with the rotation angle β, and sinβ can reflect this changing relationship.

[0047] In a feasible embodiment of the present invention, further, step S2 includes: Based on the inclination angle α2 of the vehicle body in the second direction, the absolute angle γ2 of the working arm in the second direction and the rotation angle β of the working arm, the angle ω2 of the working arm relative to the vehicle body in the Y direction is obtained. .

[0048] The inclination angle α2 of the vehicle body in the second direction represents the degree of inclination of the vehicle along its width direction (Y axis).

[0049] The absolute angle γ2 of the working arm in the second direction: represents the absolute angle of the manipulator in the second direction relative to a fixed reference point (such as the ground or a fixed part of the vehicle itself).

[0050] Rotation angle β of the working arm: represents the degree of rotation of the working arm relative to its initial position or a fixed point.

[0051] According to the known conditions, the angle ω2 of the working arm relative to the vehicle body in the second direction can be calculated using the following formula: .

[0052] The above embodiment considers the effect of the vehicle body's tilt angle on the working arm angle and corrects this effect by multiplying it by cos β. This is because as the working arm rotates, the effect of the vehicle body's tilt angle on the working arm in the second direction changes with the rotation angle β, and cos β can reflect this changing relationship.

[0053] In a feasible embodiment of the present invention, it also includes: S5. When the real-time overturning moment exceeds the overturning moment of the legs of the boom-type operating robot, an alarm command is issued.

[0054] If the real-time overturning moment exceeds the overturning moment of the outriggers of the boom-type working machine, the system will automatically trigger an alarm command. This alarm command can be implemented in various ways, such as sound alarm, light alarm, screen display alarm information, etc., to promptly alert the operator and take necessary corrective measures.

[0055] The issuance of alarm instructions not only helps to avoid potential safety risks, but also improves work efficiency and ensures that the robotic arm operates in the best working condition.

[0056] In summary, by introducing step S5, the present invention enables real-time monitoring and early warning of the working arm's angle relative to the vehicle body, thereby ensuring the safe and efficient operation of the robotic arm. This is of great significance for improving workplace safety, reducing accident risks, and ensuring personnel safety.

[0057] like Figure 2 As shown, an embodiment of the second aspect of the present invention is to provide an anti-rollover control system for a boom-type working machinery, which is used for a boom-type working machinery and includes a first detection device 1, a second detection device 2, a third detection device 3, a computing device 4 and a control device 5.

[0058] The first detection device 1 is used to detect the tilt angle α of the vehicle body. The first detection device 1 may include high-precision sensors such as accelerometers and gyroscopes. These sensors can keenly capture tiny tilt changes of the vehicle body in three-dimensional space and convert them into quantifiable tilt angle data.

[0059] The second detection device 2 is used to detect the rotation angle β of the working arm; the second detection device 2 may be equipped with a rotary encoder or similar rotation angle detection element, which can accurately record the rotation angle of the working arm around its rotation axis to ensure the accuracy and real-time nature of the data.

[0060] The third detection device 3 is used to detect the absolute angle γ of the working arm. It may be integrated with an absolute angle sensor, or it may be calculated by combining multiple relative angle sensors and using advanced algorithms to determine the absolute angle of the working arm. This design ensures that the working arm's angle data is accurately captured under all working conditions.

[0061] The computing device 4 is communicatively connected to the first detection device 1, the second detection device 2, and the third detection device 3. The computing device 4 is configured to calculate the angle ω of the working arm relative to the vehicle body based on the vehicle body's tilt angle α, the working arm's rotation angle β, and the working arm's absolute angle γ. As the core of the entire detection system, the computing device 4 is responsible for receiving data from the first detection device 1, the second detection device 2, and the third detection device 3 and calculating the angle ω of the working arm relative to the vehicle body based on this data.

[0062] The computing device 4 may be a high-performance microprocessor or similar computing unit that runs a specialized algorithm to perform the angle calculation task. Furthermore, the computing device 4 may also have data storage and communication capabilities to transmit the calculation results to a relevant control system or operator in real time.

[0063] The control device 5 controls the real-time overturning moment to be smaller than the overturning moment of the support legs.

[0064] The overturning moment of the outriggers of the boom-type operating machinery may be obtained in advance through experimental calculations.

[0065] The anti-rollover control system for the boom-type working machine provided by the present invention, when in operation, the first detection device 1, the second detection device 2, and the third detection device 3 respectively obtain the tilt angle α of the vehicle body, the rotation angle β of the working arm, and the absolute angle γ of the working arm. These data are then transmitted to the computing device 4, which uses built-in algorithms and logic to process and analyze the received data to obtain the angle ω of the working arm relative to the vehicle body. Finally, the calculation results can be used in various application scenarios, such as precise control of the working arm, safety warnings, etc. The control device 5 can also obtain the overturning torque of the support legs of the boom-type working machine, and control the real-time overturning torque to be less than the overturning torque of the support legs, thereby ensuring that the boom-type working machine is anti-rollover.

[0066] In one feasible embodiment of the present invention, the first detection device 1 includes an electronic level, which is used to accurately measure the tilt angle α of the vehicle body. The electronic level integrates a high-precision sensor that can sense slight tilts of the vehicle body relative to the horizontal plane and convert them into electrical signals for output. By interpreting these electrical signals, the tilt angle of the vehicle body can be accurately determined.

[0067] The second detection device 2 includes a rotary encoder, which monitors the rotation angle β of the working arm. The encoder is typically mounted on the working arm's rotation axis and rotates as the arm rotates. Photoelectric or magnetoelectric conversion elements within the encoder record and output the rotation angle data, enabling precise measurement of the working arm's rotation angle.

[0068] The third detection device 3 includes a single-axis inclination sensor, which is used to detect the absolute angle γ of the working arm. This sensor can sense and measure the inclination angle of the working arm in a specific direction (such as vertical or horizontal). Through its built-in sensitive elements and signal processing circuitry, the sensor converts the inclination angle into an electrical signal for output, thereby accurately measuring the absolute angle of the working arm.

[0069] like Figure 3 As shown, in one feasible embodiment of the present invention, a control device 5 is connected to a computing device 4; the control device 5 is configured to receive signals from the computing device 4 and, when the angle ω of the working arm relative to the vehicle body exceeds a preset range, the control device 5 issues an alarm. The control device 5 is responsible for receiving angle signals from the computing device 4 and performing real-time analysis and judgment based on a preset safety range. The control device 5 may utilize a high-performance microprocessor with built-in specialized algorithms and logic for processing received angle data. Upon detecting that the angle ω of the working arm relative to the vehicle body exceeds the preset range, the control device 5 immediately triggers an alarm signal.

[0070] In one feasible embodiment of the present invention, an alarm device 6 is further included, configured to receive alarm instructions and issue an alarm signal. As the final response unit of the entire control system, the alarm device 6 is responsible for receiving alarm instructions from the control device 5 and, based on the alarm instructions, issuing a clear alarm signal. The alarm device 6 may employ various alarm devices, such as an audible alarm (e.g., a buzzer), a light alarm (e.g., an LED indicator), or a display screen (for displaying alarm information). These devices can be selected and combined based on different application scenarios and requirements to ensure the effectiveness and relevance of the alarm signal.

[0071] like Figure 2 and Figure 3 As shown, the working process of an anti-rollover control system for an arm-type working machinery provided by an embodiment of the second aspect of the present invention is: the first detection device 1, the second detection device 2 and the third detection device 3 respectively obtain the inclination angle α of the vehicle body, the rotation angle β of the working arm and the absolute angle γ of the working arm, and transmit these data to the computing device 4 in real time.

[0072] The computing device 4 processes and analyzes the received data using built-in algorithms and logic to determine the angle ω of the working arm relative to the vehicle body. The control device 5 receives this angle signal and performs real-time analysis and judgment based on a preset safety range.

[0073] When it is detected that the angle ω exceeds the preset range, the control device 5 will immediately send an alarm instruction to the alarm device 6.

[0074] After receiving the instruction, the alarm device 6 quickly starts the corresponding alarm equipment and sends out a clear and unambiguous alarm signal.

[0075] A third aspect of the present invention provides an operating machine, comprising any one of the above-mentioned anti-rollover control systems for boom-type operating machines.

[0076] The working machinery provided by the embodiment of the third aspect of the present invention has the various advantages as described above because it includes the anti-rollover control system for the boom-type working machinery as described above.

[0077] In the embodiments of the present invention, the type of working machine is not limited. For example, the working machine can be a concrete pump truck, a crane, or a boom-type working machine. In other words, as long as the working machine can use the boom-type working machine anti-rollover control system of the present invention, it will be fine.

[0078] In describing the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; and direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on specific circumstances.

[0079] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "mode", "specific mode", or "some modes" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or mode are included in at least one embodiment or mode 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 mode. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or modes in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or modes and features of different embodiments or modes described in this specification without contradiction.

[0080] 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 various embodiments of the present invention.

Claims

1. A method for controlling an arm-type working machine to prevent tipping, wherein the arm-type working machine comprises an operating arm, wherein the operating arm comprises a plurality of boom sections, wherein the plurality of boom sections are hinged to each other; include: Obtain the tilt angle α of the vehicle body, the rotation angle β of the working arm, and the absolute angle γ of the working arm; Calculating an angle ω of the working arm relative to the vehicle body based on the tilt angle α of the vehicle body, the rotation angle β of the working arm, and the absolute angle γ of the working arm; Based on the angle ω of the working arm relative to the vehicle body, the length of the arm and the mass of the arm, a real-time overturning moment is obtained; The overturning moment of the supporting legs of the boom-type working robot is obtained, and the real-time overturning moment is controlled to be smaller than the overturning moment of the supporting legs.

2. The anti-rollover control method for boom-type working machinery according to claim 1, characterized in that: The step of obtaining the tilt angle α of the vehicle body, the rotation angle β of the working arm, and the absolute angle γ of the working arm includes: Obtaining an inclination angle α1 of the vehicle body in the first direction and an absolute angle γ1 of the working arm in the first direction; Alternatively, the inclination angle α2 of the vehicle body in the second direction and the absolute angle γ2 of the working arm in the second direction are obtained, wherein the first direction and the second direction are the X direction and the Y direction perpendicular to each other in the horizontal plane.

3. The anti-rollover control method for a boom-type working machine according to claim 2, characterized in that: The method of obtaining the angle ω of the working arm relative to the vehicle body based on the tilt angle α of the vehicle body, the rotation angle β of the working arm, and the absolute angle γ of the working arm includes: Based on the inclination angle α1 of the vehicle body in the first direction, the absolute angle γ1 of the working arm in the first direction and the rotation angle β of the working arm, the angle ω1 of the working arm relative to the vehicle body in the first direction is obtained. .

4. The anti-rollover control method for a boom-type working machine according to claim 2, characterized in that: Based on the tilt angle α of the vehicle body, the rotation angle β of the working arm, and the absolute angle γ of the working arm, the angle ω of the working arm relative to the vehicle body is obtained, including: Based on the inclination angle α2 of the vehicle body in the second direction, the absolute angle γ2 of the working arm in the second direction and the rotation angle β of the working arm, the angle ω2 of the working arm relative to the vehicle body in the second direction is obtained. .

5. The anti-rollover control method for a boom-type working machine according to claim 1, characterized in that: Also includes: When the real-time overturning moment exceeds the overturning moment of the legs of the boom-type operating mechanical arm, an alarm command is issued.

6. An anti-rollover control system for a boom-type working machine, characterized in that: include: A first detection device (1) is used to detect the tilt angle α of the vehicle body; A second detection device (2) is used to detect the rotation angle β of the working arm; A third detection device (3) is used to detect the absolute angle γ of the working arm; A calculation device (4) is communicatively connected to the first detection device (1), the second detection device (2), and the third detection device (3); the calculation device (4) is used to calculate the angle ω of the working arm relative to the vehicle body based on the tilt angle α of the vehicle body, the rotation angle β of the working arm, and the absolute angle γ of the working arm, and then calculate the real-time overturning moment based on the angle ω of the working arm relative to the vehicle body, the length of the boom, and the mass of the boom; The control device (5) controls the real-time overturning moment to be smaller than the overturning moment of the supporting legs.

7. The anti-rollover control system for a boom-type working machine according to claim 6, which is used for a boom-type working machine, is characterized in that: The first detection device (1) includes an electronic level, the second detection device (2) includes a rotary encoder, and the third detection device (3) includes a single-axis inclination sensor.

8. The anti-rollover control system for a boom-type working machine according to claim 6, characterized in that: The control device (5) is connected to the computing device; the control device (5) is used to receive a signal from the computing device (4); when the real-time overturning moment exceeds the overturning moment of the legs of the boom-type operating machine arm, the control device (5) issues an alarm instruction.

9. The anti-rollover control system for a boom-type working machine according to claim 8, characterized in that: It also includes an alarm device (6) for receiving the alarm instruction and issuing an alarm signal.

10. A working machine, characterized in that: The anti-rollover control system for a boom-type working machinery includes the anti-rollover control system according to any one of claims 6 to 9.

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