An intelligent safety control system and method for a working device of engineering machinery

Abstract

This invention discloses an intelligent safety control system and method for an engineering machinery working device. The system includes: a communication module connected to the control module, used to input operation signals from the human-machine interface to the control module and receive output signals from the display control module; an output control module connected to the control module, used to receive control commands to drive the actuator; a signal acquisition module connected to the control module, used to acquire multi-joint status signals of the working device; and a control module that, based on the signals received from the communication module and the signal acquisition module, executes an intelligent control algorithm to generate control commands. The intelligent control algorithm includes a posture transformation control algorithm and a collision avoidance control algorithm, used for controlling the movement posture, work process, and collision avoidance of the working device. The control method is executed by the aforementioned control module. This invention provides an intelligent safety control system and method for an engineering machinery working device, solving the problem of how engineering vehicles can quickly, safely, and efficiently achieve engineering operation status.

Description

Technical Field

[0001] This invention belongs to the field of engineering vehicle control technology, specifically relating to an intelligent safety control system and method for an engineering machinery working device. Background Technology

[0002] Working devices are commonly used in earthmoving machinery, and their excellent performance greatly saves manpower and resources. Installing these common working devices on a tracked chassis creates an engineering work vehicle. Depending on the actual working needs of the engineering work vehicle, the working device can be in two states: driving and operating. In driving mode, the working device extends rearward along the vehicle's longitudinal axis and rests on the vehicle body. The upper boom cylinder is fully retracted, and the working boom is approximately in a straight line, closely fitting the vehicle body through shock-absorbing pads, resulting in good driving stability. Depending on the different work objects, the working boom can be adjusted to the corresponding operating state, allowing for digging, clamping, and lifting operations from the front and sides of the equipment. During operation, the operators inside the cabin cannot directly observe the external environment. Driving and operating rely on the main and auxiliary operators inside the cabin to control the vehicle's functions via video assistance. The main operator primarily controls vehicle driving, while the auxiliary operator primarily operates the working device. Because the working device has a large range of motion, it is difficult to avoid collisions between the working device and the vehicle body by the operator's observation through video during the excavation process. Therefore, the range of motion of the excavation posture is limited and controlled in the excavation operation direction to avoid collisions between the excavator and the vehicle body.

[0003] Therefore, there is an urgent need for an intelligent safety control system and method for engineering machinery working devices to solve the problem of how engineering vehicles can quickly, safely and efficiently achieve engineering operation status. Summary of the Invention

[0004] The technical problem to be solved by this invention is: how to solve the problem of engineering vehicles quickly switching states and carrying out engineering operations safely and efficiently.

[0005] To solve the above-mentioned technical problems, the present invention provides an intelligent safety control system for a working device of engineering machinery, comprising: The communication module is connected to the control module and is used to input operation instructions for the human-machine interface into the control module and to receive and display output signals from the control module. An output control module, connected to the control module, is used to receive control commands to drive the actuator to move; A signal acquisition module, connected to the control module, is used to acquire the status signals of multiple joints of the working device; The control module generates control commands by executing intelligent control algorithms based on signals received from the communication module and the signal acquisition module. The intelligent control algorithms include attitude transformation control algorithms and anti-collision control algorithms, which are used for the motion attitude of the working device, operation process control, and anti-collision control, respectively.

[0006] The aforementioned intelligent safety control system for the working device of engineering machinery includes a posture transformation control algorithm for deploying the working device and a retraction control algorithm for retracting the working device. The deployment control algorithm is to control the movement of each joint of the working device according to the first preset steps when a work mode instruction is received; The retraction control algorithm, upon receiving a driving mode command, controls the movement of each joint of the working device according to the second preset steps to adjust the working device into a driving posture.

[0007] The aforementioned intelligent safety control system for the construction machinery working device includes a collision avoidance control algorithm that includes limiting the range of motion of the working device in the working direction to prevent collisions between the working device and the vehicle body; the working posture includes a rearward movement posture, a lateral working posture, and a forward working posture.

[0008] The aforementioned intelligent safety control system for the working device of the engineering machinery includes a human-machine interface comprising a main operating position and an auxiliary operating position. Both the main operating position and the auxiliary operating position are equipped with left and right electric control handles and a display and control host, which are used to coordinate and control the posture and movement of the working device.

[0009] The aforementioned intelligent safety control system for the engineering machinery working device includes a hydraulic unit as the actuator, comprising a working pump, a multi-way valve, a pilot oil supply valve, a pilot solenoid valve, multiple actuator cylinders, and a rotary motor. The working pump outputs pressurized oil, which includes two paths: main oil and pilot oil. The main oil passes through the multi-way valve to each actuator cylinder and the rotary motor. The pilot oil provides pilot control oil through the pilot oil supply valve. One outlet of the pilot oil supply valve reaches the multi-way valve, which feeds back a pressure signal to the working pump. The other outlet of the pilot oil supply valve passes through the pilot solenoid valve to the rotary motor.

[0010] The aforementioned intelligent safety control system for the engineering machinery working device further includes a boom locking device in the hydraulic unit. The boom locking device is a boom locking cylinder used to lock the boom of the working device in driving mode. The boom locking cylinder is driven and controlled by the output control module.

[0011] The aforementioned intelligent safety control system for the working device of the engineering machinery includes an output control module comprising a multi-channel PWM drive circuit for converting the PWM control command of the control module into a linear drive current, which is used to control the pilot solenoid valve. The control module also utilizes a PID algorithm to perform closed-loop regulation of the drive current of the pilot solenoid valve to smoothly control the actuator cylinder.

[0012] The aforementioned intelligent safety control system for the working device of the engineering machinery includes a signal acquisition module comprising: Encoder: Collects the rotation angle of the rotary platform of the working device; Multiple angle sensors: detect the pitch angle of the boom of the working device, which includes a lower boom, an upper boom, and a stick; Displacement sensor: detects the bucket tilting angle and gripper opening / closing angle of the working device; Proximity switch: Installed on the arm locking device, used to detect the locking status of the arm locking device.

[0013] This invention also provides an intelligent safety control method for a working device of engineering machinery, applied to the aforementioned intelligent safety control system, executed by the control module, and comprising the following steps: Step 1: Receive human-machine interface operation commands input by the communication module, and acquire the working device status signals and arm locking device locking status signals acquired by the signal acquisition module; Step 2: Based on the operation instructions and the status signals, execute the intelligent control algorithm to generate control instructions; the intelligent control algorithm includes an attitude transformation control algorithm and a collision avoidance control algorithm; Step 3: Send the control command to the output control module to drive the actuator, and simultaneously send the working device status to the communication module for display; after completing the above steps, return to Step 1 to form a closed-loop control.

[0014] The aforementioned intelligent safety control method for engineering machinery working devices further includes, in step two, determining the current operating mode of the working device based on the operation instructions and status signals: if the current operating mode is driving mode, then entering the driving control process; if the current operating mode is working mode, then performing intelligent control algorithm control.

[0015] The aforementioned intelligent safety control method for the working device of engineering machinery includes a posture transformation control algorithm comprising an deployment control algorithm and a retraction control algorithm. The deployment control algorithm controls the movement of each joint of the working device according to a first preset step to switch the working device from a driving posture to a working posture. The retraction control algorithm controls the movement of each joint of the working device according to a second preset step to switch the working device from a working posture to a driving posture.

[0016] The aforementioned intelligent safety control method for the working device of engineering machinery, wherein the first preset step includes: S101: The control module reads the status information collected by the signal acquisition module and determines whether the arm locking device is in the locked state; if it is not locked, an interrupt is performed; if it is locked, proceed to the next step. S102: The control module confirms whether the arm locking device is unlocked; if it is not unlocked within the preset time, an interruption is performed; if it is unlocked, proceed to the next step. S103: The control module outputs a control command, causing the lower boom of the working device to tilt upwards; S104: The control module detects and determines in real time whether the boom has reached the preset elevation angle, and performs timeout monitoring. If the timeout does not occur and the preset elevation angle is reached, the control module determines that the process has ended and sends a completion signal to the communication module; if the timeout does not occur and the lower boom does not reach the preset elevation angle, the process returns to step S102; if the timeout occurs and the preset angle is not reached, the process is interrupted.

[0017] The aforementioned intelligent safety control method for the working device of engineering machinery, wherein the second preset step includes: S201: The control module reads the status information collected by the signal acquisition module and determines whether the arm locking device is in the unlocked state; if it is not unlocked, an interrupt is performed; if it is unlocked, proceed to the next step. S202: The control module controls the retraction and retraction of each joint of the working device in sequence according to the preset retraction and retraction action sequence. If any step fails due to timeout, the process is interrupted; if successful, the next step is executed until all joints are retracted. S203: The control module controls the arm locking device to lock. If it is not locked within a preset time, an interruption will be performed. S204: The control module determines that the take-up and withdrawal process is successful and sends a completion signal to the communication module.

[0018] The beneficial effects achieved by this invention are as follows: The intelligent safety control system and method for an engineering machinery working device, through a preset one-button deployment and retraction function, enables the working device to quickly and accurately reach the standard posture, simplifying the operation process and reducing reliance on operator skill. The dual-operation-position design, coupled with real-time synchronized mode display, ensures communication and safety during multi-person collaborative operations. Collision avoidance control and multi-directional automatic posture limitation effectively prevent accidental collisions between the equipment and itself or the external environment, reducing the risk of accidents caused by misoperation. The control module uses PWM signal linear drive combined with closed-loop PID regulation to achieve precise and smooth control of the hydraulic unit, enabling stable and reliable completion of various operational functions such as digging, gripping, and lifting. This invention transforms complex multi-action coordination into intuitive and simple command operations, improving work efficiency while ensuring the safety and stability of equipment operation. Attached Figure Description

[0019] Figure 1 Schematic diagram of the working principle of the control module of this invention; Figure 2 Electrical schematic diagram of the control module of this invention; Figure 3 This is a working circuit diagram of the hydraulic unit of the present invention; Figure 4This is a schematic diagram showing the sensor installation locations of the working device; Figure 5 This is a schematic diagram of the signal acquisition module; Figure 6 This is a control flowchart of the working device of the present invention; Figure 7 This is a flowchart illustrating the control process of the working device of the present invention. Figure 8 This is a flowchart illustrating the retraction and withdrawal control process of the working device of the present invention. Figure 9 This is a diagram showing the operational posture control limitations of the present invention. Figure 10 This is a diagram showing the operational posture control limitations of the present invention. Figure 11 This is a diagram showing the operational posture control limitations of the present invention. Figure 12 This is a diagram showing the operational posture control limitations of the present invention. Figure 13 This is a diagram showing the operational posture control limitations of the present invention.

[0020] Reference numerals: 1. Slewing platform; 2. Lower boom; 3. Upper boom; 4. Stick; 5. Displacement sensor; 6. Bucket; 7. Gripper; 8. Angle sensor; 9. Encoder. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0022] Example 1

[0023] This embodiment provides an intelligent safety control system and method for a working device of engineering machinery. The working device is an engineering machinery arm, which includes a rotating platform 1, a lower boom 2, an upper boom 3 and a stick 4 connected in sequence. The other side of the stick 4 is connected to a bucket 6 and a gripper 7. The bucket 6 and the gripper 7 form the working execution area.

[0024] Based on the actual operational needs of the engineering vehicle, the working device has two operating states: a driving state and a working state. In the driving state, the working device extends rearward along the vehicle's longitudinal axis and rests on the vehicle body. The upper boom's three cylinders are fully retracted, and the working boom is approximately in a straight line, closely fitting the vehicle body through shock-absorbing pads, resulting in good driving stability. In the working state, depending on the different work objects, the working boom can be adjusted to the corresponding working position, allowing for digging, gripping, and lifting operations from the front, left, or right side of the equipment.

[0025] This embodiment of an intelligent safety control system for an engineering machinery working device includes: A power supply module, connected to the control module, is used to provide a stable voltage to each module; The communication module is connected to the control module and is used to input operation signals of the human-machine interface into the control module, receive output signals from the control module, and facilitate data interaction between various modules within the system. An output control module, connected to the control module, is used to receive control commands to drive the actuator to move; A signal acquisition module, connected to the control module, is used to acquire status signals of the working device; The control module generates control commands by executing intelligent control algorithms based on signals received from the communication module and the signal acquisition module. The intelligent control algorithms include attitude transformation control algorithms and anti-collision control algorithms, which are used for the motion attitude of the working device, operation process control, and anti-collision control, respectively.

[0026] The control module receives operation commands through the communication module and acquires sensor signals through the signal acquisition module. After processing by the control module, control commands are generated, which are then driven by the output control module to execute actions. Real-time data is returned to the human-machine interface of the communication module to realize the operation of the working device.

[0027] In this embodiment, the power module receives an external 24V DC power supply and uses a voltage regulator to step down the 24V input to voltages of 3.3V, 5V, and 12V, respectively, to power the control module, communication module, and output control module. The voltage parameters disclosed in the above embodiments are merely examples to aid in understanding the implementation of the invention and should not be construed as limiting the invention.

[0028] The human-machine interface includes a main operating position and an auxiliary operating position, both of which are equipped with left and right electric control handles and a display and control host. The core control functions of the working device are realized through the combined control of the electric control handles on the main operating position and the display and control host.

[0029] The left electric control handle is used to control the rotation of the slewing platform 1, the raising and lowering of the lower boom 2, and the raising and lowering of the upper boom 3. The raising and lowering of the lower boom 2 and the upper boom 3 are both achieved by swinging the handle left and right. When the switch button for the upper boom 3 on the electric control handle is pressed, the left and right swing switches to control the raising and lowering of the upper boom 3. When the button is released, the lower boom 2 is raised and lowered.

[0030] The right electric control handle is used to control the raising and lowering of the boom 4, the tilting of the bucket 6, and the opening and closing of the gripper 7. The right electric control handle is equipped with a safety enable mechanism. During operation, the enable switch on the handle must be continuously pressed to activate the device, and releasing it will stop the operation. This is to prevent accidental activation caused by personnel or equipment impact and to improve operational safety.

[0031] Both the main and auxiliary operating positions are equipped with switches for switching between driving and working modes. The current operating mode will be displayed on the parameter display of the auxiliary operating position's control unit, facilitating collaboration between operators in different positions and ensuring safe collaborative work.

[0032] In operation mode, the working device can be quickly and automatically switched to driving mode and operation mode by using the shortcut keys on the main control unit.

[0033] After receiving the control command, the output control module drives the actuator to control the working device to move, and controls the arm locking device to lock or unlock.

[0034] The actuator is a hydraulic unit, which includes a working pump, a multi-way valve, a pilot supply valve, a pilot solenoid valve, and various actuator cylinders. The actuator cylinders include an upper boom cylinder, a lower boom cylinder, a stick cylinder, a bucket cylinder, and a gripper cylinder. The working pump outputs pressurized oil, which is divided into two paths: main oil and pilot oil. The main oil passes through the main valve core of the multi-way valve to reach each actuator cylinder, while the pilot oil provides stable pilot control oil through the pilot supply valve.

[0035] The arm locking device is an arm locking cylinder, used to lock the arm of the working device in driving mode.

[0036] The control module simultaneously receives opening voltage signals from all directions of the operating handle, converts them into control commands for the pilot solenoid valve according to the preset function definition, and outputs them to the output control module in the form of PWM signals. The multi-channel PWM drive circuit integrated in the output control module converts the signal into a linearly changing drive current to precisely control the current of the pilot solenoid valve and realize the control of the movement speed of the hydraulic actuator.

[0037] The pilot solenoid valve proportionally controls the pressure in the pilot oil circuit based on the input current, generating a pilot control pressure. This control pressure drives the main valve core of the multi-way valve to produce a displacement proportional to the control pressure, thereby controlling the direction and flow of pressurized oil to each cylinder. Ultimately, this controls the extension and retraction of the relevant cylinders, as well as the speed of their movements. During this process, the control module employs a PID control algorithm for closed-loop regulation of the drive current, effectively suppressing disturbances caused by load changes and ensuring the smoothness and operation of the hydraulic actuators.

[0038] The working pump and the multi-way valve form a load-sensitive system, ensuring that the output power of the working pump matches the power demand of the load. The multi-way valve employs downstream pressure compensation distribution control and load-sensitive control to ensure that when multiple actuators perform combined actions of lifting, rotating, and locking, the flow distribution of each actuator is not affected by changes in the load of each other, thus achieving a smooth and independent combined action function.

[0039] The signal acquisition module monitors and acquires the motion angles of multiple joints of the working device, including the rotation angle of the slewing platform 1, the pitch angle of the lower boom 2, the pitch angle of the upper boom 3, the pitch angle of the stick 4, the tilt angle of the bucket 6, and the opening and closing angle of the gripper 7.

[0040] The slewing angle of the slewing platform 1 is monitored by an encoder 9 installed on an electric slip ring at the center of the slewing platform; the pitch angles of the lower boom 2, upper boom 3, and stick 4 are monitored by angle sensors 8 of the same type installed at the ends of their respective joint shafts; the tilting angle of the bucket 6 and the opening and closing angle of the gripper 7 are monitored by a displacement sensor 5 installed at the end of the stick 4, which is used to determine the specific position of the bucket 6 and the gripper 7 in the driving mode and the working mode.

[0041] The signal acquisition module also includes a proximity switch installed on the boom locking device to detect the locking and unlocking states of the boom locking device. At other operating points of the hydraulic unit, such as the working pump outlet and each valve port of the multi-way valve, corresponding sensors are installed to collect the operating status of the actuators.

[0042] The signal acquisition module collects electrical signals from the working posture of the device and the operating status of the actuators using the aforementioned sensors, and transmits the collected data to the control module for processing and calculation. The control module then sends the processed status parameters and alarm information to the display and control host in the driver's cab via the communication module. The parameter display unit of the display and control host receives the information and drives the parameter display to display it in real time, enabling the operator to comprehensively and accurately grasp the real-time operating status of the device and actuators in a closed environment.

[0043] The attitude change control algorithm includes a working device deployment control algorithm and a retraction control algorithm. The deployment control algorithm is that when the control module receives the operation mode instruction from the human-machine interface, the control module controls the movement of each joint of the working device in a first preset order to adjust the working device to the operation posture. The retraction control algorithm is that when the control module receives the driving mode instruction from the human-machine interface, the control module controls the movement of each joint of the working device in a second preset order to adjust the working device to the driving posture.

[0044] In the aforementioned anti-collision control algorithm, the working posture of the working device is controlled in the working direction to limit its range of motion. To ensure the safety and stability of the working device during operation and to avoid collisions with other devices, proximity switches are installed at the retraction limit positions of other devices to detect their retraction status, and corner sensors are used to detect the stationary posture of other devices. When a device deviates from its pre-operational state, the control module sends an alarm message to the display and control host, prompting the operator to take countermeasures such as slowing down or stopping the machine for inspection.

[0045] Because the working device has a large range of motion, it is difficult to avoid collisions between the working device and the vehicle body by relying solely on the operator's observation through the video in the cockpit during operation. Therefore, collisions between the working device and the vehicle body are avoided by automatically limiting the range of motion of the working device in the working direction.

[0046] The working posture control restrictions of the working device include backward movement posture restrictions, lateral working posture restrictions, and forward working posture restrictions.

[0047] The backward working posture restriction is used when the working device enters the excavation operation preparation state. At this time, the lower boom 2 elevation angle is not less than a°, the upper boom 3, stick 4, and bucket 6 are all at their maximum elevation angle, and the gripper 7 is at its maximum closing state. At this time, the working device can be controlled to perform working device actions. In addition, when the working device is in the backward angle region within the b° angle, the control module performs the following restriction control: prohibits the stick 4 and gripper 7 from moving; when the upper boom 3 is not in the maximum upward tilt position, the lower boom 2 elevation angle is controlled to be not less than c°.

[0048] The lateral working posture restrictions include posture restrictions when working on the left and right sides. When working on the left side... To prevent interference with the cab, front skid plate, sides of the vehicle body, and other devices, the control module automatically limits the minimum lifting angle d° of the lower boom 2 and restricts the slewing range to outside the b° angle. The restriction is lifted only when the lower boom 2 elevation angle exceeds c° and the stick cylinder is fully retracted. The right-side working posture restriction adopts control logic symmetrical to that of the left side, setting the corresponding angle and slewing limit range according to the boundary of the right side of the vehicle body.

[0049] The forward working posture is restricted to operation in front of the working device. The slewing action is only allowed when the boom cylinder is fully retracted and the lower boom 2 elevation angle is not less than f°, to ensure that the working device will not hit the edge of the pusher.

[0050] Example 2

[0051] This embodiment provides an intelligent safety control system for a working device of engineering machinery, applied to the intelligent safety control system described in Embodiment 1, wherein the control module executes the following steps: Step 1: Receive human-machine interface operation commands input and sent by the communication module, and acquire the working device status signals collected by the signal acquisition module; Step 2: Based on the operation instructions and the status signals, execute the intelligent control algorithm to generate control instructions; the intelligent control algorithm includes an attitude transformation control algorithm and a collision avoidance control algorithm; Step 3: Send the control command to the output control module to drive the actuator, and simultaneously send the working device status to the communication module for display; after completing the above steps, return to Step 1 to form a closed-loop control.

[0052] In step two, the current operating mode of the working device is determined based on the operation instructions and status signals: if the current operating mode of the engineering device is driving mode, the driving control process is initiated; if the current operating mode of the engineering device is operation mode, intelligent control algorithm control is performed. In operation mode, when a valid operation enable signal is detected, the next control step is performed. The enable signal is a prerequisite for operation control, preventing the operator from accidentally touching the operating handle and causing malfunctions while performing other operations.

[0053] Step three of the closed-loop control includes: In operation mode, the electric control handle outputs opening voltage signals Vi in real time for different directions, and the voltage input port of the control module receives the input voltage signals V from each operating direction of the control handle. Based on the preset linear correspondence between the output voltage V and the target output current Ii: Ii = K*V, where K is the linear proportional coefficient, the control module calculates the target current value Ii required to drive the electro-proportional hydraulic valve. The control module obtains the actual feedback current I of the electro-proportional hydraulic valve coil through the output drive circuit. The control system performs closed-loop control calculations on the difference between the target current Ii and the actual feedback current I: ΔI = Ii - I, to achieve stable control of the hydraulic actuator.

[0054] The opening and closing of the gripper 7 and other switching functions are controlled independently of the aforementioned control process. The control module receives the switching signals from the gripper 7 switch on the handle through a digital input interface, and directly drives the corresponding solenoid valve according to preset logic to achieve rapid opening or closing of the gripper.

[0055] The attitude transformation control algorithm is a deployment control algorithm or a retraction control algorithm executed by the control module according to the operation command. The deployment control algorithm controls the movement of each joint of the working device according to the first preset steps. When the working device enters the operation mode from the driving mode, the automatic control of the control module enables the working device to quickly deploy from the equipment driving posture to the operation preparation posture.

[0056] In this embodiment, before the working device enters the operating mode, the control module determines whether the boom locking device is in a locked state through corresponding sensors and proximity switch status. In practical applications, it is also possible to further determine whether other devices that need to be locked are locked, which is not limited here. Only after confirming that the conditions are met does the working device unfolding process begin. Then, the control module unlocks the boom locking device by controlling the boom locking cylinder. After unlocking, the lower boom 2 of the working device is finally raised to a preset elevation angle. In this embodiment, a 30° elevation angle is used, at which point the working device unfolding is complete. The working device actions are executed according to the first preset steps: S101: The display control host triggers the "one-click expand" command; S102: The control module reads the status information collected by the signal acquisition module and determines whether the arm locking device is in the locked state: if the arm locking device is not locked, an interrupt is performed; if it is locked, proceed to the next step. S103: The control module generates an unlocking control command, which drives the boom locking cylinder to unlock the boom locking device. The control module confirms whether the boom locking device is unlocked through a proximity switch. If it is not unlocked within a preset time, an interruption is performed. If it is unlocked, proceed to the next step. S104: The control module drives the lower boom cylinder through the output control module, which causes the lower boom 2 of the working device to tilt upward. The control module reads the angle sensor 8 signal of the lower boom 2 in real time to determine whether the lower boom 2 has reached the preset tilt angle. S105: The control module continuously determines whether the lower boom 2 has reached the preset elevation angle and performs timeout monitoring. If the preset elevation angle is reached before the timeout, the control module determines that the process has ended, and the control module sends a completion signal to the display and control host to display the process. If the timeout has not expired and the lower boom 2 has not tilted upward, then return to step S103; If the timeout occurs and the preset angle is not reached, the process will be interrupted.

[0057] In practical applications, step S102 can simultaneously determine other components that need to be locked, such as the outrigger locking device, which is not limited here.

[0058] The retraction control algorithm controls the movement of each joint of the working device according to the second preset steps. When the working device enters the driving mode from the working mode, the automatic control of the control module enables the working device to quickly retract from the working posture to the retracted posture.

[0059] Before the working device is retracted, when the control module receives the retraction command, it first checks the proximity switch status to determine if the arm locking device is in the unlocked state. Upon confirmation, it begins controlling the retraction of the working device. During retraction, the working device's actions are executed according to the second preset steps through closed-loop control of its attitude: S201: The operator's control unit triggers a "one-click retraction / cancellation" command; S202: The control module reads the status information collected by the signal acquisition module and determines whether its arm locking device is in the unlocked state: if it is not unlocked, an interrupt is performed; if it is unlocked, proceed to the next step. S203: The control module controls the retraction and retraction of each joint of the working device sequentially according to the preset retraction and retraction sequence. If any step times out and fails, the process is interrupted; if successful, the next step continues until all joints have been retracted or retracted. The retraction and retraction steps for each joint are as follows: S2031: Drive the bucket cylinder and determine whether the bucket 6 has retracted to the retracted position: if it has not retracted within the time limit, perform an interruption; if it has not retracted within the time limit, return to step S202; if it has retracted to the retracted position, proceed to the next step. S2032: Drive the gripper cylinder and determine whether gripper 7 has been reset to the retracted position: if it has not been reset within a timeout period, enter the interrupt process; if it has not been reset within a timeout period, return to the previous step S2031; if it has been reset to the retracted position, proceed to the next step. S2033: Drive the boom cylinder and determine whether the boom 4 has retracted to the retracted position: if it has not retracted within the time limit, enter the interrupt process; if it has not retracted within the time limit, return to the previous step S2032; if it has retracted to the retracted position, proceed to the next step. S2034: Drive the upper boom cylinder and determine whether the upper boom 3 has been retracted to the retracted position. If it has not been retracted within the time limit, enter the interrupt process; if it has not been retracted within the time limit, return to the previous step S2033; if it has been retracted to the retracted position, proceed to the next step. S2035: Drive the lower boom cylinder and determine whether the lower boom 2 has moved and maintained the preset elevation angle: If it has not reached the preset elevation angle within the time limit, enter the interrupt process; if it has not timed out and has reached the preset elevation angle, return to the previous step S2034; if it has reached and maintained the preset elevation angle, proceed to the next step. S2036: Drive the rotary motor and determine whether the rotary platform 1 has rotated to the driving center position: if the timeout occurs and it is not aligned, enter the interrupt process; if the timeout does not occur and it is not aligned, return to the previous step S2035; if it has rotated to the driving center position, proceed to the next step. S2037: Drive the lower boom cylinder and determine whether the lower boom 2 has fallen to the transport retraction position: If it has not reached the position within the time limit, enter the interrupt process; if it has not timed out and has not been reset, return to the previous step S2036; if it has been reset to the retraction position, proceed to the next step. S2038: Drive the boom locking cylinder and determine whether the working device boom is locked: If it is not locked within the time limit, enter the interrupt process; if it is not locked within the time limit, return to the previous step S2037; if it is confirmed to be locked, proceed to the next step. S204: Once all retraction and withdrawal actions are completed in sequence and locked in place, the control module determines that the one-click retraction and withdrawal process is successful, sends a completion signal to the display and control host, and the process ends.

[0060] In practical applications, step S202 can simultaneously determine other components that need to be locked, such as the outrigger locking device, which is not limited here.

[0061] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "up," "down," "front," "rear," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to explain the relative positional relationship and movement between components in a specific posture. If the specific posture changes, the directional indication will also change accordingly. These terms are used only for the convenience of describing the invention and for simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the invention.

[0062] 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 technical features indicated. 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.

[0063] 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.

[0064] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An intelligent safety control system for a working device of engineering machinery, characterized in that, include: The communication module is connected to the control module and is used to input operation instructions for the human-machine interface into the control module and to receive and display output signals from the control module. An output control module, connected to the control module, is used to receive control commands to drive the actuator to move; A signal acquisition module, connected to the control module, is used to acquire the status signals of multiple joints of the working device; The control module generates control commands by executing intelligent control algorithms based on signals received from the communication module and the signal acquisition module. The intelligent control algorithms include attitude transformation control algorithms and anti-collision control algorithms, which are used for the motion attitude of the working device, operation process control, and anti-collision control, respectively.

2. The intelligent safety control system for the engineering machinery working device as described in claim 1, characterized in that, The attitude transformation control algorithm includes a working device deployment control algorithm and a retraction control algorithm; The deployment control algorithm, upon receiving a work mode instruction, controls the movement of each joint of the working device according to the first preset steps, adjusting the working device into a working posture. The retraction control algorithm, upon receiving a driving mode command, controls the movement of each joint of the working device according to the second preset steps to adjust the working device into a driving posture.

3. The intelligent safety control system for the working device of engineering machinery as described in claim 1, characterized in that, The collision avoidance control algorithm includes: limiting the range of motion of the working device in the working direction to avoid collision between the working device and the vehicle body; the working posture includes rearward movement posture, lateral working posture, and forward working posture.

4. The intelligent safety control system for the working device of engineering machinery as described in claim 1, characterized in that, The human-machine interface includes a main operating position and an auxiliary operating position. Both the main operating position and the auxiliary operating position are equipped with left and right electric control handles and a display and control host, which are used to coordinate and control the posture and movement of the working device.

5. The intelligent safety control system for the working device of engineering machinery as described in claim 1, characterized in that, The actuator is a hydraulic unit, including a working pump, a multi-way valve, a pilot oil supply valve, a pilot solenoid valve, multiple actuator cylinders, and a rotary motor. The working pump outputs pressurized oil, which includes two paths: main oil and pilot oil. The main oil passes through the multi-way valve to each actuator cylinder and the rotary motor. The pilot oil provides pilot control oil through the pilot oil supply valve. One outlet of the pilot oil supply valve goes to the multi-way valve, which feeds back a pressure signal to the working pump. The other outlet of the pilot oil supply valve goes through the pilot solenoid valve to the rotary motor.

6. The intelligent safety control system for the working device of engineering machinery as described in claim 5, characterized in that, The hydraulic unit also includes a boom locking device, which is a boom locking cylinder used to lock the boom of the working device in driving mode; the boom locking cylinder is driven and controlled by the output control module.

7. The intelligent safety control system for the working device of engineering machinery as described in claim 6, characterized in that, The output control module includes a multi-channel PWM drive circuit, which converts the PWM control command of the control module into a linear drive current. The linear drive current is used to control the pilot solenoid valve. The control module also uses a PID algorithm to perform closed-loop regulation of the drive current of the pilot solenoid valve to smoothly control the actuator cylinder.

8. The intelligent safety control system for the working device of engineering machinery as described in claim 7, characterized in that, The signal acquisition module includes: Encoder: Collects the rotation angle of the rotary platform of the working device; Multiple angle sensors: detect the pitch angle of the boom of the working device, which includes a lower boom, an upper boom, and a stick; Displacement sensor: detects the bucket tilting angle and jaw opening / closing angle of the working device; Proximity switch: Installed on the arm locking device, used to detect the locking status of the arm locking device.

9. A method for intelligent safety control of a working device of engineering machinery, characterized in that, The intelligent safety control system according to any one of claims 1 to 8, executed by the control module, includes the following steps: Step 1: Receive human-machine interface operation commands input by the communication module, and acquire the working device status signals and arm locking device locking status signals acquired by the signal acquisition module; Step 2: Based on the operation instructions and the status signals, execute the intelligent control algorithm to generate control instructions; the intelligent control algorithm includes an attitude transformation control algorithm and a collision avoidance control algorithm; Step 3: Send the control command to the output control module to drive the actuator, and simultaneously send the working device status to the communication module for display; after completing the above steps, return to Step 1 to form a closed-loop control.

10. The intelligent safety control method for the working device of engineering machinery as described in claim 9, characterized in that, Step two also includes determining the current operating mode of the working device based on the operation instructions and status signals: if the current operating mode is driving mode, then the driving control process is entered; if the current operating mode is operation mode, then intelligent control algorithm control is performed.

11. The intelligent safety control method for the working device of engineering machinery as described in claim 9, characterized in that, The attitude change control algorithm includes an deployment control algorithm and a retraction control algorithm; the deployment control algorithm controls the movement of each joint of the working device according to a first preset step to switch the working device from a driving posture to a working posture; the retraction control algorithm controls the movement of each joint of the working device according to a second preset step to switch the working device from a working posture to a driving posture.

12. The intelligent safety control method for the working device of engineering machinery as described in claim 11, characterized in that, The first preset step includes: S101: The control module reads the status information collected by the signal acquisition module and determines whether the arm locking device is in the locked state; if it is not locked, an interrupt is performed; if it is locked, proceed to the next step. S102: The control module confirms whether the arm locking device is unlocked; if it is not unlocked within the preset time, an interruption is performed; if it is unlocked, proceed to the next step. S103: The control module outputs a control command, causing the lower boom of the working device to tilt upwards; S104: The control module detects and determines in real time whether the boom has reached the preset elevation angle, and performs timeout monitoring. If the timeout does not occur and the preset elevation angle is reached, the control module determines that the process has ended and sends a completion signal to the communication module; if the timeout does not occur and the lower boom does not reach the preset elevation angle, the process returns to step S102; if the timeout occurs and the preset angle is not reached, the process is interrupted.

13. The intelligent safety control method for the working device of engineering machinery as described in claim 11, characterized in that, The second preset step includes: S201: The control module reads the status information collected by the signal acquisition module and determines whether the arm locking device is in the unlocked state; if it is not unlocked, an interrupt is performed; if it is unlocked, proceed to the next step. S202: The control module controls the retraction and retraction of each joint of the working device in sequence according to the preset retraction and retraction action sequence. If any step fails due to timeout, the process is interrupted; if successful, the next step is executed until all joints are retracted. S203: The control module controls the arm locking device to lock. If it is not locked within a preset time, an interruption will be performed. S204: The control module determines that the take-up and withdrawal process is successful and sends a completion signal to the communication module.

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