CN115432600A

CN115432600A - Anti-tipping control method, processor and control device for engineering equipment

Info

Publication number: CN115432600A
Application number: CN202211153911.9A
Authority: CN
Inventors: 佟祥伟; 曾中炜; 李淇阳
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2022-09-21
Filing date: 2022-09-21
Publication date: 2022-12-06

Abstract

The embodiment of the application provides an anti-tipping control method, a processor and a control device for engineering equipment. The method comprises the following steps: determining the gravity center position of the engineering equipment; determining the tipping direction of the engineering equipment according to the gravity center position under the condition that the gravity center position is determined to be positioned outside the supporting area of the engineering equipment; determining a first output torque direction of the rotary energy storage device according to the tipping direction; determining a target rotary energy storage device to be subjected to anti-tipping operation from the rotary energy storage devices according to the installation condition of the rotary energy storage devices; controlling the target rotational energy storage device to rotate in a first output torque direction to produce a torque opposite the rollover direction; and controlling the upper-mounted component to be retracted towards the inner side of the engineering equipment so as to adjust the gravity center position of the engineering equipment to be within the support area.

Description

Anti-tipping control method, processor and control device for engineering equipment

Technical Field

The application relates to the field of engineering equipment, in particular to an anti-tipping control method, a processor, a control device, the engineering equipment and a storage medium of the engineering equipment.

Background

Many engineering installations comprise relatively movable upper parts, such as the boom of a pump truck or a crane, which are relatively movable over a relatively large range in the operating mode. Because the mass of the upper part is relatively large in the construction equipment, the center of gravity of the construction equipment is caused to move during the relative movement of the upper part and the upper part. Engineering equipment often adopts overhanging landing leg to provide effective stable support moment, guarantees that the focus of vehicle whole car can move in great scope. In addition, in the prior art, the engineering equipment often adopts a sensor for posture detection to confirm the gravity center position of the engineering equipment, so that the gravity center position is prevented from exceeding a supporting area, and further the engineering equipment is prevented from being overturned.

However, during the actual operation of the construction equipment, the position of the center of gravity of the construction equipment may move out of the supporting area due to the disturbance of external factors, resulting in a rollover accident. In case the position of the centre of gravity is moved outside the support area, the prior art precautions will fail, and tipping of the engineering equipment cannot be avoided.

Disclosure of Invention

The embodiment of the application aims to provide an anti-tipping control method, a processor, a control device, engineering equipment and a storage medium for the engineering equipment.

In order to achieve the above object, a first aspect of the present application provides an anti-rollover control method for construction equipment, the construction equipment including an upper mounting member and a rotational energy storage device, a rotational axis of the rotational energy storage device being parallel to a ground surface, the control method comprising:

determining the gravity center position of the engineering equipment;

determining the tipping direction of the engineering equipment according to the gravity center position under the condition that the gravity center position is determined to be positioned outside a supporting area of the engineering equipment, wherein the supporting area is a maximum closed area formed by a supporting boundary connected between supporting points of the engineering equipment, which are in contact with the ground;

determining a first output torque direction of the rotary energy storage device according to the tipping direction;

determining a target rotary energy storage device to be subjected to anti-tipping operation from the rotary energy storage devices according to the installation condition of the rotary energy storage devices;

controlling the target rotational energy storage device to rotate in a first output torque direction to produce a torque opposite the rollover direction;

and controlling the upper-mounted component to be retracted towards the inner side of the engineering equipment so as to adjust the gravity center position of the engineering equipment to be within the support area.

In an embodiment of the present application, a rotatable device is installed below the rotational energy storage device, and controlling the rotational energy storage device to rotate in a first output torque direction to generate a torque opposite to the tipping direction includes: controlling the rotatable device to rotate and controlling the rotary energy storage device to keep a static state so as to enable the rotation axis of the rotary energy storage device to be biased to a support boundary closest to the gravity center position; the rotational energy storage device is controlled to rotate in a first output torque direction and the rotatable device remains stationary to produce a torque opposite the tipping direction.

In an embodiment of the application, the rotational energy storage device at least includes a first rotational energy storage device and a second rotational energy storage device, a rotational axis of the first rotational energy storage device is perpendicular to a vehicle body of the engineering equipment, a rotational axis of the second rotational energy storage device is parallel to the vehicle body of the engineering equipment, and the determining, from the rotational energy storage devices, a target rotational energy storage device to be subjected to an anti-rollover operation according to an installation condition of the rotational energy storage device includes: determining the first rotary energy storage device as a target rotary energy storage device under the condition that the tipping direction is towards the front or the back of the engineering equipment; in the case where the rollover direction is to rollover toward the left side or the rear side of the construction equipment, the second rotational energy storage device is determined as the target rotational energy storage device.

In an embodiment of the present application, determining a target rotary energy storage device to be subjected to an anti-rollover operation from among the rotary energy storage devices according to installation conditions of the rotary energy storage devices includes: in the case where the rotational energy storage device includes a plurality of rotational energy storage devices in the same direction, N rotational energy storage devices are optionally selected as the target rotational energy storage device from among the plurality of rotational energy storage devices in the same direction, where N is a natural number greater than zero.

In an embodiment of the present application, determining a target rotary energy storage device to be subjected to an anti-rollover operation from among the rotary energy storage devices according to installation conditions of the rotary energy storage devices includes: in the case where the rotational energy storage device includes a plurality of rotational energy storage devices in different directions, M rotational energy storage devices are optionally selected from the plurality of rotational energy storage devices in different directions as the target rotational energy storage device, where M is a natural number greater than zero.

In an embodiment of the present application, controlling the target rotational energy storage device to rotate in the first output torque direction to generate a torque opposite to the rollover direction comprises: the target rotational energy storage device is controlled to rotate at a maximum acceleration in a first output torque direction such that the target rotational energy storage device generates a maximum torque in a shortest time opposite to the rollover direction.

In an embodiment of the present application, controlling the target rotational energy storage device to rotate in the first output torque direction to generate a torque opposite to the rollover direction comprises: determining real-time tipping torque of the engineering equipment according to the distance between the gravity center position and the support boundary closest to the gravity center position and the gravity of the engineering equipment; determining a target acceleration of the target rotary energy storage device according to the real-time tipping torque; and controlling the target rotation energy storage device to rotate towards the first output torque direction at the target acceleration so as to generate a torque opposite to the tipping direction, wherein the difference between the torque generated by the target rotation energy storage device and the tipping torque is smaller than a preset difference.

In the embodiment of the present application, the control method further includes: after the gravity center position of the engineering equipment is determined, under the condition that the spacing distance between the gravity center position and any one supporting boundary is smaller than a preset distance, determining the predicted tipping direction of the engineering equipment according to the gravity center position; determining a second output torque direction of the rotational energy storage device based on the predicted rollover direction; determining a target rotary energy storage device to be subjected to anti-tipping operation from the rotary energy storage devices according to the installation condition of the rotary energy storage devices, and controlling the target rotary energy storage device to rotate towards a second output torque direction so as to generate a torque opposite to the tipping direction; and controlling the upper assembly part to be retracted towards the inner side of the engineering equipment so as to adjust the position of the gravity center of the engineering equipment to be more than or equal to a preset distance from any supporting boundary.

In the embodiment of the present application, the control method further includes: after the predicted tipping direction of the engineering equipment is determined according to the gravity center position, determining a third output torque direction of the rotary energy storage device according to the predicted tipping direction; determining a rotary energy storage device to be executed for performing anti-tipping operation from the rotary energy storage device according to the installation condition of the rotary energy storage device; controlling the to-be-executed rotary energy storage device to rotate in an accelerating mode towards a third output torque direction so that the to-be-executed rotary energy storage device generates a speed opposite to the predicted tipping direction, wherein the acceleration of the to-be-executed rotary energy storage device rotating towards the third output torque direction is smaller than the preset acceleration; under the condition that the gravity center position is determined to be located outside the supporting area of the engineering equipment, determining the tipping direction of the engineering equipment according to the gravity center position, and determining the first output torque direction of the rotary energy storage device according to the tipping direction; after controlling the to-be-executed rotary energy storage device to decelerate to zero, controlling the to-be-executed rotary energy storage device to accelerate towards the first output torque direction so as to generate a torque opposite to the tipping direction through the to-be-executed rotary energy storage device; and controlling the upper assembly part to be retracted towards the inner side of the engineering equipment so as to adjust the position of the center of gravity of the engineering equipment to be more than or equal to a preset distance away from any supporting boundary.

In the embodiment of the present application, the engineering equipment is any one of a pump truck, a crane, and a fire truck; under the condition that the engineering equipment is a pump truck, the upper assembly part is an arm support of the pump truck; under the condition that the engineering equipment is a crane, the upper assembly part is an arm support of the crane; in the case that the engineering equipment is a fire engine, the upper part is a fire aerial ladder of the fire engine.

In the embodiment of the application, the supporting point is the contact point of any one of a supporting leg, a wheel and a track of the engineering equipment and the ground.

A second aspect of the present application provides a processor configured to execute the above-described anti-rollover control method of construction equipment.

A third aspect of the present application provides an anti-rollover control device of construction equipment, including: the position detection module is used for acquiring the gravity center position of the engineering equipment; and the processor.

A fourth aspect of the present application provides an engineering equipment, comprising: the upper mounting component is used for adjusting the gravity center position of the engineering equipment to be within the supporting area of the engineering equipment; the rotation axis of the rotation energy storage device is parallel to the ground, and the rotation energy storage device is used for generating torque opposite to the tipping direction of the engineering equipment; and the anti-tipping control device of the engineering equipment.

A fifth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which when executed by a processor, cause the processor to be configured to perform the above-described anti-rollover control method of construction equipment.

Through the technical scheme, the gravity center position of the engineering equipment is determined, and the tipping direction of the engineering equipment can be determined under the condition that the gravity center position of the engineering equipment deviates to the outside of the supporting area due to the relative movement of the upper mounting component, so that the acceleration direction of the rotary energy storage device is determined. The rotational energy storage device accelerates or decelerates rotation at an acceleration rate to generate a torque opposite to the tipping direction, so that the engineering equipment does not tip over immediately. And controlling the upper assembling component to be retracted towards the inner side of the engineering equipment so as to adjust the gravity center of the engineering equipment to be within the supporting area. The method can generate torque opposite to the tipping direction of the engineering equipment by controlling the rotary energy storage device of the engineering equipment under the condition that the gravity center position of the engineering equipment exceeds the supporting area, so that the engineering equipment does not tip immediately, time is provided for adjusting the gravity center position of the upper part of the engineering equipment, and the tipping of the engineering equipment is prevented.

Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the embodiments of the disclosure, but are not intended to limit the embodiments of the disclosure. In the drawings:

FIG. 1 schematically shows a block diagram of an engineering equipment structure according to an embodiment of the present application;

fig. 2 schematically shows a flow diagram of a rollover prevention control method of engineering equipment according to an embodiment of the present application;

fig. 3 schematically shows an application environment diagram of the anti-rollover control method of the engineering equipment according to an embodiment of the application;

fig. 4 schematically shows an application environment diagram of an anti-rollover control method of engineering equipment according to another embodiment of the present application;

fig. 5 schematically shows an internal structure diagram of a computer device according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present application clearer and more fully described below with reference to the accompanying drawings in the embodiments of the present application, it should be understood that the detailed description and specific embodiments described herein are only used for illustrating and explaining the embodiments of the present application and are not used for limiting the embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.

The anti-tipping control method for the engineering equipment can be applied to the engineering equipment shown in the figure 1.

In one embodiment, there is provided a piece of engineering equipment 100 as shown in fig. 1, the piece of engineering equipment 100 comprising: and the upper mounting component 101 is used for adjusting the gravity center position of the engineering equipment to be within the supporting area of the engineering equipment. And the rotation axis of the rotation energy storage device is parallel to the ground, and the rotation energy storage device is used for generating a torque 102 opposite to the tilting direction of the engineering equipment. And an anti-rollover control device 103 of the engineering equipment, which control device 103 comprises, in one embodiment, a processor and a position detection module. The position detection module is used for acquiring the gravity center position of the engineering equipment. The processor is configured to perform a rollover control method of the engineering equipment.

In one embodiment, the engineering equipment is any one of a pump truck, a crane, and a fire truck; under the condition that the engineering equipment is a pump truck, the upper assembly part is an arm support of the pump truck; under the condition that the engineering equipment is a crane, the upper mounting part is a boom of the crane; in the case that the engineering equipment is a fire truck, the upper part is a fire aerial ladder of the fire truck.

In one embodiment, the external structure is an external structure and a driving device, the external structure can be a flywheel body, a sphere, a fan body, a rod-shaped body, etc., and when the driving device drives the external structure to rotate, a large resistance is generated, so that the engineering equipment generates a large reverse torque.

Fig. 2 schematically shows a flow chart of an anti-rollover control method of engineering equipment according to an embodiment of the application. In one embodiment of the present application, as shown in fig. 2, there is provided a method for controlling anti-tipping of engineering equipment, the engineering equipment comprises an upper mounting component and a rotary energy storage device, the rotary energy storage device has a rotation axis parallel to the ground, and the control comprises the following steps:

s202, determining the gravity center position of the engineering equipment.

And S204, under the condition that the gravity center position is determined to be positioned outside the supporting area of the engineering equipment, determining the tipping direction of the engineering equipment according to the gravity center position, wherein the supporting area is the maximum closed area formed by the supporting boundary connected between the supporting points of the engineering equipment, which are in contact with the ground.

And S206, determining a first output torque direction of the rotary energy storage device according to the tipping direction.

And S208, determining a target rotary energy storage device to be subjected to anti-tipping operation from the rotary energy storage devices according to the installation condition of the rotary energy storage devices.

And S210, controlling the target rotary energy storage device to rotate towards the first output torque direction so as to generate torque opposite to the tipping direction.

S212, controlling the upper-mounted component to be retracted towards the inner side of the engineering equipment so as to adjust the gravity center position of the engineering equipment to be within the supporting area.

The construction equipment often comprises an upper part which can move relatively in a certain space, but the upper part can shift the gravity center position of the construction equipment during the relative movement, and the construction equipment can tip over when the gravity center position exceeds a supporting area. The engineering equipment in the application comprises a rotary energy storage device, and the rotary axis of the rotary energy storage device is parallel to the ground. In the case of an acceleration or deceleration of the rotation of the rotational energy storage means, a large torque can be generated by the construction equipment. So that the tipping of the construction equipment does not occur immediately in the event that the position of the centre of gravity of the construction equipment exceeds the support area.

In this application, in order to prevent the engineering equipment from tipping over, the processor first determines the position of the center of gravity of the engineering equipment. The processor determines the current center of gravity position through a position detection module, and the position detection module confirms the center of gravity position through an attitude detection sensor on the engineering equipment. The gesture detection sensor detects the gesture of the engineering equipment by acquiring the inclination angle of the arm support, the opening degree of the supporting leg, the inclination angle of the vehicle body, the reaction force of the supporting leg and the like, and further can confirm the gravity center position of the engineering equipment. And under the condition that the gravity center position exceeds the supporting boundary of the engineering equipment, determining the tipping direction of the engineering equipment according to the gravity center position. For example, if the center of gravity is located on the right side of the work equipment support area, the work equipment may tip to the right side. The supporting area is a maximum closed area formed by a supporting boundary formed by connecting supporting points of the engineering equipment, which are in contact with the ground. In one embodiment, the support point is a contact point of any one of a support leg, a wheel, and a track of the engineering equipment with the ground. For example, in the pump truck, the quadrangle formed by four legs is a rectangle with a smaller width, and the width of the rectangle is smaller than the distance between wheels, so that the polygon formed by the legs of the pump truck and the support points of the wheels, which are in contact with the ground, is the support area. The first output torque direction is the same direction as the rollover direction. During the process of tipping the object, a tipping moment is generated. For example, using a right-handed screw method to observe the moment, the direction of flexion of the four fingers is clockwise when the thumb is forward. In this case, the thumb is used as the rotation axis, and the four fingers are bent in the positive direction. When the thumb is backward and the four fingers are bent counterclockwise, the bending direction of the four fingers is negative. When the engineering equipment is tipped towards the positive direction, the processor controls the rotary energy storage device to output the output torque of the positive direction, so that the engineering equipment generates the anti-tipping torque of the negative direction through the rotary energy storage device. In the process of outputting the torque by the rotary energy storage device, interaction force can be generated due to the existence of resistance, so that the engineering vehicle generates anti-tipping torque in the opposite direction, and further engineering equipment does not tip over immediately. Meanwhile, the processor controls the upper-mounted component of the engineering equipment to be recovered towards the inner side of the engineering equipment, so that the gravity center position of the engineering equipment returns to the inner side of the supporting area of the engineering equipment.

In a specific embodiment, as shown in fig. 3, the engineering equipment is specifically a crane, and the upper mounting component is a boom. The direction of the head of the crane is taken as the front of the crane, the gravity center position of the crane is arranged on the right side of the engineering equipment supporting area, and the crane is tilted clockwise by taking the right side supporting boundary as an axis. The processor will control the rear rotational energy storage device (shown flywheel mass) to accelerate clockwise and the crane will generate a torque opposite to the direction of rotation of the flywheel, which is opposite to the direction of vehicle rollover, so that the crane will not immediately rollover. When the rotary energy storage device is controlled to rotate in an accelerated mode, the arm support of the crane is controlled to move towards the inner side of the crane, and the gravity center position returns to the inside of the supporting area.

By adopting the method, under the condition that the gravity center position of the engineering equipment exceeds the supporting area, the processor provides adjusting time for adjusting the gravity center position of the upper part of the engineering equipment by controlling the rotary energy storage device of the engineering equipment. And the upper-mounted component is adjusted to be recycled towards the inner side of the engineering equipment, so that the gravity center position returns to the supporting area of the engineering equipment, and the engineering equipment is prevented from tipping.

In one embodiment, the rotational energy storage device is mounted below the rotatable device, and controlling the rotational energy storage device to rotate in a first output torque direction to generate a torque opposite to the tipping direction comprises: controlling the rotatable device to rotate and controlling the rotary energy storage device to keep a static state so as to enable the rotation axis of the rotary energy storage device to be biased to a support boundary closest to the gravity center position; the rotational energy storage device is controlled to rotate in a first output torque direction and the rotatable device remains stationary to produce a torque opposite the tipping direction. The deviation of the rotation axis from the support boundary closest to the position of the center of gravity means that the rotation axis is approximately parallel to the support boundary closest to the position of the center of gravity, and the rotation axis may have a predetermined angular difference from the support boundary. The rotatable means comprises a turntable, the axis of rotation of which is perpendicular to the ground. During the rotation of the turntable, the rotation axis of the rotary energy storage device can be rotated, but the rotation axis of the rotary energy storage device is still parallel to the ground. The rotation axis of the rotatable device is perpendicular to the ground, the rotary energy storage device is mounted on the rotatable device, and the rotation axis of the rotary energy storage device is parallel to the ground and perpendicular to the rotation axis of the rotatable device. The rotatable device may be a base as shown in fig. 4, the side of the base mounts the rotational energy storage device, and the processor controls the base to rotate to adjust the direction of the axis of the rotational energy storage device. In the case that the processor determines that the position of the center of gravity of the engineering equipment exceeds the supporting area, the processor controls the rotatable device below the rotary energy storage device to rotate to a preset direction, and then drives the rotary energy storage device to rotate so as to generate a torque opposite to the tilting direction. For example, the processor confirms that the gravity center position of the engineering equipment is located on the right side of the supporting area of the engineering equipment, the processor controls the rotary table below the rotary energy storage device to rotate to enable the rotation axis of the rotary energy storage device to be deviated towards the direction of the vehicle body, and the rotary energy storage device is controlled to accelerate or decelerate rotation to generate torque opposite to the overturning direction.

In one embodiment, the rotary energy storage device comprises at least a first rotary energy storage device and a second rotary energy storage device, the rotation axis of the first rotary energy storage device is perpendicular to the body of the engineering equipment, the rotation axis of the second rotary energy storage device is parallel to the body of the engineering equipment, and the method for determining the target rotary energy storage device to perform the anti-tipping operation from the rotary energy storage devices according to the installation condition of the rotary energy storage devices comprises the following steps: determining the first rotary energy storage device as a target rotary energy storage device under the condition that the tipping direction is towards the front or the back of the engineering equipment; in the case where the rollover direction is to rollover toward the left side or the rear side of the construction equipment, the second rotational energy storage device is determined as the target rotational energy storage device.

In a specific embodiment, as shown in fig. 4, the engineering equipment includes two rotating energy storage devices, specifically flywheel bodies of the rotating energy storage devices, the direction of the front of the engineering equipment is taken as the front of the engineering equipment, in the case that the processor detects that the position of the center of gravity is in front of the engineering equipment, the engineering equipment will tip forward, and will tip counterclockwise in the left side view, the processor will drive the flywheel on the side of the body to accelerate counterclockwise rotation, so that the engineering equipment generates clockwise torque, and the engineering equipment is prevented from tipping immediately. Meanwhile, the upper-mounted part of the engineering equipment is adjusted to be retracted inwards, so that the gravity center position of the engineering equipment is positioned in the supporting area.

In one embodiment, the determining a target rotary energy storage device to perform an anti-tip over operation from among the rotary energy storage devices according to the installation condition of the rotary energy storage devices comprises: in the case where the rotational energy storage device includes a plurality of rotational energy storage devices in the same direction, N rotational energy storage devices are optionally selected as the target rotational energy storage device from among the plurality of rotational energy storage devices in the same direction, where N is a natural number greater than zero. In the case of multiple rotational energy storage devices included in the same direction, the processor may control one or more rotational energy storage devices in the same direction to output torque, preventing immediate tipping of the engineering equipment. The multiple rotary energy storage devices can enable the anti-tipping torque generated by the rotary energy storage devices to be adjustable. And the processor controls the full power output torque of all the rotating energy storage devices in the same direction under the condition that the gravity center position is far beyond the supporting area and generates large tilting torque. Under the condition that the gravity center position is closer to the position beyond the supporting area and smaller tipping torque is generated, the processor controls the part of the rotary energy storage devices in the same direction or controls the rotary energy storage devices which can generate smaller tipping-prevention torque. By the method, the speed can be regulated in a grading way, so that the processor can control the anti-tipping torque generated by the rotary energy storage device more flexibly.

In one embodiment, the determining the target rotary energy storage device to perform the anti-rollover operation from the rotary energy storage devices according to the installation conditions of the rotary energy storage devices comprises: in the case where the rotational energy storage device includes a plurality of rotational energy storage devices in different directions, M rotational energy storage devices are optionally selected from the plurality of rotational energy storage devices in different directions as the target rotational energy storage device, where M is a natural number greater than zero. For example, the center of gravity of the construction equipment is located at the left front of the construction equipment, the processor determines that the construction equipment is tilted to the left front, and the processor controls the two rotary energy storage devices in the vehicle body direction and the direction perpendicular to the vehicle body direction to generate torque to the right rear, so that the construction equipment is not tilted immediately. And meanwhile, adjusting the upper assembly part of the engineering equipment to enable the gravity center position to return to the inside of the supporting area of the engineering equipment.

In one embodiment, controlling the target rotational energy storage device to rotate in a first output torque direction to produce a torque opposite to the rollover direction comprises: the target rotational energy storage device is controlled to rotate at a maximum acceleration in a first output torque direction such that the target rotational energy storage device generates a maximum torque in a shortest time opposite to the rollover direction. In the case where the processor detects that the position of the center of gravity of the engineering equipment is outside the support boundary, the processor controls the rotary energy storage device to generate energy that controls the rotary energy storage device to accelerate the rotation at a maximum acceleration that is limited by the power powering the rotary energy storage device. By adopting the method, the rotary energy storage device can provide the maximum anti-tipping torque for the engineering equipment, and the engineering equipment is prevented from tipping immediately.

In one embodiment, controlling the target rotational energy storage device to rotate in a first output torque direction to produce a torque opposite to the rollover direction comprises: determining real-time tipping torque of the engineering equipment according to the distance between the gravity center position and the support boundary closest to the gravity center position and the gravity of the engineering equipment; determining a target acceleration of the target rotary energy storage device according to the real-time tipping torque; and controlling the target rotation energy storage device to rotate towards the first output torque direction at the target acceleration so as to generate a torque opposite to the tipping direction, wherein the difference between the torque generated by the target rotation energy storage device and the tipping torque is smaller than a preset difference. The processor can calculate the tipping torque according to the distance between the gravity center position and the nearest support boundary and the gravity of the engineering equipment, and further control the rotary energy storage device to generate the tipping torque, so that the tipping torque is slightly larger than the tipping torque, and the tipping torque are smaller than preset values. By adopting the method, the time for the rotary energy storage device to accelerate to the maximum speed can be prolonged, and the upper-mounted component has longer adjusting time.

In one embodiment, the control method further comprises: after the gravity center position of the engineering equipment is determined, under the condition that the spacing distance between the gravity center position and any one supporting boundary is smaller than a preset distance, determining the predicted tipping direction of the engineering equipment according to the gravity center position; determining a second output torque direction of the rotational energy storage device based on the predicted rollover direction; determining a target rotary energy storage device to be subjected to anti-tipping operation from the rotary energy storage devices according to the installation condition of the rotary energy storage devices, and controlling the target rotary energy storage device to rotate towards a second output torque direction so as to generate a torque opposite to the tipping direction; and controlling the upper assembly part to be retracted towards the inner side of the engineering equipment so as to adjust the position of the center of gravity of the engineering equipment to be more than or equal to a preset distance away from any supporting boundary. After the processor detects the gravity center position of the engineering equipment, when the processor detects that the gravity center position is located in the supporting area and the distance between the gravity center position and any supporting boundary is smaller than the preset distance, the fact that the engineering equipment is about to overturn is determined. The processor can determine the direction of the engineering equipment to be overturned according to the position of the center of gravity, and controls the rotary energy storage device to rotate towards the second output torque direction. The second output torque direction is the same as the tipping direction, for example, the direction of the vehicle head is taken as the front, the engineering vehicle is about to tip anticlockwise towards the left side, and the rotating energy storage device at the rear side is controlled to rotate in an anticlockwise accelerating mode or rotate in a clockwise decelerating mode, so that the engineering equipment generates clockwise torque, and meanwhile the upper parts are adjusted to be recycled towards the inner side. By adopting the method, the engineering equipment can be timely adjusted under the condition of impending rollover risk, the rollover of the engineering vehicle is prevented, and the rollover prevention measures are prevented from causing the rollover of the engineering equipment when the gravity center position is detected to be outside the supporting area.

In one embodiment, the control method further comprises: after the predicted tipping direction of the engineering equipment is determined according to the gravity center position, determining a third output torque direction of the rotary energy storage device according to the predicted tipping direction; determining a rotary energy storage device to be executed for executing the anti-rollover operation from the rotary energy storage device according to the installation condition of the rotary energy storage device; controlling the to-be-executed rotary energy storage device to accelerate and rotate towards the third output torque direction so that the to-be-executed rotary energy storage device generates a speed opposite to the predicted rollover direction, wherein the acceleration of the to-be-executed rotary energy storage device rotating towards the third output torque direction is smaller than the preset acceleration; under the condition that the gravity center position is determined to be located outside the supporting area of the engineering equipment, determining the tipping direction of the engineering equipment according to the gravity center position, and determining the first output torque direction of the rotary energy storage device according to the tipping direction; after the to-be-executed rotary energy storage device is controlled to decelerate to zero, the to-be-executed rotary energy storage device is controlled to accelerate and rotate towards the first output torque direction, so that torque opposite to the tipping direction is generated through the to-be-executed rotary energy storage device; and controlling the upper assembly part to be retracted towards the inner side of the engineering equipment so as to adjust the position of the gravity center of the engineering equipment to be more than or equal to a preset distance from any supporting boundary. The third output torque direction is an acceleration direction opposite to the rollover direction. The processor controls the acceleration of the rotation in the third output torque direction to be smaller than the preset acceleration so as to prevent the torque generated during the acceleration rotation of the rotary energy storage device from causing the engineering equipment to directly overturn. And (4) recovering the upper assembly part towards the inner side of the engineering equipment, so that the position of the gravity center is adjusted to the position that the spacing distance between the gravity center and any one supporting boundary is greater than or equal to the preset distance, and the engineering equipment returns to the safe state. In the process, the rotary energy storage device accelerates first, then decelerates to zero, and then reversely accelerates. The process of first decelerating and then reversely accelerating enables the time of the rotary energy storage device reaching the maximum speed to be greatly prolonged, further the time of generating reverse torque is also greatly prolonged, the upper-mounted component has sufficient time to adjust the posture, and further the occurrence of rollover accidents is effectively avoided.

In a specific embodiment, in the case that the position of the center of gravity is determined to be inside the support area with the vehicle head as the front, but is less than the preset distance away from the right support boundary, the engineering equipment is predicted to tip clockwise with the right support boundary as the axis. The processor controls the rotary energy storage device on the rear side of the engineering equipment to slowly accelerate anticlockwise, so that when the gravity center position exceeds the support area from the right support boundary, the rotary energy storage device on the rear side rotates anticlockwise at a certain speed. In the case where the position of the center of gravity exceeds the support area from the right support boundary, the processor controls the rotational acceleration of the rotational energy storage device on the rear side to be clockwise, so that the rotational energy storage device generates a counterclockwise anti-toppling torque.

By adopting the method, the state of the engineering equipment is determined according to the detected gravity center position, the variable-speed rotation of the rotary energy storage device is controlled, so that the rotary energy storage device generates the anti-tipping torque, and meanwhile, the upper-mounted component is adjusted to be recycled towards the inner side of the engineering equipment. The anti-tipping torque is generated by rotating the energy storage device, the control response is fast, the anti-tipping torque in any direction and controllable in size is provided within a limited time, the anti-tipping function is realized, and the tipping is effectively avoided.

Fig. 2 is a schematic flow chart of a control method for preventing the engineering device from tipping according to an embodiment. It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

The anti-tipping control device of the engineering equipment comprises a processor and a memory, wherein the processor comprises a kernel, and the kernel calls a corresponding program unit from the memory. One or more than one kernel can be set, and the anti-tipping control method for the engineering equipment is realized by adjusting kernel parameters.

The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), including at least one memory chip.

The embodiment of the application provides a storage medium, wherein a program is stored on the storage medium, and the program realizes the anti-tipping control method of the engineering equipment when being executed by a processor.

The embodiment of the application provides a processor, and the processor is used for running a program, wherein the program executes the anti-rollover control method of the engineering equipment during running.

In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer apparatus includes a processor a01, a network interface a02, a memory (not shown in the figure), and a database (not shown in the figure) connected through a system bus. Wherein the processor a01 of the computer device is arranged to provide computing and control capabilities. The memory of the computer apparatus includes an internal memory a03 and a nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory a03 provides an environment for running the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The network interface a02 of the computer apparatus is used for communicating with an external terminal through a network connection. The computer program B02 is executed by the processor a01 to implement a rollover control method for the construction equipment.

It will be appreciated by those skilled in the art that the configuration shown in fig. 5 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

The embodiment of the application provides equipment, the equipment comprises a processor, a memory and a program which is stored on the memory and can run on the processor, and the following steps are realized when the processor executes the program: determining the gravity center position of the engineering equipment; determining the tipping direction of the engineering equipment according to the gravity center position under the condition that the gravity center position is determined to be positioned outside a supporting area of the engineering equipment, wherein the supporting area is a maximum closed area formed by a supporting boundary connected between supporting points of the engineering equipment, which are in contact with the ground; determining a first output torque direction of the rotary energy storage device according to the tipping direction; determining a target rotary energy storage device to be subjected to anti-tipping operation from the rotary energy storage devices according to the installation condition of the rotary energy storage devices; controlling the target rotational energy storage device to rotate in a first output torque direction to produce a torque opposite the rollover direction; and controlling the upper-mounted component to be retracted towards the inner side of the engineering equipment so as to adjust the gravity center position of the engineering equipment to be within the support area.

In one embodiment, the rotational energy storage device is mounted below the rotatable device, and controlling the rotational energy storage device to rotate in a first output torque direction to generate a torque opposite to the tipping direction comprises: controlling the rotatable device to rotate and controlling the rotary energy storage device to keep a static state so as to enable the rotation axis of the rotary energy storage device to be deviated to a support boundary closest to the position of the center of gravity; the rotational energy storage device is controlled to rotate in a first output torque direction and the rotatable device remains stationary to produce a torque opposite the tipping direction.

In one embodiment, the rotary energy storage device comprises at least a first rotary energy storage device and a second rotary energy storage device, the rotation axis of the first rotary energy storage device is perpendicular to the body of the engineering equipment, the rotation axis of the second rotary energy storage device is parallel to the body of the engineering equipment, and the method for determining the target rotary energy storage device to perform the anti-tipping operation from the rotary energy storage devices according to the installation condition of the rotary energy storage devices comprises the following steps: determining the first rotary energy storage device as a target rotary energy storage device under the condition that the tipping direction is towards the front or the back of the engineering equipment; in the case where the rollover direction is to rollover toward the left or rear side of the construction equipment, the second rotational energy storage device is determined as the target rotational energy storage device.

In one embodiment, the determining a target rotary energy storage device to perform an anti-tip over operation from among the rotary energy storage devices according to the installation condition of the rotary energy storage devices comprises: in the case where the rotational energy storage device includes a plurality of rotational energy storage devices in the same direction, N rotational energy storage devices are optionally selected from the plurality of rotational energy storage devices in the same direction as the target rotational energy storage device, where N is a natural number greater than zero.

In one embodiment, the determining a target rotary energy storage device to perform an anti-tip over operation from among the rotary energy storage devices according to the installation condition of the rotary energy storage devices comprises: in the case where the rotational energy storage device includes a plurality of rotational energy storage devices in different directions, M rotational energy storage devices are optionally selected from the plurality of rotational energy storage devices in different directions as the target rotational energy storage device, where M is a natural number greater than zero.

In one embodiment, controlling the target rotational energy storage device to rotate in a first output torque direction to produce a torque opposite to the rollover direction comprises: the target rotational energy storage device is controlled to rotate at a maximum acceleration in a first output torque direction such that the target rotational energy storage device generates a maximum torque in a shortest time opposite to the rollover direction.

In one embodiment, controlling the target rotational energy storage device to rotate in the first output torque direction to generate a torque opposite the rollover direction comprises: determining real-time tipping torque of the engineering equipment according to the distance between the gravity center position and the support boundary closest to the gravity center position and the gravity of the engineering equipment; determining a target acceleration of the target rotational energy storage device according to the real-time tipping torque; and controlling the target rotation energy storage device to rotate towards the first output torque direction at the target acceleration so as to generate a torque opposite to the tipping direction, wherein the difference between the torque generated by the target rotation energy storage device and the tipping torque is smaller than a preset difference.

In one embodiment, the control method further comprises: after the gravity center position of the engineering equipment is determined, under the condition that the spacing distance between the gravity center position and any one supporting boundary is smaller than a preset distance, determining the predicted tipping direction of the engineering equipment according to the gravity center position; determining a second output torque direction of the rotational energy storage device based on the predicted rollover direction; determining a target rotary energy storage device to be subjected to anti-tipping operation from the rotary energy storage devices according to the installation condition of the rotary energy storage devices, and controlling the target rotary energy storage device to rotate towards a second output torque direction so as to generate a torque opposite to the tipping direction; and controlling the upper assembly part to be retracted towards the inner side of the engineering equipment so as to adjust the position of the gravity center of the engineering equipment to be more than or equal to a preset distance from any supporting boundary.

In one embodiment, the control method further comprises: after the predicted rollover direction of the engineering equipment is determined according to the gravity center position, determining a third output torque direction of the rotary energy storage device according to the predicted rollover direction; determining a rotary energy storage device to be executed for performing anti-tipping operation from the rotary energy storage device according to the installation condition of the rotary energy storage device; controlling the to-be-executed rotary energy storage device to rotate in an accelerating mode towards a third output torque direction so that the to-be-executed rotary energy storage device generates a speed opposite to the predicted tipping direction, wherein the acceleration of the to-be-executed rotary energy storage device rotating towards the third output torque direction is smaller than the preset acceleration; under the condition that the gravity center position is determined to be located outside the supporting area of the engineering equipment, determining the tipping direction of the engineering equipment according to the gravity center position, and determining the first output torque direction of the rotary energy storage device according to the tipping direction; after controlling the to-be-executed rotary energy storage device to decelerate to zero, controlling the to-be-executed rotary energy storage device to accelerate towards the first output torque direction so as to generate a torque opposite to the tipping direction through the to-be-executed rotary energy storage device; and controlling the upper assembly part to be retracted towards the inner side of the engineering equipment so as to adjust the position of the gravity center of the engineering equipment to be more than or equal to a preset distance from any supporting boundary.

In one embodiment, the engineering equipment is any one of a pump truck, a crane, and a fire truck; under the condition that the engineering equipment is a pump truck, the upper assembly part is an arm support of the pump truck; under the condition that the engineering equipment is a crane, the upper assembly part is an arm support of the crane; in the case that the engineering equipment is a fire truck, the upper part is a fire aerial ladder of the fire truck.

In one embodiment, the support point is a contact point of any one of a support leg, a wheel, and a track of the engineering equipment with the ground.

The present application also provides a computer program product adapted to perform a program for initializing the steps of the anti-rollover control method of the following construction equipment when executed on a data processing device.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method of controlling tipping of construction equipment, wherein the construction equipment comprises a rigging component and a rotational energy storage device, the rotational axis of the rotational energy storage device being parallel to the ground, the method comprising:

determining the position of the center of gravity of the engineering equipment;

under the condition that the gravity center position is determined to be positioned outside a supporting area of the engineering equipment, determining the tipping direction of the engineering equipment according to the gravity center position, wherein the supporting area is a maximum closed area formed by a supporting boundary formed by connecting supporting points of the engineering equipment, which are in contact with the ground;

determining a first output torque direction of the rotational energy storage device according to the tipping direction;

controlling the target rotational energy storage device to rotate in the first output torque direction to produce a torque opposite the tipping direction;

and controlling the upper assembling component to be retracted towards the inner side of the engineering equipment so as to adjust the gravity center position of the engineering equipment to be within the supporting area.

2. The anti-rollover control method for construction equipment according to claim 1, wherein a rotatable device is installed below the rotary energy storage device, and the controlling the rotary energy storage device to rotate in the first output torque direction to generate a torque opposite to the rollover direction comprises:

controlling the rotatable device to rotate and controlling the rotary energy storage device to keep a static state so as to enable the rotation axis of the rotary energy storage device to be deviated to a support boundary closest to the gravity center position;

controlling the rotational energy storage device to rotate in the first output torque direction and the rotatable device to remain stationary to generate a torque opposite the tipping direction.

3. The anti-rollover control method for construction equipment according to claim 1, wherein the rotational energy storage device includes at least a first rotational energy storage device and a second rotational energy storage device, a rotational axis of the first rotational energy storage device is perpendicular to a body of the construction equipment, a rotational axis of the second rotational energy storage device is parallel to the body of the construction equipment, and the determining a target rotational energy storage device to perform an anti-rollover operation from the rotational energy storage devices according to the installation conditions of the rotational energy storage devices includes:

determining the first rotary energy storage device as the target rotary energy storage device when the tipping direction is towards the front or the rear of the engineering equipment;

determining the second rotational energy storage device as the target rotational energy storage device in a case where the tipping direction is tipping toward a left side or a rear side of the construction equipment.

4. The anti-rollover control method for engineering equipment according to claim 1, wherein the step of determining a target rotary energy storage device to perform an anti-rollover operation from the rotary energy storage devices according to the installation conditions of the rotary energy storage devices comprises:

in the case where the rotational energy storage device includes a plurality of rotational energy storage devices in the same direction, N rotational energy storage devices are optionally selected from the plurality of rotational energy storage devices in the same direction as the target rotational energy storage device, where N is a natural number greater than zero.

5. The anti-rollover control method for construction equipment according to claim 1, wherein the determining a target rotary energy storage device to perform an anti-rollover operation from the rotary energy storage devices according to the installation condition of the rotary energy storage devices comprises:

in a case where the rotational energy storage device includes a plurality of rotational energy storage devices in different directions, M rotational energy storage devices are optionally selected from the plurality of rotational energy storage devices in different directions as the target rotational energy storage device, where M is a natural number greater than zero.

6. The anti-rollover control method for construction equipment according to any one of claims 1 to 5, wherein the controlling the target rotational energy storage device to rotate in the first output torque direction to generate a torque opposite to the rollover direction includes:

controlling the target rotational energy storage device to rotate at a maximum acceleration in the first output torque direction such that the target rotational energy storage device produces a maximum torque in a minimum time opposite the rollover direction.

7. The anti-rollover control method for construction equipment according to any one of claims 1 to 5, wherein the controlling the target rotational energy storage device to rotate in the first output torque direction to generate a torque opposite to the rollover direction includes:

determining real-time tipping torque of the engineering equipment according to the distance between the gravity center position and the nearest support boundary and the gravity of the engineering equipment;

determining a target acceleration of the target rotational energy storage device based on the real-time tipping torque;

and controlling the target rotation energy storage device to rotate towards the first output torque direction at the target acceleration so as to generate a torque opposite to the tipping direction, wherein the difference between the torque generated by the target rotation energy storage device and the tipping torque is smaller than a preset difference.

8. The anti-rollover control method for construction equipment according to claim 1, further comprising:

after the gravity center position of the engineering equipment is determined, under the condition that the spacing distance between the gravity center position and any one supporting boundary is smaller than a preset distance, determining the predicted tipping direction of the engineering equipment according to the gravity center position;

determining a second output torque direction of the rotational energy storage device based on the predicted rollover direction;

determining a target rotary energy storage device to be subjected to anti-tipping operation from the rotary energy storage devices according to the installation condition of the rotary energy storage devices, and controlling the target rotary energy storage device to rotate towards the second output torque direction so as to generate a torque opposite to the tipping direction;

and controlling the upper assembly part to be retracted towards the inner side of the engineering equipment so as to adjust the position of the center of gravity of the engineering equipment to a distance greater than or equal to the preset distance from any supporting boundary.

9. The anti-rollover control method for construction equipment according to claim 8, further comprising:

after determining a predicted rollover direction of the construction equipment according to the position of the center of gravity, determining a third output torque direction of the rotary energy storage device according to the predicted rollover direction;

determining a rotary energy storage device to be executed for performing anti-tipping operation from the rotary energy storage device according to the installation condition of the rotary energy storage device;

controlling the to-be-executed rotary energy storage device to rotate in an accelerating mode towards the third output torque direction, so that the to-be-executed rotary energy storage device generates a speed opposite to the predicted rollover direction, wherein the acceleration of the to-be-executed rotary energy storage device rotating towards the third output torque direction is smaller than a preset acceleration;

in the case that the center of gravity position is determined to be outside the supporting area of the engineering equipment, determining the tipping direction of the engineering equipment according to the center of gravity position, and determining the first output torque direction of the rotary energy storage device according to the tipping direction;

after the to-be-executed rotation energy storage device is controlled to decelerate to zero, the to-be-executed rotation energy storage device is controlled to accelerate and rotate towards the first output torque direction, and therefore a torque opposite to the tipping direction is generated through the to-be-executed rotation energy storage device;

10. The anti-rollover control method for construction equipment according to claim 1, wherein the construction equipment is any one of a pump truck, a crane, and a fire engine;

under the condition that the engineering equipment is a pump truck, the upper mounting part is an arm support of the pump truck;

under the condition that the engineering equipment is a crane, the upper assembling component is an arm support of the crane;

and under the condition that the engineering equipment is a fire engine, the upper mounting part is a fire aerial ladder of the fire engine.

11. The anti-rollover control method of construction equipment according to claim 1, wherein the supporting point is a contact point of any one of a supporting leg, a wheel, and a track of the construction equipment with the ground.

12. A processor configured to perform the anti-rollover control method of the construction equipment according to any one of claims 1 to 11.

13. An anti-tipping control device for engineering equipment, characterized by comprising:

the position detection module is used for determining the gravity center position of the engineering equipment; and

the processor of claim 12.

14. An engineering rig, comprising:

the upper mounting component is used for adjusting the gravity center position of the engineering equipment to be within the supporting area of the engineering equipment;

a rotary energy storage device, the rotation axis of which is parallel to the ground, for generating a torque opposite to the tipping direction of the engineering equipment; and

the anti-rollover control device of engineering equipment according to claim 13.

15. A machine-readable storage medium having instructions stored thereon, which when executed by a processor, cause the processor to be configured to perform the anti-rollover control method of construction equipment according to any one of claims 1 to 11.