Engineering machinery, safety control method and device thereof and medium

The invention discloses engineering machinery, a safety control method and device thereof and a medium, and belongs to the technical field of engineering machinery. The method comprises the steps that equations formed on the basis of a preset coordinate system are obtained, the first equation describes a straight line AD between a hinge point A and a hinge point D of a large arm and a steel wire rope, the second equation describes a straight line BC between a hinge point B of a hydraulic cylinder and a vehicle body and a hinge point C of the hydraulic cylinder and the large arm, and the third equation describes the swing track of a suspended object; the included angle between the large arm and the horizontal direction is adjusted to meet the requirement that the three equations have no intersection point. According to the invention, the preset coordinate system is utilized to analyze the swinging track of the hoisting object and the spatial relationship between the big arm and the hydraulic cylinder, and then