Control method for engineering machinery, processor, engineering machinery and storage medium

Abstract

The embodiment of the invention provides a control method for engineering machinery, a processor, the engineering machinery and a storage medium, and belongs to the field of engineering machinery. The control method comprises the following steps: acquiring the tail end speed of the tail end of the boom in a Cartesian space in a current period; locking the joints except for three joints close to the tail end of the arm support and a joint between the body and the rotary table in the plurality of joints to obtain a first arm support model comprising a first locked joint and a first unlocked joint; according to the tail end speed, the operability of the first arm framework type in the next period is determined; comparing the operability with a preset operability range; under the condition that the operability exceeds a preset operability range, determining a first joint needing to be unlocked in the first locking joints to obtain a second arm framework type comprising a re-determined second locking joint and a re-determined second unlocking joint; and controlling the movement of the joint in the next period according to the second arm framework. The moving speed of the tail end of the boom can be increased.

Description

technical field [0001] The invention relates to the field of construction machinery, in particular to a control method, processor, construction machinery and storage medium for construction machinery. Background technique [0002] The boom of the existing construction machinery (for example, a concrete pump truck) including a boom is usually an electro-hydraulic driven redundant degree of freedom series mechanism. Usually, all joints of the boom participate in online motion planning, while the hydraulic pump The total flow is much smaller than the total flow requirement of the multi-joint linkage, resulting in a slower movement speed at the end of the boom. SUMMARY OF THE INVENTION [0003] The purpose of the embodiments of the present invention is to provide a control method, a processor, a construction machine and a storage medium for a construction machine, so as to solve the problem of the slow movement speed of the end of the boom in the prior art. [0004] In order ...

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Problems solved by technology

[0003] The purpose of the embodiments of the present invention is to provide a control method, a processor, a construction machine and a storage medium for construction machinery, so as to solve the problem of slow movement speed of the boom end existing in the prior art

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