Control Method, Processor, Construction Machinery and Storage Medium for Construction Machinery

Abstract

An embodiment of the present invention provides a control method, a processor, a construction machinery, and a storage medium for construction machinery, belonging to the field of construction machinery. The control method includes: obtaining the end velocity of the end of the boom in the Cartesian space in the current cycle; locking the joints other than the three joints close to the end of the boom and the joint between the body and the turntable among multiple joints to obtain a first boom configuration including first locked joints and first unlocked joints; determining the manipulability of the first boom configuration in the next cycle according to the end velocity; comparing the manipulability with a preset manipulability range; in the case where the manipulability exceeds the preset manipulability range, determining a first joint to be unlocked among the first locked joints to obtain a second boom configuration including re-determined second locked joints and second unlocked joints; controlling the movement of the joints in the next cycle according to the second boom configuration. The present invention can improve the movement speed of the end of the boom.

Description

Technical Field

[0001] The present invention relates to the field of construction machinery, and particularly to a control method for construction machinery, a processor, construction machinery, and a storage medium. Background Art

[0002] The boom of existing construction machinery including a boom (such as a concrete pump truck) is usually an electro-hydraulic drive redundant degree-of-freedom series mechanism. Generally, all joints of the boom participate in on-line motion planning, and the total flow rate of the hydraulic pump is much smaller than the total flow rate demand of multi-joint linkage, resulting in a slow movement speed of the end of the boom. Summary of the Invention

[0003] An object of an embodiment of the present invention is to provide a control method for construction machinery, a processor, construction machinery, and a storage medium to solve the problem of the slow movement speed of the end of the boom existing in the prior art.

[0004] To achieve the above object, a first aspect of an embodiment of the present invention provides a control method for construction machinery. The construction machinery includes a body, a turntable, a boom, and a plurality of joints. The boom includes at least four boom sections. The joints are used to movably connect the body, the turntable, and the plurality of boom sections. The control method includes:

[0005] Obtaining the end velocity of the end of the boom in the Cartesian space within the current cycle;

[0006] Locking the joints other than the three joints close to the end of the boom and the joint between the body and the turntable among the plurality of joints to obtain a first boom configuration including first locked joints and first unlocked joints;

[0007] Determining the operability of the first boom configuration in the next cycle according to the end velocity;

[0008] Comparing the operability with a preset operability range;

[0009] In the case where the operability exceeds the preset operability range, determining a first joint to be unlocked among the first locked joints to obtain a second boom configuration including re-determined second locked joints and second unlocked joints;

[0010] Controlling the movement of the joints in the next cycle according to the second boom configuration.

[0011] In an embodiment of the present invention, determining the operability of the first boom configuration in the next cycle according to the end velocity includes: obtaining the current joint angles of the joints in the first boom configuration; based on the gradient projection method, determining the first target angles of the first unlocked joints in the next cycle according to the current joint angles and the end velocity; and determining the operability of the first boom configuration in the next cycle according to the first target angles and the end velocity.

[0012] In an embodiment of the present invention, based on the gradient projection method, determining a first target angle of a first unlocked joint in the next cycle according to the current joint angle and the end effector velocity includes: determining a corresponding first Jacobian matrix according to the current joint angle; determining the joint angular velocity of the first unlocked joint in the next cycle according to the first Jacobian matrix and the end effector velocity; integrating the joint angular velocity to obtain the first target angle of the first unlocked joint in the next cycle.

[0013] In an embodiment of the present invention, determining the manipulability of a first arm configuration in the next cycle according to the first target angle and the end effector velocity includes: obtaining a corresponding second Jacobian matrix according to the first target angle; determining the manipulability of the first arm configuration in the next cycle according to the second Jacobian matrix and the end effector velocity.

[0014] In an embodiment of the present invention, determining a first joint that needs to be unlocked among the first locked joints includes: determining unlockable joints that can be unlocked among the first locked joints; in the case where the number of unlockable joints is multiple, sequentially determining the manipulability of the intermediate arm configurations obtained after unlocking the unlockable joints in the next cycle; comparing the manipulability of the intermediate arm configurations in the next cycle; in the case where the manipulability of the intermediate arm configuration obtained after unlocking the unlockable joint closer to the boom root in the next cycle is less than or equal to a preset multiple of the manipulability of the intermediate arm configuration obtained after unlocking the unlockable joint closer to the boom end in the next cycle, determining the unlockable joint closer to the boom end as the first joint that needs to be unlocked among the first locked joints, where the preset multiple is greater than 1.

[0015] In an embodiment of the present invention, controlling the movement of a joint in the next cycle according to a second arm configuration includes: unlocking the first joint; determining a second target angle of a second unlocked joint in the next cycle; comparing the second target angle with a preset angle range corresponding to the second unlocked joint; in the case where the second target angle does not exceed the preset angle range, controlling the movement of the second unlocked joint according to the second target angle.

[0016] In an embodiment of the present invention, the control method for construction machinery further includes: in the case where the second target angle exceeds the preset angle range, locking the second unlocked joint; determining the number of degrees of freedom of the boom, where the number of degrees of freedom is the number of joints that are not locked; in the case where the number of degrees of freedom is less than a preset number of degrees of freedom, determining a second joint that needs to be unlocked among the second locked joints to obtain a third boom model including a re-determined third locked joint and a third unlocked joint; controlling the movement of the joint in the next cycle according to the third boom model.

[0017] In an embodiment of the present invention, the control method for construction machinery further includes: when the number of degrees of freedom is greater than or equal to a preset number of degrees of freedom, controlling the corresponding second unlocked joint to move according to a second target angle that does not exceed a preset angle range.

[0018] In an embodiment of the present invention, the control method for construction machinery further includes: when the operability does not exceed a preset operability range, controlling the first unlocked joint to move according to a first target angle.

[0019] A second aspect of the embodiments of the present invention provides a processor configured to execute the control method for construction machinery according to the above.

[0020] A third aspect of the embodiments of the present invention provides a construction machinery, including: the processor according to the above.

[0021] In an embodiment of the present invention, the construction machinery includes a pumping device.

[0022] A fourth aspect of the embodiments of the present invention provides a machine-readable storage medium, on which instructions are stored, and when the instructions are executed by a processor, the processor is caused to execute the control method for construction machinery according to the above.

[0023] The above technical solution does not require all joints to participate in dynamic motion planning. First, lock the joints among multiple joints except for the three joints near the end of the boom and the joint between the body and the turntable. The target end speed of the boom can be achieved with the fewest joints. During the movement process, it is determined whether to unlock the joints based on the operability, reducing the number of linked joints, and completing the same end motion trajectory with less flow consumption. At the same end speed of the boom, the system hydraulic flow demand is less. On the other hand, with the same hydraulic flow supply capacity, it is beneficial to improve the system operation speed, thereby increasing the movement speed of the boom end and improving the construction efficiency. At the same time, it reduces the boom vibration caused by the long boom length, large flexibility, and long time lag of the electro-hydraulic actuator.

[0024] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification, and are used to explain the embodiments of the present invention together with the following specific implementation, but do not constitute a limitation to the embodiments of the present invention. In the drawings:

[0026] Figure 1 Schematically shows a flowchart of the control method for construction machinery in an embodiment of the present invention;

[0027] Figure 2 Schematically shows a flow chart of the steps for determining the first joint in an embodiment of the present invention;

[0028] Figure 3 Schematically shows a structural diagram of a concrete pump truck in an embodiment of the present invention;

[0029] Figure 4 Schematically shows a flow chart of a control method for construction machinery in a specific embodiment of the present invention. Detailed Description of the Invention

[0030] The following will describe in detail the specific implementation manners of the embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific implementation manners described herein are only for explaining and illustrating the embodiments of the present invention, and are not used to limit the embodiments of the present invention.

[0031] Figure 1 Schematically shows a flow chart of a control method for construction machinery in an embodiment of the present invention. As Figure 1 shown, in an embodiment of the present invention, a control method for construction machinery is provided. The construction machinery includes a body, a turntable, a boom, and a plurality of joints. The boom includes at least four boom sections. The joints are used to movably connect the body, the turntable, and the plurality of boom sections. Taking the application of this control method to a processor as an example for illustration, this control method may include the following steps:

[0032] Step S102: Obtain the end velocity of the end of the boom in the Cartesian space within the current period.

[0033] It can be understood that the Cartesian space includes a spatial Cartesian rectangular coordinate system and a spatial Cartesian oblique coordinate system. The Cartesian space referred to in the embodiments of the present invention is the spatial Cartesian rectangular coordinate system, that is, the Cartesian coordinate system composed of three mutually perpendicular number axes. These three number axes can be the x-axis (horizontal axis), the y-axis (vertical axis), and the z-axis (vertical axis) respectively.

[0034] Specifically, the processor can obtain the end velocity of the end of the boom in the Cartesian space input by the user or preset in advance. It can be understood that the end velocity remains unchanged within one period and can include the velocity in the x-axis (horizontal axis) direction, the velocity in the y-axis (vertical axis) direction, and the velocity in the z-axis (vertical axis) direction. That is, the end velocity can include

[0035] Step S104: Lock the joints among the plurality of joints except for the three joints close to the end of the boom and the joint between the body and the turntable to obtain a first boom configuration including first locked joints and first unlocked joints.

[0036] It can be understood that the first unlocked joint is a joint that does not perform joint locking, that is, a movable joint, specifically including three joints near the end of the boom and the joint between the body and the turntable. The first locked joint is a joint that performs joint locking, that is, an immovable joint, specifically including joints other than the three joints near the end of the boom and the joint between the body and the turntable among the multiple joints, that is, joints other than the first unlocked joint. The first boom configuration is a boom structure including the first unlocked joint and the first locked joint.

[0037] Specifically, the processor can lock joints other than the three joints near the end of the boom and the joint between the body and the turntable among the multiple joints. Specifically, it can control the corresponding joints to be locked by sending corresponding joint locking instructions to the corresponding actuators, and the remaining joints are not locked, so as to obtain the first boom configuration including the first locked joint and the first unlocked joint.

[0038] Step S106, determine the operability of the first boom configuration in the next cycle according to the end velocity.

[0039] It can be understood that the operability is the directional operability. The measurement of flexibility and operability is an important content in the kinematics of robots. The operability is an important index of the flexibility of robots. The operability comprehensively measures the ability of the robot to move in various directions in a certain configuration, and can be used to measure the overall flexibility of the robot. As a criterion for designing and analyzing robots, the greater the operability, the better the flexibility of the configuration.

[0040] Specifically, the processor can determine the operability of the first boom configuration in the next cycle according to the end velocity of the end of the boom in the Cartesian space.

[0041] In one embodiment, determining the operability of the first boom configuration in the next cycle according to the end velocity includes: obtaining the current joint angles of the joints in the first boom configuration; based on the gradient projection method, determining the first target angles of the first unlocked joints in the next cycle according to the current joint angles and the end velocity; and determining the operability of the first boom configuration in the next cycle according to the first target angles and the end velocity.

[0042] It can be understood that the current joint angles of the joints are the current joint angles of the joints, which can be detected by an angle detection device such as an inclination sensor or an oil cylinder displacement sensor, or can also be obtained by user input. The first target angles are the target angles of the first unlocked joints in the next cycle.

[0043] Specifically, the processor can obtain the current joint angles of each joint in the first arm architecture through an angle detection device, and based on the gradient projection method, determine the first target angle of the first unlocked joint in the next cycle according to the current joint angles and the end effector velocity, and further determine the manipulability of the first arm architecture in the next cycle according to the first target angle and the end effector velocity.

[0044] In one embodiment, based on the gradient projection method, determining the first target angle of the first unlocked joint in the next cycle according to the current joint angles and the end effector velocity includes: determining the corresponding first Jacobian matrix according to the current joint angles; determining the joint angular velocity of the first unlocked joint in the next cycle according to the first Jacobian matrix and the end effector velocity; integrating the joint angular velocity to obtain the first target angle of the first unlocked joint in the next cycle.

[0045] It can be understood that the first Jacobian matrix is the Jacobian matrix obtained according to the current joint angles. The Jacobian matrix is a matrix formed by arranging first-order partial derivatives in a certain way, and its specific calculation method will not be elaborated here.

[0046] Specifically, the processor can determine the corresponding first Jacobian matrix according to the current joint angles, determine the joint angular velocity of the first unlocked joint in the next cycle according to the first Jacobian matrix and the end effector velocity, and then integrate the joint angular velocity to obtain the first target angle of the first unlocked joint in the next cycle.

[0047] Further, in one embodiment, if the number of joints is 7, the joint angular velocity of the first unlocked joint in the next cycle can be determined according to the first Jacobian matrix and the end effector velocity by using the following formula (1) to determine the joint angular velocity of the first unlocked joint in the next cycle:

[0048]

[0049] In the above formula (1), is the joint angular velocity, k is the amplification factor, is the gradient of the optimization function, I is the identity matrix, I is the vector of R 7×7 and J is the first Jacobian matrix, J + is the generalized inverse of the first Jacobian matrix, and is the matrix of R 7×3 and the matrix, is the matrix of the end effector velocity of the boom end in the Cartesian space, is the transpose of the matrix of the end effector velocity.

[0050] After obtaining the joint angular velocity, the first target angle of the first unlocked joint in the next cycle can be obtained by integrating the joint angular velocity.

[0051] In one embodiment, determining the operability of the first arm configuration in the next cycle according to the first target angle and the end velocity includes: obtaining the corresponding second Jacobian matrix according to the first target angle; determining the operability of the first arm configuration in the next cycle according to the second Jacobian matrix and the end velocity.

[0052] It can be understood that the second Jacobian matrix is the Jacobian matrix obtained according to the target angle, and the specific calculation method thereof will not be elaborated here.

[0053] Specifically, the processor can obtain the corresponding second Jacobian matrix according to the first target angle, and then determine the operability of the first arm configuration in the next cycle according to the second Jacobian matrix and the end velocity.

[0054] Further, in one embodiment, determining the operability of the first arm configuration in the next cycle according to the second Jacobian matrix and the end velocity can be determined by the following formula (2) to determine the operability of the first arm configuration in the next cycle:

[0055]

[0056] Wherein, u is the unit vector of the movement direction of the boom end, that is, the end velocity of the normalized vector, u T is the transpose of u, J is the second Jacobian matrix, J + is the generalized inverse of the second Jacobian matrix, and W(t + T) represents the operability after moving forward for T (the length of one cycle) time along the current movement direction with the current movement speed starting from the current boom end position.

[0057] Step S108, comparing the operability with the preset operability range.

[0058] It can be understood that the preset operability range is the numerical range included by the maximum operability (for example, W max ) and the minimum operability (for example, W min ) of the current arm configuration in the current working state, and the preset operability ranges corresponding to different arm configurations are different.

[0059] Specifically, the processor can numerically compare the operability with the preset operability range.

[0060] Step S110, in the case where the operability exceeds the preset operability range, determining the first joint in the first locked joints that needs to be unlocked to obtain a second arm configuration including the re-determined second locked joints and second unlocked joints.

[0061] It can be understood that the first joint is the joint that needs to be unlocked in the first locked joint. In the embodiment of the present invention, the number of the first joints is one. In some embodiments, the number of the first joints can also be multiple, which can be specifically set according to the actual situation. The second locked joint is the joint obtained by removing the first joint from the first locked joint. The second unlocked joint is the joint obtained by adding the first joint to the first unlocked joint. The second arm structure type is the boom structure including the second unlocked joint and the second locked joint.

[0062] Specifically, when the processor determines that the operability exceeds the preset operability range, it can determine the first joint that needs to be unlocked in the first locked joint, so as to obtain the second arm structure type including the re-determined second locked joint and the second unlocked joint.

[0063] In one embodiment, Figure 2 Schematically shows a flowchart of the steps for determining the first joint in an embodiment of the present invention. As Figure 2 shown, determining the first joint that needs to be unlocked in the first locked joint may include the following steps:

[0064] Step S202, determine the unlockable joints that can be unlocked in the first locked joint.

[0065] It can be understood that due to different requirements of the actual application scenarios, not all joints can be unlocked. Therefore, it is necessary to determine the unlockable joints that can be unlocked in the first locked joint. For example, the joints that the operator sets to be locked on the remote control do not belong to the unlockable joints.

[0066] Specifically, the processor can obtain the unlockable joints that can be unlocked in the first locked joint input by the user, or determine the unlockable joints that can be unlocked in the first locked joint according to the preset requirements.

[0067] Step S204, when the number of the unlockable joints is multiple, sequentially determine the operability of the intermediate arm structure type obtained after unlocking the unlockable joints in the next cycle.

[0068] It can be understood that when the number of the unlockable joints is multiple, for example, the number of the unlockable joints is K. If each of the K unlockable joints is unlocked once, then K intermediate arm structure types can be obtained correspondingly. Further, the operability of the K intermediate arm structure types in the next cycle can be calculated. In the embodiment of the present invention, the number of the intermediate arm structure types is the same as the number of the unlockable joints.

[0069] Specifically, when the number of unlockable joints is multiple, the processor may refer to the steps of determining the operability in the above-mentioned embodiments, and sequentially determine the target angles of the unlocked joints in the intermediate arm architecture, and further determine the operability of each intermediate arm architecture in the next cycle according to the target angles, which will not be elaborated here.

[0070] Step S206: Compare the operability of the intermediate arm architecture in the next cycle.

[0071] Specifically, the processor may compare the magnitudes of the operability of multiple intermediate arm architectures in the next cycle.

[0072] Step S208: When the operability of the intermediate arm architecture obtained after unlocking the unlockable joint near the boom root in the next cycle is less than or equal to a preset multiple of the operability of the intermediate arm architecture obtained after unlocking the unlockable joint near the boom end in the next cycle, determine the unlockable joint near the boom end as the first joint to be unlocked among the first locked joints.

[0073] It can be understood that the preset multiple is a multiple set in advance, and its value is greater than 1, such as 1.1 or 1.4.

[0074] Specifically, if the operability of the intermediate arm architecture obtained after unlocking the unlockable joint near the boom root in the next cycle is less than or equal to a preset multiple (such as 1.1) of the operability of the intermediate arm architecture obtained after unlocking the unlockable joint near the boom end in the next cycle, the unlockable joint near the boom end can be determined as the first joint to be unlocked among the first locked joints.

[0075] Step S112: Control the movement of the joints in the next cycle according to the second arm architecture.

[0076] Specifically, after the processor obtains the second arm architecture, it can control the movement of the joints in the next cycle according to the second arm architecture.

[0077] In one embodiment, controlling the movement of the joints in the next cycle according to the second arm architecture includes: unlocking the first joint; determining the second target angle of the second unlocked joint in the next cycle; comparing the second target angle with the preset angle range corresponding to the second unlocked joint; and controlling the movement of the second unlocked joint according to the second target angle when the second target angle does not exceed the preset angle range.

[0078] It can be understood that each joint has a corresponding preset angle range, that is, an angle interval composed of the maximum value and the minimum value of the joint angle, which is the preset angle range.

[0079] Specifically, after the processor determines the first joint, it can unlock the first joint and, based on the gradient projection method, determine the second target angle of the second unlocked joint in the next cycle according to the current joint angle and the end velocity, which will not be elaborated here. Then, the second target angle is compared with the preset angle range corresponding to the second unlocked joint. When the second target angle does not exceed the preset angle range, that is, the second target angle belongs to the preset angle range, the corresponding second unlocked joint is controlled to move according to the second target angle.

[0080] The above control method for construction machinery obtains the end velocity of the end of the boom in the Cartesian space in the current cycle, locks the joints except for the three joints close to the end of the boom and the joint between the body and the turntable among multiple joints to obtain the first boom configuration including the first locked joints and the first unlocked joints, and then determines the operability of the first boom configuration in the next cycle according to the end velocity. Thus, the operability is compared with the preset operability range. When the operability exceeds the preset operability range, the first joint that needs to be unlocked among the first locked joints is determined to obtain the second boom configuration including the re-determined second locked joints and the second unlocked joints, and then the joints are controlled to move in the next cycle according to the second boom configuration. The above control method does not require all joints to participate in the dynamic motion planning. First, the joints except for the three joints close to the end of the boom and the joint between the body and the turntable among multiple joints are locked, and the target end velocity of the boom can be achieved with the fewest joints. During the movement, it is determined whether to unlock the joints based on the operability, reducing the number of linked joints, completing the same end motion trajectory with less flow consumption. At the same end velocity of the boom, the system hydraulic flow demand is less. On the other hand, with the same hydraulic flow supply capacity, it is beneficial to improve the system operation speed, thereby increasing the movement speed of the end of the boom and enhancing the construction efficiency. At the same time, the boom jitter caused by the long boom length, large flexibility, and long time delay of the electro-hydraulic actuator is reduced.

[0081] In one embodiment, the control method for construction machinery further includes: when the second target angle exceeds the preset angle range, locking the second unlocked joint; determining the degree of freedom number of the boom, where the degree of freedom number is the number of unlocked joints; when the degree of freedom number is less than the preset degree of freedom number, determining the second joint that needs to be unlocked among the second locked joints to obtain the third boom model including the re-determined third locked joints and the third unlocked joints; and controlling the joints to move in the next cycle according to the third boom model.

[0082] It can be understood that the degree of freedom is the mobility, and the number of degrees of freedom is the number of joints that are not locked, that is, the number of movable joints. The second joint is the joint that needs to be unlocked among the second locked joints. In the embodiment of the present invention, the number of second joints is one. In some embodiments, the number of second joints can also be multiple, which can be specifically set according to the actual situation. The third locked joint is the joint obtained by removing the second joint from the second locked joint. The third unlocked joint is the joint obtained by adding the second joint to the second unlocked joint. The third boom structure is a boom structure including the third unlocked joint and the third locked joint. The preset number of degrees of freedom is the preset number of degrees of freedom of the boom, for example, it can be 3.

[0083] Specifically, when the second target angle of the second unlocked joint in the next cycle exceeds the preset angle range corresponding to the second unlocked joint, the processor can lock the second unlocked joint and determine the number of degrees of freedom of the boom at this time. It should be noted that the number of degrees of freedom of the boom here includes the degrees of freedom of the joints connected to the boom sections, and does not consider the degrees of freedom of the joints between the body and the turntable. If the number of degrees of freedom of the boom is less than the preset number of degrees of freedom (such as 3), the second joint that needs to be unlocked in the second locked joints can be further determined to obtain a third boom model including the re-determined third locked joint and third unlocked joint, so as to control the movement of the joints in the next cycle according to the third boom model.

[0084] In the embodiment of the present invention, if the second target angle exceeds the preset angle range and the number of degrees of freedom of the boom is less than the preset number of degrees of freedom, at this time, the second joint that needs to be unlocked in the second locked joints can be re-determined, and the corresponding joint can be selected to be unlocked to ensure that the number of degrees of freedom of the boom is greater than or equal to the preset number of degrees of freedom.

[0085] In one embodiment, the above control method for construction machinery further includes: when the number of degrees of freedom is greater than or equal to the preset number of degrees of freedom, controlling the corresponding second unlocked joint to move according to the second target angle that does not exceed the preset angle range.

[0086] Specifically, when the number of degrees of freedom of the boom is greater than or equal to the preset number of degrees of freedom, the processor can first lock the second unlocked joint that exceeds the preset angle range, and control the corresponding second unlocked joint to move according to the second target angle that does not exceed the preset angle range.

[0087] In the embodiment of the present invention, if the second target angle exceeds the preset angle range and the number of degrees of freedom of the boom is greater than or equal to the preset number of degrees of freedom, at this time, the second unlocked joint that exceeds the preset angle range can be locked first, and the corresponding second unlocked joint can be controlled to move according to the second target angle that does not exceed the preset angle range to ensure that the number of degrees of freedom of the boom is greater than or equal to the preset number of degrees of freedom.

[0088] In one embodiment, the above control method for construction machinery further includes: when the operability does not exceed the preset operability range, controlling the movement of the first unlocked joint according to the first target angle.

[0089] Specifically, when the processor determines that the operability of the first arm architecture in the next cycle does not exceed the preset operability range, the processor can directly control the movement of the first unlocked joint according to the first target angle of the first unlocked joint in the next cycle.

[0090] The present invention relates to the dynamic motion planning of redundant degree-of-freedom mechanisms, and particularly to the inverse kinematics calculation in the trajectory planning technology of the end of the boom of a construction machinery (such as a concrete pump truck) moving along a fixed trajectory. Taking the application of the above control method for construction machinery to a concrete pump truck as an example for illustration, Figure 3 Schematically shows the structural schematic diagram of a concrete pump truck in an embodiment of the present invention, Figure 4 Schematically shows the flowchart of the control method for construction machinery in a specific embodiment of the present invention, as Figure 3 shown, the structure of the concrete pump truck includes a vehicle body, a turntable, a first arm, a second arm, a third arm, a fourth arm, a fifth arm, and a sixth arm. Each structure is connected by a revolute pair, which is called a joint. Among them, there is 1 joint between the vehicle body and the turntable, and there are a total of 6 joints between the turntable and the first arm, between the first arm and the second arm, between the second arm and the third arm, between the third arm and the fourth arm, between the fourth arm and the fifth arm, and between the fifth arm and the sixth arm, jointly forming a 7-degree-of-freedom serial mechanism.

[0091] As Figure 4 shown, the specific process of the control method for construction machinery can be as follows:

[0092] 1) The construction method of concrete pouring gives the starting point A and the ending point B of pouring, as well as the end speed of the boom end moving from A to B It can be understood that the end speed of the boom end can be directly obtained as an input quantity of the algorithm and remains unchanged within one cycle.

[0093] 2) The working device of the concrete pump truck is composed of several joints. The angle range of each joint, that is, the maximum and minimum values of each joint angle, can be determined in advance, and are respectively denoted as θ 1max , θ 1min , θ 2max , θ 2min , θ 3max , θ 3min , θ 4max , θ 4min , θ 5max , θ 5min , θ 6max , θ6min , θ 7max , θ 7min .

[0094] 4) Based on the gradient projection method, that is

[0095]

[0096] In the above formula (1), is the joint angular velocity, k is the amplification coefficient, is the gradient of the optimization function, I is the identity matrix, I is the vector of R 7×7 and J is the first Jacobian matrix, J + is the generalized inverse of the first Jacobian matrix, and is the matrix of R 7×3 matrix, is the matrix of the end velocity of the boom tip in Cartesian space, is the transpose of the matrix of the end velocity.

[0097] After obtaining the joint angular velocity, the target angles {θ1(t)}, {θ2(t)}, {θ3(t)}, {θ4(t)}, {θ5(t)}, {θ6(t)}, {θ7(t)} of each joint during the linear movement of the boom tip from point A to point B can be determined by integrating the joint angular velocity.

[0098] 5) Here, the manipulability W(t + T) of the next cycle adopts the directional manipulability (abbreviated as manipulability), and the calculation method is:

[0099]

[0100] where u is the unit vector of the movement direction of the boom tip, that is, the normalized vector of the end velocity and u T is the transpose of u, J is the second Jacobian matrix, J + is the generalized inverse of the second Jacobian matrix, and W(t + T) represents the manipulability after moving forward for a time T (the length of one cycle) along the current movement direction with the current movement speed starting from the current position of the boom tip. W max is the maximum manipulability in the current operation state under the current boom configuration; W min is the minimum manipulability in the current operation state under the current boom configuration.

[0101] 6) Determine the unlocked joint, which means selecting one boom to unlock from the currently locked joints and participating in the inverse kinematics calculation subsequently. The specific process is:

[0102] ① Determine the joints that can be unlocked, among which the joints that must be locked set by the operator on the remote controller cannot be included;

[0103] ②Select the joints that can be unlocked in sequence and calculate the manipulability W after unlocking i ; in addition, in the final calculation result, if the manipulability after unlocking of the joint closer to the arm root is less than or equal to a preset multiple, such as ε times (for example, 1.1 to 1.5), of the manipulability after unlocking of the joint closer to the end of the boom, then preferentially select the joint closer to the end of the boom as the unlocking joint.

[0104] 7) During the operation, it is still necessary to monitor the joint angles θ i (t) of each joint in real time. If θ i (t) ≤ θ imin or θ i (t) ≥ θ imax , then lock this joint. At the same time, it is necessary to judge whether the degree of freedom of the current boom (i.e., the number of movable joints) is less than 3. If so, repeat steps 5) and 6) to select the corresponding joints to unlock to ensure that the degree of freedom of the boom is greater than or equal to 3.

[0105] 8) Repeat the above process until the movement ends.

[0106] In the prior art, all joints of the boom are involved in dynamic motion planning, which is not conducive to reducing the system hydraulic flow demand and reducing the boom vibration. In the technical solution provided by the embodiment of the present invention, when the boom starts to move, the number of movable joints is 4, and preferably the three joints close to the end of the boom and the joint between the vehicle body and the turntable are selected to reduce the number of linked joints. During the movement, it is determined whether to unlock the joints based on the manipulability. Under the same boom end path, the common joints of the boom are the three joints close to the end of the boom and the turntable. Under the same boom end movement speed, the system hydraulic flow demand is less, and the same end movement trajectory is completed with less flow consumption. On the other hand, under the same hydraulic flow supply capacity, it is beneficial to improve the system operation speed, thereby increasing the boom end speed and reducing the boom vibration.

[0107] The embodiment of the present invention provides a processor, which is configured to execute the control method for construction machinery according to the above embodiments.

[0108] An embodiment of the present invention provides a construction machinery, which includes a body, a turntable, a boom, and a plurality of joints. The boom includes at least four boom sections. The joints are used to movably connect the body, the turntable, and the plurality of boom sections. The construction machinery includes a processor, which is configured to: obtain the end velocity of the end of the boom in the Cartesian space within the current cycle; lock the joints other than the three joints near the end of the boom and the joint between the body and the turntable among the plurality of joints to obtain a first boom configuration including first locked joints and first unlocked joints; determine the operability of the first boom configuration in the next cycle according to the end velocity; compare the operability with a preset operability range; in the case where the operability exceeds the preset operability range, determine a first joint that needs to be unlocked among the first locked joints to obtain a second boom configuration including re-determined second locked joints and second unlocked joints; control the movement of the joints in the next cycle according to the second boom configuration.

[0109] The above construction machinery does not require all joints to participate in dynamic motion planning. First, lock the joints other than the three joints near the end of the boom and the joint between the body and the turntable among the plurality of joints, and the target end velocity of the boom can be achieved with the fewest joints. During the movement, it is determined whether to unlock the joints based on the operability, reducing the number of linked joints, and completing the same end motion trajectory with less flow consumption. At the same end velocity of the boom, the system hydraulic flow demand is less. On the other hand, with the same hydraulic flow supply capacity, it is beneficial to improve the system operation speed, thereby increasing the movement speed of the end of the boom and enhancing the construction efficiency. At the same time, it reduces the boom jitter caused by the long boom length, large flexibility, and long time delay of the electro-hydraulic actuator.

[0110] In one embodiment, the processor is configured to determine the operability of the first boom configuration in the next cycle according to the end velocity, including: the processor is configured to: obtain the current joint angles of the joints in the first boom configuration; based on the gradient projection method, determine the first target angles of the first unlocked joints in the next cycle according to the current joint angles and the end velocity; determine the operability of the first boom configuration in the next cycle according to the first target angles and the end velocity.

[0111] In one embodiment, the processor is configured to determine the first target angles of the first unlocked joints in the next cycle based on the gradient projection method according to the current joint angles and the end velocity, including: the processor is configured to: determine the corresponding first Jacobian matrix according to the current joint angles; determine the joint angular velocities of the first unlocked joints in the next cycle according to the first Jacobian matrix and the end velocity; integrate the joint angular velocities to obtain the first target angles of the first unlocked joints in the next cycle.

[0112] In one embodiment, the processor is configured to determine the operability of the first arm architecture in the next cycle according to the first target angle and the end velocity, including: the processor is configured to: obtain the corresponding second Jacobian matrix according to the first target angle; determine the operability of the first arm architecture in the next cycle according to the second Jacobian matrix and the end velocity.

[0113] In one embodiment, the processor is configured to determine the first joint that needs to be unlocked in the first locked joints, including: the processor is configured to: determine the unlockable joints that can be unlocked in the first locked joints; when the number of unlockable joints is multiple, sequentially determine the operability of the intermediate arm architecture obtained after unlocking the unlockable joints in the next cycle; compare the operability of the intermediate arm architecture in the next cycle; when the operability of the intermediate arm architecture obtained after unlocking the unlockable joint near the boom root is less than or equal to a preset multiple of the operability of the intermediate arm architecture obtained after unlocking the unlockable joint near the boom end, determine the unlockable joint near the boom end as the first joint that needs to be unlocked in the first locked joints, where the preset multiple is greater than 1.

[0114] In one embodiment, the processor is configured to control the movement of the joints in the next cycle according to the second arm architecture, including: the processor is configured to: unlock the first joint; determine the second target angle of the second unlocked joint in the next cycle; compare the second target angle with the preset angle range corresponding to the second unlocked joint; when the second target angle does not exceed the preset angle range, control the movement of the second unlocked joint according to the second target angle.

[0115] In one embodiment, the processor is further configured to: when the second target angle exceeds the preset angle range, lock the second unlocked joint; determine the number of degrees of freedom of the boom, where the number of degrees of freedom is the number of joints that are not locked; when the number of degrees of freedom is less than the preset number of degrees of freedom, determine the second joint that needs to be unlocked in the second locked joints to obtain a third boom model including the re-determined third locked joints and third unlocked joints; control the movement of the joints in the next cycle according to the third boom model.

[0116] In one embodiment, the processor is further configured to: when the number of degrees of freedom is greater than or equal to the preset number of degrees of freedom, control the movement of the corresponding second unlocked joint according to the second target angle that does not exceed the preset angle range.

[0117] In one embodiment, the processor is further configured to: when the operability does not exceed the preset operability range, control the movement of the first unlocked joint according to the first target angle.

[0118] In one embodiment, the construction machinery includes a pumping device.

[0119] It can be understood that the pumping device may include devices such as concrete pump trucks.

[0120] An embodiment of the present invention provides a machine-readable storage medium, on which instructions are stored. When the instructions are executed by a processor, the processor is caused to execute the control method for construction machinery according to the above-mentioned embodiments.

[0121] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0122] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0123] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured product including an instruction device, and the instruction device realizes the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0124] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for realizing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0125] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0126] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0127] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules 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 disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0128] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0129] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A control method for construction machinery, characterized in that, The construction machinery includes a body, a turntable, a boom, and a plurality of joints. The boom includes at least four boom segments. The joints are used to movably connect the body, the turntable, and the plurality of boom segments. The control method includes: Obtaining the end velocity of the end of the boom in the Cartesian space within the current cycle; Locking the joints other than the three joints near the end of the boom and the joint between the body and the turntable among the plurality of joints to obtain a first boom configuration including first locked joints and first unlocked joints; Determining the operability of the first boom configuration in the next cycle according to the end velocity; Comparing the operability with a preset operability range; When the operability exceeds the preset operability range, determining a first joint that needs to be unlocked among the first locked joints to obtain a second boom configuration including re-determined second locked joints and second unlocked joints; Controlling the movement of the joints in the next cycle according to the second boom configuration; Wherein, determining the first joint that needs to be unlocked among the first locked joints includes: Determining unlockable joints that can be unlocked among the first locked joints; When the number of the unlockable joints is K, respectively determining the operability of K intermediate boom configurations in the next cycle, wherein the K intermediate boom configurations are boom configurations obtained by unlocking each of the K unlockable joints once; Comparing the operability of the K intermediate boom configurations in the next cycle to determine the first joint that needs to be unlocked among the first locked joints.

2. The control method according to claim 1, wherein The determining the operability of the first boom configuration in the next cycle according to the end velocity includes: Obtaining the current joint angles of the joints in the first boom configuration; Based on the gradient projection method, determining the first target angle of the first unlocked joint in the next cycle according to the current joint angles and the end velocity; Determining the operability of the first boom configuration in the next cycle according to the first target angle and the end velocity.

3. The control method according to claim 2, wherein The based on the gradient projection method, determining the first target angle of the first unlocked joint in the next cycle according to the current joint angles and the end velocity includes: Determining a corresponding first Jacobian matrix according to the current joint angles; Determining the joint angular velocity of the first unlocked joint in the next cycle according to the first Jacobian matrix and the end velocity; Integrating the joint angular velocity to obtain the first target angle of the first unlocked joint in the next cycle.

4. The control method according to claim 2, wherein The determining the operability of the first boom configuration in the next cycle according to the first target angle and the end velocity includes: Obtaining a corresponding second Jacobian matrix according to the first target angle; Determining the operability of the first boom configuration in the next cycle according to the second Jacobian matrix and the end velocity.

5. The control method according to claim 1, wherein Comparing the operability of the K intermediate boom configurations in the next cycle to determine the first joint in the first locking joint that needs to be unlocked, including: When the operability of the intermediate boom configuration obtained after unlocking the unlockable joint near the boom root in the next cycle is less than or equal to a preset multiple of the operability of the intermediate boom configuration obtained after unlocking the unlockable joint near the boom end in the next cycle, determining the unlockable joint near the boom end as the first joint in the first locking joint that needs to be unlocked, where the preset multiple is greater than 1.

6. The control method according to claim 1, wherein Controlling the movement of the joint in the next cycle according to the second boom configuration, including: Unlocking the first joint; Determining the second target angle of the second unlocked joint in the next cycle; Comparing the second target angle with the preset angle range corresponding to the second unlocked joint; When the second target angle does not exceed the preset angle range, controlling the movement of the second unlocked joint according to the second target angle.

7. The control method according to claim 6, characterized in that, The control method further includes: When the second target angle exceeds the preset angle range, locking the second unlocked joint; Determining the number of degrees of freedom of the boom, where the number of degrees of freedom is the number of joints that are not locked; When the number of degrees of freedom is less than the preset number of degrees of freedom, determining the second joint in the second locking joint that needs to be unlocked to obtain a third boom model including the re-determined third locking joint and third unlocked joint; Controlling the movement of the joint in the next cycle according to the third boom model.

8. The control method according to claim 7, characterized in that Further includes: When the number of degrees of freedom is greater than or equal to the preset number of degrees of freedom, controlling the movement of the corresponding second unlocked joint according to the second target angle that does not exceed the preset angle range.

9. The control method according to claim 2, characterized in that, Further includes: When the operability does not exceed the preset operability range, controlling the movement of the first unlocked joint according to the first target angle.

10. A processor, characterized in that, Configured to execute the control method for construction machinery according to any one of claims 1 to 9.

11. An engineering machinery, characterized in that, Includes: The processor according to claim 10.

12. The construction machinery according to claim 11, characterized in that, The construction machinery includes a pumping device.

13. A machine-readable storage medium having instructions stored thereon, characterized in that, When the instruction is executed by the processor, the processor executes the control method for construction machinery according to any one of claims 1 to 9.

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