Methods and apparatus for determining boom attitude and methods and apparatus for extending and retracting boom

Abstract

This invention relates to the field of construction machinery, and discloses a method and apparatus for determining boom posture, as well as a method and apparatus for extending and retracting a boom. The method for determining boom posture includes determining whether a pre-set relation library contains a boom end position identical to the target boom end position, based on the target boom end position. The pre-set relation library includes multiple sets of boom end positions and boom posture groups, where each set includes a boom end position and a corresponding boom posture. Furthermore, if a boom end position is found in the pre-set relation library, the historically optimal boom posture is selected from the library based on a historical optimal boom posture selection principle to determine the optimal boom posture corresponding to the target boom end position. This achieves unmanned operation requirements by using the boom end position as the control target and extending or retracting the boom according to the determined boom posture.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of engineering machinery, in particular, to a method and device for determining an arm posture and a method and device for deploying and retracting an arm. BACKGROUND

[0002] A concrete placing equipment such as a pump truck, a placing machine, etc. is a commonly used engineering machinery for conveying concrete to a predetermined pouring point through a conveying pipe on an arm. The arm is long and has many sections, and each section of the arm needs to be manually operated by a worker to make the end of the arm reach the predetermined pouring point.

[0003] In order to reduce the strength of manual operation of the arm, various methods and devices for automatically deploying and retracting the arm have been invented in the industry. However, these methods all take the arm posture as the control target, and not the end position of the arm. However, in actual concrete pouring operations, especially in unmanned operations, the end position of the arm is the control key because it directly determines the pouring point position. Therefore, the existing methods for automatically deploying and retracting the arm cannot meet the requirements of unmanned operation of the pump truck.

[0004] In addition, the prior art also provides a method for automatically deploying and retracting the arm to a target posture, but does not provide a method for determining the target posture. SUMMARY

[0005] The purpose of the present application is to provide a method and device for determining an arm posture and a method and device for deploying and retracting an arm, which can solve or at least partially solve the above problems.

[0006] In order to achieve the above purpose, one aspect of the present application provides a method for determining an arm posture of an engineering machinery, the method comprising: judging whether there is a same arm end position in a preset relationship database based on a target arm end position, wherein the same arm end position is an arm end position that is the same as the target arm end position, the preset relationship database comprises a plurality of arm end position and arm posture groups, and an arm end position and arm posture group comprises an arm end position and a corresponding arm posture; and in the case that the same arm end position exists in the preset relationship database, screening a historical optimal arm posture from the preset relationship database based on a historical optimal arm posture screening principle to determine an optimal arm posture corresponding to the target arm end position.

[0007] Optionally, the historical optimal boom posture screening principle comprises: in a case where the position group number is 1, the same boom end position corresponding posture in the preset relationship database is the historical optimal boom posture, wherein the position group number is the group number of the boom end position and boom posture group including the same boom end position in the preset relationship database; and / or in a case where the position group number is greater than or equal to 2 and there is no same boom posture in the first boom posture set, the boom posture screened out from the first boom posture set based on the preset boom posture solving target is the historical optimal boom posture, wherein the first boom posture set includes the same boom posture corresponding to the same boom end position in the preset relationship database, and the same boom posture is the boom posture existing in at least two groups of boom end position and boom posture groups; and / or in a case where the position group number is greater than or equal to 2 and there is the same boom posture in the first boom posture set, the same boom posture corresponding to the maximum posture group number is the historical optimal boom posture, wherein the posture group number corresponding to a same boom posture is the group number of the boom end position and boom posture group including the same boom posture.

[0008] Optionally, in a case where the same boom end position does not exist in the preset relationship database, the method further comprises: determining a second boom posture set based on the target boom end position, wherein the second boom posture set includes a plurality of boom postures satisfying the target boom end position; and screening out an optimal boom posture corresponding to the target boom end position from the second boom posture set based on a preset boom posture solving target.

[0009] Optionally, the preset boom posture solving target comprises that the action time of the boom of the engineering machinery is the shortest or the movement direction of the oil cylinder involved in the boom action is not limited.

[0010] Optionally, in a case where the preset boom posture solving target comprises that the action time of the boom of the engineering machinery is the shortest, screening out the optimal boom posture corresponding to the target boom end position from the second boom posture set based on the preset boom posture solving target or screening out the historical optimal boom posture from the first boom posture set based on the preset boom posture solving target comprises: determining the total flow corresponding to any boom posture in the second boom posture set or the first boom posture set; and determining the boom posture corresponding to the minimum total flow in the determined total flow as the optimal boom posture or the historical optimal boom posture.

[0011] Optionally, determining the total flow corresponding to any of the second set of arm posture or the first set of arm posture comprises determining the total flow based on the flow parameter, the arm posture and the current arm posture of the engineering machine.

[0012] Optionally, determining the total flow corresponding to any of the second set of arm posture or the first set of arm posture comprises determining the total flow based on the following first formula: wherein N is the number of the section arms included in the arm; i is the serial number of the component in the component set, the component set including the turret of the engineering machine and the section arms included in the arm, the serial number of the component being obtained by sorting the turret and the section arms included in the arm from the turret to the last section arm in the case that the arm is stretched out; λ i is the flow parameter of the component i; j is the serial number of the arm posture in the second set of arm posture or the first set of arm posture; M j is the total flow corresponding to the arm posture j; (θT i ) j is the angle value of the component i in the arm posture j; θC i is the angle value of the component i in the current arm posture.

[0013] Optionally, in the case that the preset arm posture solving target comprises that the movement direction of the oil cylinder involved in the arm action is not limited, the filtering of the optimal arm posture corresponding to the target arm end position from the second set of arm postures or the filtering of the historical optimal arm posture from the first set of arm postures based on the preset arm posture solving target comprises: determining the degree of avoiding the included angle limitation corresponding to any of the second set of arm posture or the first set of arm posture; and determining the arm posture corresponding to the maximum degree of avoiding the included angle limitation as the optimal arm posture or the historical optimal arm posture.

[0014] Optionally, determining the degree of avoiding the included angle limitation corresponding to any of the second set of arm posture or the first set of arm posture comprises: determining the included angle value of each component in the component set based on the arm posture, wherein the component set includes the turret of the engineering machine and the section arms included in the arm; and determining the degree of avoiding the included angle limitation based on the included angle value of each component in the component set and the included angle limitation, wherein the included angle limitation comprises the maximum included angle value and the minimum included angle value for a component.

[0015] Optionally, determining the degree of deviation from the included angle limit corresponding to any of the second set of arm poses or the first set of arm poses is further based on a flow parameter.

[0016] Optionally, determining the degree of deviation from the included angle limit corresponding to any of the second set of arm poses or the first set of arm poses comprises determining the degree of deviation from the included angle limit based on a second formula as follows: wherein N is the number of the sections included in the arm; i is the serial number of the component in the component set, the serial number of the component being obtained by sorting the turntable and the sections included in the arm from the turntable to the last section in the case where the arm is stretched out, the last section being the section included in the arm that is farthest from the turntable in the case where the arm is stretched out; λ i is the flow parameter of component i; j is the serial number of the arm pose in the second set of arm poses or the first set of arm poses; Q j is the degree of deviation from the included angle limit corresponding to arm pose j; (ΔθT i ) j is the included angle value of component i in arm pose j; Δθmin i is the minimum included angle value of component i; Δθmax i is the maximum included angle value of component i.

[0017] In addition, another aspect of the present application provides a method for deploying and retracting an arm, the method comprising: determining an optimal arm pose based on the above-mentioned method for determining an arm pose of a construction machine; and deploying and retracting the arm based on the optimal arm pose so that an arm end position of the arm reaches a target arm end position.

[0018] In addition, another aspect of the present application provides a method for controlling material distribution of a material distribution device, the method comprising: for any of at least one material distribution position, determining a target arm end position based on the material distribution position; deploying and retracting an arm of the material distribution device based on the above-mentioned method for deploying and retracting an arm so that an arm end position of the arm reaches the material distribution position; and after the arm end position reaches the material distribution position, controlling the material distribution device to distribute material at the material distribution position.

[0019] Correspondingly, another aspect of the present application also provides a device for determining a boom posture of a construction machine, comprising: a same boom end position judging module configured to judge whether a same boom end position exists in a preset relationship database based on a target boom end position, wherein the same boom end position is a boom end position identical to the target boom end position, and the preset relationship database comprises a plurality of boom end position and boom posture groups, and each boom end position and boom posture group comprises a boom end position and a corresponding boom posture; and an optimal boom posture determining module configured to, in the case that the same boom end position exists in the preset relationship database, screen out a historical optimal boom posture from the preset relationship database based on a historical optimal boom posture screening principle, so as to determine an optimal boom posture corresponding to the target boom end position.

[0020] Optionally, the historical optimal boom posture screening principle comprises: in the case that the number of position groups is 1, the boom posture corresponding to the same boom end position in the preset relationship database is the historical optimal boom posture, wherein the number of position groups is the number of boom end position and boom posture groups comprising the same boom end position in the preset relationship database; and / or in the case that the number of position groups is greater than or equal to 2 and no same boom posture exists in a first boom posture set, a boom posture screened out from the first boom posture set based on a preset boom posture solving target is the historical optimal boom posture, wherein the first boom posture set comprises the boom posture corresponding to the same boom end position in the preset relationship database, and the same boom posture is the boom posture existing in at least two boom end position and boom posture groups; and / or in the case that the number of position groups is greater than or equal to 2 and a same boom posture exists in the first boom posture set, the same boom posture corresponding to the maximum number of posture groups is the historical optimal boom posture, wherein the number of posture groups corresponding to a same boom posture is the number of boom end position and boom posture groups comprising the same boom posture.

[0021] Optionally, the device further comprises: a second boom posture set determining module configured to, in the case that the same boom end position does not exist in the preset relationship database, determine a second boom posture set based on a target boom end position, wherein the second boom posture set comprises a plurality of boom postures satisfying the target boom end position; and the optimal boom posture determining module is further configured to screen out an optimal boom posture corresponding to the target boom end position from the second boom posture set based on a preset boom posture solving target, so as to achieve the determination of the boom posture of the construction machine.

[0022] Optionally, the preset arm posture solving target comprises that the action time of the arm of the engineering machine is the shortest or the movement direction of the oil cylinder involved in the action of the arm is not limited.

[0023] Optionally, in the case where the preset arm posture solving target comprises that the action time of the arm of the engineering machine is the shortest, the optimal arm posture determining module comprises: determining the total flow corresponding to any arm posture in the second arm posture set or the first arm posture set based on the preset arm posture solving target; and determining the arm posture corresponding to the smallest total flow in the determined total flow as the optimal arm posture or the historical optimal arm posture.

[0024] Optionally, the optimal arm posture determining module determines the total flow corresponding to any arm posture in the second arm posture set or the first arm posture set based on the flow parameter, the arm posture and the current arm posture of the engineering machine.

[0025] Optionally, the optimal arm posture determining module determines the total flow corresponding to any arm posture in the second arm posture set or the first arm posture set based on the following first formula: wherein N is the number of the section arms included in the arm; i is the serial number of the component in the component set, the component set comprising the turret of the engineering machine and the section arms included in the arm, the serial number of the component being obtained by sorting the turret and the section arms included in the arm from the turret to the last section arm in the case where the arm is stretched out, the last section arm being the section arm farthest from the turret among the section arms included in the arm in the case where the arm is stretched out; λ i is the flow parameter of component i; j is the serial number of the arm posture in the second arm posture set or the first arm posture set; M j is the total flow corresponding to arm posture j; (θT i ) j is the angle value of component i in arm posture j; θC i is the angle value of component i in the current arm posture.

[0026] Optionally, in the case that the preset arm support posture solving target comprises that the movement direction of the oil cylinder involved in the arm support action is not limited, the optimal arm support posture determination module screens out the optimal arm support posture corresponding to the target arm support end position from the second arm support posture set or screens out the historical optimal arm support posture from the first arm support posture set based on the preset arm support posture solving target, which comprises: determining the degree of limitation of the remote angle corresponding to any arm support posture in the second arm support posture set or the first arm support posture set; and determining the arm support posture corresponding to the maximum degree of limitation of the remote angle as the optimal arm support posture or the historical optimal arm support posture.

[0027] Optionally, the optimal arm support posture determination module determines the degree of limitation of the remote angle corresponding to any arm support posture in the second arm support posture set or the first arm support posture set based on the arm support posture, which comprises: determining the angle value of each component in the component set based on the arm support posture, wherein the component set comprises the swing platform of the engineering machinery and the section arms included in the arm support; and determining the degree of limitation of the remote angle based on the angle value of each component in the component set and the angle limitation, wherein the angle limitation comprises the maximum angle value and the minimum angle value for a component.

[0028] Optionally, the optimal arm support posture determination module determines the degree of limitation of the remote angle corresponding to any arm support posture in the second arm support posture set or the first arm support posture set based on the arm support posture, which further comprises the flow parameter.

[0029] Optionally, the optimal arm support posture determination module determines the degree of limitation of the remote angle corresponding to any arm support posture in the second arm support posture set or the first arm support posture set based on the arm support posture, which comprises determining the degree of limitation of the remote angle based on the following second formula: wherein N is the number of the section arms included in the arm support; i is the serial number of the component in the component set, which is obtained by sorting the swing platform and the section arms included in the arm support from the swing platform to the last section arm in the case that the arm support is stretched out; λ i is the flow parameter of component i; j is the serial number of the arm support posture in the second arm support posture set or the first arm support posture set; Q j is the degree of limitation of the remote angle corresponding to arm support posture j; (ΔθT i ) j is the angle value of component i in arm support posture j; Δθmin iThe minimum included angle value for component i; Δθmax i The maximum included angle value of component i.

[0030] Accordingly, another aspect of the present invention provides an apparatus for extending and retracting a boom, the apparatus comprising: an extension / retraction module for: determining an optimal boom posture based on the above-described method for determining the boom posture of construction machinery; and extending or retracting the boom based on the optimal boom posture, such that the boom end position reaches a target boom end position.

[0031] Accordingly, another aspect of the present invention provides an apparatus for controlling the fabric placement of a fabric placement device, the apparatus comprising: a fabric placement module for determining a target boom end position based on the fabric position for any of at least one fabric placement position; extending or retracting the boom of the fabric placement device based on the above-described method for extending or retracting the boom, such that the boom end position reaches the fabric placement position; and controlling the fabric placement device to place fabric at the fabric placement position after the boom end position reaches the fabric placement position.

[0032] Furthermore, another aspect of the present invention provides an engineering machine, which includes: the above-described device for determining the boom posture of the engineering machine; or the above-described device for extending and retracting the boom.

[0033] In addition, another aspect of the present invention provides a fabric-making apparatus, which includes the above-described means for controlling the fabric-making process.

[0034] Furthermore, another aspect of the present invention provides a machine-readable storage medium storing instructions for causing a machine to perform the above-described method.

[0035] The above technical solution determines the boom posture of the construction machinery based on the target boom end position, achieving control by using the boom end position as the target. This ensures that the boom extension and retraction based on the determined posture meets the requirements for unmanned operation. Furthermore, it provides a method for determining the boom posture. Additionally, the preset relational database is established based on boom posture and boom end position data determined during the historical use of the construction machinery. Therefore, the boom posture determined by combining the preset relational database is a historically verified and usable posture. Using the preset relational database to determine the boom posture prevents abnormal postures, allowing the boom to better adapt to operational requirements when operating according to the determined posture.

[0036] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0037] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0038] Figure 1 This is a flowchart of a method for determining the boom posture of construction machinery according to an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of the rotation angle and tilt angle provided in another embodiment of the present invention;

[0040] Figure 3 This is a side view of a simplified boom provided in another embodiment of the present invention;

[0041] Figure 4 This is a side view of a simplified boom provided in another embodiment of the present invention;

[0042] Figure 5 This is a flowchart of a method for determining the boom posture of construction machinery according to another embodiment of the present invention;

[0043] Figure 6 This is a logical schematic diagram of a method for determining the boom posture of construction machinery according to another embodiment of the present invention;

[0044] Figure 7 This is a simplified diagram of a device corresponding to a method for determining the boom posture of construction machinery provided in another embodiment of the present invention;

[0045] Figure 8 This is a logic diagram of a method for controlling the fabric feeding of a fabric feeding device according to another embodiment of the present invention; and

[0046] Figure 9 This is a structural block diagram of a device for determining the boom posture of construction machinery, provided in another embodiment of the present invention.

[0047] Explanation of reference numerals in the attached figures

[0048] 1. First arm segment 2. Second arm segment

[0049] 3. Third arm segment 4. Fourth arm segment

[0050] 5. Fifth arm segment 6. Sixth arm segment

[0051] 7 Turntable 8 Same boom end position determination module

[0052] 9. Optimal boom attitude determination module Detailed Implementation

[0053] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0054] One aspect of this invention provides a method for determining the boom posture of construction machinery. Optionally, the construction machinery may be a work machine with multiple boom segments, such as a pump truck, concrete placing boom, fire truck, aerial work platform, etc.

[0055] Figure 1 This is a flowchart of a method for determining the boom posture of construction machinery according to an embodiment of the present invention. Figure 1 As shown, the method includes the following.

[0056] In step S10, based on the target boom end position, it is determined whether a pre-set relational database contains a matching boom end position. A matching boom end position is one that is identical to the target boom end position. The pre-set relational database includes multiple sets of boom end positions and boom attitude groups, where each set includes a boom end position and a corresponding boom attitude. The target boom end position is compared with the boom end positions in each set of boom end positions and boom attitude groups in the pre-set relational database to determine if they are the same. This determines whether a matching boom end position exists in the pre-set relational database. If at least one set of boom end positions and boom attitude groups contains a boom end position identical to the target boom end position, then a matching boom end position exists. Furthermore, when determining whether a matching boom end position exists in the pre-set relational database, the boom end positions and boom attitude groups compared with the target boom end position in the pre-set relational database are data established for construction machinery with the same boom information as the construction machinery for which the boom attitude is to be determined. Having the same boom information means that the boom includes the same number of boom segments and the corresponding boom segments have the same length. For example, the boom of the construction machinery whose boom posture needs to be determined includes 3 boom segments, namely boom a1, boom a2, and boom a3; for the construction machinery with the same boom information as the construction machinery whose boom posture needs to be determined, the boom includes 3 boom segments, namely boom a4, boom a5, and boom a6, where boom a4 corresponds to boom a1, boom a5 corresponds to boom a2, boom a6 corresponds to boom a3, the length of boom a4 is the same as the length of boom a1, the length of boom a5 is the same as the length of boom a2, and the length of boom a6 is the same as the length of boom a3.

[0057] In step S11, the optimal boom posture corresponding to the target boom end position is determined based on the judgment result and the preset optimal boom posture determination strategy.

[0058] Optionally, in this embodiment of the invention, determining the optimal boom posture corresponding to the target boom end position based on the judgment result and the preset optimal boom posture determination strategy may include the following: When the same boom end position exists in the preset relational database, the historical optimal boom posture is selected from the preset relational database based on the historical optimal boom posture selection principle to determine the optimal boom posture corresponding to the target boom end position. In this embodiment of the invention, determining the boom posture of the construction machinery based on the target boom end position realizes using the boom end position as the control target, ensuring that the requirements for unmanned operation are met when extending and retracting the boom according to the determined boom posture; furthermore, it realizes the determination of the boom posture of the construction machinery, providing a method for determining the boom posture. Additionally, the preset relational database is established based on the boom posture and boom end position data determined during the historical use of the construction machinery. Therefore, the boom posture determined by combining the preset relational database is a historically verified and usable posture. Determining the boom posture by combining the preset relational database can prevent abnormal postures, allowing the boom to better adapt to operational requirements when operating according to the determined boom posture. Furthermore, in this embodiment of the invention, the data stored in the preset relational database is not static. The boom posture and boom end position data obtained in real time during actual operation of the construction machinery can also be added to the preset relational database to update the preset relational database.

[0059] Optionally, in embodiments of the present invention, a preset relational database can be determined based on the following:

[0060] Determine the boom posture. For example, the boom posture can be determined in real time during the historical operation of the construction machinery. Specifically, the boom posture can be determined by detecting the tilt angle of each boom section using a tilt angle detection module (e.g., tilt angle sensor) and the slewing angle of the turntable using a slewing angle detection module (e.g., slewing angle sensor). Alternatively, the tilt angle of a boom section can be determined by other methods, such as detecting the piston movement length of the corresponding cylinder for a boom section (e.g., using a cable, magnetostrictive sensor, etc.) and calculating the tilt angle based on the detected piston movement length. Multiple boom postures are determined during the determination process. The more boom postures determined, the more data is available in the preset relational database, which is more beneficial for determining the boom posture of the construction machinery. For each boom posture, the corresponding boom end position is determined. Optionally, in this embodiment, the boom end position can be determined using a boom end position detection module, for example, using a total station. Optionally, in this embodiment, the boom end position can also be determined based on the boom posture. For example, for a given boom posture, the boom end position is calculated based on the turntable's rotation angle, the tilt angle of each boom section, and the length of each boom section to determine the boom end position corresponding to that boom posture. Optionally, in an embodiment of the invention, the boom end position can be calculated using the following formula. Figure 2 As shown, with the boom turntable 7 as the origin, the three-dimensional coordinates P(x,y,z) of the boom end are calculated, where N is the number of boom segments, and θ is the coordinates of the boom end. i Let 'i' be the angle of component i in the component set, where 'i' is the component number. The component set includes turntable 7, first boom section 1, second boom section 2, third boom section 3, fourth boom section 4, fifth boom section 5, and sixth boom section 6. In other words, the component is either a turntable or a boom section. The component number is obtained by sorting the turntable and all boom sections from turntable 7 to sixth boom section 6 (the final boom section) with the boom extended. The angle of turntable 7 is the rotation angle, and the angle of the boom section is the tilt angle. L1, L2, L3, L4, L5, and L6 are the lengths of first boom section 1, second boom section 2, third boom section 3, fourth boom section 4, fifth boom section 5, and sixth boom section 6, respectively. The values ​​of the x, y, and z axes in the three-dimensional coordinate P(x,y,z) of the boom end are respectively... For each defined boom posture, the corresponding boom end position is determined, thereby establishing a pre-defined relational database. This can be achieved by leveraging... Figure 3 and Figure 4 To understand the one-to-one correspondence between boom posture and boom end position in the preset relational database, where, Figure 3 To simplify the side view of the boom, Figure 4To simplify the side view of the boom, a pre-defined relational database can be stored in the storage module. For example, the storage module could be a local data logger or a cloud platform. The boom end-effector 3D coordinates and boom attitude are stored in the database summary of the storage module, as shown in Table 1.

[0061] Table 1

[0062] i (i = 0..N)]]> ​ P(x,y,z)

[0063] Optionally, in this embodiment of the invention, the selection principle for the historical best boom posture may include the following: When the number of position groups is 1, the boom posture corresponding to the same boom end position in a preset relational database is the historical best boom posture, wherein the number of position groups is the number of groups in the preset relational database that include boom end positions and boom posture groups with the same boom end position; and / or when the number of position groups is greater than or equal to 2 and there is no same boom posture in the first boom posture set, the boom posture selected from the first boom posture set based on the preset boom posture solution objective is the historical best boom posture, wherein the first boom posture set includes boom postures corresponding to the same boom end position in the preset relational database, and the same boom posture is the boom posture that exists in at least two groups of boom end positions and boom posture groups; and / or when the number of position groups is greater than or equal to 2 and there is the same boom posture in the first boom posture set, the same boom posture corresponding to the largest number of posture groups is the historical best boom posture, wherein the number of posture groups corresponding to a same boom posture is the number of groups that include the boom end position and boom posture groups with the same boom posture. When the number of position groups is 1, only one group of boom end position and boom attitude groups in the preset relation library has the same boom end position as the target boom end position. The boom attitude in this group is the optimal boom attitude corresponding to the target boom end position. When the number of position groups is greater than or equal to 2, multiple groups of boom end position and boom attitude groups in the preset relation library have the same boom end position as the target boom end position. That is, the target boom end position can correspond to multiple boom attitudes in the preset relation library. These multiple boom attitudes form the first boom attitude set, and the optimal boom attitude needs to be determined from these multiple boom attitudes. By comparing these multiple boom attitudes, it is determined whether there is a common boom attitude in the first boom attitude set. A common boom attitude is a boom attitude that exists in at least two groups of boom end position and boom attitude groups. If there is a common boom attitude in the first boom attitude set, the common boom attitude corresponding to the largest number of attitude groups is determined as the optimal boom attitude. For example, if the first boom attitude set includes two boom attitudes and these two boom attitudes are the same, which is actually the same boom attitude, then the boom attitude corresponding to the largest number of attitude groups is the same boom attitude, and the same boom attitude is determined as the optimal boom attitude.For example, if the first boom posture set includes more than 2 boom postures, such as 6, and these 6 boom postures are labeled as the first boom posture, the second boom posture, the third boom posture, the fourth boom posture, the fifth boom posture, and the sixth boom posture, then the first boom posture and the third boom posture are the same and are actually the same boom posture. The boom postures actually corresponding to the first and third boom postures are labeled as the first identical boom posture, and the number of posture groups corresponding to the first identical boom posture is 2. Similarly, the second, fourth, fifth, and sixth boom postures are the same and are actually the same boom posture. The boom postures actually corresponding to the second, fourth, fifth, and sixth boom postures are labeled as the second identical boom posture, and the number of posture groups corresponding to the second identical boom posture is 4. Since the second identical boom posture has the largest number of posture groups, it is determined as the optimal boom posture. If no identical boom posture exists in the first boom posture set, the optimal boom posture is selected from the first boom posture set based on the preset boom posture to solve the objective.

[0064] Optionally, in this embodiment of the invention, determining the optimal boom posture corresponding to the target boom end position based on the judgment result and a preset optimal boom posture determination strategy may further include the following: If no identical boom end position exists in the preset relational database, a second boom posture set is determined based on the target boom end position, wherein the second boom posture set includes multiple boom postures that satisfy the target boom end position; and the target is solved based on the preset boom posture, and the optimal boom posture corresponding to the target boom end position is selected from the second boom posture set.

[0065] Figure 5 This is a flowchart of a method for determining the boom posture of construction machinery according to another embodiment of the present invention. Figure 5 The method includes the following:

[0066] In step S50, based on the target boom end position, it is determined whether a pre-set relational database contains the same boom end position. If a matching boom end position exists, step S51 is executed; otherwise, step S52 is executed. In step S51, based on the historical best boom posture selection principle, the historical best boom posture is selected from the pre-set relational database to determine the optimal boom posture corresponding to the target boom end position. In step S52, based on the target boom end position, a second boom posture set is determined, which includes multiple boom postures that satisfy the target boom end position. For example, the second boom posture set is determined by solving the boom postures that satisfy the target boom end position according to machine kinematics. Furthermore, the boom end refers to the free end of the boom, which is the end not connected to the turntable, and the boom end position refers to the position of the free end of the boom, such as... Figure 2 As shown, the free end of the boom refers to the end of the sixth boom section 6 that is not connected to the fifth boom section 5; the target boom end position refers to the desired position reached by the boom end. Furthermore, the rotation angle of the turntable is assigned a value, and each boom section is assigned a value. The boom posture refers to the posture of the boom when the rotation angle of the turntable reaches the corresponding assigned value and the tilt angle of each boom section reaches the corresponding assigned value. The boom posture corresponds to the rotation angle value of the turntable and the tilt angle value of each boom section; that is, the boom posture includes the rotation angle value of the turntable and the tilt angle value of each boom section. Optionally, in this embodiment of the invention, the target boom end position can be determined according to specific circumstances. For example, when the fabric placement equipment is placing material, the target boom end position can be determined based on the placement location. Specifically, the placement location is generally an area where material needs to be placed. When placing material at a placement location, a point on the boundary of that placement location is selected as the target boom end position, or other points convenient for placing material at that location are selected as the target boom end position. In step S53, based on the preset boom posture solution target, the optimal boom posture corresponding to the target boom end position is selected from the second boom posture set to determine the boom posture of the construction machinery. The optimal boom posture is the determined boom posture of the construction machinery. Specifically, the optimal boom posture is the boom posture in the second boom posture set that satisfies the preset boom posture solution target. After determining the optimal boom posture, the process of determining the boom posture of the construction machinery is completed. Furthermore, the preset boom posture solution target refers to the target that the determined boom posture is expected to satisfy. The preset boom posture solution target can be determined according to specific circumstances, as long as the optimal boom posture can be solved based on it.

[0067] Optionally, the preset boom posture solution objective can be to minimize the boom's movement time, that is, to minimize the time required for the boom end position to reach the target boom end position when extending or retracting the boom based on a given boom posture. Extending or retracting the boom based on a given boom posture means ensuring that the turntable's rotation angle and the boom segment's tilt angle both reach the corresponding angle values ​​within that boom posture. Furthermore, during boom operation, due to the limited length of the cylinders corresponding to any component, for a given cylinder, if the piston has moved to the top or bottom of the cylinder, the cylinder's movement direction is restricted, and the cylinder can only move in one direction; when the cylinder has not moved to the top or bottom, the cylinder's movement direction is unrestricted, and the cylinder can move in two directions. The component can be the turntable or the boom segments included in the boom; the turntable and the boom segments constitute a component set. After determining the boom posture, it is possible that the movement direction of one or more cylinders may be restricted during boom extension or retraction based on the determined boom posture, preventing the boom from moving and affecting the boom's operational range and working efficiency. Therefore, the operational range of the boom can be used as the optimization objective. Specifically, the preset boom posture optimization objective can also be that the movement direction of the cylinders involved in the boom movement is unrestricted. This means that the movement direction of the cylinders involved in extending and retracting the boom based on a given boom posture is unrestricted, allowing for flexible boom movement. The cylinders involved in the boom movement include the cylinders corresponding to the turntable and the cylinders corresponding to each boom segment. Unrestricted movement direction of the cylinders involved in the boom movement means that during the process of extending and retracting the boom based on a given boom posture to reach the target boom end position, the cylinders corresponding to each component do not reach the top or bottom. Each cylinder corresponding to a component can have two movement directions, and the movement direction of each component's cylinder is unrestricted.

[0068] Optionally, in this embodiment of the invention, when the preset boom posture solution objective includes minimizing the boom's movement time, selecting the optimal boom posture corresponding to the target boom end position from the second boom posture set based on the preset boom posture solution objective, or selecting the historically best boom posture from the first boom posture set based on the preset boom posture solution objective, may include the following: For any boom posture in the second or first boom posture set, determine the total flow rate corresponding to that boom posture. Determine the boom posture corresponding to the minimum total flow rate among the determined total flow rates as the optimal boom posture or the historically best boom posture. Optionally, the total flow rate can be determined based on flow rate parameters, boom posture, and the current boom posture of the construction machinery. The flow rate parameters are determined by the cylinder size, slewing motor flow rate, etc.; each boom section in the turntable and boom has its own flow rate parameters. The turntable's flow rate parameters are determined by the slewing motor flow rate, and each boom section's flow rate parameters are determined by the size of the cylinder corresponding to that boom section. Furthermore, the current boom posture refers to the boom posture currently exhibited by the construction machinery's boom. In addition, when determining the total flow rate for the attitude of one boom in the second boom attitude set, the total flow rate can be determined based on the flow rate parameters of the turntable and the flow rate parameters of each boom section.

[0069] Optionally, in this embodiment of the invention, for any boom posture in the second boom posture set or the first boom posture set, determining the total flow rate based on the flow parameters, the boom posture, and the current boom posture can be based on the flow parameters corresponding to each component in the component set and the difference between the angle values ​​corresponding to each component in the boom posture and the current boom posture. For example, for any boom posture in the second boom posture set or the first boom posture set, determining the total flow rate corresponding to that boom posture can include determining the total flow rate based on the following first formula: Where N is the number of boom segments included in the boom; i is the component number in the component set, which includes the turntable and boom segments of the construction machinery. The component number is obtained by sorting the turntable and boom segments from the turntable to the last boom segment when the boom is extended. The last boom segment is the boom segment farthest from the turntable when the boom is extended; λ i Here, is the flow parameter of component i; j is the sequence number of the boom attitude in the second boom attitude set or the first boom attitude set; M j The total flow rate corresponding to boom posture j; (θT) i ) j θC represents the angle value of component i in boom posture j. i This represents the angle value of component i in the current boom posture.

[0070] Optionally, in this embodiment of the invention, when the preset boom posture solution target includes the fact that the movement direction of the cylinders involved in the boom movement is not restricted, selecting the optimal boom posture corresponding to the target boom end position from the second boom posture set based on the preset boom posture solution target, or selecting the historically best boom posture from the first boom posture set based on the preset boom posture solution target, may include the following: For any boom posture in the second boom posture set or the first boom posture set, determine the degree of distance from the included angle limit corresponding to the boom posture. Each component in the component set corresponds to an included angle, and the relationship between the included angle and the corresponding included angle limit reflects whether the movement direction of the cylinder corresponding to the component is restricted during the process of making the current included angle of the component reach the included angle. The included angle of a component is the angle between the component and its predecessor. If, with the boom extended, the turntable and boom segments are ordered from the turntable to the last segment, the preceding segment is the segment with a number one digit lower than the current segment's number, and the last segment is the one furthest from the turntable among the boom segments when the boom is extended. Furthermore, the included angle reflects the extension / retraction state of the boom cylinders or the rotation state of the slewing drive mechanism. Additionally, for a given segment, the closer its included angle is to the included angle limit, the greater the likelihood that the corresponding cylinder's movement direction is restricted. The degree of deviation from the included angle limit represents the sum of the degrees to which the included angles of each segment in the component set deviate from their corresponding included angle limits. Therefore, when the preset boom posture solution objective is to ensure that the movement direction of the cylinders involved in the boom movement is unrestricted, a degree of deviation from the included angle limit is determined for each boom posture. The boom posture corresponding to the largest degree of deviation from the included angle limit is determined as the optimal boom posture or the historical best boom posture. Among the determined degrees of distance from the included angle limit, the boom posture corresponding to the maximum degree of distance from the included angle limit maximizes the probability that the movement direction of the cylinders corresponding to each component is unrestricted during the boom extension and retraction process. Therefore, the boom posture corresponding to the maximum degree of distance from the included angle limit is the optimal boom posture at the target boom end position. Optionally, in this embodiment of the invention, for a component, the maximum and minimum included angle values ​​can be used to represent the included angle limit. Selecting the boom posture corresponding to the maximum degree of distance from the included angle limit as the optimal boom posture, that is, selecting the boom posture furthest from the included angle limit of the component as the best posture, reduces the probability of the movement direction of the cylinders involved in the boom movement being restricted, ensures the flexibility of the boom during operation, and makes the boom's range of motion most flexible. In addition, the optimal boom posture determined based on the maximum degree of distance from the included angle limit generally corresponds to a common arched posture.

[0071] Optionally, in this embodiment of the invention, determining the degree of distance from the included angle limit corresponding to any boom posture in the second boom posture set or the first boom posture set may include the following: Based on the boom posture, determine the included angle value of each component in the component set, wherein the component set includes the turntable of the construction machinery and the boom segments included in the boom. For example, in a boom posture, the included angle value of a component can be obtained by subtracting the angle value of the preceding component from the angle value of the component. It should be noted that for components with serial numbers 0 and 1 (turntable and boom segments connected to the turntable), the corresponding included angle value is its corresponding angle value, that is, the included angle value of the turntable is the rotation angle value, and the included angle value of the boom segment connected to the turntable is the tilt angle value of the boom segment; for components with serial numbers greater than or equal to 2, the corresponding included angle value is its corresponding angle value minus the angle value of the preceding component. For example, for boom posture j in the second boom posture set, (ΔθT i ) j =(θT) i ) j ,i=0,1;(ΔθT i ) j =(θT) i -θT i-1 ) j ,i=2..N. Where, (ΔθT i ) j This represents the included angle value of component i in boom posture j, (θT) i -θT i-1 ) j This represents the difference between the angle value of component i and the angle value of component i-1 in boom posture j. The definitions of i, j, and N can be found in the definitions in the above embodiments. Based on the included angle value and included angle limit of each component in the component set, the degree of deviation from the included angle limit is determined. For a single component, the included angle limit includes a maximum included angle value and a minimum included angle value. Specifically, for a boom posture, the degree of deviation from the included angle limit can be determined based on the difference between the included angle value of each component in the component set and the maximum and minimum included angle values.

[0072] Optionally, in this embodiment of the invention, a flow rate parameter may also be considered when determining the degree of distance from the included angle limit. For any boom posture in the second boom posture set or the first boom posture set, the degree of distance from the included angle limit corresponding to that boom posture can also be determined based on a flow rate parameter. The flow rate parameter represents the difference in different cylinder sizes. Considering the flow rate parameter when determining the degree of distance from the included angle limit makes the determined degree of distance from the included angle limit more reasonable. The optimal boom posture determined based on the degree of distance from the included angle limit is more in line with the boom's motion principle, thus making the technical solution provided by this embodiment of the invention more effective.

[0073] Optionally, in this embodiment of the invention, for a boom posture, the degree of distance from the angle limit can be determined based on the difference between the included angle value and the maximum and minimum included angle values ​​of each component in the component set, and a flow parameter, wherein each component corresponds to a flow parameter. For example, for any boom posture in the second boom posture set or the first boom posture set, determining the degree of distance from the angle limit corresponding to that boom posture may include determining the degree of distance from the angle limit based on the following second formula: Where N is the number of boom segments included in the boom; i is the component number in the component set, which is obtained by sorting the turntable and boom segments from the turntable to the last boom when the boom is extended; the last boom is the boom segment farthest from the turntable when the boom is extended; λ i Here, is the flow parameter of component i; j is the sequence number of the boom attitude in the second boom attitude set or the first boom attitude set; Q j The degree of distance from the included angle limit corresponding to boom posture j; (ΔθT) i ) j Let Δθmin be the included angle value of component i in boom posture j; i Δθmax represents the minimum included angle value of component i. i Let be the maximum included angle value of component i.

[0074] Figure 6 This is a logical schematic diagram of a method for determining the boom posture of construction machinery according to another embodiment of the present invention. The following is in conjunction with... Figure 6 The method for determining the boom posture of construction machinery provided in this embodiment of the invention will be described exemplarily. A simplified diagram of the apparatus corresponding to the method for determining the boom posture of construction machinery provided in this embodiment can be found in [reference needed]. Figure 7As shown in the diagram, the detection unit detects the boom posture, such as using tilt and slewing angle sensors. The calculation unit calculates the boom end position based on the detected slewing angle of the turntable, the tilt angle of the boom segment, and the length of the boom segment, and sends each set of boom posture and boom end position to the storage unit for storage. This means storing the preset relationship described in this embodiment of the invention in the storage unit, which can be a local data logger or a cloud platform. The determination unit determines the target posture, i.e., the optimal boom posture, based on the target boom end position. Alternatively, the slewing angle of the turntable, the tilt angle of the boom segment, and the boom end position of multiple devices can be collected to establish a correspondence between boom posture and boom end position, and each established set of boom posture and boom end position can be sent to the storage unit for storage. Furthermore, in this embodiment, a concrete placing device is used as an example of construction machinery. The concrete placing device places material in the placing area. Specifically, it mainly includes the following: 1) Based on the existing correspondence between the boom end position and boom posture of the concrete placing device, a matching boom posture is selected to ensure that the selected boom posture is the boom posture frequently used by the concrete placing device. This can prevent abnormal boom postures from occurring and can better automatically adapt to the material placing requirements; 2) For target boom end positions that do not appear in the correspondence established for the concrete placing device, the optimization goal is to minimize the boom action time or ensure that the movement direction of the cylinders involved in the boom action is not restricted, thereby ensuring the efficiency of boom operation.

[0075] In step S601, a target boom end position is generated based on the fabric placement location. Specifically, the fabric placement location is generally an area where fabric needs to be placed. When placing fabric at a location, a point on the boundary of that location is selected as the target boom end position, or other points convenient for placing fabric at that location are selected as the target boom end position, depending on the specific circumstances. In step S602, the existing boom end positions in the storage unit are searched based on the target boom end position. In step S603, it is determined whether the same boom end position exists in the storage unit. If not, step S604 is executed; if so, step S606 is executed. In step S604, based on the target boom end position, a second boom posture set that satisfies the requirements of the target boom end position is solved using machine kinematics. In step S605, the boom posture that minimizes the boom's movement time is selected as the target boom posture. The target boom posture is the optimal boom posture described in this embodiment of the invention. Specifically, the target boom posture can be determined by referring to the method described in the above embodiments. In step S606, it is determined whether there are two or more groups of boom end positions and boom attitudes that include the same boom end position in the storage unit, that is, whether the number of position groups in the storage unit is greater than or equal to 2. If not, proceed to step S607; if so, proceed to step S608. In step S607, it is stated that there is only one group of boom end positions and boom attitudes that includes the same boom end position in the storage unit. The boom attitude corresponding to the same boom end position in this group is selected as the target boom attitude, and the target attitude determination ends. In step S608, it is stated that there are multiple groups of boom end positions and boom attitudes that include the same boom end position in the storage unit, that is, the target boom end position has appeared multiple times in previous operations. Then it is determined whether there is a common boom attitude in the first boom attitude set. The first boom attitude set includes the boom attitudes corresponding to the same boom end position in the preset relational database. The common boom attitude is the boom attitude that exists in at least two groups of boom end positions and boom attitudes. If the target boom posture exists, proceed to step S609; otherwise, proceed to step S605. In step S609, the boom posture with the largest number of posture groups is determined as the target boom posture. The number of posture groups corresponding to a single boom posture is the number of groups including the boom end position and the boom posture group for that posture. In other words, the boom posture that appears most frequently in the first boom posture set is selected as the target boom posture, as this indicates that the posture is used more often. The target posture determination is then complete. It should be noted that when step S604 is executed before step S605, the target boom posture is selected from the second boom posture set, which minimizes the boom's movement time. Similarly, when step S608 is executed before step S605, the target boom posture is selected from the first boom posture set, which minimizes the boom's movement time.Furthermore, in this embodiment of the invention, in step S605, the target boom posture can be selected as the boom posture that minimizes the boom's movement time, or the target boom posture can be selected as the boom posture that ensures the movement direction of the cylinders involved in the boom's movement is not restricted. Specifically, the method described in the above embodiment can be referred to.

[0076] This invention provides a method for determining the boom's operating posture. It determines the most suitable boom posture based on the target boom end position, thereby converting boom end control into boom posture control and achieving automatic boom extension and retraction to the desired concrete placement position. In actual concrete placement processes, many operational scenarios require ensuring the boom end reaches the target placement position. However, multiple boom postures can satisfy the same boom end position. Existing technologies have not solved the problem of how to select the most suitable posture from multiple boom postures. The technical solution provided by this invention includes how to select the most suitable boom posture from multiple boom postures.

[0077] Furthermore, another aspect of the present invention provides a method for extending and retracting a boom. This method includes: determining an optimal boom posture based on the method for determining the boom posture of construction machinery described in the above embodiments; and extending or retracting the boom based on the optimal boom posture, such that the boom end position reaches a target boom end position.

[0078] In addition, another aspect of the present invention provides a method for controlling the placement of fabric by a fabric placing device. This method includes the following: For any of the at least one placement location, a target boom end position of the fabric placing device's boom is determined. A placement area is determined according to the construction task, the placement area including at least one placement location where the fabric placing device needs to place fabric, and a placement trajectory can be generated based on the placement location. Among the placement locations included in the placement area, the method for controlling the fabric placing device provided in the present invention can be used for some placement locations to control the boom end position to reach the placement location for placement; while for other placement locations within the placement area, the boom end position can be controlled to reach the placement location based on the placement trajectory for placement. Alternatively, the method for controlling the fabric placing device provided in the present invention can be used for all placement locations within the placement area to control the boom end position to reach the placement location for placement. The method for extending and retracting the boom described in the above embodiments extends the boom of the fabric placing equipment so that the end position of the boom reaches the fabric placing position; and after the end position of the boom reaches the fabric placing position, the fabric placing equipment is controlled to place the fabric at the fabric placing position. Optionally, the fabric placing equipment can be a pump truck, a fabric placing machine, etc.

[0079] Figure 8This is a logical schematic diagram of a method for controlling the fabric placement of a fabric placement device according to another embodiment of the present invention. The fabric placement device is a pump truck. Furthermore, a first fabric placement position is determined in the fabric placement area. Based on the method for controlling the fabric placement of a fabric placement device provided in this embodiment of the present invention, the first fabric placement position is converted into a target boom end position. The boom is automatically extended and retracted to the first fabric placement position, and then automatic fabric placement is performed along the fabric placement trajectory starting from the first fabric placement position.

[0080] like Figure 8 As shown, the process first determines whether it is in automatic deployment mode. If it is not in automatic deployment mode, manual deployment is performed. If it is in automatic deployment mode, the deployment area is determined according to the construction task, an automatic deployment path is generated, that is, the deployment trajectory is determined, and the first deployment position in the deployment area is determined. Based on the first deployment position, the target boom end position is determined. According to the embodiment of the present invention, a method for extending and retracting the boom is provided, controlling the boom extension and retraction so that the boom end position of the pump truck reaches the target boom end position, so that the boom end position reaches the first deployment position. After the boom end position reaches the first deployment position, the pump truck is controlled to deploy at the first deployment position. Starting from the first deployment position, the pump truck moves along the deployment trajectory to other deployment positions for automatic deployment. During the manual and automatic deployment processes of the pump truck, the boom posture and boom end position of the pump truck are determined in real time and stored. The database storing the boom posture and boom end position is updated in regular manual and automatic deployment.

[0081] The technical solution provided by the embodiments of the present invention determines the target boom end position based on the target material placement position, and then determines the most suitable boom posture based on the usage habits and optimization strategies of the material placement equipment. It transforms the control of the boom end position into the determination of the target boom posture, thereby realizing automatic boom extension and retraction so that the boom end position reaches the expected material placement position. It links automatic boom extension and retraction technology with automatic material placement technology, realizing the entire automatic boom material placement operation.

[0082] Accordingly, another aspect of the present invention provides an apparatus for determining the boom posture of construction machinery.

[0083] Figure 9 This is a structural block diagram of a device for determining the boom posture of construction machinery, provided in another embodiment of the present invention. Figure 9As shown, the device includes a module 8 for determining identical boom end positions and a module 9 for determining optimal boom attitude. The module 8 determines whether identical boom end positions exist in a preset relational database based on the target boom end position. Identical boom end positions are boom end positions identical to the target boom end position. The preset relational database includes multiple sets of boom end positions and boom attitudes, with each set including a boom end position and its corresponding boom attitude. The module 9 determines the optimal boom attitude corresponding to the target boom end position by selecting the historically optimal boom attitude from the preset relational database when identical boom end positions exist, based on a historical optimal boom attitude selection principle.

[0084] Optionally, in this embodiment of the invention, the selection principle for the historical best boom posture includes: when the number of position groups is 1, the boom posture corresponding to the same boom end position in the preset relation library is the historical best boom posture, wherein the number of position groups is the number of groups in the preset relation library that include the same boom end position and boom posture groups; and / or when the number of position groups is greater than or equal to 2 and there is no same boom posture in the first boom posture set, the boom posture selected from the first boom posture set based on the preset boom posture solution target is the historical best boom posture, wherein the first boom posture set includes boom postures corresponding to the same boom end position in the preset relation library, and the same boom posture is a boom posture that exists in at least two groups of boom end position and boom posture groups; and / or when the number of position groups is greater than or equal to 2 and there is the same boom posture in the first boom posture set, the same boom posture corresponding to the largest number of posture groups is the historical best boom posture, wherein the number of posture groups corresponding to a same boom posture is the number of groups that include the same boom posture and boom end position and boom posture groups.

[0085] Optionally, in this embodiment of the invention, the device further includes: a second boom posture set determination module, used to determine a second boom posture set based on the target boom end position when there is no identical boom end position in the preset relation library, wherein the second boom posture set includes multiple boom postures that satisfy the target boom end position; the optimal boom posture determination module is further used to solve the target based on the preset boom posture, and to filter out the optimal boom posture corresponding to the target boom end position from the second boom posture set, so as to determine the boom posture of the construction machinery.

[0086] Optionally, in this embodiment of the invention, the preset boom posture solution objective includes minimizing the boom movement time of the construction machinery or ensuring that the movement direction of the cylinders involved in the boom movement is not restricted.

[0087] Optionally, in this embodiment of the invention, when the preset boom posture solution target includes minimizing the boom movement time of the construction machinery, the optimal boom posture determination module filters the optimal boom posture corresponding to the target boom end position from the second boom posture set based on the preset boom posture solution target, or filters the historical best boom posture from the first boom posture set based on the preset boom posture solution target. This includes: for any boom posture in the second boom posture set or the first boom posture set, determining the total flow corresponding to that boom posture; and determining the boom posture corresponding to the minimum total flow among the determined total flows as the optimal boom posture or the historical best boom posture.

[0088] Optionally, in this embodiment of the invention, the optimal boom posture determination module determines the total flow corresponding to any boom posture in the second boom posture set or the first boom posture set, including: determining the total flow based on flow parameters, boom posture and the current boom posture of the construction machinery.

[0089] Optionally, in this embodiment of the invention, the optimal boom attitude determination module determines the total flow corresponding to any boom attitude in the second boom attitude set or the first boom attitude set by determining the total flow based on the following first formula: Where N is the number of boom segments included in the boom; i is the component number in the component set, which includes the turntable and boom segments of the construction machinery. The component number is obtained by sorting the turntable and boom segments from the turntable to the last boom segment when the boom is extended. The last boom segment is the boom segment farthest from the turntable when the boom is extended; λ i Here, is the flow parameter of component i; j is the sequence number of the boom attitude in the second boom attitude set or the first boom attitude set; M j The total flow rate corresponding to boom posture j; (θT) i ) j θC represents the angle value of component i in boom posture j. i This represents the angle value of component i in the current boom posture.

[0090] Optionally, in this embodiment of the invention, when the preset boom posture solution target includes the fact that the movement direction of the cylinders involved in the boom action is not restricted, the optimal boom posture determination module selects the optimal boom posture corresponding to the target boom end position from the second boom posture set based on the preset boom posture solution target, or selects the historical best boom posture from the first boom posture set based on the preset boom posture solution target. This includes: for any boom posture in the second boom posture set or the first boom posture set, determining the degree of distance from the included angle restriction corresponding to the boom posture; and determining the boom posture corresponding to the largest degree of distance from the included angle restriction among the determined degrees of distance from the included angle restriction as the optimal boom posture or the historical best boom posture.

[0091] Optionally, in this embodiment of the invention, the optimal boom posture determination module determines the degree of distance from the included angle limit for any boom posture in the second boom posture set or the first boom posture set, including: determining the included angle value of each component in the component set based on the boom posture, wherein the component set includes the turntable of the construction machinery and the boom segments included in the boom; and determining the degree of distance from the included angle limit based on the included angle value and included angle limit of each component in the component set, wherein, for a component, the included angle limit includes the maximum included angle value and the minimum included angle value.

[0092] Optionally, in this embodiment of the invention, the optimal boom posture determination module determines the degree of distance from the included angle limit corresponding to any boom posture in the second boom posture set or the first boom posture set based on the flow rate parameter.

[0093] Optionally, in this embodiment of the invention, the optimal boom posture determination module determines the degree of distance from the included angle limit for any boom posture in the second boom posture set or the first boom posture set, including determining the degree of distance from the included angle limit based on the following second formula: Where N is the number of boom segments included in the boom; i is the component number in the component set, which is obtained by sorting the turntable and boom segments from the turntable to the last boom when the boom is extended; the last boom is the boom segment farthest from the turntable when the boom is extended; λ i Here, is the flow parameter of component i; j is the sequence number of the boom attitude in the second boom attitude set or the first boom attitude set; Q j The degree of distance from the included angle limit corresponding to boom posture j; (ΔθT) i ) j Let Δθmin be the included angle value of component i in boom posture j; i Δθmax represents the minimum included angle value of component i. i Let be the maximum included angle value of component i.

[0094] The specific working principle and benefits of the device for determining the boom posture of construction machinery provided in the embodiments of the present invention are similar to the specific working principle and benefits of the method for determining the boom posture of construction machinery provided in the embodiments of the present invention, and will not be repeated here.

[0095] Accordingly, another aspect of the present invention provides an apparatus for extending and retracting a boom, the apparatus comprising: an extension and retraction module, configured to: determine an optimal boom posture based on the method for determining the boom posture of construction machinery described in the above embodiments; and extend and retract the boom based on the optimal boom posture, so that the boom end position reaches a target boom end position.

[0096] Accordingly, another aspect of the present invention provides an apparatus for controlling the fabric distribution of a fabric distribution device. The apparatus includes: a fabric distribution module, configured to determine a target boom end position based on the fabric position for any one of at least one fabric distribution position; to extend and retract the boom of the fabric distribution device based on the method for extending and retracting the boom described in the above embodiments, so that the boom end position reaches the fabric distribution position; and to control the fabric distribution device to distribute fabric at the fabric distribution position after the boom end position reaches the fabric distribution position.

[0097] The specific working principle and benefits of the device for controlling the fabric distribution of the fabric equipment provided in the embodiments of the present invention are similar to those of the method for controlling the fabric distribution of the fabric equipment provided in the embodiments of the present invention, and will not be repeated here.

[0098] Furthermore, another aspect of the present invention provides an engineering machine, which includes: the device for determining the boom posture of the engineering machine as described in the above embodiments; or the device for extending and retracting the boom as described in the above embodiments.

[0099] In addition, another aspect of the present invention provides a fabric-making device, which includes the means for controlling the fabric-making device to make fabric as described in the above embodiments.

[0100] Furthermore, another aspect of the present invention provides a machine-readable storage medium storing instructions that cause a machine to perform the methods described in the above embodiments.

[0101] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0102] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0103] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A method for determining a posture of a boom of a working machine, characterized in that, The method comprises: determining whether there is a same arm frame end position in a preset relationship database based on a target arm frame end position, wherein the same arm frame end position is an arm frame end position identical to the target arm frame end position, and the preset relationship database comprises a plurality of arm frame end position and arm frame posture groups, and one arm frame end position and arm frame posture group comprises one arm frame end position and a corresponding arm frame posture; and in the case where the same arm frame end position exists in the preset relationship database, screening a historical optimal arm frame posture from the preset relationship database based on a historical optimal arm frame posture screening principle to determine an optimal arm frame posture corresponding to the target arm frame end position; the historical optimal arm frame posture screening principle comprises: in the case where the number of position groups is 1, the arm frame posture corresponding to the same arm frame end position in the preset relationship database is the historical optimal arm frame posture, wherein the number of position groups is the number of arm frame end position and arm frame posture groups comprising the same arm frame end position in the preset relationship database; in the case where the number of position groups is greater than or equal to 2 and the same arm frame posture exists in a first arm frame posture set, the same arm frame posture corresponding to the maximum posture group number is the historical optimal arm frame posture, wherein the posture group number corresponding to one same arm frame posture is the number of arm frame end position and arm frame posture groups comprising the same arm frame posture.

2. The method of claim 1, wherein, the historical optimal arm frame posture screening principle further comprises: in the case where the number of position groups is greater than or equal to 2 and the same arm frame posture does not exist in the first arm frame posture set, the arm frame posture screened from the first arm frame posture set based on a preset arm frame posture solving target is the historical optimal arm frame posture, wherein the first arm frame posture set comprises the arm frame posture corresponding to the same arm frame end position in the preset relationship database, and the same arm frame posture is the arm frame posture existing in at least two arm frame end position and arm frame posture groups.

3. The method according to claim 1 or 2, characterized in that, in the case where the same arm frame end position does not exist in the preset relationship database, the method further comprises: determining a second arm frame posture set based on the target arm frame end position, wherein the second arm frame posture set comprises a plurality of arm frame postures satisfying the target arm frame end position; and screening an optimal arm frame posture corresponding to the target arm frame end position from the second arm frame posture set based on a preset arm frame posture solving target.

4. The method of claim 3, wherein, the preset arm frame posture solving target comprises that the action time of the arm frame of the engineering machinery is the shortest or the movement direction of the oil cylinder involved in the action of the arm frame is not limited.

5. The method of claim 4, wherein, in the case where the preset arm frame posture solving target comprises that the action time of the arm frame of the engineering machinery is the shortest, screening the optimal arm frame posture corresponding to the target arm frame end position from the second arm frame posture set based on the preset arm frame posture solving target or screening the historical optimal arm frame posture from the first arm frame posture set based on the preset arm frame posture solving target comprises: determining the total flow corresponding to any arm frame posture in the second arm frame posture set or the first arm frame posture set; and determining the arm posture corresponding to the maximum of the determined degrees of avoiding the angle limit as the optimal arm posture or the historical optimal arm posture.

6. The method of claim 5, wherein, For any of the arm postures in the second set of arm postures or the first set of arm postures, determining the total flow corresponding to the arm posture comprises: determining the total flow based on the flow parameter, the arm posture and a current arm posture of the engineering machine.

7. The method of claim 6, wherein, For any of the arm postures in the second set of arm postures or the first set of arm postures, determining the total flow corresponding to the arm posture comprises determining the total flow based on a first formula: N is the number of the boom sections included in the boom; is the serial number of the component in the component set including the turret of the working machine and the boom sections included in the boom, the serial number of the component being obtained by ordering the turret and the boom sections included in the boom from the turret to the last boom section in the case where the boom is stretched out, the last boom section being the boom section included in the boom that is farthest from the turret in the case where the boom is stretched out; is the flow parameter of the component ; is the serial number of the boom posture in the second boom posture set or the first boom posture set; is the total flow corresponding to the boom posture ; is the angle value of the component in the boom posture ; is the angle value of the component in the current boom posture.

8. The method of claim 4, wherein, In a case where the preset arm posture solving target comprises that a movement direction of a cylinder involved in the arm action is not limited, the method further comprises: For any of the arm postures in the second set of arm postures or the first set of arm postures, determining the degree of avoiding the angle limit corresponding to the arm posture comprises: determining the arm posture corresponding to the maximum of the determined degrees of avoiding the angle limit as the optimal arm posture or the historical optimal arm posture.

9. The method of claim 8, wherein, For any of the arm postures in the second set of arm postures or the first set of arm postures, determining the degree of avoiding the angle limit corresponding to the arm posture comprises: determining an angle value of each component in a component set based on the arm posture, wherein the component set comprises a turret of the engineering machine and a section arm included in the arm frame; and determining the degree of avoiding the angle limit based on the angle value of each component in the component set and an angle limit, wherein for a component, the angle limit comprises a maximum angle value and a minimum angle value.

10. The method of claim 9, wherein, For any of the arm postures in the second set of arm postures or the first set of arm postures, determining the degree of avoiding the angle limit corresponding to the arm posture is further based on a flow parameter.

11. The method of claim 10, wherein, For any of the arm postures in the second set of arm postures or the first set of arm postures, determining the degree of avoiding the angle limit corresponding to the arm posture comprises determining the degree of avoiding the angle limit based on a second formula: N is the number of the joint arms included in the arm support; is the serial number of the component in the component set, the serial number of the component being obtained by sorting the turntable and the joint arms included in the arm support from the turntable to the last joint arm in the case where the arm support is straightened, the last joint arm being the joint arm farthest from the turntable among the joint arms included in the arm support in the case where the arm support is straightened; is the flow parameter of the component ; is the serial number of the arm support posture in the second arm support posture set or the first arm support posture set; is the arm support posture corresponding to the degree of limitation of the remote included angle; is the arm support posture , the included angle value of the component ; is the minimum included angle value of the component ; is the maximum included angle value of the component .

12. A method for deploying a boom, characterized by The method comprises: determining an optimal arm posture based on the method of any of claims 1-11; and deploying or retracting the arm frame based on the optimal arm posture so that an arm end position of the arm frame reaches a target arm end position.

13. A method for controlling the distribution of material from a distribution apparatus, characterized by, The method comprises: For any of the material positions in the at least one material position, determining a target arm end position based on the material position; deploying or retracting the arm frame of the material equipment based on the method of claim 12 so that an arm end position of the arm frame reaches the material position; and controlling the material equipment to materialize the material position after the arm end position reaches the material position.

14. A device for determining a posture of a boom of a working machine, characterized in that, The apparatus comprises: The same arm support end position judgment module is configured to judge whether there is a same arm support end position in a preset relationship database based on a target arm support end position, wherein the same arm support end position is an arm support end position that is the same as the target arm support end position, and the preset relationship database includes a plurality of arm support end position and arm support posture groups, and one arm support end position and arm support posture group includes one arm support end position and a corresponding arm support posture. The optimal arm support posture determination module is configured to, in a case where the same arm support end position exists in the preset relationship database, filter out a historical optimal arm support posture from the preset relationship database based on a historical optimal arm support posture filtering principle, so as to determine an optimal arm support posture corresponding to the target arm support end position. The historical optimal arm support posture filtering principle includes: In a case where the number of position groups is 1, the arm support posture corresponding to the same arm support end position in the preset relationship database is the historical optimal arm support posture, wherein the number of position groups is the number of arm support end position and arm support posture groups including the same arm support end position in the preset relationship database. In a case where the number of position groups is greater than or equal to 2 and the same arm support posture exists in the first arm support posture set, the same arm support posture corresponding to the maximum posture group number is the historical optimal arm support posture, wherein the posture group number corresponding to one same arm support posture is the number of arm support end position and arm support posture groups including the same arm support posture.

15. The apparatus of claim 14, wherein, The historical optimal arm support posture filtering principle further includes: In a case where the number of position groups is greater than or equal to 2 and the same arm support posture does not exist in the first arm support posture set, the arm support posture filtered out from the first arm support posture set based on a preset arm support posture solving target is the historical optimal arm support posture, wherein the first arm support posture set includes the arm support posture corresponding to the same arm support end position in the preset relationship database, and the same arm support posture is the arm support posture existing in at least two arm support end position and arm support posture groups.

16. The apparatus of claim 14 or 15, wherein, The device further includes: The second arm support posture set determination module is configured to, in a case where the same arm support end position does not exist in the preset relationship database, determine a second arm support posture set based on a target arm support end position, wherein the second arm support posture set includes a plurality of arm support postures satisfying the target arm support end position. The optimal arm support posture determination module is further configured to filter out an optimal arm support posture corresponding to the target arm support end position from the second arm support posture set based on a preset arm support posture solving target, so as to achieve the determination of the arm support posture of the engineering machinery.

17. The apparatus of claim 16, wherein, The preset arm support posture solving target includes that the action time of the arm support of the engineering machinery is the shortest or the movement direction of the oil cylinder involved in the action of the arm support is not limited.

18. The apparatus of claim 17, wherein, In a case where the preset arm posture solving target comprises a shortest action time of the arm of the engineering machine, the optimal arm posture determination module comprises: For any arm posture in the second arm posture set or the first arm posture set, determining a total flow corresponding to the arm posture; and Determining the arm posture corresponding to the minimum total flow in the determined total flows as the optimal arm posture or the historical optimal arm posture.

19. The apparatus of claim 18, wherein, The optimal arm posture determination module comprises: Determining the total flow based on a flow parameter, the arm posture and a current arm posture of the engineering machine.

20. The apparatus of claim 19, wherein, The optimal arm posture determination module comprises determining the total flow based on a first formula: Wherein, N is the number of sections of the boom; It is the serial number of the component in the component set, which includes the turntable of the construction machinery and the sections of the boom. The serial number of the component is obtained by sorting the turntable and the sections of the boom from the turntable to the last section when the boom is extended. The last section is the section of the boom that is farthest from the turntable when the boom is extended. For components The flow parameters; The sequence number of the boom posture in the second boom posture set or the first boom posture set; boom posture The corresponding total flow rate; boom posture Middle components Angle value; For the components in the current boom posture The angle value.

21. The apparatus of claim 17, wherein, In a case where the preset arm posture solving target comprises an unrestricted movement direction of a cylinder involved in the arm action, the optimal arm posture determination module comprises: For any arm posture in the second arm posture set or the first arm posture set, determining a degree of deviating from a limit of an included angle corresponding to the arm posture; and Determining the arm posture corresponding to the maximum degree of deviating from the limit of the included angle in the determined degrees of deviating from the limit of the included angle as the optimal arm posture or the historical optimal arm posture.

22. The apparatus of claim 21, wherein, The optimal arm posture determination module comprises: Determining an included angle value of each component in a component set based on the arm posture, wherein the component set comprises a turret of the engineering machine and a section arm included in the arm; and Determining the degree of deviating from the limit of the included angle based on the included angle value of each component in the component set and a limit of the included angle, wherein for a component, the limit of the included angle comprises a maximum included angle value and a minimum included angle value.

23. The apparatus of claim 22, wherein, The optimal arm posture determination module comprises determining the degree of deviating from the limit of the included angle based on a flow parameter.

24. The apparatus of claim 23, wherein, The optimal arm posture determination module comprises determining the degree of deviating from the limit of the included angle based on a second formula: N is the number of the section arms included in the arm support; is the serial number of the component in the component set, the serial number of the component being obtained by sorting the turntable and the section arms included in the arm support from the turntable to the last section arm in the case where the arm support is stretched out, the last section arm being the section arm farthest from the turntable among the section arms included in the arm support in the case where the arm support is stretched out; is the flow parameter of the component ; is the serial number of the arm support posture in the second arm support posture set or the first arm support posture set; is the arm support posture corresponding to the degree of the faraway included angle limit; is the arm support posture ; is the included angle value of the component ; is the minimum included angle value of the component ; is the maximum included angle value of the component .

25. An apparatus for deploying a boom, comprising: The apparatus comprises: a deploying module configured to: determine an optimal boom posture based on the method of any one of claims 1-11; and deploy the boom based on the optimal boom posture such that a boom end position of the boom reaches a target boom end position.

26. A device for controlling the fabric distribution of a fabric-making machine, characterized in that, The apparatus comprises: a material distribution module configured to, for any one of at least one material distribution position, determine a target boom end position based on the material distribution position; deploy the boom of the material distribution apparatus based on the method of claim 12 such that a boom end position of the boom reaches the material distribution position; and control the material distribution apparatus to distribute material to the material distribution position after the boom end position reaches the material distribution position.

27. A working machine characterized by The engineering machine comprises: the apparatus of any one of claims 14-24; or the apparatus of claim 25.

28. A material distribution apparatus, comprising: The material distribution apparatus comprises the apparatus of claim 26.

29. A machine-readable storage medium, characterized in that, The machine-readable storage medium has stored thereon instructions for causing a machine to perform the method of any one of claims 1-13.

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