Control method, processor, boom assembly and storage medium for boom

Abstract

The present application relates to the field of engineering machinery, and specifically, to a control method, processor, boom assembly, and storage medium for a boom. The control method includes: obtaining the boom inclination angle of each boom section; determining the center of gravity position of the boom assembly based on the boom inclination angle of each boom section; obtaining the reaction force of the water cannon; determining the virtual dynamic center of gravity position corresponding to the offset of the center of gravity position under the reaction force; when the virtual dynamic center of gravity position is not within the center of gravity safety range of the boom assembly, determining the angle between adjacent boom sections based on the boom inclination angle; and adjusting the angle so that the virtual dynamic center of gravity position is within the center of gravity safety range. The above technical solution ensures that the center of gravity position of the boom assembly is always within the center of gravity safety range when the water cannon is working by adjusting the angle between the boom sections. This avoids the situation where the engineering vehicle rolls over or the structural parts break, thereby ensuring the safety of the engineering vehicle.

Description

Technical Field

[0001] The present application relates to the field of engineering machinery, and in particular, to a control method, processor, boom assembly and storage medium for a boom. Background Art

[0002] Construction vehicles include many types of aerial work vehicles, such as fire trucks used for aerial work. With the increasing number of high-rise buildings, the operating heights of aerial work vehicles are also increasing. Consequently, the booms of construction vehicles are becoming longer and more numerous. This pursuit of higher operating heights also increases the horizontal range unnecessarily. For fire trucks used for aerial work, since the weight and center of gravity of the lower section of the vehicle typically remain fixed, the movement of the vehicle's dynamic center of gravity is primarily influenced by the movement of the boom system's center of gravity. Therefore, controlling the boom system's dynamic center of gravity indirectly controls the dynamic center of gravity of the entire vehicle.

[0003] If the horizontal working range of the boom system is not restricted, and the dynamic center of gravity of the vehicle leaves the supporting polygonal safety area formed by the outriggers, the vehicle may easily tip over, endangering the life of the operator, or causing the tipping moment generated by the boom system to be much greater than the tipping moment that the chassis and outriggers can withstand, causing structural fractures of the engineering vehicle. Summary of the Invention

[0004] The purpose of the present application is to provide a control method for an arm to prevent an engineering vehicle from tipping over and / or structural member breakage.

[0005] To achieve the above objectives, the present application provides a control method for a boom, which is applied to a boom assembly, wherein the boom assembly includes a plurality of boom sections and a water monitor. The control method includes:

[0006] Get the arm inclination angle of each arm section;

[0007] Determine the center of gravity position of the boom assembly according to the boom inclination angle of each boom section;

[0008] Get the reaction force of the water cannon;

[0009] Determine the virtual dynamic center of gravity position corresponding to the offset of the center of gravity position under the reaction force;

[0010] When the virtual dynamic center of gravity position is not within the safe range of the center of gravity of the boom assembly, the angle between adjacent boom sections is determined according to the boom section inclination angle;

[0011] The angle is adjusted so that the virtual dynamic center of gravity is within the safe range of the center of gravity.

[0012] In an embodiment of the present application, the boom assembly also includes a turntable, and determining the center of gravity position of the boom assembly according to the boom inclination angle of each boom section includes: obtaining the boom weight, boom center of gravity, boom length of each boom section and the turntable weight, turntable center of gravity and turntable length of the turntable; determining the center of gravity constant of each boom section according to the boom weight, boom center of gravity and boom length of each boom section, and determining the center of gravity constant of the turntable according to the turntable weight, turntable center of gravity and turntable length; determining the center of gravity position of the boom assembly according to the center of gravity constant of each boom section, the center of gravity constant of the turntable and the boom inclination angle of each boom section.

[0013] In an embodiment of the present application, the boom assembly includes a turntable, an inclination sensor corresponding to each arm section, and the multiple arm sections include a first arm section, a second arm section and multiple third arm sections; wherein, the first arm section refers to the arm section closest to the turntable, the second arm section refers to the arm section farthest from the turntable, and the third arm section refers to the arm section connecting the first arm section and the second arm section. The inclination sensor corresponding to the second arm section is installed at the midpoint of the arm section of the second arm section, and the other inclination sensors are installed at the midpoint of the arm section cylinder hinge point on the first arm section and each third arm section. Obtaining the arm section inclination angle of each arm section includes: obtaining the arm section inclination angle of each arm section through the inclination sensor corresponding to each arm section.

[0014] In an embodiment of the present application, the boom assembly also includes a pin shaft, and any two adjacent boom sections and the first boom section and the turntable are hinged by a pin shaft, and the water cannon is hinged to the second boom section; determining the virtual dynamic center of gravity position corresponding to the offset of the center of gravity position under the reaction force includes: determining the first coordinate of the first hinge point in the turntable coordinate system, wherein the first hinge point is the hinge point of the first boom section and the turntable, the origin of the turntable coordinate system is the intersection of the rotation center axis of the turntable and the lower surface of the turntable, the x-axis direction of the turntable coordinate system is the extension direction of the projection of the boom on the horizontal plane, the y-axis direction is the direction perpendicular to the horizontal direction and vertically upward, and the z-axis of the turntable coordinate system is perpendicular to both the x-axis and the y-axis; for two adjacent boom sections on any boom section Hinge point, determine the second coordinate of the hinge point away from the turntable in the coordinate system corresponding to the hinge point close to the turntable; obtain the angle of the water cannon relative to the straight line where the second arm section is located, wherein when the water cannon coincides with the straight line where the second arm section is located, the angle is 0°, with the hinge point of the water cannon and the second arm section as the center of the circle, the angle formed by the water cannon and the second arm section in the clockwise rotation direction is a negative angle, and the angle formed by the water cannon and the second arm section in the counterclockwise rotation direction is a positive angle; determine the overturning moment generated by the reaction force relative to the turntable according to the angle, the first coordinate, the second coordinate and the arm section inclination angle of each arm section; determine the offset of the reaction force relative to the center of gravity position according to the overturning moment; determine the virtual dynamic center of gravity position of the boom assembly according to the offset and the center of gravity position.

[0015] In an embodiment of the present application, each arm section includes two hinge points, and any third arm section includes a second hinge point close to the turntable and a third hinge point away from the turntable. For any two adjacent hinge points on the arm section, determining the second coordinate of the hinge point away from the turntable in the coordinate system corresponding to the hinge point close to the turntable includes: determining the first sub-coordinate of the second hinge point of the third arm section adjacent to the first arm section in the first coordinate system, wherein the origin of the first coordinate system is the first hinge point, the x-axis direction is the extension direction of the first arm section, the z-axis direction is the direction of the pin shaft at the first hinge point, and the y-axis is perpendicular to both the x-axis and the z-axis; for each third arm section, determining the The second sub-coordinate of the third hinge point in the second coordinate system, wherein the origin of the second coordinate system is the second hinge point of the third arm segment, the x-axis direction is the extension direction of the third arm segment, the z-axis direction is the direction of the pin at the second hinge point, and the y-axis is perpendicular to both the x-axis and the z-axis; determine the third sub-coordinate of the fourth hinge point in the third coordinate system, wherein the fourth hinge point is the hinge point between the second arm segment and the water cannon, the origin of the third coordinate system is the hinge point farthest from the water cannon among the hinge points included in the second arm segment, the x-axis direction is the extension direction of the second arm segment, the z-axis direction is the direction of the pin at the third hinge point of the third arm segment adjacent to the second arm segment, and the y-axis is perpendicular to both the x-axis and the z-axis.

[0016] In an embodiment of the present application, adjusting the angle so that the virtual dynamic center of gravity position is within the critical center of gravity position includes: after determining the angle of each arm section based on the arm section inclination angle, determining the partial derivative of the angle of each arm section; when the partial derivative of the angle is greater than zero, controlling the angle corresponding to the partial derivative to decrease so that the virtual dynamic center of gravity position is within the critical center of gravity range; when the partial derivative of the angle is less than zero, controlling the angle corresponding to the partial derivative to increase so that the virtual dynamic center of gravity position is within the critical center of gravity range.

[0017] A second aspect of the present application provides a controller configured to execute any one of the above-mentioned control methods for a boom.

[0018] A third aspect of the present application provides a boom assembly, the boom assembly comprising:

[0019] Multiple arm sections;

[0020] A water monitor connected to the last boom section among the multiple boom sections in the boom assembly; and the above-mentioned controller.

[0021] In an embodiment of the present application, the plurality of arm sections include: a first arm section, which is the arm section closest to the turntable; a second arm section, which is the arm section farthest from the turntable; a plurality of third arm sections, which are the arm sections connecting the first arm section and the second arm section; the arm assembly also includes: a turntable, which is used to connect with the arm section to control the rotation of the arm section; a plurality of first inclination sensors, which are installed correspondingly at the midpoint of the arm section cylinder hinge points on the first arm section and each third arm section; and a second inclination sensor, which is installed at the midpoint of the arm section of the second arm section.

[0022] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor is configured to execute a control method for an arm according to any one of the above items.

[0023] The above technical solution rapidly determines the center of gravity of the boom assembly when unloaded by acquiring the boom inclination angle of each boom section. By acquiring the reaction force of the water monitor, the virtual dynamic center of gravity of the boom assembly is determined, resulting from the displacement of the center of gravity of the boom assembly when unloaded due to the reaction force of the water monitor. The virtual dynamic center of gravity position is then determined, and the angles between the boom sections are adjusted to ensure that the center of gravity of the boom assembly remains within the safe range when the water monitor is operating. This prevents the construction vehicle from tipping over or breaking structural components, thereby ensuring the safety of the construction vehicle.

[0024] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the present application but do not constitute a limitation of the present application. In the accompanying drawings:

[0026] Figure 1 The following schematically shows a flow chart of a control method for an arm according to an embodiment of the present application;

[0027] Figure 2 FIG. A schematically shows an example of a boom assembly according to an embodiment of the present application;

[0028] Figure 3 FIG. B schematically shows an example of an arm assembly according to an embodiment of the present application;

[0029] Figure 4 FIG. C schematically illustrates an example of a boom assembly according to an embodiment of the present application;

[0030] Figure 5The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown.

[0031] Description of Reference Numerals

[0032] 1. Turntable; 2. One-arm oil cylinder; 3. One-arm inclination sensor; 4. Boom section 1; 5. Two-arm oil cylinder; 6. Two-arm inclination sensor; 7. Boom section 2; 8. Three-arm oil cylinder; 9. Three-arm inclination sensor; 10. Boom section 3; 11. Water monitor; A. Boom section inclination angle of one; B. Boom section inclination angle of two; C. Boom section inclination angle of three; δA, angle between boom section 1 and turntable; δB, angle between boom section 2 and boom section 1; δC, angle between boom section 3 and boom section 2; θ1, positive angle between water monitor and the straight line containing three arms; θ2, The negative angle formed between the water monitor and the straight line where the three arms are located; L1, the distance between the hinge point of the first arm cylinder and arm section one to the hinge point of the second arm cylinder and arm section one; Lcx1, the distance between the first arm inclination sensor and the hinge point of the second arm cylinder and arm section one; L2, the distance between the hinge point of the second arm cylinder and arm section two to the hinge point of the third arm cylinder and arm section two; Lcx2, the distance between the second arm inclination sensor and the hinge point of the third arm cylinder and arm section two; Lc, the length of arm section three; Lcx3, the distance from the third arm inclination sensor to the end of arm section three. DETAILED DESCRIPTION

[0033] The following describes the specific embodiments of the present application in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present application and are not intended to limit the present application.

[0034] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0035] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0036] Figure 1The flowchart of the control method for the boom according to the embodiment of the present application is schematically shown. Figure 1 As shown, in one embodiment of the present application, a control method for a boom is provided, comprising the following steps:

[0037] Step 101, obtaining the arm section inclination angle of each arm section;

[0038] Step 102, determining the center of gravity position of the boom assembly according to the boom section inclination angle of each boom section;

[0039] Step 103, obtaining the reaction force of the water cannon;

[0040] Step 104, determining the virtual dynamic center of gravity position corresponding to the center of gravity position shifting under the reaction force;

[0041] Step 105 , when the virtual dynamic center of gravity position is not within the center of gravity safety range of the boom assembly, determining the angle between adjacent boom sections according to the boom section inclination angle;

[0042] Step 106: Adjust the included angle so that the virtual dynamic center of gravity is within the safe range of the center of gravity.

[0043] The boom assembly of an engineering vehicle may include multiple boom sections and water cannons. The water cannons can be used to deliver liquid to locations requiring rescue, such as spraying water at a fire site. The processor can obtain the boom section inclination angle of each boom section of the boom assembly and determine the center of gravity of the boom assembly based on the boom section inclination angle of each boom section. The center of gravity of the boom assembly is the center of gravity position of the boom assembly determined by the processor based on all boom sections when the boom assembly's water cannons are not operating. The processor can obtain the reaction force of the boom assembly's water cannons, that is, the reaction force generated on the boom system when the water cannons are operating, and determine the virtual dynamic center of gravity position of the boom assembly based on the water cannon reaction force, which is the effect of the water cannon reaction force on the center position of the boom assembly when the water cannons are operating, causing the center position of the boom assembly to shift.

[0044] After determining the virtual dynamic center of gravity position, the processor can judge whether the virtual dynamic center of gravity position is within the safety range of the center of gravity of the boom assembly. If it is determined that the virtual dynamic center of gravity position is not within the safety range of the center of gravity of the boom assembly, the processor can determine the angle between adjacent booms based on the arm section inclination angle, and adjust the angle to make the virtual dynamic center of gravity position of the boom assembly within the safety range of the center of gravity of the boom assembly, thereby avoiding the situation where the center of gravity of the engineering vehicle shifts during the process of controlling the water cannon to work, resulting in the vehicle tipping over or structural breakage.

[0045] In one embodiment, the boom assembly also includes a turntable, and determining the center of gravity position of the boom assembly according to the boom inclination angle of each boom section includes: obtaining the boom weight, boom center of gravity, boom length of each boom section and the turntable weight, turntable center of gravity and turntable length of the turntable; determining the center of gravity constant of each boom section according to the boom weight, boom center of gravity and boom length of each boom section, and determining the center of gravity constant of the turntable according to the turntable weight, turntable center of gravity and turntable length; determining the center of gravity position of the boom assembly according to the center of gravity constant of each boom section, the center of gravity constant of the turntable and the boom inclination angle of each boom section.

[0046] The boom assembly may further include a turntable, which may be used to connect boom sections and drive the boom sections to rotate. The processor may obtain the boom section weight, boom section center of gravity, and boom section length of each boom section of the boom assembly, and determine the center constant of each boom section based on the boom section weight, boom section center of gravity, and boom section length of each boom section. The processor may also obtain the turntable weight, turntable center of gravity, and turntable length of the turntable, and determine the center constant of the turntable based on the turntable weight, turntable center of gravity, and turntable length of the turntable. The processor may determine the center of gravity position of the boom assembly based on the center of gravity constant of each boom section, the center of gravity constant of the state, and the boom section inclination angle of each boom section. In this case, the center of gravity position of the boom assembly determined by the processor is the center of gravity position of the boom assembly when it is unloaded, that is, the center of gravity position of the boom assembly when the water cannon of the boom assembly is not operating.

[0047] In one embodiment, the boom assembly includes a turntable, an inclination sensor corresponding to each arm section, and the multiple arm sections include a first arm section, a second arm section and multiple third arm sections; wherein, the first arm section refers to the arm section closest to the turntable, the second arm section refers to the arm section farthest from the turntable, and the third arm section refers to the arm section connecting the first arm section and the second arm section. The inclination sensor corresponding to the second arm section is installed at the midpoint of the arm section of the second arm section, and other inclination sensors are installed at the midpoint of the arm section cylinder hinge point on the first arm section and each third arm section. Obtaining the arm section inclination angle of each arm section includes: obtaining the arm section inclination angle of each arm section through the inclination sensor corresponding to each arm section.

[0048] The boom assembly also includes a turntable and an inclination sensor corresponding to each boom section. The multiple boom sections of the boom assembly may include a first boom section closest to the turntable, a second boom section farthest from the turntable, and a third boom section located between the first and second boom sections to connect the first and second boom sections. There may be multiple third boom sections. The inclination sensor corresponding to the second boom section may be installed at the midpoint of the second boom section, and the inclination sensors corresponding to the other boom sections may be installed at the midpoint of the boom section cylinder hinge point of each boom section. The processor may obtain the inclination angle of the boom section in question from the inclination sensor.

[0049] like Figure 2As shown, it is assumed that the boom assembly includes three boom sections, the boom assembly includes a turntable 1, an arm cylinder 2, an arm tilt sensor 3, a boom section 1 4, a second arm cylinder 5, a second arm tilt sensor 6, a boom section 2 7, a third arm cylinder 8, a third arm tilt sensor 9, a boom section 3 10, and a water monitor 11. Among them, the first boom section closest to the turntable 1 is Figure 2 For the arm section 4, the processor can determine the hinge point of the first arm cylinder 2 on the arm section 4, and the hinge point of the second arm cylinder 5 on the arm section 4. The distance between the two hinge points is L1, that is, L1 is the distance from the hinge point of the first arm cylinder to the hinge point of the second arm cylinder and the arm section 1, and Lcx1 is the distance from the first arm inclination sensor to the hinge point of the second arm cylinder and the arm section 1. The processor can determine that the first arm inclination sensor 3 should be installed at the midpoint of the hinge points of the two arm cylinders, that is, Lcx1 = 1 / 2L1. The second arm section is the arm section farthest from the turntable 1, that is, Figure 3 In the arm section three 10, the length of arm section three is Lc, Lcx3 is the distance from the three-arm tilt sensor to the end of arm section three, and the processor can install the three-arm tilt sensor 9 at the midpoint of arm section three, that is, Lcx3=1 / 2Lc. The third arm section connecting the first arm section and the second arm section is the arm section two 7 in the figure. The processor can determine the hinge point of the two-arm cylinder 5 on the arm section two 7, the hinge point of the three-arm cylinder 8 on the arm section two 7, and determine that the distance between the two hinge points is L2, that is, L2 is the distance from the hinge point of the two-arm cylinder and arm section two to the hinge point of the three-arm cylinder and arm section two, Lcx2 is the distance from the two-arm tilt sensor to the hinge point of the three-arm cylinder and arm section two, and the processor can determine to install the two-arm tilt sensor 6 of arm section two 7 at the midpoint of the hinge points of the two arm cylinders, that is, Lcx2=1 / 2L2. The processor can determine the arm inclination angle of each arm section through the inclination sensor installed on each arm section, such as Figure 2 As shown, the first arm inclination sensor 3 determines that the arm segment inclination angle of arm segment 1 4 is A, the processor can determine that the arm segment inclination angle of arm segment 2 7 is B through the second arm inclination sensor 6, and the processor can determine that the arm segment inclination angle of arm segment 3 10 is C through the third arm inclination sensor 9.

[0050] In one embodiment, the boom assembly also includes a pin, and any two adjacent boom sections and the first boom section and the turntable are hinged by a pin, and the water cannon is hinged to the second boom section; determining the virtual dynamic center of gravity position corresponding to the offset of the center of gravity position under the reaction force includes: determining the first coordinate of the first hinge point in the turntable coordinate system, wherein the first hinge point is the hinge point of the first boom section and the turntable, the origin of the turntable coordinate system is the intersection of the rotation center axis of the turntable and the lower surface of the turntable, the x-axis direction of the turntable coordinate system is the extension direction of the projection of the boom on the horizontal plane, the y-axis direction is the direction perpendicular to the horizontal direction and vertically upward, and the z-axis of the turntable coordinate system is perpendicular to both the x-axis and the y-axis; for two adjacent hinge points on any boom section The hinge point is located at the hinge point of the water cannon and the second arm section. ...

[0051] The boom assembly also includes a pin, and any two adjacent boom sections of the boom assembly are hinged via the pin. The turntable and the first boom section closest to the turntable are also hinged via the pin. The water cannon of the boom assembly is hinged to the second boom section farthest from the turntable. After the processor determines that the boom center of gravity position is offset under the reaction force of the water cannon, the corresponding virtual dynamic center of gravity position can be determined. The processor can first determine the first coordinate of the first hinge point between the first boom section and the turntable in the turntable coordinate system. The processor can use the intersection of the rotation center axis of the turntable and the lower surface of the turntable as the origin. The extension direction of the boom projection on the horizontal plane is the x-axis direction, the y-axis direction is the direction perpendicular to the horizontal direction and vertically upward, and the z-axis can be determined by the right-hand rule. The z-axis is perpendicular to both the x-axis and the y-axis, and the turntable coordinate system can rotate with the turntable. The turntable coordinate system is established and the first coordinate of the first hinge point in the turntable coordinate system is determined.

[0052] For each arm section of the boom system, the processor can establish a coordinate system for each arm section with the hinge point of the boom as the origin, and for two adjacent hinge points on each arm section, determine the second coordinate of the hinge point away from the turntable in the coordinate system corresponding to the hinge point close to the turntable.

[0053] The processor can also obtain the angle of the water cannon to the straight line on which the second arm section connected to the water cannon is located. When the water cannon coincides with the straight line on which the second arm section is located, the angle is 0°. With the hinge point between the water cannon and the second arm section as the center of the circle, the angle formed by the water cannon and the second arm section in the clockwise rotation direction is a negative angle, and the angle formed by the water cannon and the second arm section in the counterclockwise rotation direction is a positive angle.

[0054] The processor can determine the overturning moment generated by the reaction force of the water cannon relative to the turntable based on the determined angle, the first coordinate and the second coordinate, and the arm section inclination angle of each arm section, and determine the offset of the reaction force of the water cannon relative to the center of gravity position of the arm assembly based on the overturning moment. Based on the offset and the center of gravity position of the arm assembly when it is unloaded, the processor can determine the virtual dynamic center of gravity position of the arm assembly when the water cannon is turned on.

[0055] In one embodiment, each arm segment includes two hinge points, and any third arm segment includes a second hinge point close to the turntable and a third hinge point away from the turntable. For any two adjacent hinge points on the arm segment, determining the second coordinate of the hinge point away from the turntable in the coordinate system corresponding to the hinge point close to the turntable includes: determining the first sub-coordinate of the second hinge point of the third arm segment adjacent to the first arm segment in the first coordinate system, wherein the origin of the first coordinate system is the first hinge point, the x-axis direction is the extension direction of the first arm segment, the z-axis direction is the direction of the pin shaft at the first hinge point, and the y-axis can be determined by the right-hand rule to be perpendicular to both the x-axis and the z-axis; for each third arm segment, determining the third hinge point of the third arm segment in the first coordinate system; The second sub-coordinate in the second coordinate system, wherein the origin of the second coordinate system is the second hinge point of the third arm segment, the x-axis direction is the extension direction of the third arm segment, the z-axis direction is the direction of the pin at the second hinge point, and the y-axis can be determined by the right-hand rule to be perpendicular to both the x-axis and the z-axis; determine the third sub-coordinate of the fourth hinge point in the third coordinate system, wherein the fourth hinge point is the hinge point between the second arm segment and the water cannon, the origin of the third coordinate system is the hinge point farthest from the water cannon among the hinge points included in the second arm segment, the x-axis direction is the extension direction of the second arm segment, the z-axis direction is the direction of the pin at the third hinge point of the third arm segment adjacent to the second arm segment, and the y-axis can be determined by the right-hand rule to be perpendicular to both the x-axis and the z-axis.

[0056] Each boom section of the boom assembly may include two hinge points, and any third boom section may include a second hinge point proximal to the turntable and a third hinge point distal to the turntable. The processor may determine, for any two adjacent hinge points on the boom section, a second coordinate of the hinge point distal to the turntable in a coordinate system corresponding to the hinge point proximal to the turntable, where the second coordinate may include a first sub-coordinate, a second sub-coordinate, and a third sub-coordinate.

[0057] The processor can take the first hinge point of the turntable and the first arm segment as the origin, the x-axis direction as the extension direction of the first arm segment, the z-axis direction as the direction of the pin shaft at the first hinge point, and the y-axis can be determined by the right-hand rule to be perpendicular to both the x-axis and the z-axis to establish a first coordinate system located at the first hinge point, and determine the first sub-coordinate of the second hinge point close to the turntable on the third arm segment adjacent to the first arm segment in the first coordinate system.

[0058] For each third arm segment, the processor can take the second hinge point on the third arm segment close to the turntable as the origin, the x-axis direction as the extension direction of the third arm segment, the z-axis direction as the direction of the pin axis at the second hinge point, and the y-axis can be determined by the right-hand rule to be perpendicular to both the x-axis and the z-axis to establish a second coordinate system and determine the second sub-coordinate of the third hinge point on the third arm segment away from the turntable in the second coordinate system.

[0059] The second arm section is connected to the water cannon. The processor can take the hinge point of the second arm section away from the water cannon as the origin, the x-axis direction as the extension direction of the second arm section, the z-axis direction as the direction of the pin shaft at the third hinge point of the third arm section adjacent to the second arm section away from the turntable, and the y-axis can be determined by the right-hand rule to be perpendicular to both the x-axis and the z-axis to establish a third coordinate system and determine the third sub-coordinate of the hinge point between the second arm section and the water cannon in the third coordinate system.

[0060] like Figure 3 As shown in the figure, it is assumed that the boom assembly includes a turntable, three boom sections and a water monitor. The boom sections are hinged by pins, one arm is hinged to the turntable by a pin, and the three arms are hinged to the water monitor by a pin. In addition, the first boom section closest to the turntable is Figure 3 The second arm section farthest from the turntable is Figure 3 The third arm section is used to connect the first arm section and the second arm section. Figure 3 The processor can establish a turntable coordinate system with the intersection of the turntable's central axis and the turntable's lower surface as the origin, the extension direction of the arm's projection on the horizontal plane as the x-axis direction, the y-axis direction as the direction perpendicular to the horizontal direction and vertically upward, and the z-axis determined by the right-hand rule, with the z-axis being perpendicular to both the x-axis and the y-axis (the z-axis is not shown in the figure). The established turntable coordinate system can be rotated according to the rotation of the turntable.

[0061] The processor can determine the first coordinate of the hinge point between the turntable and the arm in the turntable coordinate system. The turntable can take the hinge point between the turntable and the arm as the origin, the extension direction of the arm as the x-axis, the direction of the pin at the hinge of the turntable and the arm as the z-axis (the z-axis is not shown in the figure), and determine the y-axis by the right-hand rule. The y-axis is perpendicular to both the x-axis and the z-axis to establish the first coordinate system, that is, Figure 3The processor can determine the first sub-coordinate of the hinge point between the first arm and the second arm in the first arm coordinate system. The processor can use the hinge point between the first arm and the second arm as the origin, the extension direction of the second arm as the x-axis, the direction of the pin at the hinge of the first arm and the second arm as the z-axis direction (the z-axis is not shown in the figure), and determine the y-axis by the right-hand rule. The y-axis is perpendicular to both the x-axis and the z-axis to establish a second coordinate system, that is, Figure 3 In the two-arm coordinate system, the processor can determine that the hinge point between the second arm and the third arm is located in the second sub-coordinate of the two-arm coordinate system. The processor can use the hinge point between the second arm and the third arm (that is, the hinge point of the three arms farthest from the water cannon) as the origin, the extension direction of the three arms as the x-axis, the direction of the pin at the hinge of the second arm and the third arm as the z-axis (the z-axis is not shown in the figure), and determine the y-axis by the right-hand rule. The y-axis is perpendicular to both the x-axis and the z-axis to establish a third coordinate system, that is, Figure 3 In the three-arm coordinate system, the processor can determine that the hinge point between the water monitor and the three arms is located at the third sub-coordinate in the three-arm coordinate system.

[0062] The processor can also obtain the angle between the water cannon and the straight line where the three arms are located. When the water cannon coincides with the straight line where the second arm section is located, the angle is 0°. After rotating clockwise with the hinge point between the water cannon and the three arms as the center, the angle formed between the water cannon and the three arms is a negative angle, for example Figure 3 The angle formed by θ1 in the equation is positive when the water cannon rotates counterclockwise with the hinge point of the three arms as the center of the circle and the angle formed by the three arms are the straight line. For example, Figure 3 θ2 in .

[0063] The processor can determine the overturning moment generated by the reaction force of the water cannon relative to the turntable based on the obtained angle, the first coordinate, the first sub-coordinate, the second sub-coordinate, the third sub-coordinate and the arm section inclination angle of each arm section, determine the offset of the reaction force of the water cannon on the center of gravity position of the arm assembly when it is unloaded based on the overturning moment, and determine the virtual dynamic center of gravity position of the arm assembly when the water cannon is working based on the offset and the center of gravity position of the arm assembly when it is unloaded.

[0064] For example, assuming that the coordinates of the intersection of the water monitor and the three-arm relative to the three-arm coordinate system are (Lc, y3, 0), the coordinates of the hinge point between the second arm and the third arm relative to the two-arm coordinate system are (Lb, y2, 0), the coordinates of the hinge point between the first arm and the second arm relative to the one-arm coordinate system are (La, y1, 0), and the coordinates of the hinge point between the turntable and the first arm relative to the turntable coordinate system are (L0, y0, 0). Assuming that the magnitude of the water monitor reaction force F w The angle between the water cannon and the straight line where the three arms are located is θ. Then the overturning moment M generated by the water cannon on the z-axis of the turntable coordinate system is w It can be determined by the following formula:

[0065] M w =F w[L0sin(θ+C)+L a sin(θ+CA)+L b sin(θ+CB)+L c sin(θ)

[0066] -y0cos(θ+C)-y1cos(θ+CA)-y2cos(θ+CB)-y3cos(θ)]

[0067] The overturning effect of the water cannon reaction force on the vehicle can be regarded as the water cannon reaction force has a moving effect on the center of gravity position of the boom assembly. w When the direction of the overturning moment generated by the boom assembly is consistent with that of the boom assembly itself, the reaction force of the water monitor is equivalent to moving the dynamic center of gravity of the original boom system to a farther place; when the overturning moment M generated by the water monitor is w When the direction of the overturning moment generated by the boom assembly is opposite to that of the boom assembly itself, the reaction force of the water monitor is equivalent to pulling the dynamic center of gravity of the original boom system back to a closer place. Assuming the total mass of the boom assembly is m U , then the offset of the center of gravity position of the boom assembly caused by the reaction force of the water monitor relative to the overturning moment generated by the turntable can be determined by the following formula: where x w is the offset of the center of gravity position, g is the acceleration of gravity, and the coordinate x of the virtual dynamic center of gravity position of the boom assembly in the turntable coordinate system considering the reaction force of the water monitor is v is x v =x G +x w , where x G is the center of gravity of the boom assembly, x w is the offset of the center of gravity of the boom assembly.

[0068] In one embodiment, adjusting the angle so that the virtual dynamic center of gravity position is within the critical center of gravity position includes: after determining the angle of each arm section based on the arm section inclination angle, determining the partial derivative of the angle of each arm section; when the partial derivative of the angle is greater than zero, controlling the angle corresponding to the partial derivative to decrease so that the virtual dynamic center of gravity position is within the critical center of gravity range; when the partial derivative of the angle is less than zero, controlling the angle corresponding to the partial derivative to increase so that the virtual dynamic center of gravity position is within the critical center of gravity range.

[0069] After determining the virtual dynamic center of gravity position of the boom assembly under the influence of the water cannon reaction force, the processor can judge whether the virtual dynamic center of gravity position is within the safety range of the center of gravity of the boom assembly. When the processor determines that the virtual dynamic center of gravity position of the boom assembly is not within the safety range of the center of gravity of the boom assembly, the processor can convert the obtained boom section inclination angle of each boom section, thereby determining the angle between adjacent boom sections based on the boom section inclination angle of each boom section.

[0070] The processor can determine the partial derivative of the angle of each arm section. When the partial derivative of the angle is greater than zero, the processor can control the angle corresponding to the partial derivative to decrease, thereby adjusting the virtual dynamic center of gravity position so that the virtual dynamic center of gravity position is within the center of gravity safety range. When the partial derivative of the angle is less than zero, the processor can control the angle corresponding to the partial derivative to increase, thereby adjusting the virtual dynamic center of gravity position so that the virtual dynamic center of gravity position is within the center of gravity safety range. For example, assuming that the partial derivative of the angle δA is taken, we get Among them, x U is the turntable coordinate of the virtual dynamic center of gravity of the boom assembly in the turntable coordinate system. When it is less than zero, the processor can control the angle δA to increase so that the virtual dynamic center of gravity position is within the safe range of the center of gravity of the boom assembly.

[0071] like Figure 4 As shown, assuming that the boom assembly includes three boom sections and a water monitor, the boom assembly includes a turntable 1, an arm cylinder 2, an arm tilt sensor 3, boom section 1 4, a second arm cylinder 5, a second arm tilt sensor 6, boom section 2 7, a third arm cylinder 8, a third arm tilt sensor 9, boom section 3 10, and a water monitor 11. The third arm tilt sensor 9 of the second boom section farthest from the turntable 1, that is, boom section 3 10 in the figure, is installed at the midpoint of boom section 3 10. The first arm tilt sensor 3 and the second arm tilt sensor 6 of boom section 1 4 and boom section 2 7 are installed at the midpoint of the hinge point of the boom section hinged cylinder. The processor can obtain the boom section tilt angle of the boom section through the tilt sensor of each boom section, as shown in FIG. Figure 4 As shown, the arm section 1 4 has an inclination angle of A, the arm section 2 7 has an inclination angle of B, and the arm section 3 10 has an inclination angle of C. The processor can determine the center of gravity constant of each arm section based on the arm section weight, arm section center of gravity, and arm section length of each arm section. When the processor determines the arm section weight of arm section 3, the water monitor can be used as the mass point of arm section 3 to determine the weight of arm section 3. Therefore, the actual arm section weight of arm section 3 is the weight of arm section 3 plus the weight of the water monitor itself. The processor can determine x using the following formula G =k0'+k A 'cos(A)+k B 'cos(B)+k C'cos(C) is the center of gravity position of the boom assembly, where xG is the center of gravity coordinate of the boom assembly in the turntable coordinate system, k0' is the center of gravity constant of the turntable, k A ', k B ', k C ' are the center of gravity constants of arm segment 1 (4), arm segment 2 (7), and arm segment 3 (10) respectively.

[0072] When the processor determines that the virtual dynamic center of gravity position of the boom assembly under the influence of the water monitor reaction force is not within the center of gravity safety range of the boom assembly, the angle between adjacent boom sections can be determined according to the boom section inclination angle of each boom section, such as Figure 4 As shown, the angle between boom section 1 4 and turntable 1 is δA, the angle between boom section 2 7 and boom section 1 4 is δB, and the angle between boom section 3 10 and boom section 2 7 is δC. By adjusting these angles, the virtual dynamic center of gravity of the boom assembly is kept within the safe center of gravity range. This ensures that when the water monitor is operating, the boom assembly's center of gravity remains within the safe center of gravity range under the monitor's reaction force, preventing the engineering vehicle from tipping over or breaking its structural components.

[0073] The above technical solution determines the center of gravity position of the boom assembly when it is unloaded by obtaining the boom inclination angle of each boom section, the boom section's center of gravity constant, and the turntable's center of gravity constant. The processor establishes a boom section coordinate system for each boom section and a turntable coordinate system for the turntable to quickly determine the tipping moment generated by the water cannon's reaction force on the turntable. Based on the tipping moment, the processor determines the offset of the boom assembly's center of gravity position caused by the reaction force, thereby determining the virtual dynamic center of gravity position of the boom assembly under the water cannon's reaction force. The virtual dynamic center of gravity position is then determined, and the angle between the boom sections is adjusted to ensure that the boom assembly's center of gravity position is always within the safe range of the center of gravity when the water cannon is operating. This prevents the engineering vehicle from tipping over or structural member breakage, thereby ensuring the safety of the engineering vehicle.

[0074] In one embodiment, a controller is provided, configured to execute any one of the above-mentioned control methods for a boom.

[0075] In one embodiment, a boom assembly is provided, comprising: a plurality of boom sections; a water monitor connected to an endmost boom section of the plurality of boom sections in the boom assembly; and a controller.

[0076] In one embodiment, the multiple arm sections include: a first arm section, which is the arm section closest to the turntable; a second arm section, which is the arm section farthest from the turntable; multiple third arm sections, which are arm sections connecting the first arm section and the second arm section; the boom assembly also includes: a turntable, which is used to connect with the arm section to control the rotation of the arm section; multiple first inclination sensors, which are installed correspondingly at the midpoint of the arm section cylinder hinge points on the first arm section and each third arm section; and a second inclination sensor, which is installed at the midpoint of the arm section of the second arm section.

[0077] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0078] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 5 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store relevant data of the construction machinery and relevant data input by the operator. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a control method for the boom is implemented.

[0079] Figure 1 FIG. 1 is a flow chart of a control method for a boom in one embodiment. It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0080] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and capable of running on the processor. When the processor executes the program, the following steps are implemented: obtaining the arm section inclination angle of each arm section; determining the center of gravity position of the boom assembly based on the arm section inclination angle of each arm section; obtaining the reaction force of the water cannon; determining the virtual dynamic center of gravity position corresponding to the offset of the center of gravity position under the reaction force; when the virtual dynamic center of gravity position is not within the center of gravity safety range of the boom assembly, determining the angle between adjacent arm sections based on the arm section inclination angle; and adjusting the angle so that the virtual dynamic center of gravity position is within the center of gravity safety range.

[0081] In one embodiment, the boom assembly also includes a turntable, and determining the center of gravity position of the boom assembly according to the boom inclination angle of each boom section includes: obtaining the boom weight, boom center of gravity, boom length of each boom section and the turntable weight, turntable center of gravity and turntable length of the turntable; determining the center of gravity constant of each boom section according to the boom weight, boom center of gravity and boom length of each boom section, and determining the center of gravity constant of the turntable according to the turntable weight, turntable center of gravity and turntable length; determining the center of gravity position of the boom assembly according to the center of gravity constant of each boom section, the center of gravity constant of the turntable and the boom inclination angle of each boom section.

[0082] In one embodiment, the boom assembly includes a turntable, an inclination sensor corresponding to each arm section, and the multiple arm sections include a first arm section, a second arm section and multiple third arm sections; wherein, the first arm section refers to the arm section closest to the turntable, the second arm section refers to the arm section farthest from the turntable, and the third arm section refers to the arm section connecting the first arm section and the second arm section. The inclination sensor corresponding to the second arm section is installed at the midpoint of the arm section of the second arm section, and other inclination sensors are installed at the midpoint of the arm section cylinder hinge point on the first arm section and each third arm section. Obtaining the arm section inclination angle of each arm section includes: obtaining the arm section inclination angle of each arm section through the inclination sensor corresponding to each arm section.

[0083] In one embodiment, the boom assembly further includes a pin, and any two adjacent boom sections and the first boom section and the turntable are hinged by a pin, and the water cannon is hinged to the second boom section; determining the virtual dynamic center of gravity position corresponding to the offset of the center of gravity position under the reaction force includes: determining the first coordinate of the first hinge point in the turntable coordinate system, wherein the first hinge point is the hinge point of the first boom section and the turntable, the origin of the turntable coordinate system is the intersection of the rotation center axis of the turntable and the lower surface of the turntable, the x-axis direction of the turntable coordinate system is the extension direction of the projection of the boom on the horizontal plane, the y-axis direction is the direction perpendicular to the horizontal direction and vertically upward, and the z-axis of the turntable coordinate system is perpendicular to both the x-axis and the y-axis; for two adjacent boom sections on any boom section Hinge point, determine the second coordinate of the hinge point away from the turntable in the coordinate system corresponding to the hinge point close to the turntable; obtain the angle of the water cannon relative to the straight line where the second arm section is located, wherein when the water cannon coincides with the straight line where the second arm section is located, the angle is 0°, with the hinge point of the water cannon and the second arm section as the center of the circle, the angle formed by the water cannon and the second arm section in the clockwise rotation direction is a negative angle, and the angle formed by the water cannon and the second arm section in the counterclockwise rotation direction is a positive angle; determine the overturning moment generated by the reaction force relative to the turntable according to the angle, the first coordinate, the second coordinate and the arm section inclination angle of each arm section; determine the offset of the reaction force relative to the center of gravity position according to the overturning moment; determine the virtual dynamic center of gravity position of the boom assembly according to the offset and the center of gravity position.

[0084] In one embodiment, each arm segment includes two hinge points, and any third arm segment includes a second hinge point close to the turntable and a third hinge point away from the turntable. For any two adjacent hinge points on the arm segment, determining the second coordinate of the hinge point away from the turntable in the coordinate system corresponding to the hinge point close to the turntable includes: determining the first sub-coordinate of the second hinge point of the third arm segment adjacent to the first arm segment in the first coordinate system, wherein the origin of the first coordinate system is the first hinge point, the x-axis direction is the extension direction of the first arm segment, the z-axis direction is the direction of the pin shaft at the first hinge point, and the y-axis is perpendicular to both the x-axis and the z-axis; for each third arm segment, determining the second sub-coordinate of the third arm segment The second sub-coordinates of the three hinge points in the second coordinate system, wherein the origin of the second coordinate system is the second hinge point of the third arm segment, the x-axis direction is the extension direction of the third arm segment, the z-axis direction is the direction of the pin at the second hinge point, and the y-axis is perpendicular to both the x-axis and the z-axis; determine the third sub-coordinate of the fourth hinge point in the third coordinate system, wherein the fourth hinge point is the hinge point between the second arm segment and the water cannon, the origin of the third coordinate system is the hinge point farthest from the water cannon among the hinge points included in the second arm segment, the x-axis direction is the extension direction of the second arm segment, the z-axis direction is the direction of the pin at the third hinge point of the third arm segment adjacent to the second arm segment, and the y-axis is perpendicular to both the x-axis and the z-axis.

[0085] In one embodiment, adjusting the angle so that the virtual dynamic center of gravity position is within the critical center of gravity position includes: after determining the angle of each arm section based on the arm section inclination angle, determining the partial derivative of the angle of each arm section; when the partial derivative of the angle is greater than zero, controlling the angle corresponding to the partial derivative to decrease so that the virtual dynamic center of gravity position is within the critical center of gravity range; when the partial derivative of the angle is less than zero, controlling the angle corresponding to the partial derivative to increase so that the virtual dynamic center of gravity position is within the critical center of gravity range.

[0086] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0087] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0088] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0089] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0090] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0091] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0092] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0093] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0094] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A control method for a boom, characterized in that: Applied to a boom assembly, the boom assembly includes multiple boom sections and a water monitor, and the control method includes: Get the arm inclination angle of each arm section; Determining the center of gravity position of the boom assembly according to the boom section inclination angle of each boom section; Obtaining the reaction force of the water cannon; determining a virtual dynamic center of gravity position corresponding to a displacement of the center of gravity position under the reaction force; When the virtual dynamic center of gravity position is not within the center of gravity safety range of the boom assembly, determining the angle between adjacent boom sections according to the boom section inclination angle; The angle is adjusted so that the virtual dynamic center of gravity position is within the center of gravity safety range.

2. The control method for a boom according to claim 1, characterized in that: The boom assembly further includes a turntable, and determining the center of gravity of the boom assembly according to the boom section inclination angle of each boom section includes: Obtaining the boom section weight, boom section center of gravity, boom section length of each boom section and the turntable weight, turntable center of gravity, and turntable length of the turntable; Determining a center of gravity constant of each boom section according to the boom section weight, boom section center of gravity, and boom section length of each boom section, and determining a center of gravity constant of the turntable according to the turntable weight, turntable center of gravity, and turntable length; The center of gravity position of the boom assembly is determined according to the center of gravity constant of each boom section, the center of gravity constant of the turntable, and the boom section inclination angle of each boom section.

3. The control method for a boom according to claim 1, characterized in that: The boom assembly includes a turntable and an inclination sensor corresponding to each boom section. The multiple boom sections include a first boom section, a second boom section, and multiple third boom sections. The first boom section refers to the boom section closest to the turntable, the second boom section refers to the boom section farthest from the turntable, and the third boom section refers to the boom section connecting the first boom section and the second boom section. The inclination sensor corresponding to the second boom section is installed at the midpoint of the boom section of the second boom section, and the other inclination sensors are installed at the midpoint of the boom section cylinder hinge point on the first boom section and each third boom section. The step of obtaining the boom section inclination of each boom section includes: The inclination angle of each boom section is obtained through the inclination sensor corresponding to each boom section.

4. The control method for a boom according to claim 3, characterized in that: The boom assembly also includes a pin, and any two adjacent boom sections and the first boom section and the turntable are hinged via the pin, and the water monitor is hinged to the second boom section; The determining of the virtual dynamic center of gravity position corresponding to the offset of the center of gravity position under the reaction force includes: Determine a first coordinate of a first hinge point in a turntable coordinate system, wherein the first hinge point is the hinge point between the first arm section and the turntable, the origin of the turntable coordinate system is the intersection of the rotation center axis of the turntable and the lower surface of the turntable, the x-axis direction of the turntable coordinate system is the extension direction of the projection of the boom on the horizontal plane, the y-axis direction is the direction perpendicular to the horizontal direction and vertically upward, and the z-axis of the turntable coordinate system is perpendicular to both the x-axis and the y-axis; For two adjacent hinge points on any arm segment, determine the second coordinate of the hinge point farther from the turntable in the coordinate system corresponding to the hinge point closer to the turntable; Obtain an angle between the water monitor and the line on which the second boom section is located. When the water monitor and the line on which the second boom section is located coincide with each other, the angle is 0°. With the hinge point between the water monitor and the second boom section as the center, the angle between the water monitor and the second boom section in a clockwise rotation direction is a negative angle, and the angle between the water monitor and the second boom section in a counterclockwise rotation direction is a positive angle. Determine a tilting moment generated by the reaction force relative to the turntable according to the included angle, the first coordinate, the second coordinate, and the arm section inclination angle of each arm section; determining an offset of the reaction force relative to a center of gravity position according to the tipping moment; A virtual dynamic center of gravity position of the boom assembly is determined according to the offset and the center of gravity position.

5. The control method for a boom according to claim 4, characterized in that: Each boom section includes two hinge points. Any third boom section includes a second hinge point close to the turntable and a third hinge point away from the turntable. For any two adjacent hinge points on the boom section, determining the second coordinate of the hinge point away from the turntable in the coordinate system corresponding to the hinge point close to the turntable includes: Determine a first sub-coordinate of a second hinge point of a third arm segment adjacent to the first arm segment in a first coordinate system, where the origin of the first coordinate system is the first hinge point, the x-axis is the extension direction of the first arm segment, the z-axis is the direction of the pin at the first hinge point, and the y-axis is perpendicular to both the x-axis and the z-axis; For each third arm segment, determine a second sub-coordinate of the third hinge point of the third arm segment in the second coordinate system, where the origin of the second coordinate system is the second hinge point of the third arm segment, the x-axis is the extension direction of the third arm segment, the z-axis is the direction of the pin at the second hinge point, and the y-axis is perpendicular to both the x-axis and the z-axis; Determine the third sub-coordinate of the fourth hinge point in the third coordinate system, wherein the fourth hinge point is the hinge point between the second arm section and the water monitor, the origin of the third coordinate system is the hinge point of the second arm section that is away from the water monitor, the x-axis direction is the extension direction of the second arm section, the z-axis direction is the direction of the pin at the third hinge point of the third arm section adjacent to the second arm section, and the y-axis is perpendicular to both the x-axis and the z-axis.

6. The control method for a boom according to claim 1, characterized in that: The adjusting the angle so that the virtual dynamic center of gravity is within the center of gravity safety range includes: After determining the included angle of each boom section according to the boom section inclination angle, determining the partial derivative of the included angle of each boom section; When the partial derivative of the angle is greater than zero, controlling the angle corresponding to the partial derivative to decrease so that the virtual dynamic center of gravity position is within the center of gravity safety range; When the partial derivative of the angle is less than zero, the angle corresponding to the partial derivative is controlled to increase so that the virtual dynamic center of gravity position is within the center of gravity safety range.

7. A controller, characterized in that: The method is configured to execute the boom control method according to any one of claims 1 to 6.

8. A boom assembly, characterized in that: The arm assembly includes: Multiple arm sections; a water monitor connected to the last boom section among the plurality of boom sections in the boom assembly; and The controller according to claim 7.

9. The boom assembly according to claim 8, characterized in that: The plurality of arm sections include: A first arm section, the first arm section being the arm section closest to the turntable; a second arm section, the second arm section being the arm section farthest from the turntable; a plurality of third arm sections, wherein the third arm section is an arm section connecting the first arm section and the second arm section; The arm assembly further comprises: The turntable is used to connect with the arm section to control the rotation of the arm section; a plurality of first inclination sensors, mounted correspondingly at midpoints of hinge points of boom cylinders on the first boom section and each third boom section; The second inclination sensor is installed at the midpoint of the second arm section.

10. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the control method for an arm section according to any one of claims 1 to 6.

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