Method and device for determining boom posture, processor and engineering machinery

Abstract

The embodiment of the present invention provides a method and device, a processor and engineering machinery for determining the boom posture, which belongs to the field of engineering machinery. The method for determining the boom posture includes: obtaining the boom angle of each boom section relative to the horizontal plane; determining the sampling point position corresponding to the preset sampling point according to each boom section angle, the pre-stored boom section length of each boom section and the corresponding position of the preset sampling point on each boom section; determining the current boom section moment value corresponding to each boom section according to the sampling point position; determining the current boom section moment value corresponding to the boom according to each current boom section moment value; and determining the current boom section posture type according to the current boom section moment value based on the correspondence between the pre-stored boom section moment value and the boom posture type. The embodiment of the present invention can accurately identify the boom posture.

Description

Technical Field

[0001] The present invention relates to the field of engineering machinery, and in particular to a method and device for determining an arm posture, a processor, and engineering machinery. Background Art

[0002] Most construction machinery, such as concrete pump trucks, aerial work platforms, and firefighting equipment, typically features a boom consisting of multiple sections. During operation, the boom will assume various postures to meet the diverse operational requirements of the construction machinery. These postures alter boom characteristics, such as deformation, which directly impacts operational performance, including stability and accuracy. Therefore, accurately identifying the boom's posture is crucial for improving its operational performance. Summary of the Invention

[0003] The purpose of the embodiments of the present invention is to provide a method and device, a processor, an engineering machine and a storage medium for determining the boom posture, so as to solve the above-mentioned problems existing in the prior art.

[0004] To achieve the above-mentioned object, a first aspect of an embodiment of the present invention provides a method for determining a boom posture, wherein the boom includes a plurality of boom sections, and the method includes:

[0005] Get the arm angle of each arm relative to the horizontal plane;

[0006] Determine the sampling point position corresponding to the preset sampling point according to the arm section angle, the pre-stored arm section length of each arm section, and the corresponding position of the preset sampling point on each arm section on the corresponding arm section;

[0007] Determine the current arm moment value corresponding to each arm section according to the sampling point position;

[0008] Determine the current boom moment value corresponding to the boom according to each current boom pitch moment value;

[0009] Based on the pre-stored correspondence between the boom moment value and the boom posture type, the current posture type of the boom is determined according to the current boom moment value.

[0010] In an embodiment of the present invention, determining a current boom pitch moment value corresponding to each boom section according to a sampling point position includes: when the number of preset sampling points is a single one, determining a product value of a sampling point abscissa value and a sampling point ordinate value at the sampling point position to obtain the current boom pitch moment value, wherein the sampling point abscissa value and the sampling point ordinate value are, respectively, abscissa values ​​and ordinate values ​​in a two-dimensional coordinate system having a boom starting point as an origin, a direction along the boom end on a horizontal plane as abscissa axis, and a vertical direction perpendicular to the abscissa axis as a ordinate axis.

[0011] In an embodiment of the present invention, determining a current boom pitch moment value corresponding to each boom section according to a sampling point position includes: when a plurality of sampling points are preset, determining a sum of product values ​​of a sampling point abscissa value and a sampling point ordinate value at each sampling point position to obtain the current boom pitch moment value, wherein the sampling point abscissa value and the sampling point ordinate value are, respectively, abscissa values ​​and ordinate values ​​in a two-dimensional coordinate system having a boom starting point as an origin, a direction along the boom end on a horizontal plane as abscissa axis, and a vertical direction perpendicular to the abscissa axis as a ordinate axis.

[0012] In an embodiment of the present invention, determining the current arm-joint moment value corresponding to each arm section according to the sampling point position includes: determining the quotient of a pre-stored arm section weight of the arm section and the pre-stored number of preset sampling points on the arm section to obtain a weight weight value corresponding to the arm section; and determining the current arm-joint moment value corresponding to the arm section according to the sampling point position and the weight weight value.

[0013] In an embodiment of the present invention, determining a current arm pitch moment value corresponding to an arm section according to a sampling point position and a weight weight value includes: when the number of preset sampling points is a single one, determining a product value of a sampling point abscissa value of the sampling point position, a sampling point ordinate value of the sampling point position, and a weight weight value to obtain the current arm pitch moment value, wherein the sampling point abscissa value and the sampling point ordinate value are respectively abscissa values ​​and ordinate values ​​in a two-dimensional coordinate system having a boom starting point as an origin, a direction along the boom end on a horizontal plane as abscissa axis, and a vertical direction perpendicular to the abscissa axis as a ordinate axis.

[0014] In an embodiment of the present invention, determining a current arm pitch moment value corresponding to an arm section according to a sampling point position and a weight weight value includes: when a plurality of sampling points are preset, determining a sum of a sampling point abscissa value of a sampling point position, a sampling point ordinate value of a sampling point position, and a product value of a weight weight value, to obtain the current arm pitch moment value, wherein the sampling point abscissa value and the sampling point ordinate value are respectively abscissa values ​​and ordinate values ​​in a two-dimensional coordinate system having a boom starting point as an origin, a direction along the boom end on a horizontal plane as abscissa axis, and a vertical direction perpendicular to the abscissa axis as a ordinate axis.

[0015] In an embodiment of the present invention, determining the current boom moment value corresponding to the boom according to each current boom pitch moment value includes: determining the sum of each current boom pitch moment value to obtain the current boom moment value.

[0016] In an embodiment of the present invention, based on the pre-stored correspondence between the boom moment value and the boom posture type, the current posture type of the boom is determined according to the current boom moment value, including: determining the moment value interval in which the current boom moment value is located based on the correspondence; determining the boom posture type corresponding to the moment value interval to obtain the current posture type.

[0017] A second aspect of an embodiment of the present invention provides a processor configured to execute the above-mentioned method for determining the boom posture.

[0018] A third aspect of an embodiment of the present invention provides an apparatus for determining the posture of a boom, wherein the boom includes multiple boom sections, and the apparatus includes: an angle detection device for detecting the boom section angle of each boom section relative to a horizontal plane; and a processor according to the above.

[0019] A fourth aspect of an embodiment of the present invention provides an engineering machine, including a boom composed of a plurality of boom sections, the engineering machine including: a processor according to the above or a device for determining the posture of the boom according to the above.

[0020] A fifth aspect of an embodiment of the present invention provides a machine-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the method for determining the arm posture described above is implemented.

[0021] The above technical solution obtains the boom section angle of each boom section relative to the horizontal plane, and determines the sampling point position corresponding to the preset sampling point according to each boom section angle, the pre-stored boom section length of each boom section, and the corresponding position of the preset sampling point on each boom section on the corresponding boom section. Then, the current boom section moment value corresponding to each boom section is determined according to the sampling point position, and the current boom moment value corresponding to the boom is determined according to each current boom section moment value. Thus, based on the correspondence between the pre-stored boom moment value and the boom posture type, the current boom posture type is determined according to the current boom moment value. The above technical solution determines the boom moment value according to each boom section angle, and corresponds the boom moment value with the boom posture type, so that the corresponding boom posture type can be determined based on the boom moment value, thereby improving the accuracy of the boom posture determination result. At the same time, the boom moment value is matched with the boom posture, which can greatly reduce the data dimension required for determining the boom posture. There is no need to establish a huge data set. The boom posture can be accurately determined through the boom moment value, which reduces the computer resource consumption and improves the efficiency of boom posture determination, so that the relationship between the boom posture and the boom characteristics can be established more cost-effectively, efficiently and quickly, thereby improving the operating performance of the boom.

[0022] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0024] Figure 1The following schematically shows a flow chart of a method for determining the boom posture in one embodiment of the present invention;

[0025] Figure 2 A schematic diagram of an arm support in one embodiment of the present invention is shown schematically;

[0026] Figure 3 A schematic flow chart of a method for determining an arm posture in another embodiment of the present invention is shown;

[0027] FIG4( a ) schematically shows a diagram of the boom posture in one embodiment of the present invention;

[0028] FIG4( b ) schematically shows a diagram of the boom posture in another embodiment of the present invention;

[0029] FIG4( c ) schematically shows a diagram of the boom posture in another embodiment of the present invention. DETAILED DESCRIPTION

[0030] The following describes the specific implementation of the embodiment of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiment of the present invention and is not used to limit the embodiment of the present invention.

[0031] Figure 1 The flowchart of the method for determining the boom posture in one embodiment of the present invention is schematically shown. Figure 1 As shown, in an embodiment of the present invention, a method for determining an arm posture is provided. Taking the method applied to a processor as an example, the method may include the following steps:

[0032] Step S102: Acquire the boom angle of each boom relative to the horizontal plane.

[0033] Step S104 : determining the sampling point position corresponding to the preset sampling point according to the boom angle, the pre-stored boom length of each boom and the corresponding position of the preset sampling point on each boom.

[0034] Step S106: determining the current boom moment value corresponding to each boom section according to the sampling point position.

[0035] Step S108 , determining the current boom moment value corresponding to the boom according to each current boom pitch moment value.

[0036] Step S110 : Based on the pre-stored correspondence between boom moment values ​​and boom posture types, the current boom posture type is determined according to the current boom moment value.

[0037] It is understood that the boom section angle relative to the horizontal plane, i.e., the inclination angle of the boom section relative to the horizontal plane, can be detected by an angle detection device, such as an angle sensor. Furthermore, the angle detection device can be located at any position on each boom section to detect the inclination angle of the corresponding boom section relative to the horizontal plane. The preset sampling points are predetermined sampling points on each boom section, and the number of these points can be one or more. For example, a specific method for selecting the preset sampling points can include, for example, determining a preset sampling point every 0.2 meters on the boom section. For example, a single preset sampling point can be located at the midpoint, one-third position, or one-quarter position of the boom section. The sampling point position is the location of the preset sampling point. For example, the sampling point position can specifically include the abscissa and ordinate values ​​in a two-dimensional coordinate system with the boom starting point as the origin, the horizontal axis along the direction of the boom end as the abscissa, and the ordinate axis perpendicular to the abscissa. The current boom section moment value is the moment value of the current posture of each boom section, and the current boom moment value is the moment value of the current posture of the entire boom. It can be understood that in the field of image processing, the statistical "moment" is often used to identify the shape of the image. In statistics, the moment is a set of measurements of the distribution and morphological characteristics of the variable. The nth-order moment is defined as the integral of the product of the nth power of a variable and its probability density function, that is, in statistics, the moment is a systematic method of characterizing the probability distribution. The embodiment of the present invention is based on the concept of "moment" combined with various situations of the boom posture to identify the boom posture. The nth-order moment used to calculate the current boom section moment value and the current boom moment value can be a 1+1th-order moment, a 0+1th-order moment, or a 2+2th-order moment. The correspondence between the boom moment value and the boom posture type can be pre-stored, and its expression can be in the form of a table. For example, different boom posture types can correspond to different boom moment value ranges or values. In addition, it can also be in the form of an algorithm.

[0038] Specifically, the processor can obtain the arm segment angle of each arm segment relative to the horizontal plane through an angle detection device such as an angle sensor, and can determine the sampling point position corresponding to the preset sampling point based on a preset algorithm according to each arm segment angle, the pre-stored arm segment length of each arm segment, and the corresponding position of the preset sampling point on each arm segment on the corresponding arm segment. The corresponding arm segment length corresponding to the preset sampling point can be determined according to the arm segment length and the corresponding position of the preset sampling point on the corresponding arm segment, so that the position information of the preset sampling point can be determined according to the corresponding arm segment length and the arm segment angle. Specifically, for example, a two-dimensional coordinate system can be obtained by first taking the arm starting point as the origin, establishing a horizontal axis along the direction of the arm end on the horizontal plane, and establishing a vertical axis perpendicular to the horizontal axis. Then, based on each arm segment angle, the pre-stored arm segment length of each arm segment, and the corresponding position of the preset sampling point on each arm segment on the corresponding arm segment, the horizontal and vertical coordinate values ​​of the preset sampling point on the arm segment in the two-dimensional coordinate system are determined based on a preset trigonometric function or other algorithm, so as to obtain the sampling point position. The processor can then determine the current arm section moment value corresponding to each arm section according to the sampling point position, and determine the current arm moment value corresponding to the boom according to each current arm section moment value, so that the current posture type of the boom can be determined according to the current arm moment value based on the correspondence between the pre-stored arm moment value and the boom posture type.

[0039] The above-mentioned method for determining the boom posture obtains the boom angle of each boom section relative to the horizontal plane, and determines the sampling point position corresponding to the preset sampling point according to each boom section angle, the pre-stored boom section length of each boom section, and the corresponding position of the preset sampling point on each boom section on the corresponding boom section, and then determines the current boom section moment value corresponding to each boom section according to the sampling point position, and determines the current boom moment value corresponding to the boom according to each current boom section moment value, so as to determine the current posture type of the boom according to the current boom moment value based on the correspondence between the pre-stored boom moment value and the boom posture type. The above technical solution determines the boom moment value according to each boom section angle, and corresponds the boom moment value with the boom posture type, so that the corresponding boom posture type can be determined based on the boom moment value, thereby improving the accuracy of the boom posture determination result. At the same time, the boom moment value is matched with the boom posture, which can greatly reduce the data dimension required for determining the boom posture. There is no need to establish a huge data set. The boom posture can be accurately determined through the boom moment value, which reduces the computer resource consumption and improves the efficiency of boom posture determination, so that the relationship between the boom posture and the boom characteristics can be established more cost-effectively, efficiently and quickly, thereby improving the operating performance of the boom.

[0040] In one embodiment, determining the current arm pitch moment value corresponding to each arm section according to the sampling point position includes: when the number of preset sampling points is a single one, determining the product of the sampling point abscissa value and the sampling point ordinate value at the sampling point position to obtain the current arm pitch moment value, wherein the sampling point abscissa value and the sampling point ordinate value are respectively the abscissa value and the ordinate value in a two-dimensional coordinate system having the boom starting point as the origin, the direction along the boom end on the horizontal plane as the abscissa axis, and the vertical direction perpendicular to the abscissa axis as the ordinate axis.

[0041] Specifically, it is assumed that each boom section is an ideal straight line with no width. Therefore, the probability density function in the nth-order moment is 1. A two-dimensional coordinate system is established with the boom starting point as the origin, the horizontal axis along the boom end as the horizontal axis, and the vertical axis perpendicular to the horizontal axis as the vertical axis. The sampling point position includes the sampling point's horizontal coordinate value and the sampling point's vertical coordinate value. Taking the 1+1th-order moment as an example to calculate the moment value of the boom posture, if the number of preset sampling points is single, for example, the preset sampling point is at the midpoint or one-third of the boom section, the processor can determine the product of the sampling point's horizontal coordinate value and the sampling point's vertical coordinate value as the current boom section moment value. That is, a rectangle is constructed based on the sampling point's horizontal coordinate value and the sampling point's vertical coordinate value corresponding to the preset sampling point, and the area of ​​the rectangle is determined, that is, the product of the sampling point's horizontal coordinate value and the sampling point's vertical coordinate value. The area of ​​the rectangle is the current boom section moment value.

[0042] In one embodiment, determining the current arm pitch moment value corresponding to each arm section according to the sampling point position includes: when the number of preset sampling points is multiple, determining the sum of the product values ​​of the sampling point abscissa value and the sampling point ordinate value at the position of each sampling point to obtain the current arm pitch moment value, wherein the sampling point abscissa value and the sampling point ordinate value are respectively the abscissa value and the ordinate value in a two-dimensional coordinate system with the boom starting point as the origin, the direction along the boom end on the horizontal plane as the abscissa axis, and the vertical direction perpendicular to the abscissa axis as the ordinate axis.

[0043] Specifically, it is assumed that each boom section is an ideal straight line with no width, so the probability density function in the nth-order moment is 1. A two-dimensional coordinate system is established with the boom starting point as the origin, the horizontal plane along the boom end as the horizontal axis, and the vertical direction perpendicular to the horizontal axis as the vertical axis. The sampling point position includes the sampling point horizontal coordinate value and the sampling point vertical coordinate value. Taking the 1+1th-order moment as an example to calculate the moment value of the boom posture, if the number of preset sampling points is multiple, for example, the boom section is sampled every 0.2 meters, the processor can first determine the product value of the sampling point horizontal coordinate value and the sampling point vertical coordinate value corresponding to each sampling point position, thereby obtaining multiple product values, that is, multiple rectangular areas, and adding these multiple product values ​​to obtain the current boom section moment value.

[0044] In one embodiment, determining the current arm-joint moment value corresponding to each arm section according to the sampling point position includes: determining the quotient of a pre-stored arm section weight of the arm section and the number of pre-stored preset sampling points on the arm section to obtain a weight weight value corresponding to the arm section; and determining the current arm-joint moment value corresponding to the arm section according to the sampling point position and the weight weight value.

[0045] It can be understood that there is a high correlation between the boom characteristics and the boom weight, because many reasons for changes in boom deformation, natural frequency and other characteristics are due to changes in gravitational torque. In order to better improve the accuracy of the correlation between the moment value and the boom characteristics, the probability density function in the nth-order moment can be equivalent to the quotient of the boom weight and the number of preset sampling points (i.e., the weight weight value), so that the boom weight can be introduced into the calculation of the boom section moment value, and the weight of each boom section can be integrated into the moment value calculation to more accurately characterize the relationship between the boom posture and the boom characteristics. The boom section weight is the weight value of the boom section, which can be predetermined and stored. The number of preset sampling points can also be predetermined and stored. The weight weight value is the proportion of the preset sampling points on the boom section to the corresponding boom section weight.

[0046] Specifically, the processor can obtain the pre-stored arm section weight of each arm section and the number of preset sampling points on each arm section, so as to determine the quotient of the arm section weight and the number of preset sampling points on the corresponding arm section to obtain the weight weight value corresponding to the arm section, so as to determine the current arm section moment value corresponding to the arm section based on the sampling point position and the weight weight value corresponding to the arm section, for example, the sampling point position and weight weight value are input into the preset moment value calculation formula (such as 1+1 order moment or 2+2 order moment, etc.), so as to obtain the current arm section moment value corresponding to the arm section.

[0047] In one embodiment, a current arm pitch moment value corresponding to an arm section is determined based on a sampling point position and a weight weight value, including: when the number of preset sampling points is a single one, determining a product value of a sampling point abscissa value of the sampling point position, a sampling point ordinate value of the sampling point position, and a weight weight value to obtain a current arm pitch moment value, wherein the sampling point abscissa value and the sampling point ordinate value are respectively abscissa values ​​and ordinate values ​​in a two-dimensional coordinate system having a boom starting point as an origin, a direction along the boom end on a horizontal plane as abscissa axis, and a vertical direction perpendicular to the abscissa axis as a ordinate axis.

[0048] Specifically, the probability density function in the nth-order moment is equivalent to a weight weight value. A two-dimensional coordinate system is established with the boom starting point as the origin, the horizontal plane along the direction of the boom end as the horizontal axis, and the vertical direction perpendicular to the horizontal axis as the vertical axis. The sampling point position includes the sampling point horizontal coordinate value and the sampling point vertical coordinate value. Taking the 1+1th-order moment as an example to calculate the moment value of the boom posture, if the number of preset sampling points is single, for example, the preset sampling point is at the midpoint or one-third position of the boom section, the processor can determine the product of the sampling point horizontal coordinate value, the sampling point vertical coordinate value, and the weight weight value of the sampling point position as the current boom section moment value of the boom section. That is, a rectangle is constructed based on the sampling point horizontal coordinate value and the sampling point vertical coordinate value corresponding to the preset sampling point, and the area of ​​the rectangle is determined, that is, the product of the sampling point horizontal coordinate value and the sampling point vertical coordinate value. The product of the rectangle area and the weight weight value is the current boom section moment value of the boom section.

[0049] In one embodiment, a current arm pitch moment value corresponding to an arm section is determined based on a sampling point position and a weight weight value, including: when a plurality of sampling points are preset, determining the sum of the sampling point abscissa value of each sampling point position, the sampling point ordinate value of each sampling point position, and the product value of the weight weight value to obtain the current arm pitch moment value, wherein the sampling point abscissa value and the sampling point ordinate value are respectively the abscissa value and the ordinate value in a two-dimensional coordinate system having the arm starting point as the origin, the direction along the arm end on the horizontal plane as the abscissa axis, and the vertical direction perpendicular to the abscissa axis as the ordinate axis.

[0050] Specifically, the probability density function in the nth-order moment is equivalent to the weight value, and a two-dimensional coordinate system is established with the boom starting point as the origin, the direction along the boom end on the horizontal plane as the horizontal axis, and the vertical direction perpendicular to the horizontal axis as the vertical axis. The sampling point position includes the sampling point horizontal coordinate value and the sampling point vertical coordinate value. Taking the 1+1th-order moment as an example to calculate the moment value of the boom posture, if the number of preset sampling points is multiple, for example, the boom section is sampled every 0.3 meters, the processor can first determine the product value of the sampling point horizontal coordinate value, the sampling point vertical coordinate value and the weight value corresponding to each sampling point position, thereby obtaining multiple product values, and adding the multiple product values ​​to obtain the current boom section moment value of the boom section.

[0051] In one embodiment, determining the current boom moment value corresponding to the boom according to each current boom pitch moment value includes: determining the sum of each current boom pitch moment value to obtain the current boom moment value.

[0052] Specifically, the processor may add up the current boom-section moment values ​​of the respective boom sections of the boom, and the sum obtained after the addition is the current boom moment value of the entire boom.

[0053] In one embodiment, based on the pre-stored correspondence between boom moment values ​​and boom posture types, the current posture type of the boom is determined according to the current boom moment value, including: determining the moment value interval in which the current boom moment value is located based on the correspondence; determining the boom posture type corresponding to the moment value interval to obtain the current posture type.

[0054] It can be understood that the correspondence between the boom moment value and the boom posture type may be a correspondence between the boom moment value interval and the boom posture type, and the correspondence may be stored in the form of a table.

[0055] Specifically, after obtaining the current boom moment value of the boom, the processor can determine the moment value interval corresponding to the current boom moment value based on the correspondence between the pre-stored boom moment value and the boom posture type, and determine the boom posture type corresponding to the moment value interval based on the moment value interval, thereby obtaining the current posture type of the boom.

[0056] In a specific embodiment, a method for determining the boom posture is provided, as follows:

[0057] 1) This embodiment calculates the following geometric relationship (taking a 6-section boom as an example) based on the detected fixed data such as the boom section angle θ, the length l of each boom section, and / or the weight w: Figure 2 shown.

[0058] according to Figure 2 The geometric position equation of each arm in the XY plane shown in the figure can be calculated (Formula 1):

[0059]

[0060] Among them, i is the joint number of the arm, such as i=6 means 6 arms, l i is the arm length of arm i, θ is the arm angle, l i-1 is the arm length of the (i-1) arm, θ i-1 is the arm segment angle of the (i-1) arm, x is the sampling point abscissa value of the preset sampling point on the arm segment, y is the sampling point ordinate value of the preset sampling point on the arm segment, x≤l1cosθ1 is the range corresponding to the abscissa value of the preset sampling point on the arm, ∑(l i-1 cosθ i-1 )≤x≤∑(l i cosθ i ) is the range corresponding to the horizontal coordinate values ​​of the preset sampling points on the remaining arms except arm 1.

[0061] 2) In the field of image processing, statistical "moments" are often used to identify image shapes. Statistical moments are a systematic method for characterizing probability distribution. This paper will identify the boom posture based on the concept of "moments" combined with the special case of boom posture. In order to simplify the recognition model, it is assumed that each boom section is an ideal straight line with no width. Taking the 1+1 order moment as an example, we will calculate Figure 2 Moment value of the boom posture shown.

[0062] The calculation of the "moment" in this paper can be realized by electronic computers so that it can be used in practical applications. Therefore, the discrete calculation formula of the moment value is adopted. Assuming that the number of sampling points per boom is N i , the calculation formula is as follows:

[0063]

[0064] Among them, i is the joint number of the arm, j is the sampling point, x j 、x j The value of can be calculated by formula (1), f(x j y j ) is the grayscale value on the image, N i is the number of preset sampling points, m 11 is the current boom moment value. This technical solution makes each boom section equivalent to an ideal straight line, so f(x j y j ) value is 1, the 1+1 moment of the boom attitude can be simplified as:

[0065]

[0066] Among them, i is the joint number of the arm, j is the sampling point, x j 、x j The value of can be calculated by formula (1), N i is the number of preset sampling points, m 11 is the current boom moment value.

[0067] Formula (3) is the calculation formula for the 1+1 order moment value of the boom posture in this technical solution. Different postures correspond to different "moment" values, and the "moment" values ​​of the same posture are equal. Therefore, the boom posture can be represented by the "moment" value, so that the boom posture can be represented by a small amount of dimensional data, which greatly simplifies the boom posture determination method.

[0068] 3) Steps for determining the boom posture:

[0069] After the boom is designed, its length l and / or weight w are determined. The corresponding relationship between each boom posture and the "moment" value can be established through Equations 1 and 3. The boom posture can be divided into several types of posture sets according to the size of the "moment" value and stored in the computer device. The schematic diagram can be shown in Table 1 below:

[0070] Table 1

[0071] Posture 1 <![CDATA[0≤m 11 ≤M1]]> Posture 2 <![CDATA[M1≤m 11 ≤M2]]> …… ……

[0072] During the actual operation of the equipment, the electronic computer obtains the arm inclination angle data θ of each section of the boom in real time, and calculates the boom moment value m according to formula 1 and formula 3 11 , according to the boom moment value m 11 The arm posture is determined by the interval falling in the electronic computer storage table 1. The specific process can be as follows: Figure 3 shown.

[0073] Furthermore, there is a high correlation between the boom characteristics and the boom weight, because many changes in characteristics such as boom deformation and natural frequency are caused by changes in gravity torque. In order to better improve the correlation accuracy between the moment value and the boom characteristics, f(x j y j ) can be equivalent to a parameter related to the weight of the boom, that is, formula (2) can be converted to:

[0074]

[0075] Furthermore, the embodiment of the present invention uses 1+1 order moment as an example for calculation, and can also be calculated by 1+1 central moment, moment center, etc., and its principle and process are similar to the above.

[0076] The embodiment of the present invention also provides an application example. Taking a 6-section boom pump truck as an example, the 1+1 order moments calculated for different postures are shown in Table 2:

[0077] Table 2

[0078]

[0079] It can be seen from Table 2 that the moment values ​​of postures 3 and 5 are large, the posture similarity is high, and they can be classified into the same posture group. The moment values ​​of postures 3 and 5 are quite different from those of posture 6, and the posture similarity is low. The boom posture schematic diagrams of postures 3, 5, and 6 can be shown in Figures 4(a), 4(b), and 4(c), respectively. Therefore, the embodiment of the present invention can determine the boom posture by the boom moment value.

[0080] In summary, the technical solution provided by the embodiment of the present invention introduces the concept of moment in statistics, and converts multiple inclination angle data that characterize the boom posture into "moment" values ​​through calculation to determine the boom posture. Only 1-2 dimensional data are needed to determine the boom posture, and the multiple dimensional inclination angle data that characterize the boom posture are converted into 1 dimensional data through the definition of moment. Furthermore, the weight of each section of the boom is integrated into the moment value calculation, which can more accurately characterize the relationship between the boom posture and the boom characteristics. In addition, equating the boom to an ideal straight line can greatly simplify the amount of moment value calculation, facilitate rapid computer implementation, greatly simplify the demand for computer resources for boom posture determination, improve efficiency, and at the same time simplify the correspondence between the boom posture and the boom characteristics, greatly supporting the improvement of boom controllability.

[0081] An embodiment of the present invention further provides a processor configured to execute the method for determining the boom posture according to the above embodiment.

[0082] An embodiment of the present invention also provides a device for determining the posture of a boom, where the boom includes multiple boom sections. The device may include: an angle detection device for detecting the boom section angle of each boom section relative to the horizontal plane; and a processor according to the above embodiment.

[0083] It can be understood that the angle detection device may include but is not limited to an angle sensor, etc.

[0084] An embodiment of the present invention further provides an engineering machine, which includes a boom composed of multiple boom sections, and includes: a processor according to the above embodiment or a device for determining the boom posture according to the above embodiment.

[0085] An embodiment of the present invention further provides a machine-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the method for determining the arm posture according to the above embodiment is implemented.

[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 steps in the process. 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 method for determining an arm posture, characterized in that: The boom includes a plurality of boom sections, and the method includes: Obtaining the boom section angle of each boom section relative to the horizontal plane; Determine the sampling point position corresponding to the preset sampling point according to the arm section angles, the pre-stored arm section lengths of the arm sections, and the corresponding positions of the preset sampling points on the corresponding arm sections; Determine the current boom moment value corresponding to each boom section according to the product value of the sampling point abscissa value and the sampling point ordinate value of the sampling point position, wherein the sampling point abscissa value and the sampling point ordinate value are respectively the abscissa value and the ordinate value in a two-dimensional coordinate system with the boom starting point as the origin, the direction along the boom end on the horizontal plane as the abscissa axis, and the vertical direction perpendicular to the abscissa axis as the ordinate axis; Determine a current boom moment value corresponding to the boom according to each of the current boom pitch moment values, wherein the current boom moment value is the sum of each of the current boom pitch moment values; Based on the pre-stored correspondence between boom moment values ​​and boom posture types, the current posture type of the boom is determined according to the current boom moment value.

2. The method according to claim 1, characterized in that The determining of the current arm segment moment value corresponding to each arm segment according to the product value of the sampling point abscissa value and the sampling point ordinate value of the sampling point position includes: In the case that the number of the preset sampling point is single, the product value of the sampling point abscissa value and the sampling point ordinate value of the sampling point position is determined to obtain the current arm pitch moment value.

3. The method according to claim 1, characterized in that The determining of the current arm segment moment value corresponding to each arm segment according to the product value of the sampling point abscissa value and the sampling point ordinate value of the sampling point position includes: In the case where there are multiple preset sampling points, the sum of the product values ​​of the sampling point abscissa value and the sampling point ordinate value at each sampling point position is determined to obtain the current arm pitch moment value.

4. The method according to claim 1, wherein The determining of the current arm segment moment value corresponding to each arm segment according to the product value of the sampling point abscissa value and the sampling point ordinate value of the sampling point position includes: Determining a quotient of a pre-stored arm section weight of the arm section and a pre-stored number of preset sampling points on the arm section to obtain a weight value corresponding to the arm section; The current arm segment moment value corresponding to the arm segment is determined according to the product value of the sampling point abscissa value and the sampling point ordinate value of the sampling point position and the weight value.

5. The method according to claim 4, characterized in that The determining the current arm segment moment value corresponding to the arm segment according to the product value of the sampling point abscissa value and the sampling point ordinate value of the sampling point position and the weight value includes: In the case where the number of the preset sampling points is single, the product value of the sampling point abscissa value of the sampling point position, the sampling point ordinate value of the sampling point position and the weight value is determined to obtain the current arm pitch moment value.

6. The method according to claim 4, characterized in that The determining the current arm segment moment value corresponding to the arm segment according to the product value of the sampling point abscissa value and the sampling point ordinate value of the sampling point position and the weight value includes: In the case where there are multiple preset sampling points, the sum of the product values ​​of the sampling point abscissa value, the sampling point ordinate value, and the weight value at each sampling point position is determined to obtain the current arm pitch moment value.

7. The method according to claim 1, characterized in that The determining the current posture type of the boom according to the current boom moment value based on the pre-stored correspondence between the boom moment value and the boom posture type includes: Based on the corresponding relationship, determining the moment value interval of the current boom moment value; Determine the boom posture type corresponding to the moment value interval to obtain the current posture type.

8. A processor, characterized in that: The method is configured to execute the method for determining the boom posture according to any one of claims 1 to 7.

9. A device for determining the posture of an arm, characterized in that: The boom comprises a plurality of boom sections, and the device comprises: An angle detection device, used to detect the boom angle of each boom section relative to a horizontal plane; and The processor according to claim 8.

10. An engineering machine, characterized in that: The engineering machinery comprises a boom consisting of a plurality of boom sections, and the engineering machinery comprises: The processor according to claim 8 or the device for determining the arm posture according to claim 9.

11. A machine-readable storage medium storing a program or instruction, characterized in that: When the program or the instructions are executed by a processor, the method for determining the boom posture according to any one of claims 1 to 7 is implemented.

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