Arm control system and method for a slotted lattice beam integrated operation vehicle
By calculating the functional relationships of the boom system using 3D imaging sensors and controllers, and coordinating the movement of the boom and outriggers, the automatic control problem of the closed-loop multi-degree-of-freedom boom system with complex working conditions at the end of the slotted lattice beam integrated operation vehicle is solved, thereby improving the stability and lifespan of the equipment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA RAILWAY CONSTR HEAVY IND
- Filing Date
- 2023-11-10
- Publication Date
- 2026-06-05
Smart Images
Figure CN117587883B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of boom control technology, and in particular to a boom control system and method for a slotted lattice beam integrated operation vehicle. Furthermore, it also relates to a slotted lattice beam integrated operation vehicle using the above system. Background Technology
[0002] The slotted grid beam integrated operation vehicle is mainly used for slope protection and reinforcement construction outside tunnels or other types of slopes. Its boom system mainly consists of an articulated boom, a telescopic boom, and outriggers. At the end of the outriggers are non-powered support wheels. During construction, these support wheels at the boom end need to move along the slope surface and provide stable and effective support. The support wheels at the boom end of the slotted grid beam integrated operation vehicle need to move in close contact with the slope surface during construction. However, slopes are usually not perfectly flat, and the positions of the left and right support wheels are uneven. If the support wheel encounters a depression in the slope, it will be suspended, resulting in no support. If the support wheel encounters a convex surface, it will cause excessive support. If the support forces on the left and right sides are different, it will cause the boom to be subjected to axial torsion. In addition, the support wheel's contact point with the slope may be insufficient due to insufficient hardness, resulting in insufficient support force between the support wheel and the slope surface. All of these situations are considered ineffective support. Ineffective support will cause excessive stress on the boom, leading to bending, twisting, or even breakage, affecting the stability and service life of the equipment. To adapt booms to complex slope terrain, traditional manual boom control involves operators observing the boom end effector and controlling each boom segment individually based on the slope's unevenness. However, this method is cumbersome, inefficient, and cannot guarantee the special needs of complex boom end conditions. Currently popular automatic boom control methods use a pre-planned boom end motion trajectory, employing inverse kinematics to derive the motion posture changes of each boom segment, and then coordinating the movement of each joint. However, this method is only suitable for the automatic control of open-loop multi-degree-of-freedom boom systems with simple end motion trajectories, and not for the automatic control of closed-loop multi-degree-of-freedom boom systems with complex end conditions, such as slotted lattice beam systems. Summary of the Invention
[0003] This invention provides a boom control system and method for a slotted lattice beam integrated operation vehicle, and a slotted lattice beam integrated operation vehicle, to solve the technical problem that existing boom control methods are not applicable to the automatic regulation of closed-loop multi-degree-of-freedom boom systems with complex end-of-boom conditions, such as slotted lattice beam integrated operation vehicles.
[0004] According to one aspect of the present invention, a boom control system for a slotted lattice beam integrated operation vehicle is provided, comprising:
[0005] A three-dimensional imaging sensor is used to acquire three-dimensional point cloud data of a slope.
[0006] The controller, electrically connected to the 3D imaging sensor, is used to first calculate the first functional relationship between the boom extension and outrigger extension based on the 3D point cloud data of the slope. Then, it obtains the target extension of the boom in this posture adjustment and determines whether the outrigger extension will reach the first limit position in this posture adjustment based on the target extension of the boom and the first functional relationship. If it is determined that the outrigger extension will not reach the first limit position, the boom pitch cylinder is locked, and the boom extension and outrigger extension are synchronously controlled according to the first functional relationship until the boom moves to the target extension.
[0007] Furthermore, if it is determined that the outrigger extension will reach the first limit position during this attitude adjustment, the boom pitch cylinder is unlocked after the outrigger extension reaches the first limit position. The boom pitch direction is determined according to the outrigger extension state, and the second functional relationship between the boom pitch angle, boom extension amount, and outrigger extension amount is calculated. Then, the boom pitch, boom extension, and outrigger extension are controlled synchronously according to the second functional relationship to complete the boom attitude adjustment.
[0008] Furthermore, it also includes a first displacement sensor, a second displacement sensor, and a third displacement sensor electrically connected to the controller. The first displacement sensor is used to detect the extension and retraction displacement of the left outrigger, the second displacement sensor is used to detect the extension and retraction displacement of the right outrigger, and the third displacement sensor is used to detect the extension and retraction displacement of the boom. The controller also performs feedback adjustment on the extension and retraction of the boom and the outriggers based on the detection results of the first displacement sensor, the second displacement sensor, and the third displacement sensor, respectively.
[0009] Furthermore, it also includes an angle sensor electrically connected to the controller for detecting the pitch angle of the boom, and the controller also provides feedback adjustment of the boom pitch based on the detection result of the angle sensor.
[0010] Furthermore, it also includes a left outrigger cylinder pressure sensor and a right outrigger cylinder pressure sensor electrically connected to the controller. The controller also compensates for the extension and retraction of the left and right outriggers based on the detection results of the left and right outrigger cylinder pressure sensors, respectively.
[0011] Furthermore, the controller establishes a three-dimensional rectangular coordinate system with the location of the three-dimensional imaging sensor as the origin, the extension direction of the boom as the y-axis, and the extension direction of the outrigger as the z-axis. Based on the coordinate values of several point clouds, the controller obtains the first functional relationship between the extension amount of the boom and the extension amount of the outrigger: z = f(y), where y represents the extension amount of the boom and z represents the extension amount of the outrigger.
[0012] Furthermore, the expression for the second functional relationship is:
[0013]
[0014] Where y represents the extension / retraction distance of the boom, z represents the extension / retraction distance of the outrigger, L1 represents the current extension / retraction distance of the boom, and L2 represents the current extension / retraction distance of the outrigger. This indicates the pitch angle of the upper arm.
[0015] In addition, the present invention also provides a boom control method for a slotted lattice beam integrated operation vehicle, which adopts the boom control system described above and includes the following:
[0016] Obtain 3D point cloud data of the slope;
[0017] The first functional relationship between the boom extension and outrigger extension is calculated based on the three-dimensional point cloud data of the slope.
[0018] Obtain the target extension and retraction amount of the upper arm during this posture adjustment, and determine whether the extension and retraction of the outriggers will reach the first limit position during this posture adjustment based on the target extension and retraction amount of the upper arm and the first functional relationship.
[0019] If it is determined that the outrigger extension will not reach the first limit position, the boom pitch cylinder is locked, and the boom extension and outrigger extension are controlled synchronously according to the first function relationship until the boom moves to the target extension amount.
[0020] Furthermore, it also includes the following:
[0021] If it is determined that the outrigger extension will reach the first limit position during this attitude adjustment, the boom pitch cylinder is unlocked after the outrigger extension reaches the first limit position. The boom pitch direction is determined according to the outrigger extension state, and the second functional relationship between the boom pitch angle, boom extension amount, and outrigger extension amount is calculated. Then, the boom pitch, boom extension, and outrigger extension are controlled synchronously according to the second functional relationship to complete the boom attitude adjustment.
[0022] In addition, the present invention also provides a slotted lattice beam integrated operation vehicle, which adopts the boom control system described above.
[0023] The present invention has the following effects:
[0024] The boom control system of the slotted lattice beam integrated operation vehicle of the present invention considers that the extension and retraction of the boom pitch cylinder and the change in boom angle are nonlinear functions during the actual movement of the boom. Even a small displacement of the boom pitch cylinder can lead to a large change in the position of the boom end, which can easily cause abrupt instability. Therefore, the present invention first acquires the three-dimensional point cloud data of the slope, and then calculates the first functional relationship between the boom extension and retraction of the outriggers based on the three-dimensional point cloud data of the slope. Based on the target extension of the boom and the first functional relationship, it can be determined whether the outrigger extension will reach the first limit position during the current attitude adjustment. If it is determined that the outrigger extension will not reach the first limit position, the boom pitch cylinder is directly locked, that is, the boom pitch action is locked. The boom extension and retraction and outrigger extension are synchronously controlled according to the first functional relationship until the boom moves to the target extension, thereby completing the attitude adjustment. The entire boom movement process is based on the coordinated control of boom extension and outrigger extension, realizing the automatic control of the closed-loop multi-degree-of-freedom boom system of the slotted lattice beam integrated operation vehicle. Furthermore, the boom pitching motion is locked during boom extension and retraction, improving the stability of boom movement during automatic control.
[0025] In addition, the boom control method of the slotted lattice beam integrated operation vehicle of the present invention also has the above-mentioned advantages.
[0026] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description
[0027] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:
[0028] Figure 1 This is a schematic diagram showing the installation position of the boom control system of the slotted lattice beam integrated operation vehicle according to a preferred embodiment of the present invention on the slotted lattice beam integrated operation vehicle.
[0029] Figure 2 This is a flowchart illustrating the boom control method of a slotted lattice beam integrated operation vehicle according to another embodiment of the present invention.
[0030] Figure 3 This is another schematic diagram of the boom control method of the slotted lattice beam integrated operation vehicle according to another embodiment of the present invention.
[0031] Explanation of reference numerals in the attached figures
[0032] 1. Three-dimensional imaging sensor; 2. Controller; 3. First displacement sensor; 4. Second displacement sensor; 5. Third displacement sensor; 6. Angle sensor. Detailed Implementation
[0033] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.
[0034] Understandable, such as Figure 1 As shown, a preferred embodiment of the present invention provides a boom control system for a slotted lattice beam integrated operation vehicle, including a three-dimensional imaging sensor 1 and a controller 2. The three-dimensional imaging sensor 1 is electrically connected to the controller 2. The three-dimensional imaging sensor 1 is used to acquire three-dimensional point cloud data of the slope, i.e., to capture a three-dimensional image of the slope. The controller 2 is used to first calculate a first functional relationship between the boom extension and outrigger extension based on the three-dimensional point cloud data of the slope, then acquire the target extension of the boom in this posture adjustment, and determine whether the outrigger extension will reach a first limit position in this posture adjustment based on the target extension of the boom and the first functional relationship. If it is determined that the outrigger extension will not reach the first limit position, the boom pitch cylinder is locked, and the boom extension and outrigger extension are synchronously controlled according to the first functional relationship until the boom moves to the target extension. Here, the first limit position refers to the maximum size position of the outrigger extension, i.e., the outrigger is extended to its longest position or retracted to its shortest position. In addition, the three-dimensional imaging sensor 1 is preferably a binocular camera. Of course, in other embodiments of the present invention, a three-dimensional scanner or an RGB-D camera can also be used. The three-dimensional imaging sensor 1 is installed on the crossbeam connecting the boom and the left and right outriggers, preferably at the middle position of the measurement.
[0035] It is understood that the boom control system of the slotted lattice beam integrated operation vehicle in this embodiment takes into account that the extension and retraction of the boom pitch cylinder and the change in boom angle are non-linear functions during the actual movement of the boom. Even a small displacement of the boom pitch cylinder can lead to a large change in the position of the boom end, which can easily cause abrupt instability. Therefore, this invention first acquires the three-dimensional point cloud data of the slope, and then calculates the first functional relationship between the boom extension and retraction of the outriggers based on the three-dimensional point cloud data of the slope. Based on the target extension of the boom and the first functional relationship, it can be determined whether the outrigger extension will reach the first limit position during this attitude adjustment. If it is determined that the outrigger extension will not reach the first limit position, the boom pitch cylinder is directly locked, that is, the boom pitch action is locked. The boom extension and retraction and outrigger extension are synchronously controlled according to the first functional relationship until the boom moves to the target extension, thereby completing the attitude adjustment. The entire boom movement process is based on the coordinated control of boom extension and outrigger extension, realizing the automatic control of the closed-loop multi-degree-of-freedom boom system of the slotted lattice beam integrated operation vehicle. Furthermore, the boom pitching motion is locked during boom extension and retraction, improving the stability of boom movement during automatic control.
[0036] Specifically, the process by which the controller 2 calculates the first functional relationship between the boom extension and outrigger extension based on the three-dimensional point cloud data of the slope is as follows:
[0037] The controller 2 establishes a three-dimensional rectangular coordinate system with the location of the three-dimensional imaging sensor 1 as the origin, the extension direction of the boom as the y-axis, and the extension direction of the outrigger as the z-axis. Based on the coordinate values of several point clouds, the controller 2 obtains the first functional relationship between the extension amount of the boom and the extension amount of the outrigger: z = f(y), where y represents the extension amount of the boom and z represents the extension amount of the outrigger.
[0038] It is understandable that, since the outriggers and boom of the slotted lattice beam integrated operation vehicle are set perpendicularly, after establishing a three-dimensional rectangular coordinate system with the location of the three-dimensional imaging sensor 1 as the origin, the boom extension direction as the y-axis, and the outrigger extension direction as the z-axis, the first functional relationship can be obtained directly by fitting the y-axis coordinate values and z-axis coordinate values of several point clouds: z = f(y).
[0039] Optionally, in another embodiment of the present invention, the process by which the controller 2 calculates the first functional relationship between the boom extension and outrigger extension based on the three-dimensional point cloud data of the slope is as follows:
[0040] First, a three-dimensional rectangular coordinate system is established with the location of the three-dimensional imaging sensor 1 as the origin, the extension direction of the boom as the y-axis, and the extension direction of the outrigger as the z-axis. The three-dimensional point cloud captured by the three-dimensional imaging sensor 1 is filtered to remove invalid points. Then, the least squares method is used to fit the point cloud to a plane, and the angle between the slope and the boom is calculated based on the fitted plane.
[0041] Specifically, let the plane equation be: Ax + By + Cz + D = 0 (C ≠ 0), and let a0 = -A / C, a1 = -B / C, a2 = -D / C, then the above equation is transformed into: z = a0x + a1y + a2. Given several slope point cloud data (x... i y i , z i Substituting this into the equation, the corresponding least squares matrix AX = B is:
[0042]
[0043] When ||AX-B|| is minimized, the solution vector X is: X=(a0,a1,a2)=(A T A) -1 A T B, thus obtaining the expression for the fitted plane as: a0x + a1y + a2 - z = 0. Then the relative angles θ1 between the main arm and the slope, and θ2 between the outrigger and the slope, are respectively... Where n1 represents the normal vector of the fitted plane.
[0044] Then, based on the angles between the boom and outriggers and the slope, the functional relationship between the boom extension and outrigger extension is calculated using kinematic equations, which can be expressed as:
[0045] z = Δl * cosθ1 + z0 + Δz i
[0046] y = △l*cosθ² + y₀
[0047] In the formula, y represents the extension / retraction of the boom, z represents the extension / retraction of the outrigger, Δl is the distance the support point moves, (x0, y0, z0) is the three-dimensional coordinate of the current support point, and Δz i Let the deviation of the point cloud (x0, y0, z0) from the fitted plane on the z-axis be taken as an example. By rearranging the above formula, we can obtain the first functional relationship between the extension and retraction of the boom and the extension and retraction of the outrigger: z = f(x0, y).
[0048] In addition, if the controller 2 determines that the outrigger extension will reach the first limit position during this attitude adjustment, that is, the outrigger is extended to its longest position or retracted to its shortest position, the controller 2 will unlock the boom pitch cylinder after the outrigger extension reaches the first limit position, determine the boom pitch direction according to the outrigger extension state, and calculate the second functional relationship between the boom pitch angle, the boom extension amount, and the outrigger extension amount. Then, based on the second functional relationship, the controller 2 will synchronously control the boom pitch, boom extension, and outrigger extension to complete the boom attitude adjustment.
[0049] It is understandable that if it is determined that the outrigger extension will reach the first limit position during this posture adjustment, then before the outrigger extension reaches the first limit position, the boom extension and outrigger extension are controlled in coordination according to the first functional relationship, and the boom pitch action is locked. When the outrigger extension reaches the first limit position, controller 2 unlocks the boom pitch cylinder, determines the boom pitch direction based on the outrigger extension state, controls the boom to pitch if the outrigger is fully extended, and controls the boom to pitch if the outrigger is fully retracted. Then, keeping the support wheel position unchanged, the second functional relationship between the boom pitch angle, boom extension amount, and outrigger extension amount is calculated according to the kinematic equations. Since the outrigger is perpendicular to the boom, and the positions of the support point and the boom hinge point remain unchanged, a circle is drawn with the distance from the support point to the hinge point as its diameter. The boom and outrigger can then be considered as the two legs of the inscribed right triangle of this circle. Therefore, the expression for the second functional relationship is:
[0050]
[0051] Where y represents the extension / retraction distance of the boom, z represents the extension / retraction distance of the outrigger, L1 represents the current extension / retraction distance of the boom, and L2 represents the current extension / retraction distance of the outrigger. This indicates the tilt angle of the boom. Then, based on the second function relationship, the boom tilt, boom extension and retraction, and outrigger extension and retraction are controlled synchronously to complete the boom attitude adjustment.
[0052] Optionally, when synchronously controlling the boom pitch, boom extension, and outrigger extension according to the second functional relationship, the outrigger extension is adjusted to the second limit position. The second limit position refers to the outrigger extension dimension position with a margin, preferably the center position of the outrigger extension range.
[0053] Optionally, when the boom extension and outrigger extension are synchronously controlled according to the first functional relationship, when the support wheel moves to the third limit position, it is necessary to re-capture the three-dimensional image of the slope for the next round of adjustment. The third limit position refers to the distance before the boundary position of a single three-dimensional image, for example, 10cm before the boundary position, in order to ensure the continuity of the boom movements between the two consecutive movements.
[0054] Optionally, the boom control system further includes a first displacement sensor 3, a second displacement sensor 4, and a third displacement sensor 5 electrically connected to the controller 2. The first displacement sensor 3 detects the extension and retraction displacement of the left outrigger, the second displacement sensor 4 detects the extension and retraction displacement of the right outrigger, and the third displacement sensor 5 detects the extension and retraction displacement of the boom. The controller also provides feedback adjustment to the boom extension and retraction and the outrigger extension and retraction based on the detection results of the first displacement sensor 3, the second displacement sensor 4, and the third displacement sensor 5, respectively. It can be understood that by detecting the actual extension and retraction displacements of the left outrigger, the right outrigger, and the boom using displacement sensors and providing feedback control, closed-loop control of the boom extension and retraction and the outrigger extension and retraction is achieved, which helps improve the control accuracy of the boom extension and retraction and the outrigger extension and retraction. Preferably, the first displacement sensor 3 and the second displacement sensor 4 are magnetostrictive displacement sensors, and the third displacement sensor 5 is preferably a drawstring sensor.
[0055] Optionally, the boom control system further includes an angle sensor 6 electrically connected to the controller 2, which is used to detect the boom pitch angle. The controller 2 also performs feedback adjustment of the boom pitch based on the detection result of the angle sensor 6. It can be understood that by detecting the boom pitch angle through the angle sensor 6 and performing feedback control, closed-loop control of the boom pitch is achieved, which helps to improve the control accuracy of the boom pitch. Preferably, the angle sensor 6 is an angle encoder.
[0056] Optionally, the boom control system further includes a left outrigger cylinder pressure sensor and a right outrigger cylinder pressure sensor electrically connected to the controller 2. The left outrigger cylinder pressure sensor detects the pressure value of the left outrigger extension cylinder, and the right outrigger cylinder pressure sensor detects the pressure value of the right outrigger extension cylinder. The controller 2 also compensates for the extension and retraction of the left and right outriggers based on the detection results of the left and right outrigger cylinder pressure sensors. It can be understood that when the left and right outriggers are supported on a slope, the effective supporting force can be reflected by the fixed pressure value of the cylinders. If the pressure sensor detects a deviation in the actual pressure value of the cylinder after the left and right outriggers have extended to their positions, the controller 2 fine-tunes the extension and retraction of the left and right outriggers based on the deviation until the actual pressure value detected by the pressure sensor is near the fixed pressure value, thereby achieving pressure compensation for the outrigger extension and retraction. By using pressure sensors to establish a leg extension compensation system, the left and right outriggers can play an effective supporting role. Furthermore, the left and right outriggers are controlled separately, ensuring that when the boom support encounters uneven slopes or insufficient slope hardness, resulting in insufficient support force, both support wheels can effectively touch the ground and play a supporting role, thus improving the stability of the slotted grid beam integrated operation vehicle.
[0057] In addition, such as Figure 2 As shown, another embodiment of the present invention also provides a boom control method for a slotted lattice beam integrated operation vehicle, preferably employing the boom control system described above, comprising the following:
[0058] Step S1: Obtain the 3D point cloud data of the slope;
[0059] Step S2: Calculate the first functional relationship between the boom extension and outrigger extension based on the three-dimensional point cloud data of the slope.
[0060] Step S3: Obtain the target extension and retraction amount of the upper arm in this posture adjustment, and determine whether the extension and retraction of the outrigger will reach the first limit position in this posture adjustment based on the target extension and retraction amount of the upper arm and the first functional relationship.
[0061] Step S4: If it is determined that the outrigger extension will not reach the first limit position, lock the boom pitch cylinder and synchronously control the boom extension and outrigger extension according to the first function relationship until the boom moves to the target extension amount.
[0062] It is understood that the boom control method of the slotted lattice beam integrated operation vehicle in this embodiment takes into account that the boom pitching motion is a non-linear function of the extension and retraction of the boom pitching cylinder and the change in boom angle during the actual movement of the boom. Even a small displacement of the boom pitching cylinder can lead to a large change in the position of the boom end, which can easily cause abrupt instability. Therefore, this invention first acquires the three-dimensional point cloud data of the slope, and then calculates the first functional relationship between the boom extension and retraction of the outriggers based on the three-dimensional point cloud data of the slope. Based on the target extension of the boom and the first functional relationship, it can be determined whether the outrigger extension will reach the first limit position during this attitude adjustment. If it is determined that the outrigger extension will not reach the first limit position, the boom pitching cylinder is directly locked, that is, the boom pitching motion is locked. The boom extension and retraction and outrigger extension are synchronously controlled according to the first functional relationship until the boom moves to the target extension, thereby completing the attitude adjustment. The entire boom movement process is based on the coordinated control of boom extension and outrigger extension, realizing the automatic control of the closed-loop multi-degree-of-freedom boom system of the slotted lattice beam integrated operation vehicle. Furthermore, the boom pitching motion is locked during boom extension and retraction, improving the stability of boom movement during automatic control.
[0063] In addition, such as Figure 3 As shown, the boom control method further includes the following:
[0064] Step S5: If it is determined that the outrigger extension will reach the first limit position during this attitude adjustment, then after the outrigger extension reaches the first limit position, unlock the boom pitch cylinder, determine the boom pitch direction according to the outrigger extension state, and calculate the second functional relationship between the boom pitch angle, boom extension amount, and outrigger extension amount. Then, control the boom pitch, boom extension, and outrigger extension synchronously according to the second functional relationship to complete the boom attitude adjustment.
[0065] In addition, another embodiment of the present invention provides a slotted lattice beam integrated operation vehicle, preferably employing the boom control system described above.
[0066] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.
[0067] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.
Claims
1. A boom control system for a slotted lattice beam integrated operation vehicle, characterized in that, include: A three-dimensional imaging sensor (1) is used to acquire three-dimensional point cloud data of the slope; The controller (2) is electrically connected to the three-dimensional imaging sensor (1). It is used to first calculate the first functional relationship between the extension and retraction of the boom and the extension and retraction of the outrigger based on the three-dimensional point cloud data of the slope, then obtain the target extension and retraction of the boom in this posture adjustment, and determine whether the extension and retraction of the outrigger will reach the first limit position in this posture adjustment based on the target extension and retraction of the boom and the first functional relationship. If it is determined that the extension and retraction of the outrigger will not reach the first limit position, the boom pitch cylinder is locked, and the extension and retraction of the boom and the outrigger are synchronously controlled according to the first functional relationship until the boom moves to the target extension and retraction.
2. The boom control system of the slotted lattice beam integrated operation vehicle as described in claim 1, characterized in that, If it is determined that the outrigger extension will reach the first limit position during this attitude adjustment, the boom pitch cylinder is unlocked after the outrigger extension reaches the first limit position. The boom pitch direction is determined according to the outrigger extension state, and the second functional relationship between the boom pitch angle, boom extension amount, and outrigger extension amount is calculated. Then, the boom pitch, boom extension, and outrigger extension are controlled synchronously according to the second functional relationship to complete the boom attitude adjustment.
3. The boom control system of the slotted lattice beam integrated operation vehicle as described in claim 1, characterized in that, It also includes a first displacement sensor (3), a second displacement sensor (4) and a third displacement sensor (5) electrically connected to the controller (2). The first displacement sensor (3) is used to detect the extension and retraction displacement of the left outrigger, the second displacement sensor (4) is used to detect the extension and retraction displacement of the right outrigger, and the third displacement sensor (5) is used to detect the extension and retraction displacement of the boom. The controller also performs feedback adjustment on the extension and retraction of the boom and the outriggers based on the detection results of the first displacement sensor (3), the second displacement sensor (4) and the third displacement sensor (5).
4. The boom control system of the slotted lattice beam integrated operation vehicle as described in claim 2, characterized in that, It also includes an angle sensor (6) electrically connected to the controller (2) for detecting the pitch angle of the boom, and the controller (2) also provides feedback adjustment of the boom pitch based on the detection result of the angle sensor (6).
5. The boom control system of the slotted lattice beam integrated operation vehicle as described in claim 1, characterized in that, It also includes a left outrigger cylinder pressure sensor and a right outrigger cylinder pressure sensor that are electrically connected to the controller (2). The controller (2) also compensates for the extension and retraction of the left and right outriggers based on the detection results of the left outrigger cylinder pressure sensor and the right outrigger cylinder pressure sensor, respectively.
6. The boom control system of the slotted lattice beam integrated operation vehicle as described in claim 1, characterized in that, The controller (2) establishes a three-dimensional rectangular coordinate system with the location of the three-dimensional imaging sensor (1) as the origin, the extension direction of the upper arm as the y-axis, and the extension direction of the outrigger as the z-axis. Based on the coordinate values of several point clouds, the controller obtains the first functional relationship between the extension amount of the upper arm and the extension amount of the outrigger: z=f(y), where y represents the extension amount of the upper arm and z represents the extension amount of the outrigger.
7. The boom control system of the slotted lattice beam integrated operation vehicle as described in claim 2, characterized in that, The expression for the second functional relationship is: ； Where y represents the extension / retraction distance of the boom, z represents the extension / retraction distance of the outrigger, L1 represents the current extension / retraction distance of the boom, and L2 represents the current extension / retraction distance of the outrigger. This indicates the pitch angle of the upper arm.
8. A boom control method for a slotted lattice beam integrated operation vehicle, employing the boom control system described in any one of claims 1 to 7, characterized in that, Includes the following: Obtain 3D point cloud data of the slope; The first functional relationship between the boom extension and outrigger extension is calculated based on the three-dimensional point cloud data of the slope. Obtain the target extension and retraction amount of the upper arm during this posture adjustment, and determine whether the extension and retraction of the outriggers will reach the first limit position during this posture adjustment based on the target extension and retraction amount of the upper arm and the first functional relationship. If it is determined that the outrigger extension will not reach the first limit position, the boom pitch cylinder is locked, and the boom extension and outrigger extension are controlled synchronously according to the first function relationship until the boom moves to the target extension amount.
9. The boom control method for the slotted lattice beam integrated operation vehicle as described in claim 8, characterized in that, Also includes the following: If it is determined that the outrigger extension will reach the first limit position during this attitude adjustment, the boom pitch cylinder is unlocked after the outrigger extension reaches the first limit position. The boom pitch direction is determined according to the outrigger extension state, and the second functional relationship between the boom pitch angle, boom extension amount, and outrigger extension amount is calculated. Then, the boom pitch, boom extension, and outrigger extension are controlled synchronously according to the second functional relationship to complete the boom attitude adjustment.
10. A slotted lattice beam integrated operation vehicle, characterized in that, The boom control system described in any one of claims 1 to 7 is adopted.