Method for determining parameters of whole-vehicle boom system, electronic equipment and storage medium

Abstract

The invention relates to the field of engineering vehicle design, in particular to a method for determining parameters of a whole vehicle boom system, electronic equipment and a storage medium. The method comprises the following steps: constructing a cantilever crane system parameterized model corresponding to a target cantilever crane system, and defining design variables of the cantilever crane system parameterized model; solving the cantilever crane system parameterized model through finite element software according to a preset boundary condition and a preset load so as to output a performance index related to the target cantilever crane system; a proxy model is constructed according to a preset algorithm, and the target typical working attitude is determined according to multiple typical working attitudes corresponding to the sample vehicle; taking the performance index as a preset target performance index as an optimization target, and determining a target design variable data set from a first preset number of design variable data sets extracted from a preset selection domain of each design variable through the proxy model based on a preset geometric constraint condition; and determining target boom parameters of the target boom system according to the target design variable data set.

Description

Technical Field

[0001] The present application relates to the field of engineering vehicle design, and in particular to a method, electronic equipment, storage medium and computer program product for determining parameters of a whole vehicle boom system. Background Art

[0002] As pump trucks develop towards longer lengths, the weight of the entire vehicle increases dramatically, which poses a severe test on the compliance of the vehicle weight and axle load, and also puts forward urgent requirements for the lightweight design of pump trucks. The length distribution, hinge position and cross-sectional dimensions of the pump truck boom have a significant impact on the arm root bending moment of the boom system, which directly determines the weight of getting on and off the vehicle and the entire vehicle. How to reasonably distribute the boom length, hinge position and cross-sectional dimensions in the early stage of design and development has become the core link of the lightweight design of pump trucks. The existing technology mainly uses one-dimensional units of rods and beams to simulate this truss structure, without considering the cross-sectional shape of the boom, nor the specific details of the structure. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a method, electronic equipment, storage medium and computer program product for determining the parameters of a vehicle boom system.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a method for determining the parameters of a vehicle boom system, the method comprising:

[0005] Constructing a boom system parametric model corresponding to the target boom system, and defining design variables of the boom system parametric model, wherein the design variables include boom section dimensions and boom section cover thickness;

[0006] The finite element software is used to solve the boom system parameterized model according to the preset boundary conditions and preset loads to output the performance indicators related to the target boom system;

[0007] A proxy model is constructed according to a preset algorithm, wherein the input of the proxy model is a design variable data group corresponding to the boom system parameterized model, wherein each design variable data group includes the value of each design variable, and the output of the proxy model is a performance index of the target boom system under a target typical working posture, wherein the target typical working posture is determined according to a plurality of typical working postures corresponding to the sample vehicle;

[0008] Taking the performance index as the preset target performance index and the optimization target, determining the target design variable data set from the first preset number of design variable data sets extracted from the preset selection domain of each design variable based on the preset geometric constraint condition through the proxy model;

[0009] The target boom parameters of the target boom system are determined according to the target design variable data group, wherein the target boom parameters include boom section length, hinge point position and cross-sectional size.

[0010] In an embodiment of the present application, constructing a parametric model of a boom system corresponding to a target boom system includes: obtaining a benchmark model corresponding to a benchmark vehicle, and a benchmark cross-sectional size of the benchmark model, wherein the benchmark vehicle is a vehicle whose boom length is closest to that of the target vehicle, and the benchmark cross-sectional size includes a benchmark length, a benchmark width, and a benchmark height; for each boom section of the target boom system, establishing a single-section boom parametric model corresponding to the boom section according to a first preset rule based on the benchmark cross-sectional size and the target typical working posture, and defining design variables of the single-section boom parametric model, wherein the design variables include the boom section cross-sectional size and the boom section cover thickness; assembling the single-section boom parametric models corresponding to each boom section of the target boom system according to a second preset rule to obtain a parametric model of the boom system corresponding to the target boom system.

[0011] In an embodiment of the present application, for each boom section of the target boom system, a single-section arm parametric model corresponding to the boom section is established according to a first preset rule based on a reference cross-sectional size and a target typical working posture, including: for each boom section of the target boom system, the hinge coordinates of each connection hinge on the boom section in the single-section arm parametric model are determined according to the reference cross-sectional size and the design variable value, wherein the coordinate system where the hinge coordinates are located is constructed with the arm root hinge of the boom section as the origin, the extension direction of the boom section as the X-axis, the perpendicular direction to the X-axis as the Y-axis, and the perpendicular direction to the X-axis and the Y-axis as the Z-axis; for each boom section of the target boom system, the single-section arm parametric model of the boom section is rotated according to the boom section inclination angle in the target typical working posture, so that the inclination angle of the single-section arm parametric model of the boom section is consistent with the inclination angle in the target typical working posture.

[0012] In an embodiment of the present application, the boom sections included in the target boom system are connected in sequence starting from a turntable, the target boom system also includes a connecting rod group, the connecting rod group includes a bent connecting rod and a straight connecting rod, and the single-section arm parameterized model corresponding to each boom section of the target boom system is assembled according to a second preset rule to obtain a boom system parameterized model corresponding to the target boom system, including: determining the hinge point coordinates of the arm root hinge point and the arm end hinge point in the single-section arm parameterized model of each boom section of the target boom system, starting from the turntable, adjusting the coordinates of the arm root hinge point of the next boom section to the arm end hinge point coordinates of the previous boom section in sequence to obtain the target boom system The single-section arm parameterized model of each arm section is connected; the hinge point coordinates of the connecting rod hinge point of each arm section of the target arm system after connection are determined in the target arm system coordinate system, wherein the target arm system coordinate system takes the connection point between the turntable and the arm section as the origin, the horizontal direction as the X-axis, the vertical direction with the X-axis as the Y-axis, and the vertical direction of the X-axis and the Y-axis as the Z-axis; the preset connecting rod length of the connecting rod group is obtained; the connecting point of the bent connecting rod and the straight connecting rod is determined according to the preset connecting rod length and the hinge point coordinates of the connecting rod hinge point; the connecting rod group is connected according to the connecting point to obtain the arm system parameterized model corresponding to the target arm system.

[0013] In an embodiment of the present application, the method also includes: before constructing a parameterized model of the boom system corresponding to the target boom system, obtaining the operating inclination angle data and boom length parameters of the sample vehicle, wherein the difference between the boom length of the sample vehicle and the boom length of the target vehicle is less than a first preset value, the operating inclination angle data includes the boom inclination angles of each boom section of the sample vehicle during operation, and the boom length parameters include the length parameters of each boom section of the sample vehicle; determining all operating postures that can be reached by the sample vehicle according to the operating inclination angle data and the boom length parameters; performing big data statistics on all operating postures and classifying them to determine multiple typical posture types corresponding to the sample vehicle, wherein each typical posture type includes multiple typical postures; dividing all operating inclination angle data into multiple angle groups according to preset angles; determining the frequency of the boom inclination angle of each boom section in each angle group according to the operating inclination angle data corresponding to all typical postures included in each typical posture type; determining the typical posture type corresponding to the boom inclination angle corresponding to the maximum frequency as the target typical posture type, and determining any one of the typical postures included in the target typical posture type as the target typical posture.

[0014] In an embodiment of the present application, the method also includes: before constructing the proxy model according to the preset algorithm, obtaining the typical posture inclination angle of each boom section corresponding to the target typical posture; sampling from the preset selection domain corresponding to each design variable according to the preset sampling method to obtain a third preset number of groups of design variable data; for each group of design variable data, determining the performance indicators corresponding to each group of design variable data when the boom system parametric model is in the target typical posture through finite element software; determining the design variable data of the third preset number of groups as the model training input sample data of the proxy model, and determining the performance indicators corresponding to each group of design variable data as the model training output sample data of the proxy model, so as to train the proxy model

[0015] In an embodiment of the present application, determining a target variable data group from a first preset number of groups of design variable data extracted from a preset selection domain of each design variable includes: taking a performance indicator reaching a preset target performance indicator as an optimization goal, determining a design variable data group to be verified from a first preset number of groups of design variable data extracted from a preset selection domain of each design variable based on preset geometric constraints through a proxy model; verifying the design variable data group to be verified through other typical working postures except the target typical working posture among multiple typical working postures, and determining the design variable data group to be verified as the target design variable data group when the performance indicator to be verified corresponding to the design variable data group to be verified meets the preset conditions.

[0016] In an embodiment of the present application, the design variable data group to be verified is verified through other typical working postures except the target typical working posture among multiple typical working postures, including: for any other typical working posture, the performance indicators corresponding to the design variable data group to be verified are determined by finite element software when the parametric model of the boom system is in other typical postures.

[0017] In an embodiment of the present application, determining the target boom parameters of the target boom system according to the target design variable data group includes: for each boom section of the target boom system, obtaining a preset functional relationship between the boom section size of the boom section and the boom section length of the boom section; for each boom section of the target boom system, determining the boom section length of the boom section according to the target design variable data corresponding to the boom section and the functional relationship corresponding to the boom section; for each boom section of the target boom system, determining the hinge coordinates of each connecting hinge on the boom section according to the reference cross-sectional size and the target design variable data of each boom section, wherein the coordinate system where the hinge coordinates are located is constructed with the arm root hinge of the boom section as the origin, the extension direction of the boom section as the X-axis, the perpendicular direction of the X-axis as the Y-axis, and the perpendicular direction of the X-axis and the Y-axis as the Z-axis.

[0018] A second aspect of the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0019] Memory stores computer-executable instructions;

[0020] The processor executes the computer-executable instructions stored in the memory to implement the method for determining the parameters of the vehicle boom system as described in any one of the above embodiments.

[0021] A third aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configures the processor to execute a method for determining vehicle boom system parameters according to any one of the above embodiments.

[0022] A fourth aspect of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements a method for determining parameters of a vehicle boom system according to any one of the above embodiments.

[0023] The above technical solution, based on the big data statistics of all typical postures, models the boom system and uses the optimization algorithm to obtain the optimal design of the boom length, hinge position and cross-sectional size under the preset optimization target.

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

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

[0026] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0027] Figure 1 A schematic diagram of a process for determining vehicle boom system parameters according to an embodiment of the present application is shown;

[0028] Figure 2 A schematic diagram of a boom section of a boom system according to an embodiment of the present application is schematically shown;

[0029] Figure 3 The following schematically shows an assembly diagram of a boom system according to an embodiment of the present application;

[0030] Figure 4 The following schematically shows an assembly diagram of another boom system according to an embodiment of the present application;

[0031] Figure 5 A flowchart of obtaining sample data of an agent model according to an embodiment of the present application is schematically shown;

[0032] Figure 6 The schematic diagram shows a process of constructing an agent model according to an embodiment of the present application;

[0033] Figure 7 A schematic diagram of a boom section working condition of a boom system according to an embodiment of the present application is schematically shown;

[0034] Figure 8 A schematic diagram of a boom section working condition of another boom system according to an embodiment of the present application is schematically shown;

[0035] Fig. 9 A schematic diagram of a flow chart of another method for determining parameters of a vehicle boom system according to an embodiment of the present application is shown;

[0036] Fig.10 A structural block diagram of an electronic device according to an embodiment of the present application is schematically shown;

[0037] Fig.11 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown.

[0038] Description of Reference Numerals

[0039] D, reference section point; E, reference section point; F, reference section point; G, reference section point; L(i), reference length; W(i), reference width; H(i), reference height; G i , hinge point of the i-th boom end; O i+1 , the i+1th boom root hinge point; A, connecting rod hinge point; B, connecting rod hinge point; C, connection point; L1, the preset side length of the curved connecting rod, L2, the preset side length of the straight connecting rod; L0, the distance between the connecting rod hinge point A and the connecting rod hinge point B; θ AC , the azimuth angle of the line between the connecting rod hinge point A and the connection point C around the x-axis in the target boom system coordinate system; θ CAB , the angle between the line between the connecting rod hinge point A and the connecting rod hinge point B and the line between the connecting rod hinge point A and the connection point C; θ AB , the azimuth angle of the line between the connecting rod hinge point A and the connecting rod hinge point B around the x-axis in the target boom system coordinate system. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0041] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0042] 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 used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0043] Figure 1 The following schematically shows a flow chart of a method for determining vehicle boom system parameters according to an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a method for determining parameters of a vehicle boom system, which may include the following steps.

[0044] Step 101: construct a boom system parametric model corresponding to a target boom system, and define design variables of the boom system parametric model, wherein the design variables include boom section cross-sectional dimensions and boom section cover plate thickness.

[0045] The processor can construct a boom system parametric model corresponding to the target boom system for which the vehicle boom system parameters are to be determined, and after constructing the boom system parametric model, the processor can define the design variables in the boom system parametric model according to the data input by the user, wherein the design variables may include the boom section size and boom cover thickness of the boom system parametric model.

[0046] Step 102: Solve the boom system parameterized model according to preset boundary conditions and preset loads using finite element software to output performance indicators related to the target boom system.

[0047] After the processor constructs the boom system parameterized model corresponding to the target boom system, the processor can obtain the preset boundary conditions and preset loads for the target boom system input by the user, and then solve the boom system parameterized model through finite element software according to the preset boundary conditions and preset loads to output performance indicators related to the target boom system. For example, commonly used performance evaluation indicators may include the total length of the boom system, the total mass of the overall boom model, the maximum vertical stiffness of the boom system, the stress value of each boom section of the boom system, and the like.

[0048] Step 103, constructing a proxy model according to a preset algorithm, wherein the input of the proxy model is a design variable data group corresponding to the boom system parametric model, wherein each group of design variable data includes the value of each design variable, and the output of the proxy model is a performance indicator of the target boom system in a target typical working posture, wherein the target typical working posture is determined based on multiple typical working postures corresponding to the sample vehicle.

[0049] Since, if the processor is for different design variable data groups, each group of design variable data includes the value of each design variable, it is necessary to solve the arm system parametric model under the design variable data group according to the preset boundary conditions and preset loads through the finite element software, so as to output the performance indicators related to the arm system under the design variable data group. In the case of many design variable data groups, the time cost will be too huge, so the processor can build an agent model to process the relationship between the design variable data group (input) and the performance indicator (output). The agent model can be an analysis model with a short calculation cycle and high output result accuracy. For example, the agent model can be a neural network model, wherein the input of the agent model is the design variable data group corresponding to the arm system parametric model, and the output of the agent model is the performance indicator of the target arm system under the target typical working posture. For the definition of the target typical working posture, the processor can obtain multiple working postures of the sample vehicle, and perform statistics on the multiple working postures to determine multiple typical working postures of the sample vehicle, and then select the target typical working posture from the multiple typical working postures.

[0050] In one embodiment, the method also includes: before constructing a parameterized model of the boom system corresponding to the target boom system, obtaining the operating inclination angle data and boom length parameters of the sample vehicle, wherein the difference between the boom length of the sample vehicle and the boom length of the target vehicle is less than a first preset value, the operating inclination angle data includes the boom inclination angles of each boom section of the sample vehicle during operation, and the boom length parameters include the length parameters of each boom section of the sample vehicle; determining all operating postures that can be reached by the sample vehicle according to the operating inclination angle data and the boom length parameters; performing big data statistics on all operating postures and classifying them to determine multiple typical posture types corresponding to the sample vehicle, wherein each typical posture type includes multiple typical postures; dividing all operating inclination angle data into multiple angle groups according to preset angles; determining the frequency of the boom inclination angle of each boom section in each angle group according to the operating inclination angle data corresponding to all typical postures included in each typical posture type; determining the typical posture type corresponding to the boom inclination angle corresponding to the maximum frequency as the target typical posture type, and determining any typical posture included in the target typical posture type as the target typical posture.

[0051] The processor may determine a vehicle including a target boom system whose whole vehicle boom system parameters are to be determined as a target vehicle. Before the processor constructs a boom system parameterized model corresponding to the target boom system, the processor may determine a vehicle whose boom length difference with the target vehicle is less than a first preset value as a sample vehicle. For example, assuming that the boom length parameter of the target vehicle is 70 meters, the user sets the first preset value to 5 meters, assuming that there are vehicles with boom lengths of 67 meters and 62 meters among the existing vehicles, the processor may use vehicles with boom lengths of 67 meters as sample vehicles, that is, the sample vehicles may be multiple vehicles. For each sample vehicle, the processor may obtain the boom length parameter of the sample vehicle, that is, the length parameter of each boom section of the sample vehicle, and obtain the operating inclination data reached by the sample vehicle during the actual operation process. The processor may determine all operating postures that the sample vehicle can reach based on the operating inclination data and boom length parameter of the sample vehicle. After determining multiple operating postures, the processor may perform big data statistical classification on all operating postures to determine multiple typical posture types corresponding to the sample vehicle, and each typical posture type may include multiple typical postures that conform to the typical posture type. The processor can divide all the working inclination data of the sample vehicle according to the preset angles, thereby obtaining a plurality of angle groups. The processor can determine the working inclination data corresponding to all the typical postures included in each typical posture type, and determine the arm inclination of each boom section in each typical posture through the obtained working inclination data. The processor can statistically determine the frequency of the arm inclination of each boom section in each divided angle group, that is, the number of times the arm inclination of each boom section appears in each angle group. After the processor completes the analysis of the working inclination data corresponding to all the typical posture types, it can select the value with the largest frequency, and determine the typical posture type corresponding to the arm inclination corresponding to the maximum frequency. The processor can determine the typical posture type as the target typical posture type, and determine any typical posture included in the target typical posture type as the target typical posture.

[0052] Step 104: Taking the performance index as the preset target performance index and the optimization target, a target design variable data set is determined from a first preset number of design variable data sets extracted from a preset selection domain of each design variable based on a proxy model and preset geometric constraints;

[0053] Step 105: Determine target boom parameters of the target boom system according to the target design variable data group, wherein the target boom parameters include boom section length, hinge position and cross-sectional size.

[0054] After the processor constructs the proxy model according to the preset algorithm, the input of the proxy model is the design variable data group corresponding to the boom system parameterized model, and the processor can obtain the preset selection domain of each design variable, that is, each design variable value in the design variable data group input to the proxy model is selected from the preset selection domain of each design variable, and the processor can extract the first preset number of design variable data groups obtained from the selection domain of each design variable. The output of the proxy model is the performance index of the target boom system under the target typical working posture. The processor can obtain the preset geometric constraint condition and add the preset geometric constraint condition to the proxy model. The proxy model takes the performance index as the preset target performance index as the optimization target based on the geometric constraint condition. For example, assuming that the output performance index includes the total length of the boom system, and the preset target performance index is the shortest total length of the boom system, then the proxy model is based on the preset geometric constraint condition, takes the shortest total length of the boom system as the optimization target, and determines the target design variable data group corresponding to the preset target performance index from the first preset number of design variable data groups extracted from the selection domain of each design variable. The processor may determine target boom parameters of the target boom system according to the determined target design variable data group, wherein the target boom parameters may include boom length, hinge point position, and cross-sectional dimensions of the boom.

[0055] In one embodiment, constructing a boom system parametric model corresponding to a target boom system includes: obtaining a benchmark model corresponding to a benchmark vehicle, and a benchmark cross-sectional size of the benchmark model, wherein the benchmark vehicle is a vehicle whose boom length is closest to that of the target vehicle, and the benchmark cross-sectional size includes a benchmark length, a benchmark width, and a benchmark height; for each boom section of the target boom system, establishing a single-section boom parametric model corresponding to the boom section according to a first preset rule based on the benchmark cross-sectional size and the target typical working posture, and defining design variables of the single-section boom parametric model, wherein the design variables include the boom section size and the boom section cover thickness; assembling the single-section boom parametric models corresponding to each boom section of the target boom system according to a second preset rule to obtain a boom system parametric model corresponding to the target boom system.

[0056] The processor can construct a parameterized model of the boom system corresponding to the target boom system. The processor can select a reference vehicle, which can be a vehicle with a boom length closest to that of the target vehicle, and obtain a reference model corresponding to the reference vehicle. After the processor obtains the reference model corresponding to the reference vehicle, it can determine the reference cross-sectional dimensions of the reference model according to the data input by the user. The reference cross-sectional dimensions include a reference length, a reference width, and a reference height. For the selection of the reference cross-sectional dimensions, the processor can determine the reference cross-sectional dimensions by obtaining the data input by the user. The reference cross-sectional dimensions generally refer to a transition section with a regular shape in the boom section, or select a length between 1 / 3 and 2 / 3 of the boom section as the reference cross-sectional dimensions. For example Figure 2The arm section shown has the arm root of the arm section at the left end and the arm end of the arm section at the right end. DEFG as shown in the figure can be selected as the reference section of the reference segment of the arm section, and the cross section of the reference segment can be determined. The reference length L(i), reference width W(i), and reference height H(i) of the reference cross section size of the arm section can be determined according to the reference cross section DEFG and the cross section. For each arm section of the target boom system, the processor can establish a single-section arm parametric model corresponding to each arm section according to the reference cross section size of the reference model and the target typical working posture according to the first preset rule, and define the design variables of the single-section arm parametric model, wherein the design variables may include the arm section size and the arm cover plate thickness. After establishing the single-section arm parametric model corresponding to each arm section, the processor can assemble the single-section arm parametric model corresponding to each arm section of the target boom system according to the second preset rule, thereby obtaining the boom system parametric model corresponding to the target boom system.

[0057] In one embodiment, for each boom section of the target boom system, a single-section boom parametric model corresponding to the boom section is established according to a first preset rule based on a reference cross-sectional size and a target typical working posture, including: for each boom section of the target boom system, the hinge coordinates of each connection hinge on the boom section in the single-section boom parametric model are determined according to the reference cross-sectional size and the design variable value, wherein the coordinate system where the hinge coordinates are located is constructed with the arm root hinge of the boom section as the origin, the extension direction of the boom section as the X-axis, the direction perpendicular to the X-axis as the Y-axis, and the direction perpendicular to the X-axis and the Y-axis as the Z-axis; for each boom section of the target boom system, the single-section boom parametric model of the boom section is rotated according to the boom section inclination angle in the target typical working posture, so that the inclination angle of the single-section boom parametric model of the boom section is consistent with the inclination angle in the target typical working posture.

[0058] The target vehicle may include a turntable and a target boom system, wherein the target boom system includes a plurality of boom sections connected sequentially starting from the turntable, and for each boom section, the end close to the turntable is determined as the arm root of the boom section, and the end away from the turntable is determined as the arm end of the boom section, and each boom section includes a plurality of hinge points for hinge connection with other components or boom sections. After obtaining the reference model and the reference cross-sectional dimensions, the processor may establish a boom section coordinate system corresponding to each boom section of the target boom system, wherein the boom section coordinate system takes the arm root hinge point of the boom section as the origin, wherein the arm root hinge point is the hinge point closest to the arm root end, the extension direction of the boom section is the X-axis, the Y-axis is perpendicular to the X-axis, and the Z-axis is perpendicular to the X-axis and the Y-axis. For each boom section of the target boom system, the processor can determine the hinge coordinates of each connection hinge on the boom section in the single-section arm parametric model of the boom section on the boom section coordinate system. Furthermore, when determining the hinge coordinates of each connection hinge on the boom section coordinate system of the boom section, the processor does not directly determine the absolute value of each connection hinge relative to the origin of the coordinate system, but first determines the absolute value of the connection hinge closest to the origin of the coordinate system relative to the origin of the coordinate system. For other connection hinges except this connection hinge, the coordinates of the previous connection hinge and the coordinate increment relative to the previous connection hinge are used as the hinge coordinates to ensure the correct relative position relationship between the points in the form of coordinate increments. For example, assuming that starting from the origin, connection hinge A, connection hinge B and connection hinge C are distributed in sequence in the direction away from the origin, and connection hinge A is the connection hinge closest to the origin, the processor can determine the absolute value of connection hinge A relative to the origin of the coordinate system. Assuming that the coordinates of connection hinge A are (A x , A y , A z ), for the connection hinge B, the processor can use the coordinates of the connection hinge A and the increment between the connection hinge B and the connection hinge A as the hinge coordinates of the connection hinge B. For example, the coordinates of the connection hinge B can be (A x +Δx B , A y +Δy B , A z +Δz B ), the coordinates of the connection hinge C can be determined based on the connection hinge B and the increment between the connection hinge C and the connection hinge B. For example, the coordinates of the connection hinge C can be (A x +Δx B +Δx C , A y +Δy B +Δy C , A z +Δz B +Δz C). Further, when establishing a single-section arm parametric model, the coordinates of all the set points used to establish the model can be determined by the above scheme to ensure the accuracy of the model. When the processor determines the hinge coordinates of the connection hinge in the single-section arm parametric model, the processor can first determine the hinge position in the reference model according to the reference section size, and then determine the hinge coordinates in the single-section arm parametric model corresponding to the design variable value according to the reference section size and the design variable value according to the proportional relationship between the two. For example, assuming that the coordinate value of a connection hinge point E of the i-th arm can be defined as Among them, E x , E y , E z are the coordinates of the connection hinge point E in the parameterized model of the single-section arm of the i-th section arm according to the coordinates of the previous connection hinge point and the coordinate increment relative to the previous one, E 基x 、E 基y 、E 基z are the basic coordinates of the connection hinge E of the i-th boom in the benchmark model, L(i), W(i), H(i) are the benchmark length, benchmark width and benchmark height of the i-th boom, Li, Wi, Hi are the design variable values ​​of the length, width and height of the i-th single-section boom parametric model. The above method can be used to determine the coordinates of each connection hinge in the single-section boom parametric model.

[0059] The processor can determine the arm section inclination angle of each arm section in the target typical working posture. For each arm section of the target boom system, the processor can rotate the single-section arm parameterized model corresponding to the arm section according to the arm section inclination angle of the arm section in the target typical working posture, so that the inclination angle of the single-section arm parameterized model of each arm section is consistent with the inclination angle in the target typical working posture. For example, assuming that the arm section inclination angle of the i-th arm section in the target typical working posture is 60°, the processor rotates the single-section arm parameterized model corresponding to the i-th arm section so that the inclination angle of the single-section arm parameterized model is consistent with the inclination angle in the target typical working posture. For each arm section of the target boom system, the processor can determine the hinge coordinates of each connection hinge on the single-section arm parameterized model corresponding to each arm section according to the reference cross-sectional size and the design variable value through the above technical solution, and rotate the single-section arm parameterized model of each arm section according to the arm section inclination angle in the target typical working posture, thereby obtaining the single-section arm parameterized model corresponding to each arm section of the target boom system.

[0060] In one embodiment, the boom sections included in the target boom system are connected in sequence starting from a turntable, the target boom system also includes a connecting rod group, the connecting rod group includes a bent connecting rod and a straight connecting rod, and the single-section arm parameterized model corresponding to each boom section of the target boom system is assembled according to a second preset rule to obtain a boom system parameterized model corresponding to the target boom system, which includes: determining the hinge point coordinates of the arm root hinge point and the arm end hinge point in the single-section arm parameterized model of each boom section of the target boom system, starting from the turntable, adjusting the coordinates of the arm root hinge point of the next boom section to the arm end hinge point coordinates of the previous boom section in sequence to obtain the target boom system. The single-section arm parameterized model of each arm section is connected; the hinge point coordinates of the connecting rod hinge point of each arm section of the target arm system after connection are determined in the target arm system coordinate system, wherein the target arm system coordinate system takes the connection point between the turntable and the arm section as the origin, the horizontal direction as the X-axis, the vertical direction with the X-axis as the Y-axis, and the vertical direction of the X-axis and the Y-axis as the Z-axis; the preset connecting rod length of the connecting rod group is obtained; the connecting point of the bent connecting rod and the straight connecting rod is determined according to the preset connecting rod length and the hinge point coordinates of the connecting rod hinge point; the connecting rod group is connected according to the connecting point to obtain the arm system parameterized model corresponding to the target arm system.

[0061] After the processor has determined the single-section arm parametric model corresponding to each arm section of the target arm section system, it is necessary to assemble the single-section arm parametric model corresponding to each arm section to obtain the arm system parametric model corresponding to the target boom system. The arm sections included in the target boom system are connected in sequence starting from the turntable. The processor can determine the hinge point coordinates of the arm root hinge point and the arm end hinge point in the single-section arm parametric model for each arm section of the target boom system, wherein the end of each arm section close to the turntable is the arm root of the arm section, and the end away from the turntable is the arm end of the arm section. The hinge point on the arm section closest to the arm root is the arm root hinge point, and the hinge point closest to the arm end is the arm end hinge point. Starting from the turntable, the processor can sequentially adjust the hinge coordinates of the arm root hinge of the next arm section to the hinge coordinates of the arm end hinge of the previous arm section, so that the hinge coordinates of the arm root hinge of the next arm section are consistent with the hinge coordinates of the arm end intersection of the previous arm section, thereby connecting the single-section arm parametric models corresponding to the two arm sections, and finally connecting the single-section arm parametric models of each arm section included in the target boom system. Since the hinge coordinates of the connection hinges of the single-section arm parametric model of each arm section, except for the hinge coordinates of the connection hinge closest to the origin of the coordinate system, are absolute values ​​relative to the origin of the coordinate system, the hinge coordinates of other connection hinges are based on the intersection coordinates of the previous point and the coordinate increment relative to the previous point. Therefore, when connecting the single-section arm parametric model, it is necessary to first determine the absolute value coordinate value of the arm end hinge of the arm section, and then adjust the coordinates of the arm root hinge of the next arm section to make it consistent with the coordinates of the arm end hinge of the previous arm section. For example Figure 3As shown, the arm sections of the target boom system are connected to the i-th arm section and the i+1-th arm section in sequence starting from the turntable. The processor can determine the arm end of the i-th arm section and the hinge point G of the i-th arm section. i The hinge coordinates of the i+1th arm, the arm root of the i+1th arm, and the hinge point O of the i+1th arm root i+1 The processor can adjust the hinge point O of the i+1th boom. i+1 The hinge coordinates of the i+1th boom root hinge O i+1 The hinge coordinates of the i-th arm end hinge point G i The hinge coordinates are consistent, thereby realizing the assembly between the i-th boom and the i+1-th boom. Through the above scheme, all the booms included in the target boom system can be assembled and connected in sequence.

[0062] The target boom system also includes a connecting rod group, which includes a bent connecting rod and a straight connecting rod. After each boom section on the target boom system is connected, the processor can determine the hinge coordinates of the connecting rod hinge of each boom section of the connected target boom system in the target boom system coordinate system according to the coordinates of the arm root hinge of each boom section and the incremental value of the connecting rod hinge relative to the arm root hinge, wherein the connecting rod hinge is the hinge point on each boom section for connecting the connecting rod group, and the target boom system coordinate system is a coordinate system established with the connection point between the turntable and the boom section as the origin, the horizontal direction as the X-axis, the direction perpendicular to the X-axis as the Y-axis, and the direction perpendicular to the X-axis and the Y-axis as the Z-axis. The processor can obtain the preset connecting rod length of each connecting rod included in the connecting rod group. The processor can determine the connection points of the bent link and the straight link according to the preset link length and the hinge coordinates of the link hinge for connecting with the link group, and use the connection points to locate the bent link and the straight link in the target boom system, that is, connect the bent link and the straight link in the link group according to the determined connection points, so as to obtain the boom system parameterized model corresponding to the target boom system. For example, Figure 4 As shown, the i-th arm and the i+1-th arm are hinged, the connecting rod hinge point A of the i-th arm and the connecting rod hinge point B of the i+1-th arm are respectively the connecting hinge points for connecting the connecting rods, the processor can determine the hinge coordinates of the connecting rod hinge point A and the connecting rod hinge point B in the target arm system coordinate system through the single-arm parameterized model, and can also obtain the preset side length L1 of the bent connecting rod in the connecting rod group and the preset side length L2 of the straight connecting rod, and calculate and determine the position information of the connecting point C of the bent connecting rod and the straight connecting rod through the following formula for positioning the bent connecting rod and the straight connecting rod in space, and the processor can determine the distance L0 between the two connecting hinges according to the hinge coordinates of the connecting rod hinge point A and the connecting rod hinge point B, Among them, x A ,y A are the coordinates of the connecting rod hinge point A on the X-axis and Y-axis in the target boom system coordinate system, respectively. B ,yB are the coordinates of the connecting rod hinge point B on the X-axis and Y-axis in the target boom system coordinate system, and the position information of the connection point C in the target boom system coordinate system is determined by the following formula according to the determined L0: in, θ AC =θ AB +θ CAB , Among them, θ AB is the azimuth angle of the line between the connecting rod hinge point A and the connecting rod hinge point B around the x-axis in the target boom system coordinate system, θ AC is the azimuth angle of the line between the connecting rod hinge point A and the connection point C around the x-axis in the target boom system coordinate system, θ CAB is the angle between the line between the connecting rod hinge point A and the connecting rod hinge point B, and the line between the connecting rod hinge point A and the connection point C, x C and C is the X-axis coordinate and Y-axis coordinate of the connection point C in the target boom system coordinate system. After determining the position information of the connection point, the processor can connect and assemble the connecting rod group according to the connection point, so as to obtain the boom system parameterized model corresponding to the target boom system. The processor can solve the obtained boom system parameterized model through finite element software to output performance indicators related to the target boom system.

[0063] In one embodiment, the method also includes: before constructing the proxy model according to a preset algorithm, obtaining the typical posture inclination angle of each boom section corresponding to the target typical posture; sampling from the preset selection domain corresponding to each design variable according to a preset sampling method to obtain a third preset number of groups of design variable data; for each group of design variable data, determining, through finite element software, the performance indicators corresponding to each group of design variable data when the boom system parametric model is in the target typical posture; determining the design variable data of the third preset number of groups as the model training input sample data of the proxy model, and determining the performance indicators corresponding to each group of design variable data as the model training output sample data of the proxy model, so as to train the proxy model.

[0064] Before the processor constructs the proxy model according to the preset algorithm, the processor can obtain the typical attitude inclination angle of each boom section corresponding to the target typical attitude, the processor can determine the preset selection domain corresponding to each design variable, and sample from the preset selection domain corresponding to each design variable according to the preset sampling method. For example, the processor can use the Latin hypercube sampling method to sample, thereby obtaining a third preset number of groups of design variable data, wherein each group of design variable data includes a design variable value selected from the preset selection domain corresponding to each design variable. The processor can determine the performance index corresponding to each group of design variable data when the boom system parametric model is in the target typical attitude through finite element software. That is, the processor determines the performance index corresponding to each group of design variable data when the boom system parametric model is in the target typical attitude for the third preset number of groups of design variable data obtained by sampling through finite element software. The processor may determine the collected third preset number of groups of design variable data as the model training input sample data of the proxy model, and determine the performance indicators corresponding to each group of design variable data obtained by the finite element software as the model training output sample data of the proxy model, so as to train the proxy model to be trained after the proxy model to be trained is subsequently constructed to obtain a trained proxy model. Figure 5 As shown, a flowchart for obtaining sample data of the proxy model is schematically shown. The processor can obtain the typical attitude inclination angle of each arm section corresponding to the typical attitude of the target. The processor can perform Latin hypercube sampling from the preset selection domain corresponding to the design variable through MATLAB to obtain a third preset number of groups of design variable data. For each group of design variable data, the processor can determine the performance indicators corresponding to each group of design variable data through finite element software. The processor can use the design variable data as sample input data of the proxy model, use the performance indicators corresponding to the design variable data as sample output data, and divide the sample input data and the sample output data into a training set and a test set, so as to subsequently train and test the proxy model.

[0065] In one embodiment, Figure 6 As shown, a schematic diagram of the process of building an agent model is shown. Figure 5 After the flowchart shown obtains the sample data of the proxy model, the proxy model that uses the mature algorithm in the prior art to fit each output response is trained through the training set. The output response here refers to the performance indicator. After the proxy model is trained through the training set, the determination coefficient of each output response in the proxy model is calculated through the sample data included in the test set, and it is determined whether the determination coefficient meets the preset accuracy. If the determination coefficient meets the preset accuracy, the processor can determine that the proxy model construction training is completed. If it is determined that the determination coefficient does not meet the preset accuracy, the processor can switch to fitting the proxy model algorithm and increase the sample data.

[0066] In one embodiment, determining a target variable data group from a first preset number of groups of design variable data extracted from a preset selection domain of each design variable includes: taking a performance indicator reaching a preset target performance indicator as an optimization goal, determining a design variable data group to be verified from a first preset number of groups of design variable data extracted from a preset selection domain of each design variable based on preset geometric constraints through a proxy model; verifying the design variable data group to be verified through other typical working postures except the target typical working posture among a plurality of typical working postures, and determining the design variable data group to be verified as the target design variable data group when the performance indicator to be verified corresponding to the design variable data group to be verified meets the preset conditions.

[0067] In one embodiment, verifying the design variable data group to be verified through other typical working postures except the target typical working posture among multiple typical working postures includes: for any other typical working posture, determining through finite element software the performance indicators corresponding to the design variable data group to be verified when the parametric model of the boom system is in other typical postures.

[0068] The processor may obtain the number of arm sections of the target vehicle and determine the preset geometric constraints for the target vehicle according to the number of arm sections of the target vehicle, for example, as shown in 7 and Figure 8As shown, assuming that the target vehicle has 6 boom sections, Figure Z1 illustrates the boom of the target vehicle in a folded condition, and Figure Z2 illustrates the boom of the target vehicle in an extended condition, wherein: L0 is the horizontal distance from the center axis of the pin shaft at the root of an arm to the center of rotation; V is the vertical distance from the center axis of the pin shaft at the root of an arm to the upper surface of the turntable bottom plate; R is the outer contour radius of the slewing bearing; L1~L6 are the arm lengths of the first to sixth boom sections respectively; S is the total vehicle length; X is the horizontal distance from the front end of the vehicle to the center of rotation. The preset geometric constraints may include: when the boom of the target vehicle is in a folded condition as shown in FIG. Z1, constraint 1: X-L0+L1≤S, that is, the end of the arm section of the first arm starting from the turntable does not exceed the specified total length of the target vehicle; constraint 2: L2+R+L0≤L1, that is, the second arm section starting from the turntable does not interfere with the turntable, that is, the second arm section does not contact the turntable, and there is no volume overlap; constraint 3: X-L0+L1-L2+L3≤S, that is, the end of the third arm section starting from the turntable does not exceed the specified total length of the target vehicle; constraint 4: X-L0+L1-L2+L3-L4+L5+L6≤S, that is, the end of the sixth arm section cannot exceed the specified total length of the target vehicle. The preset geometric constraints may also include: when the boom of the target vehicle is in the extended arm condition as shown in FIG. Z2, constraint 5: L4≤V+L1-L2+L3, that is, the fourth arm section does not interfere with the upper surface of the base plate where the turntable is located; constraint 6: L1+L2+L3+L4+L5+L6=L, that is, the sum of the lengths of each arm section is equal to the total length L of the arm sections to be developed of the target vehicle. The processor can extract a first preset number of design variable data groups from the selection domain of each design variable. When determining the target variable data group from the design variable data of the first preset number of groups, the processor can first use the proxy model to which the preset geometric constraints have been added to take the performance index reaching the preset target performance index as the optimization target, and determine the design variable data group to be verified from the first preset number of design variable data groups, that is, the design variable data corresponding to the performance index that meets the optimization target among the performance indexes corresponding to the design variable data of the first preset number of groups, and determine the design variable data corresponding to the performance index that meets the optimization target as the design variable data group to be verified. For example, assuming that the output performance index includes the total length of the boom system, and the preset target performance index is the shortest total length of the boom system, the proxy model, based on the preset geometric constraints, takes the shortest total length of the boom system as the optimization target, determines the design variable data corresponding to the shortest total length of the boom system from the first preset number of design variable data groups extracted from the selection domain of each design variable, and determines the design variable data as the design variable data group to be verified.After determining the design variable data group to be verified, the processor can verify the design variable data group to be verified through other typical working postures except the target typical working posture among multiple typical working postures. For any other typical working posture, the processor can determine through finite element software the performance indicators corresponding to the design variable data group to be verified when the parametric model of the arm system is in other typical postures, thereby using the finite element software to obtain the corresponding performance indicators to be verified of the design variable data group to be verified in other typical working postures, and verify the obtained performance indicators to determine whether they meet the preset conditions. When it is determined that the performance indicators corresponding to the design variable data group to be verified in other typical working postures meet the preset conditions, the processor can determine the design variable data group to be verified as the target design variable data group.

[0069] In one embodiment, determining the target boom parameters of the target boom system according to the target design variable data group includes: for each boom section of the target boom system, obtaining a preset functional relationship between the boom section cross-sectional size of the boom section and the boom section length of the boom section; for each boom section of the target boom system, determining the boom section length of the boom section according to the target design variable data corresponding to the boom section and the functional relationship corresponding to the boom section; for each boom section of the target boom system, determining the hinge coordinates of each connecting hinge on the boom section according to the reference cross-sectional size and the target design variable data of each boom section, wherein the coordinate system where the hinge coordinates are located is constructed with the arm root hinge of the boom section as the origin, the extension direction of the boom section as the X-axis, the perpendicular direction of the X-axis as the Y-axis, and the perpendicular direction of the X-axis and the Y-axis as the Z-axis.

[0070] After determining the target design variable data group, the processor can determine the target boom parameters of the target boom system according to the target design variable data group, and the design variables may include the arm section size. For each boom section of the target boom system, the processor can obtain the preset functional relationship between the arm section size of the boom section and the arm section length of the boom section, thereby determining the arm section length of the boom section according to the target design variable corresponding to each boom section and the functional relationship corresponding to the boom section. For each boom section of the target boom system, for each connection hinge on the boom section, the processor can determine the hinge coordinates of each connection hinge on the boom section according to the reference cross-sectional size and the target design variable data of each boom section, wherein the coordinate system where the hinge coordinates are located is constructed with the arm root hinge of the boom section as the origin, the extension direction of the boom section as the X-axis, the vertical direction of the X-axis as the Y-axis, and the vertical direction of the X-axis and the Y-axis as the Z-axis. Through the above technical solution, the processor can determine the parameters of each boom section included in the target boom system through the target design variables, that is, the target boom parameters.

[0071] In one embodiment, Fig. 9As shown, a schematic diagram of a flow chart of another method for determining the parameters of a vehicle boom system according to an embodiment of the present application is shown:

[0072] S1, working posture of the sample vehicle in big data statistics;

[0073] S2, determines multiple typical working postures according to the frequency of the arm section inclination angle;

[0074] S3, global parametric modeling of the target boom system;

[0075] S4, generating sample data for model training according to the target typical working posture and the target boom system model through finite element software;

[0076] S5, building a proxy model and training the proxy model using sample data;

[0077] S6, adding the preset geometric constraints to the trained proxy model;

[0078] S7, taking the preset target performance index as the optimization target, optimizing iteratively through the surrogate model to obtain a design variable data group to be verified;

[0079] S8, back-substituting the design variable data group to be verified to other typical postures except the target typical posture for verification;

[0080] S9, when the verification result is qualified, outputting the optimal boom parameters according to the qualified design variable data group to be verified.

[0081] The processor can use big data to count the working posture of sample vehicles, where the sample vehicle can be a vehicle whose boom length difference with the target vehicle is less than a first preset value, and determine the arm section inclination angle corresponding to the working posture, and determine a variety of typical working postures by counting the frequency of the arm section inclination angle. The processor can perform global parametric modeling on the target boom system, and determine the performance indicators corresponding to different design variable data groups of the target boom system model under the target typical working posture through finite element software, thereby generating sample data for model training based on the design variable data groups and the corresponding performance indicators, where the target typical working posture is a typical working posture selected from a variety of typical working postures. The processor can construct a proxy model and train the proxy model through sample data to obtain a trained proxy model, and add preset geometric constraints to the trained proxy model, so that the proxy model with the preset geometric constraints is optimized and iterated through the proxy model with preset target performance indicators as the optimization target to obtain a design variable data group to be verified. For example, the optimization calculation can be performed with the minimum weight as the optimization target, or the longest boom can be used as the optimization target to perform optimization calculations and obtain the design variable data group to be verified. The processor can substitute the design variable data group to be verified back to other typical postures except the target typical posture, and verify the performance indicators through finite element software. When the verification result is qualified, that is, it meets the preset result, the optimal boom parameters are output according to the qualified design variable data group to be verified.

[0082] In one embodiment, Fig.10 As shown, an electronic device 1000 is provided, including: a processor 1001, and a memory 1002 communicatively connected to the processor 1001; the memory 1002 stores computer execution instructions; the processor 1001 executes the computer execution instructions stored in the memory 1002 to implement a method for determining the parameters of a vehicle boom system as in any one of the above embodiments.

[0083] The above technical solution obtains the cross-sectional dimensions of the transition section with a regular shape in the middle section of each boom as the reference length, width and height dimensions, and the point position information of other geometric features is referenced based on the reference length, width and height, and the position information of each point is normalized according to the reference length, width and height. In this way, the overall model is kept proportionally changing with the design variables of length, width and height, which can effectively prevent the geometric model from being unable to be generated due to the large range of variable changes during the optimization process. In the parametric modeling of a single boom, positioning in the form of coordinate increments can effectively ensure the correct relative position relationship between each point. Through big data statistics, the inclination sensor data of each boom section of a large number of vehicles is obtained, and the typical posture inclination angle is selected according to the frequency of the inclination angle data of each boom section to provide a reference for the subsequent construction of the objective function. The objective function is constructed by the typical operating posture and weight proportion of the vehicle through big data statistics, and the optimal design of the boom length, hinge position and cross-sectional dimensions under the preset optimization target is obtained through the optimization algorithm.

[0084] 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. Those skilled in the art can understand that the structure shown in the accompanying drawings is only a block diagram of a part of the structure related to the present application scheme, and does not constitute a limitation on the computer device to which the present application scheme is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0085] In one embodiment, a machine-readable storage medium is provided, on which instructions are stored, and when the instructions are executed by a processor, the processor is configured to execute a method for determining parameters of a vehicle boom system according to any one of the above embodiments.

[0086] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements a method for determining parameters of a vehicle boom system according to any one of the above embodiments.

[0087] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig.11As 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 boom system. 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 method for determining the parameters of the whole vehicle boom system is implemented.

[0088] The embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: constructing a boom system parameterized model corresponding to a target boom system, and defining design variables of the boom system parameterized model, wherein the design variables include boom section cross-sectional dimensions and boom section cover plate thickness; solving the boom system parameterized model according to preset boundary conditions and preset loads by using finite element software to output performance indicators related to the target boom system; constructing a proxy model according to a preset algorithm, wherein the input of the proxy model is a design variable data group corresponding to the boom system parameterized model, Each group of design variable data includes the value of each design variable, and the output of the proxy model is the performance index of the target boom system in the target typical working posture, wherein the target typical working posture is determined according to multiple typical working postures corresponding to the sample vehicle; taking the performance index as the preset target performance index as the optimization target, the proxy model is used to determine the target design variable data group from the first preset number of design variable data groups extracted from the preset selection domain of each design variable based on the preset geometric constraints; the target boom parameters of the target boom system are determined according to the target design variable data group, wherein the target boom parameters include boom section length, hinge position and cross-sectional size.

[0089] In one embodiment, constructing a boom system parametric model corresponding to a target boom system includes: obtaining a benchmark model corresponding to a benchmark vehicle, and a benchmark cross-sectional size of the benchmark model, wherein the benchmark vehicle is a vehicle whose boom length is closest to that of the target vehicle, and the benchmark cross-sectional size includes a benchmark length, a benchmark width, and a benchmark height; for each boom section of the target boom system, establishing a single-section boom parametric model corresponding to the boom section according to a first preset rule based on the benchmark cross-sectional size and the target typical working posture, and defining design variables of the single-section boom parametric model, wherein the design variables include the boom section size and the boom section cover thickness; assembling the single-section boom parametric models corresponding to each boom section of the target boom system according to a second preset rule to obtain a boom system parametric model corresponding to the target boom system.

[0090] In one embodiment, for each boom section of the target boom system, a single-section boom parametric model corresponding to the boom section is established according to a first preset rule based on a reference cross-sectional size and a target typical working posture, including: for each boom section of the target boom system, the hinge coordinates of each connection hinge on the boom section in the single-section boom parametric model are determined according to the reference cross-sectional size and the design variable value, wherein the coordinate system where the hinge coordinates are located is constructed with the arm root hinge of the boom section as the origin, the extension direction of the boom section as the X-axis, the direction perpendicular to the X-axis as the Y-axis, and the direction perpendicular to the X-axis and the Y-axis as the Z-axis; for each boom section of the target boom system, the single-section boom parametric model of the boom section is rotated according to the boom section inclination angle in the target typical working posture, so that the inclination angle of the single-section boom parametric model of the boom section is consistent with the inclination angle in the target typical working posture.

[0091] In one embodiment, the boom sections included in the target boom system are connected in sequence starting from a turntable, the target boom system also includes a connecting rod group, the connecting rod group includes a bent connecting rod and a straight connecting rod, and the single-section arm parameterized model corresponding to each boom section of the target boom system is assembled according to a second preset rule to obtain a boom system parameterized model corresponding to the target boom system, which includes: determining the hinge point coordinates of the arm root hinge point and the arm end hinge point in the single-section arm parameterized model of each boom section of the target boom system, starting from the turntable, adjusting the coordinates of the arm root hinge point of the next boom section to the arm end hinge point coordinates of the previous boom section in sequence to obtain the target boom system. The single-section arm parameterized model of each arm section is connected; the hinge point coordinates of the connecting rod hinge point of each arm section of the target arm system after connection are determined in the target arm system coordinate system, wherein the target arm system coordinate system takes the connection point between the turntable and the arm section as the origin, the horizontal direction as the X-axis, the vertical direction with the X-axis as the Y-axis, and the vertical direction of the X-axis and the Y-axis as the Z-axis; the preset connecting rod length of the connecting rod group is obtained; the connecting point of the bent connecting rod and the straight connecting rod is determined according to the preset connecting rod length and the hinge point coordinates of the connecting rod hinge point; the connecting rod group is connected according to the connecting point to obtain the arm system parameterized model corresponding to the target arm system.

[0092] In one embodiment, the method also includes: before constructing a parameterized model of the boom system corresponding to the target boom system, obtaining the operating inclination angle data and boom length parameters of the sample vehicle, wherein the difference between the boom length of the sample vehicle and the boom length of the target vehicle is less than a first preset value, the operating inclination angle data includes the boom inclination angles of each boom section of the sample vehicle during operation, and the boom length parameters include the length parameters of each boom section of the sample vehicle; determining all operating postures that can be reached by the sample vehicle according to the operating inclination angle data and the boom length parameters; performing big data statistics on all operating postures and classifying them to determine multiple typical posture types corresponding to the sample vehicle, wherein each typical posture type includes multiple typical postures; dividing all operating inclination angle data into multiple angle groups according to preset angles; determining the frequency of the boom inclination angle of each boom section in each angle group according to the operating inclination angle data corresponding to all typical postures included in each typical posture type; determining the typical posture type corresponding to the boom inclination angle corresponding to the maximum frequency as the target typical posture type, and determining any typical posture included in the target typical posture type as the target typical posture.

[0093] In one embodiment, the method further includes: before constructing the proxy model according to the preset algorithm, obtaining the typical posture inclination angle of each boom section corresponding to the target typical posture; sampling from the preset selection domain corresponding to each design variable according to the preset sampling method to obtain the design variable data of the third preset number group; for each group of design variable data, determining the performance index corresponding to each group of design variable data when the boom system parametric model is in the target typical posture through finite element software; determining the design variable data of the third preset number group as the model training input sample data of the proxy model, and determining the performance index corresponding to each group of design variable data as the model training output sample data of the proxy model, so as to train the proxy model

[0094] In one embodiment, determining a target variable data group from a first preset number of groups of design variable data extracted from a preset selection domain of each design variable includes: taking a performance indicator reaching a preset target performance indicator as an optimization goal, determining a design variable data group to be verified from a first preset number of groups of design variable data extracted from a preset selection domain of each design variable based on preset geometric constraints through a proxy model; verifying the design variable data group to be verified through other typical working postures except the target typical working posture among a plurality of typical working postures, and determining the design variable data group to be verified as the target design variable data group when the performance indicator to be verified corresponding to the design variable data group to be verified meets the preset conditions.

[0095] In one embodiment, verifying the design variable data group to be verified through other typical working postures except the target typical working posture among multiple typical working postures includes: for any other typical working posture, determining through finite element software the performance indicators corresponding to the design variable data group to be verified when the parametric model of the boom system is in other typical postures.

[0096] In one embodiment, determining the target boom parameters of the target boom system according to the target design variable data group includes: for each boom section of the target boom system, obtaining a preset functional relationship between the boom section cross-sectional size of the boom section and the boom section length of the boom section; for each boom section of the target boom system, determining the boom section length of the boom section according to the target design variable data corresponding to the boom section and the functional relationship corresponding to the boom section; for each boom section of the target boom system, determining the hinge coordinates of each connecting hinge on the boom section according to the reference cross-sectional size and the target design variable data of each boom section, wherein the coordinate system where the hinge coordinates are located is constructed with the arm root hinge of the boom section as the origin, the extension direction of the boom section as the X-axis, the perpendicular direction of the X-axis as the Y-axis, and the perpendicular direction of the X-axis and the Y-axis as the Z-axis.

[0097] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may 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 may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0098] 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 generate 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.

[0099] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate 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 1A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0100] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0101] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0102] 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.

[0103] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0104] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0105] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for determining vehicle boom system parameters, characterized in that: The method comprises: Constructing a boom system parametric model corresponding to the target boom system, and defining design variables of the boom system parametric model, wherein the design variables include boom section cross-sectional dimensions and boom section cover plate thickness; Solving the boom system parameterized model according to preset boundary conditions and preset loads by finite element software to output performance indicators related to the target boom system; Constructing a proxy model according to a preset algorithm, wherein the input of the proxy model is a design variable data group corresponding to the boom system parameterized model, wherein each group of design variable data includes the value of each design variable, and the output of the proxy model is a performance index of the target boom system in a target typical working posture, wherein the target typical working posture is determined according to a plurality of typical working postures corresponding to a sample vehicle; Taking the performance index as the preset target performance index as the optimization target, determining the target design variable data set from the first preset number of design variable data sets extracted from the preset selection domain of each design variable based on the preset geometric constraint condition through the proxy model; The target boom parameters of the target boom system are determined according to the target design variable data group, wherein the target boom parameters include boom section length, hinge point position and cross-sectional size.

2. The method for determining vehicle boom system parameters according to claim 1, characterized in that: The constructing of a boom system parameterized model corresponding to the target boom system comprises: Acquire a reference model corresponding to a reference vehicle and a reference cross-sectional dimension of the reference model, wherein the reference vehicle is a vehicle whose boom length is closest to the boom length of the target vehicle, and the reference cross-sectional dimension includes a reference length, a reference width, and a reference height; For each boom section of the target boom system, a single-section boom parameterized model corresponding to the boom section is established according to the reference cross-sectional size and the target typical working posture according to a first preset rule, and design variables of the single-section boom parameterized model are defined, wherein the design variables include the boom section cross-sectional size and the boom section cover plate thickness; The single-section boom parameterized model corresponding to each boom section of the target boom system is assembled according to a second preset rule to obtain a boom system parameterized model corresponding to the target boom system.

3. The method for determining vehicle boom system parameters according to claim 2, characterized in that: For each boom section of the target boom system, establishing a single-section boom parameterized model corresponding to the boom section according to the reference cross-sectional size and the target typical working posture according to a first preset rule comprises: For each boom section of the target boom system, the hinge point coordinates of each connection hinge point on the boom section in the single-section boom parametric model are determined according to the reference cross-sectional dimensions and the design variable values, wherein the coordinate system where the hinge point coordinates are located is constructed with the boom root hinge point of the boom section as the origin, the extension direction of the boom section as the X-axis, the direction perpendicular to the X-axis as the Y-axis, and the direction perpendicular to the X-axis and the Y-axis as the Z-axis; For each boom section of the target boom system, the single-section arm parameterized model of the boom section is rotated according to the boom section inclination angle of the boom section in the target typical working posture, so that the inclination angle of the single-section arm parameterized model of the boom section is consistent with the inclination angle in the target typical working posture.

4. The method for determining vehicle boom system parameters according to claim 3, characterized in that: The boom sections included in the target boom system are connected sequentially starting from the turntable, the target boom system also includes a connecting rod group, the connecting rod group includes a bent connecting rod and a straight connecting rod, and the single-section boom parameterized model corresponding to each boom section of the target boom system is assembled according to a second preset rule to obtain a boom system parameterized model corresponding to the target boom system, including: Determine the hinge point coordinates of the arm root hinge point and the arm end hinge point in the single-section arm parametric model of each arm section of the target boom system, and start from the turntable, adjust the coordinates of the arm root hinge point of the next arm section to the coordinates of the arm end hinge point of the previous arm section in sequence, so as to connect the single-section arm parametric model of each arm section included in the target boom system; Determine the hinge point coordinates of the connecting rod hinge point of each boom section of the connected target boom system in the target boom system coordinate system, wherein the target boom system coordinate system takes the connection point between the turntable and the boom section as the origin, the horizontal direction as the X-axis, the direction perpendicular to the X-axis as the Y-axis, and the direction perpendicular to the X-axis and the Y-axis as the Z-axis; Obtaining a preset connecting rod length of the connecting rod assembly; Determine the connection point between the bent connecting rod and the straight connecting rod according to the preset connecting rod length and the hinge point coordinates of the connecting rod hinge point; The connecting rod groups are connected according to the connection points to obtain a boom system parameterized model corresponding to the target boom system.

5. The method for determining vehicle boom system parameters according to claim 1, characterized in that: The method further comprises: Before constructing the boom system parameterized model corresponding to the target boom system, obtaining the operation inclination angle data and boom length parameters of the sample vehicle, wherein the difference between the boom length of the sample vehicle and the boom length of the target vehicle is less than a first preset value, the operation inclination angle data includes the boom section inclination angle of each boom section of the sample vehicle during operation, and the boom length parameters include the length parameters of each boom section of the sample vehicle; Determine all the working postures that the sample vehicle can reach according to the working inclination angle data and the boom length parameter; Performing big data statistics on all working postures and classifying them to determine a plurality of typical posture categories corresponding to the sample vehicle, wherein each typical posture category includes a plurality of typical postures; Divide all operating inclination data into multiple angle groups according to preset angles; Determine the frequency of the boom section inclination angle of each boom section in each angle group according to the operation inclination angle data corresponding to all typical postures included in each typical posture type; The typical posture type corresponding to the arm joint inclination angle corresponding to the maximum frequency is determined as the target typical posture type, and any typical posture included in the target typical posture type is determined as the target typical posture.

6. The method for determining vehicle boom system parameters according to claim 1, characterized in that: The method further comprises: Before constructing the proxy model according to the preset algorithm, the typical posture inclination angle of each arm section corresponding to the target typical posture is obtained; Sampling according to a preset sampling method from the preset selection domain corresponding to each design variable to obtain a third preset number of groups of design variable data; For each set of design variable data, determining, by the finite element software, a performance index corresponding to each set of design variable data when the boom system parameterized model is in the target typical posture; The third preset number of groups of design variable data are determined as model training input sample data of the proxy model, and the performance indicators corresponding to each group of design variable data are determined as model training output sample data of the proxy model for training the proxy model.

7. The method for determining vehicle boom system parameters according to claim 1, characterized in that: Determining the target variable data set from the first preset number of design variable data sets extracted from the preset selection domain of each design variable comprises: Taking the performance index reaching the preset target performance index as the optimization goal, the proxy model is used to determine the design variable data group to be verified from the first preset number of design variable data groups extracted from the preset selection domain of each design variable based on the preset geometric constraint condition; The design variable data group to be verified is verified by other typical working postures among the multiple typical working postures except the target typical working posture. When the performance indicators to be verified corresponding to the design variable data group to be verified meet preset conditions, the design variable data group to be verified is determined as the target design variable data group.

8. The method for determining vehicle boom system parameters according to claim 7, characterized in that: The verifying the to-be-verified design variable data set by using other typical working postures among the multiple typical working postures except the target typical working posture comprises: For any other typical working posture, the finite element software is used to determine the performance index corresponding to the design variable data group to be verified when the boom system parameterized model is in the other typical posture.

9. The method for determining vehicle boom system parameters according to claim 1, characterized in that: Determining the target boom parameters of the target boom system according to the target design variable data group includes: For each boom section of the target boom system, obtaining a preset functional relationship between a boom section size of the boom section and a boom section length of the boom section; For each boom section of the target boom system, determining the boom section length of the boom section according to the target design variable data corresponding to the boom section and the functional relationship corresponding to the boom section; For each boom section of the target boom system, the hinge coordinates of each connection hinge on the boom section are determined according to the reference cross-sectional dimensions and the target design variable data of each boom section, wherein the coordinate system where the hinge coordinates are located takes the arm root hinge of the boom section as the origin, the extension direction of the boom section as the X-axis, the vertical direction of the X-axis as the Y-axis, and the vertical direction of the X-axis and the Y-axis as the Z-axis.

10. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method for determining the parameters of the vehicle boom system according to any one of claims 1 to 9.

11. 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 method for determining parameters of a vehicle boom system according to any one of claims 1 to 9.

12. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the computer program implements the method for determining parameters of a vehicle boom system according to any one of claims 1 to 9.

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