Method for determining parameters of a vehicle-mounted arm system, electronic device and storage medium

Abstract

The application relates to the field of engineering vehicle design, in particular to a method for determining parameters of a whole vehicle arm support system, an electronic device and a storage medium. The method comprises the following steps: constructing an arm support system parameterization model corresponding to a target arm support system, and defining design variables of the arm support system parameterization model; solving the arm support system parameterization model according to preset boundary conditions and preset loads through a finite element software to output performance indexes related to the target arm support system; constructing a proxy model according to a preset algorithm, wherein the target typical working posture is determined according to a plurality of typical working postures corresponding to a sample vehicle; taking the performance indexes as preset target performance indexes as an optimization target, determining a target design variable data group from a first preset number of design variable data groups obtained by extracting from preset selection domains of each design variable based on the proxy model and preset geometric constraint conditions; and determining target arm support parameters of the target arm support system according to the target design variable data group.

Description

Technical Field

[0001] This application relates to the field of engineering vehicle design, and more specifically to a method, electronic device, storage medium, and computer program product for determining parameters of a vehicle boom system. Background Technology

[0002] As pump trucks extend to longer lengths, their overall weight increases dramatically, posing stringent challenges to compliance with weight and axle load regulations and creating an urgent need for lightweight design. The distribution of boom length, hinge point location, and cross-sectional dimensions significantly impact the boom root bending moment, directly determining the weight of the upper and lower sections and the entire vehicle. Therefore, rationally allocating boom length, hinge point location, and cross-sectional dimensions during the initial design and development phase has become the core aspect of lightweight pump truck design. Current technologies primarily use one-dimensional rod and beam elements to simulate this truss structure, neglecting the boom cross-sectional shape and other structural details. Summary of the Invention

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

[0004] To achieve the above objectives, the first aspect of this application provides a method for determining parameters of a vehicle boom system, the method comprising:

[0005] Construct a parametric model of the boom system corresponding to the target boom system, and define the design variables of the parametric model of the boom system, including boom section cross-sectional dimensions and boom section cover plate thickness;

[0006] The parametric model of the boom system is solved using finite element software based on preset boundary conditions and preset loads, so as to output the performance indicators related to the target boom system.

[0007] A proxy model is constructed based on a preset algorithm. The input of the proxy model is the set of design variable data corresponding to the parameterized model of the boom system. Each set of design variable data includes the value 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 target typical working posture is determined based on multiple typical working postures corresponding to the sample vehicle.

[0008] With performance indicators as the preset target and performance indicators as the optimization target, the target design variable data set is determined from the first preset number of design variable data sets extracted from the preset selection domain of each design variable based on preset geometric constraints through a proxy model.

[0009] The target boom parameters of the target boom system are determined based on the target design variable data set, including boom segment length, hinge point position, and cross-sectional dimensions.

[0010] In this embodiment, constructing a parametric model of the boom system corresponding to the target boom system includes: obtaining a reference model corresponding to a reference vehicle and the reference cross-sectional dimensions of the reference model, wherein the reference vehicle is the vehicle whose boom length is closest to the boom length of the target vehicle, and the reference cross-sectional dimensions include the reference length, reference width, and reference height; for each boom segment of the target boom system, establishing a single-segment boom parametric model corresponding to the boom segment according to the reference cross-sectional dimensions and the typical working posture of the target boom system according to a first preset rule, and defining the design variables of the single-segment boom parametric model, wherein the design variables include the boom segment cross-sectional dimensions and the boom segment cover plate thickness; assembling the single-segment boom parametric models corresponding to each boom segment 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 this embodiment of the application, for each boom segment of the target boom system, establishing a single-segment parametric model corresponding to the boom segment according to the reference cross-sectional dimensions and the typical working posture of the target, according to the first preset rule, includes: for each boom segment of the target boom system, determining the hinge point coordinates of each connecting hinge point on the boom segment within the single-segment parametric model based on the reference cross-sectional dimensions and design variable values, wherein the coordinate system of the hinge point coordinates is constructed with the boom root hinge point of the boom segment as the origin, the extension direction of the boom segment as the X-axis, the direction perpendicular to the X-axis as the Y-axis, and the direction perpendicular to the X-axis and Y-axis as the Z-axis; for each boom segment of the target boom system, rotating the single-segment parametric model of the boom segment according to the boom segment tilt angle in the typical working posture of the target, so that the tilt angle of the single-segment parametric model of the boom segment is consistent with the tilt angle under the typical working posture of the target.

[0012] In this embodiment, the boom segments of the target boom system are connected sequentially starting from the turntable. The target boom system also includes a linkage group, which includes bent linkages and straight linkages. The parametric model of each boom segment of the target boom system is assembled according to a second preset rule to obtain a parametric model of the boom system corresponding to the target boom system. This includes: determining the hinge point coordinates of the root hinge point and the end hinge point in the parametric model of each boom segment of the target boom system; starting from the turntable, sequentially adjusting the coordinates of the root hinge point of the next boom segment to the coordinates of the end hinge point of the previous boom segment, thereby assembling the target boom system... The process involves connecting the parametric models of each boom segment; determining the hinge coordinates of the connecting rod hinge points of each boom segment in the target boom system coordinate system, where the target boom system coordinate system has its origin at the connection point between the turntable and the boom segment, the horizontal direction as the X-axis, the direction perpendicular to the X-axis as the Y-axis, and the direction perpendicular to both the X-axis and Y-axis as the Z-axis; obtaining the preset connecting rod lengths of the connecting rod groups; determining the connection points of the bent connecting rods and straight connecting rods based on the preset connecting rod lengths and the hinge coordinates of the connecting rod hinge points; and connecting the connecting rod groups according to the connection points to obtain the parametric model of the boom system corresponding to the target boom system.

[0013] In this embodiment, the method further includes: before constructing a parameterized model of the boom system corresponding to the target boom system, acquiring the working tilt 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 working tilt angle data includes the boom tilt angle of each boom segment of the sample vehicle during operation, and the boom length parameters include the length parameters of each boom segment of the sample vehicle; determining all possible working postures of the sample vehicle based on the working tilt angle data and boom length parameters; performing big data statistics and classification on all working postures to determine multiple typical posture types corresponding to the sample vehicle, wherein each typical posture type includes multiple typical postures; dividing all working tilt angle data into multiple angle groups according to preset angles; determining the frequency of the boom tilt angle of each boom segment within each angle group based on the working tilt angle data corresponding to all typical postures included in each typical posture type; determining the typical posture type corresponding to the boom tilt angle with the highest frequency as the target typical posture type, and determining any typical posture included in the target typical posture type as the target typical posture.

[0014] In this embodiment, the method further includes: before constructing the surrogate model according to a preset algorithm, obtaining the typical attitude tilt angle of each boom segment corresponding to the target typical attitude; sampling from the preset selection domain corresponding to each design variable according to a preset sampling method to obtain a third preset number of design variable data; for each set of design variable data, determining the performance index corresponding to each set of design variable data of the boom system parameterized model under the target typical attitude using finite element software; determining the third preset number of design variable data as the model training input sample data of the surrogate model, and determining the performance index corresponding to each set of design variable data as the model training output sample data of the surrogate model, for use in training the surrogate model.

[0015] In this embodiment, determining the target variable data group from the first preset number of design variable data groups extracted from the preset selection domain of each design variable includes: taking the performance index reaching the preset target performance index as the optimization goal, determining 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 through a surrogate model based on preset geometric constraints; verifying the design variable data group to be verified through other typical working postures besides 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 index to be verified corresponding to the design variable data group to be verified meets the preset conditions.

[0016] In this embodiment of the application, the verification of the design variable data set to be verified by other typical working postures besides the target typical working posture includes: for any other typical working posture, determining the performance index corresponding to the design variable data set to be verified when the parameterized model of the boom system is in other typical postures using finite element software.

[0017] In this embodiment of the application, determining the target boom parameters of the target boom system based on the target design variable data set includes: for each boom segment of the target boom system, obtaining a preset functional relationship between the boom segment cross-sectional dimensions and the boom segment length; for each boom segment of the target boom system, determining the boom segment length based on the target design variable data and the corresponding functional relationship; for each boom segment of the target boom system, determining the hinge point coordinates of each connecting hinge point on the boom segment based on the reference cross-sectional dimensions and the target design variable data of each boom segment, wherein the coordinate system in which the hinge point coordinates are located is constructed with the boom root hinge point of the boom segment as the origin, the extension direction of the boom segment as the X-axis, the vertical direction of the X-axis as the Y-axis, and the vertical direction of the X-axis and Y-axis as the Z-axis.

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

[0019] The memory stores instructions that the computer executes;

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

[0021] A third aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform a method for determining parameters of a vehicle boom system according to any of the above embodiments.

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

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

[0024] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0025] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0026] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of the present invention. In the drawings:

[0027] Figure 1 The illustration schematically shows a flowchart of a method for determining parameters of a vehicle boom system according to an embodiment of this application;

[0028] Figure 2 A schematic diagram of a boom section of a boom system according to an embodiment of this application is shown.

[0029] Figure 3 This illustration schematically shows an assembly diagram of a boom system according to an embodiment of this application;

[0030] Figure 4 This schematically illustrates an assembly diagram of yet another boom system according to an embodiment of this application;

[0031] Figure 5 This illustration schematically shows a flowchart of obtaining sample data of a proxy model according to an embodiment of this application;

[0032] Figure 6 This illustration schematically shows a process diagram for constructing a proxy model according to an embodiment of this application;

[0033] Figure 7 This illustration schematically shows a boom section working condition diagram of a boom system according to an embodiment of this application;

[0034] Figure 8 This illustration schematically shows a boom section working condition diagram of another boom system according to an embodiment of this application;

[0035] Figure 9 The illustration schematically shows a flowchart of another method for determining parameters of a vehicle boom system according to an embodiment of this application;

[0036] Figure 10 This schematic diagram illustrates a structural block diagram of an electronic device according to an embodiment of the present application;

[0037] Figure 11 The diagram illustrates the internal structure of a computer device according to an embodiment of this application.

[0038] Explanation of reference numerals in the attached figures

[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 The hinge point at the end of the i-th arm; O i+1 1. The (i+1)th segment arm root hinge point; A. Link hinge point; B. Link hinge point; C. Connection point; L1. Preset side length of the bent link; L2. Preset side length of the straight link; L0. Distance between link hinge point A and link hinge point B; θ AC The azimuth angle θ of the line connecting hinge point A and connection point C around the x-axis in the target boom system coordinate system. CAB The angle θ between the line connecting hinge point A and hinge point B of the connecting rod and the line connecting hinge point A and connection point C of the connecting rod; AB The azimuth angle of the line connecting link hinge point A and link hinge point B around the x-axis in the target boom system coordinate system. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0041] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0042] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

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

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

[0045] The processor can construct a parametric model of the target boom system corresponding to the boom system parameters to be determined. After constructing the parametric model of the boom system, the processor can define the design variables in the parametric model of the boom system according to the data input by the user. The design variables may include the boom section cross-sectional dimensions and boom cover plate thickness of the parametric model of the boom system.

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

[0047] After constructing a parametric model of the target boom system, the processor can obtain the user-inputted preset boundary conditions and loads for the target boom system. Based on these preset boundary conditions and loads, the processor then solves the parametric model of the boom system using finite element software 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, and the stress values ​​of each boom segment, etc.

[0048] Step 103: Construct a proxy model according to the preset algorithm. The input of the proxy model is the design variable data set corresponding to the parameterized model of the boom system. Each set of design variable data includes the value 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 target typical working posture is determined from multiple typical working postures corresponding to the sample vehicle.

[0049] Because if the processor needs to solve the parametric model of the boom system under different sets of design variable data, where each set includes the value of each design variable, using finite element software based on preset boundary conditions and loads, and then output the performance indicators related to the boom system under that set of design variable data, the time cost would be too enormous, especially with a large number of design variable data sets. Therefore, the processor can construct a surrogate model to handle the relationship between the design variable data sets (input) and the performance indicators (output). The surrogate model can be an analytical model with a short computation cycle and high output accuracy. For example, the surrogate model can be a neural network model, where the input of the surrogate model is the set of design variable data corresponding to the parametric model of the boom system, and the output of the surrogate model is the performance indicator of the target boom system under the target typical working posture. To define the target typical working posture, the processor can acquire multiple working postures of the sample vehicle, statistically analyze these postures to determine multiple typical working postures of the sample vehicle, and then select the target typical working posture from these typical working postures.

[0050] In one embodiment, the method further includes: before constructing a parametric model of the boom system corresponding to the target boom system, acquiring the working tilt 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 working tilt angle data includes the boom tilt angle of each boom segment of the sample vehicle during operation, and the boom length parameters include the length parameters of each boom segment of the sample vehicle; determining all possible working postures of the sample vehicle based on the working tilt angle data and boom length parameters; performing big data statistics and classification on all working postures to determine multiple typical posture types corresponding to the sample vehicle, wherein each typical posture type includes multiple typical postures; dividing all working tilt angle data into multiple angle groups according to preset angles; determining the frequency of the boom tilt angle of each boom segment within each angle group based on the working tilt angle data corresponding to all typical postures included in each typical posture type; determining the typical posture type corresponding to the boom tilt angle with the highest 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 can identify a vehicle with a target boom system whose parameters need to be determined as the target vehicle. Before constructing a parameterized model of the boom system corresponding to the target boom system, the processor can identify vehicles whose boom length difference from the target vehicle is less than a first preset value as sample vehicles. For example, assuming the target vehicle's boom length parameter is 70 meters, and the user's first preset value is set to 5 meters, and assuming there are vehicles with boom lengths of 67 meters and 62 meters among the existing vehicles, the processor can use all vehicles with a boom length of 67 meters as sample vehicles. That is, there can be multiple sample vehicles. For each sample vehicle, the processor can obtain the boom length parameter of the sample vehicle, that is, the length parameter of each boom segment of the sample vehicle, and obtain the working tilt angle data achieved by the sample vehicle during actual operation. The processor can determine all the working postures that the sample vehicle can achieve based on the working tilt angle data and boom length parameters of the sample vehicle. After determining multiple working postures, the processor can perform big data statistical classification on all working postures to determine multiple typical posture types corresponding to the sample vehicle. Each typical posture type can include multiple typical postures that conform to that typical posture type. The processor can divide all the operational tilt angle data of the sample vehicle according to a preset angle, thus obtaining multiple angle groups. The processor can determine the operational tilt angle data corresponding to all typical postures included in each typical posture type. Based on the obtained operational tilt angle data, the processor determines the boom tilt angle of each boom segment in each typical posture. The processor can statistically determine the frequency of the boom tilt angle of each boom segment within each divided angle group, that is, the number of times the boom tilt angle of each boom segment appears in each angle group. After analyzing the operational tilt angle data corresponding to all typical posture types, the processor can select the value with the highest frequency and determine the typical posture type corresponding to the boom tilt angle with the highest frequency. The processor can determine this 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: Using performance indicators as the preset target, and based on preset geometric constraints, determine 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 through the proxy model.

[0053] Step 105: Determine the target boom parameters of the target boom system based on the target design variable data set. The target boom parameters include boom segment length, hinge point position, and cross-sectional dimensions.

[0054] After the processor constructs a surrogate model based on a preset algorithm, the input to the surrogate model is the set of design variable data corresponding to the parametric model of the boom system. The processor can obtain the preset selection domain for each design variable. That is, each design variable value in the set of design variable data input to the surrogate model is selected from the preset selection domain for each design variable. The processor can extract a first preset number of sets of design variable data from the selection domain for each design variable. The output of the surrogate model is the performance index of the target boom system under the target typical working posture. The processor can obtain preset geometric constraints and add them to the surrogate model. The surrogate model optimizes based on the geometric constraints, with the performance index as the preset target performance index. For example, assuming 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 surrogate model, based on the preset geometric constraints, with the shortest total length of the boom system as the optimization objective, determines the target design variable data set corresponding to the preset target performance index from the first preset number of sets of design variable data extracted from the selection domain for each design variable. The processor can determine the target boom parameters of the target boom system based on the defined target design variable data set, wherein the target boom parameters may include boom length, hinge point position, and boom cross-sectional dimensions.

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

[0056] The processor can construct a parametric model of the boom system corresponding to the target boom system. The processor can select a reference vehicle, which can be the vehicle whose boom length is closest to that of the target vehicle, and obtain the corresponding reference model. After obtaining the reference model, the processor can determine the reference cross-sectional dimensions of the reference model based on user input data. The reference cross-sectional dimensions include reference length, reference width, and reference height. The processor can determine the selection of the reference cross-section by obtaining user input data. The reference cross-section generally refers to a regularly shaped transition section in the boom segment, or it can be selected between 1 / 3 and 2 / 3 of the boom segment's length as the reference cross-section. For example... Figure 2The boom segment shown has its root on the left and its end on the right. DEFG, as shown, can be selected as the reference section for this boom segment, and its cross-section can be determined. Based on the reference section DEFG and the cross-section, the reference length L(i), reference width W(i), and reference height H(i) of the reference section dimensions are determined. For each boom segment of the target boom system, the processor can establish a single-segment parametric model corresponding to each boom segment according to the reference section dimensions of the reference model and the typical working posture of the target boom, according to a first preset rule. The processor also defines the design variables for the single-segment parametric model, which may include the boom segment cross-section dimensions and the boom segment cover plate thickness. After establishing the single-segment parametric model for each boom segment, the processor can assemble the single-segment parametric model corresponding to each boom segment of the target boom system according to a second preset rule, thereby obtaining the boom system parametric model corresponding to the target boom system.

[0057] In one embodiment, for each boom segment of the target boom system, establishing a single-segment parametric model corresponding to the boom segment according to the reference cross-sectional dimensions and the target typical working posture according to a first preset rule includes: for each boom segment of the target boom system, determining the hinge point coordinates of each connecting hinge point on the boom segment within the single-segment parametric model based on the reference cross-sectional dimensions and design variable values, wherein the coordinate system of the hinge point coordinates is constructed with the boom root hinge point of the boom segment as the origin, the extension direction of the boom segment as the X-axis, the direction perpendicular to the X-axis as the Y-axis, and the direction perpendicular to the X-axis and Y-axis as the Z-axis; for each boom segment of the target boom system, rotating the single-segment parametric model of the boom segment according to the boom segment tilt angle in the target typical working posture, so that the tilt angle of the single-segment parametric model of the boom segment is consistent with the tilt angle under the target typical working posture.

[0058] The target vehicle may include a turntable and a target boom system. The target boom system comprises multiple boom sections connected sequentially starting from the turntable. For each boom section, the end closer to the turntable is defined as the boom root, and the end farther from the turntable is defined as the boom tip. Each boom section includes multiple hinge points for hinged connections with other components or boom sections. After acquiring the baseline model and baseline cross-sectional dimensions, the processor can establish a boom section coordinate system for each boom section of the target boom system. The boom section coordinate system has its origin at the boom root hinge point, which is the hinge point closest to the boom root tip. 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 both the X-axis and Y-axis. For each boom segment of the target boom system, the processor can determine the hinge coordinates of each connecting hinge point on the boom segment within the boom segment coordinate system based on the reference cross-sectional dimensions and design variable values. Furthermore, when determining the hinge coordinates of each connecting hinge point in the boom segment coordinate system, the processor does not directly determine the absolute value of each connecting hinge point relative to the origin. Instead, it first determines the absolute value of the connecting hinge point closest to the origin relative to the origin. For other connecting hinge points besides this one, the coordinates of the previous connecting hinge point and the coordinate increment relative to the previous connecting hinge point are used as the hinge point coordinates to ensure the correct relative positional relationship between points through coordinate increments. For example, assuming connecting hinge points A, B, and C are distributed sequentially from the origin away from the origin, and connecting hinge point A is the connecting hinge point closest to the origin, the processor can determine the absolute value of connecting hinge point A relative to the origin. Assuming the coordinates of connecting hinge point A are (A... x A y A z For hinge point B, the processor can use the coordinates of hinge point A and the increment between hinge point B and hinge point A as the hinge point coordinates of hinge point B. For example, the coordinates of hinge point B can be (A...). x +Δx B A y +Δy B A z +Δz B The coordinates of the connecting hinge point C can be determined based on the connecting hinge point B and the increment between connecting hinge point C and connecting hinge point B. For example, the coordinates of connecting hinge point C can be (A... x +Δx B +Δx C A y +Δy B +Δy C A z +Δz B +Δz CFurthermore, when establishing the parametric model of a single-section boom, the coordinates of all assembly points used to build the model can be determined using the above scheme to ensure the accuracy of the model. When determining the hinge coordinates of the connecting hinge points within the parametric model of the single-section boom, the processor can first determine the hinge point position in the reference model based on the reference section dimensions, and then determine the hinge point coordinates within the parametric model corresponding to the design variable values ​​based on the proportional relationship between the reference section dimensions and the design variable values. For example, suppose the coordinate value of a certain connecting hinge point E of the i-th boom section can be defined as... Among them, E x E y E z The coordinates of the connecting hinge point E in the parametric model of the i-th arm segment are determined based on the coordinates of the previous connecting hinge point and the coordinate increment relative to the previous one. 基x E 基y E 基z Let L(i), W(i), and H(i) be the base coordinates of the connecting hinge point E of the i-th arm section in the reference model, respectively. Let L(i), W(i), and H(i) be the reference length, reference width, and reference height of the i-th arm section, respectively. Let Li, Wi, and Hi be the design variable values ​​of the length, width, and height of the single-section parametric model of the i-th arm section. The hinge coordinates of each connecting hinge point within the single-section arm parametric model can be determined using the above method.

[0059] The processor can determine the boom tilt angle of each boom segment in the target typical working posture. For each boom segment of the target boom system, the processor can rotate the corresponding single-segment parametric model of the boom segment according to the boom tilt angle of that boom segment in the target typical working posture, thereby ensuring that the tilt angle of the single-segment parametric model of each boom segment is consistent with the tilt angle in the target typical working posture. For example, assuming that the boom tilt angle of the i-th boom segment in the target typical working posture is 60°, the processor rotates the single-segment parametric model of the i-th boom segment to make the tilt angle of the single-segment parametric model consistent with the tilt angle in the target typical working posture. For each boom segment of the target boom system, the processor, through the above technical solution, can determine the hinge point coordinates of each connecting hinge point on the single-segment parametric model of each boom segment according to the reference cross-sectional dimensions and design variable values, and rotate the single-segment parametric model of each boom segment according to the boom tilt angle in the target typical working posture, thereby obtaining the single-segment parametric model corresponding to each boom segment of the target boom system.

[0060] In one embodiment, the boom segments of the target boom system are connected sequentially starting from the turntable. The target boom system also includes a linkage assembly, which includes bent linkages and straight linkages. The parametric model of each boom segment corresponding to the target boom system is assembled according to a second preset rule to obtain a parametric model of the boom system corresponding to the target boom system. This includes: determining the hinge point coordinates of the root hinge point and the end hinge point in the parametric model of each boom segment of the target boom system; starting from the turntable, sequentially adjusting the coordinates of the root hinge point of the next boom segment to the coordinates of the end hinge point of the previous boom segment, thereby assembling the target boom system... The process involves connecting the parametric models of each boom segment; determining the hinge coordinates of the connecting rod hinge points of each boom segment in the target boom system coordinate system, where the target boom system coordinate system has its origin at the connection point between the turntable and the boom segment, the horizontal direction as the X-axis, the direction perpendicular to the X-axis as the Y-axis, and the direction perpendicular to both the X-axis and Y-axis as the Z-axis; obtaining the preset connecting rod lengths of the connecting rod groups; determining the connection points of the bent connecting rods and straight connecting rods based on the preset connecting rod lengths and the hinge coordinates of the connecting rod hinge points; and connecting the connecting rod groups according to the connection points to obtain the parametric model of the boom system corresponding to the target boom system.

[0061] After determining the single-segment parametric model corresponding to each segment of the target boom system, the processor needs to assemble the single-segment parametric model corresponding to each segment to obtain the boom system parametric model corresponding to the target boom system. The boom segments included in the target boom system are connected sequentially starting from the turntable. For the single-segment parametric model of each segment of the target boom system, the processor can determine the hinge point coordinates of the root hinge point and the end hinge point in the single-segment parametric model. The end of each boom segment closer to the turntable is the root of the boom segment, and the end farther from the turntable is the end of the boom segment. The hinge point on the boom segment closest to the root is the root hinge point, and the hinge point closest to the end is the end hinge point. Starting from the turntable, the processor can sequentially adjust the hinge coordinates of the root hinge point of the next boom segment to match the hinge coordinates of the end hinge point of the previous boom segment. This ensures that the hinge coordinates of the root hinge point of the next boom segment are consistent with the hinge coordinates of the end hinge point of the previous boom segment, thus connecting the parametric models of the two boom segments. Ultimately, this connects the parametric models of each boom segment within the target boom system. Since the hinge coordinates of the connecting hinge points in the parametric models of each boom segment are, except for the hinge coordinates of the connecting hinge point closest to the origin (which is an absolute value relative to the origin), and the coordinates of other connecting hinge points are based on the intersection coordinates of the previous point and the coordinate increment relative to the previous point, when connecting the parametric models of the boom segments, it is necessary to first determine the absolute coordinate values ​​of the end hinge point of the current boom segment, and then adjust the coordinates of the root hinge point of the next boom segment to match the coordinates of the end hinge point of the previous boom segment. For example... Figure 3As shown, the target boom system comprises boom segments connected sequentially from the turntable, including the i-th boom segment and the (i+1)-th boom segment. The processor can determine the boom end of the i-th boom segment and the boom end hinge point G of the i-th boom segment. i The hinge coordinates, the root of the (i+1)th arm, and the hinge point O of the (i+1)th arm root. i+1 The hinge point coordinates. The processor can adjust the root hinge point O of the (i+1)th arm segment. i+1 The hinge coordinates are determined so that the root hinge point O of the (i+1)th arm is... i+1 The hinge point coordinates and the hinge point G at the end of the i-th arm i The hinge point coordinates are consistent, thus realizing the assembly between the i-th boom section and the (i+1)-th boom section. Through the above scheme, all booms included in the target boom system can be assembled and connected sequentially.

[0062] The target boom system also includes a linkage assembly, which comprises bent and straight links. After each boom segment of the target boom system is connected, the processor can determine the hinge point coordinates of the link hinge points of each boom segment in the target boom system coordinate system based on the coordinates of the boom root hinge point of each segment and the incremental value of the link hinge point relative to the boom root hinge point. The link hinge point is the hinge point on each boom segment used to connect the linkage assembly. The target boom system coordinate system is established with the connection point between the turntable and the boom segment 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 both the X-axis and Y-axis as the Z-axis. The processor can obtain the preset link length of each link included in the linkage assembly. The processor can determine the connection points of the bent and straight connecting rods based on the preset connecting rod length and the hinge point coordinates of the connecting rod hinge points used to connect with the connecting rod assembly. It then uses these connection points to position the bent and straight connecting rods within the target boom system. In other words, it connects the bent and straight connecting rods in the connecting rod assembly based on the determined connection points, thereby obtaining a parametric model of the boom system corresponding to the target boom system. For example... Figure 4 As shown, the i-th boom section and the (i+1)-th boom section are hinged. The hinge point A of the i-th boom section and the hinge point B of the (i+1)-th boom section are the connecting hinge points used to connect the connecting rods. The processor can determine the hinge point coordinates of hinge points A and B in the target boom system coordinate system using a single-boom parametric model. It can also obtain the preset side length L1 of the bent connecting rod and the preset side length L2 of the straight connecting rod in the connecting rod group, and calculate the position information of the connection point C between the bent and straight connecting rods using the following formula. This information is used for the spatial positioning of the bent and straight connecting rods. The processor can determine the distance L0 between the two connecting hinge points based on the hinge point coordinates of hinge points A and B. Where, x A y A These are the coordinates of the link hinge point A on the X-axis and Y-axis of the target boom system coordinate system, respectively. B yB Let L0 be the coordinates of the connecting rod hinge point B on the X-axis and Y-axis in the target boom system coordinate system, respectively. Based on the determined L0, the position information of the connection point C in the target boom system coordinate system is determined using the following formula: in, θ AC =θ AB +θ CAB , Where, θ AB Let θ be the azimuth angle of the line connecting hinge points A and B of the link around the x-axis in the target boom system coordinate system. AC Let θ be the azimuth angle of the line connecting the hinge point A and the connection point C of the link around the x-axis in the target boom system coordinate system. CAB Let x be the angle between the line connecting hinge point A and hinge point B of the link, and the line connecting hinge point A and connection point C of the link. C and y C Here are the X-axis and Y-axis coordinates of connection point C in the target boom system coordinate system. After determining the location information of the connection point, the processor can connect and assemble the linkage group according to the connection point, thereby obtaining the parametric model of the boom system corresponding to the target boom system. This allows the processor to solve the obtained parametric model of the boom system using finite element software to output performance indicators related to the target boom system.

[0063] In one embodiment, the method further includes: before constructing the surrogate model according to a preset algorithm, obtaining the typical attitude tilt angle of each boom segment corresponding to the target typical attitude; sampling from a preset selection domain corresponding to each design variable according to a preset sampling method to obtain a third preset number of design variable data; for each set of design variable data, determining the performance index corresponding to each set of design variable data of the boom system parameterized model under the target typical attitude using finite element software; determining the third preset number of design variable data as the model training input sample data of the surrogate model, and determining the performance index corresponding to each set of design variable data as the model training output sample data of the surrogate model, for use in training the surrogate model.

[0064] Before constructing the surrogate model according to the preset algorithm, the processor can obtain the typical attitude tilt angle of each boom segment 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 a preset sampling method. For example, the processor can use the Latin hypercube sampling method to obtain a third preset number of design variable data sets. Each set of design variable data sets includes a design variable value selected from the preset selection domain corresponding to each design variable. The processor can use finite element software to determine the performance index corresponding to each set of design variable data for the parameterized model of the boom system under the target typical attitude. In other words, the processor uses finite element software to determine the performance index corresponding to each set of design variable data for the third preset number of sampled design variable data sets when the parameterized model of the boom system is under the target typical attitude. The processor can determine the collected third preset number of sets of design variable data as the model training input sample data for the surrogate model, and determine the performance index corresponding to each set of design variable data obtained through finite element software as the model training output sample data for the surrogate model. This output data is then used to train the surrogate model to be trained after it has been constructed, thus obtaining the trained surrogate model. For example... Figure 5 The diagram illustrates a flowchart for obtaining sample data for a surrogate model. The processor can obtain the typical attitude tilt angle of each arm segment corresponding to the typical attitude of the target. The processor can use MATLAB to perform Latin hypercube sampling from the preset selection domain corresponding to the design variables to obtain a third preset number of design variable data sets. For each set of design variable data, the processor can use finite element software to determine the performance index corresponding to each set of design variable data. The processor can use the design variable data as sample input data for the surrogate model, use the performance index corresponding to the design variable data as sample output data, and divide the sample input data and sample output data into training sets and test sets for subsequent training and testing of the surrogate model.

[0065] In one embodiment, such as Figure 6 As shown, a schematic diagram illustrates the process of constructing an agent model, through, as... Figure 5 The flowchart shown illustrates how, after obtaining sample data for the proxy model, the proxy model, which uses a mature algorithm from the existing technology to fit each output response, is trained using a training set. Here, output response refers to performance metrics. After training the proxy model using the training set, the determination coefficients of each output response in the proxy model are calculated using the sample data included in the test set. The processor then determines whether the determination coefficients meet the preset precision. If the determination coefficients meet the preset precision, the processor can determine that the proxy model construction and training are complete. If the determination coefficients do not meet the preset precision, the processor can switch the algorithm for fitting the proxy model and add more sample data.

[0066] In one embodiment, 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 includes: taking the performance index reaching the preset target performance index as the optimization objective, determining the design variable data set to be verified from the first preset number of design variable data sets extracted from the preset selection domain of each design variable using a surrogate model based on preset geometric constraints; verifying the design variable data set to be verified using other typical working postures besides the target typical working posture among multiple typical working postures, and determining the design variable data set to be verified as the target design variable data set if the performance index to be verified corresponding to the design variable data set to be verified meets the preset conditions.

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

[0068] The processor can obtain the number of boom segments of the target vehicle and determine preset geometric constraints for the target vehicle based on the number of boom segments, such as 7 and... Figure 8As shown, assuming the target vehicle has 6 boom sections, Figure Z1 illustrates the target vehicle's boom in a folded state, and Figure Z2 illustrates the target vehicle's boom in an extended state. Where: L0 is the horizontal distance from the centerline of the first boom pin to the slewing center; V is the vertical distance from the centerline of the first boom pin to the upper surface of the turntable base plate; R is the outer radius of the slewing bearing; L1 to L6 are the boom lengths of the first to sixth boom sections, respectively; S is the total vehicle length; and X is the horizontal distance from the front of the vehicle to the slewing center. Preset geometric constraints may include: when the target vehicle's boom is in the folding condition shown in Figure Z1, constraint 1: X-L0+L1≤S, that is, the end of the first boom section starting from the turntable does not exceed the limited total length of the target vehicle; constraint 2: L2+R+L0≤L1, that is, the second boom section starting from the turntable does not interfere with the turntable, that is, the second boom 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 boom section starting from the turntable does not exceed the limited total length of the target vehicle; constraint 4: X-L0+L1-L2+L3-L4+L5+L6≤S, that is, the end of the sixth boom section cannot exceed the limited total length of the target vehicle. The preset geometric constraints may also include: when the boom of the target vehicle is in the boom extension condition shown in Figure Z2, constraint 5: L4≤V+L1-L2+L3, that is, the fourth boom 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 boom section is equal to the total length L of the boom section to be developed of the target vehicle. The processor can extract a first preset number of design variable data sets from the selection domain of each design variable. When determining the target variable data set from the first preset number of design variable data sets, the processor can first use a surrogate model with preset geometric constraints to optimize the performance indicators to achieve the preset target performance indicators. Then, it can determine the design variable data set to be verified from the first preset number of design variable data sets. That is, the design variable data corresponding to the performance indicators that meet the optimization target among the performance indicators corresponding to the design variable data in the first preset number of design variable data sets. The design variable data corresponding to the performance indicators that meet the optimization target is determined as the design variable data set to be verified. For example, assuming that the output performance indicators include the total length of the boom system and the preset target performance indicator is the shortest total length of the boom system, the surrogate model, based on the preset geometric constraints, optimizes the shortest total length of the boom system. It then determines the design variable data corresponding to the shortest total length of the boom system from the first preset number of design variable data sets extracted from the selection domain of each design variable, and determines this design variable data as the design variable data set to be verified.After determining the design variable data set to be verified, the processor can verify it using other typical working postures besides the target typical working posture. For any other typical working posture, the processor can use finite element software to determine the performance indicators corresponding to the design variable data set to be verified when the parametric model of the boom system is in other typical postures. Then, the processor can use finite element software to verify the performance indicators corresponding to the design variable data set to be verified in other typical working postures and verify the obtained performance indicators to determine whether they meet the preset conditions. If the processor determines that the performance indicators corresponding to the design variable data set to be verified in other typical working postures meet the preset conditions, the processor can determine the design variable data set to be verified as the target design variable data set.

[0069] In one embodiment, determining the target boom parameters of the target boom system based on the target design variable data set includes: for each boom segment of the target boom system, obtaining a preset functional relationship between the boom segment cross-sectional dimensions and the boom segment length; for each boom segment of the target boom system, determining the boom segment length based on the target design variable data and the corresponding functional relationship; and for each boom segment of the target boom system, determining the hinge point coordinates of each connecting hinge point on the boom segment based on the reference cross-sectional dimensions and the target design variable data of each boom segment, wherein the coordinate system in which the hinge point coordinates are located is constructed with the boom root hinge point of the boom segment as the origin, the extension direction of the boom segment as the X-axis, the vertical direction of the X-axis as the Y-axis, and the vertical direction of the X-axis and Y-axis as the Z-axis.

[0070] After determining the target design variable data set, the processor can determine the target boom parameters of the target boom system based on the target design variable data set. The design variables may include the boom segment cross-sectional dimensions. For each boom segment of the target boom system, the processor can obtain a preset functional relationship between the boom segment cross-sectional dimensions and the boom segment length, thereby determining the boom segment length based on the target design variables and the corresponding functional relationship. For each boom segment of the target boom system, for each connecting hinge point on the boom segment, the processor can determine the hinge point coordinates based on the reference cross-sectional dimensions and the target design variable data for each boom segment. The coordinate system for the hinge point coordinates is constructed with the boom root hinge point as the origin, the boom extension direction as the X-axis, the perpendicular direction of the X-axis as the Y-axis, and the perpendicular direction of the X-axis and Y-axis as the Z-axis. Through the above technical solution, the processor can determine the parameters of each boom segment included in the target boom system, i.e., the target boom parameters, through the target design variables.

[0071] In one embodiment, such as Figure 9The diagram illustrates a flowchart of another method for determining parameters of a vehicle boom system according to an embodiment of this application:

[0072] S1, working posture of big data statistical sample vehicles;

[0073] S2, determines various typical working postures based on the frequency of the boom tilt angle;

[0074] S3, Global Parametric Modeling of the Target Boom System;

[0075] S4, using finite element software to generate sample data for model training based on the target's typical working posture and the target boom system model;

[0076] S5, Build the agent model and train the agent model using sample data;

[0077] S6, Add the preset geometric constraints to the trained surrogate model;

[0078] S7 uses a pre-defined target performance index as the optimization objective and performs optimization iterations through a proxy model to obtain a set of design variable data to be verified.

[0079] S8, substitute the design variable data set to be verified back to other typical attitudes besides the target typical attitude for verification;

[0080] S9, if the verification result is qualified, output the optimal boom parameters based on the qualified set of design variable data to be verified.

[0081] The processor can statistically analyze the working posture of sample vehicles using big data. These sample vehicles can be those whose boom length difference from the target vehicle is less than a first preset value. The processor can determine the boom tilt angle corresponding to the working posture and identify multiple typical working postures by statistically analyzing the frequency of the boom tilt angle. The processor can perform global parametric modeling of the target boom system and determine the performance indicators corresponding to different design variable data sets of the target boom system model under the target typical working posture using finite element software. Based on the design variable data sets and their corresponding performance indicators, the processor can generate sample data for model training. The target typical working posture is a typical working posture selected from multiple typical working postures. The processor can construct a surrogate model and train it using sample data to obtain a trained surrogate model. Preset geometric constraints are then added to the trained surrogate model, enabling it to perform iterative optimization with a preset target performance index as the optimization objective. This yields a set of design variable data to be verified. For example, the optimization objective could be minimizing weight or maximizing boom length. The processor can then substitute this set of design variable data back into other typical postures besides the target typical posture and verify the performance indicators using finite element software. If the verification results are satisfactory (i.e., conforming to the preset results), the processor outputs the optimal boom parameters based on the satisfactory set of design variable data to be verified.

[0082] In one embodiment, such as Figure 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 the method for determining the parameters of the whole vehicle boom system as described in any of the above embodiments.

[0083] The above technical solution uses the cross-sectional dimensions of the regularly shaped transition sections of each boom segment as the baseline length, width, and height. The positional information of other geometric features is referenced to these baseline dimensions, and all point positions are normalized accordingly. This ensures the overall model remains proportional to the design variables (length, width, and height), effectively preventing excessive variable variations during optimization that could prevent geometric model generation. In the parametric modeling of a single boom segment, positioning via coordinate increments effectively ensures the correct relative positional relationships between points. Through big data statistics, a large amount of boom segment tilt angle sensor data is obtained. Typical tilt angles are selected based on the frequency of each boom segment's tilt angle data, providing a reference for constructing the objective function. The objective function is constructed using typical vehicle operating postures and their weighting percentages obtained through big data statistics. An optimization algorithm is then used to obtain the optimal design for the boom length, hinge point position, and cross-sectional dimensions under the preset optimization target.

[0084] The memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. The memory includes at least one memory chip. Those skilled in the art will understand that the structures shown in the accompanying drawings are merely block diagrams of partial structures related to the present application and do not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than shown in the figures, or combine certain components, or have different component arrangements.

[0085] In one embodiment, a machine-readable storage medium is provided that stores instructions that, when executed by a processor, cause the processor to perform a method for determining parameters of a vehicle boom system according to any of the above embodiments.

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

[0087] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 11As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes 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). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores relevant data about the boom system. The network interface A02 communicates with external terminals via a network connection. When executed by the processor A01, the computer program B02 implements a method for determining parameters of the entire vehicle boom system.

[0088] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: constructing a parametric model of the boom system corresponding to the target boom system, and defining design variables for the parametric model, wherein the design variables include boom section cross-sectional dimensions and boom section cover plate thickness; solving the parametric model of the boom system using finite element software based on preset boundary conditions and preset loads to output performance indicators related to the target boom system; and constructing a proxy model according to a preset algorithm, wherein the input to the proxy model is the design variable data set corresponding to the parametric model of the boom system. Each set of design variable data includes the value of each design variable. The output of the surrogate model is the performance index of the target boom system under the target typical working posture. The target typical working posture is determined based on multiple typical working postures corresponding to the sample vehicle. Taking the performance index as the preset target performance index as the optimization target, the target design variable data set is determined from the first preset number of design variable data sets extracted from the preset selection domain of each design variable through the surrogate model based on preset geometric constraints. The target boom parameters of the target boom system are determined based on the target design variable data set. The target boom parameters include boom segment length, hinge point position, and cross-sectional dimensions.

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

[0090] In one embodiment, for each boom segment of the target boom system, establishing a single-segment parametric model corresponding to the boom segment according to the reference cross-sectional dimensions and the target typical working posture according to a first preset rule includes: for each boom segment of the target boom system, determining the hinge point coordinates of each connecting hinge point on the boom segment within the single-segment parametric model based on the reference cross-sectional dimensions and design variable values, wherein the coordinate system of the hinge point coordinates is constructed with the boom root hinge point of the boom segment as the origin, the extension direction of the boom segment as the X-axis, the direction perpendicular to the X-axis as the Y-axis, and the direction perpendicular to the X-axis and Y-axis as the Z-axis; for each boom segment of the target boom system, rotating the single-segment parametric model of the boom segment according to the boom segment tilt angle in the target typical working posture, so that the tilt angle of the single-segment parametric model of the boom segment is consistent with the tilt angle under the target typical working posture.

[0091] In one embodiment, the boom segments of the target boom system are connected sequentially starting from the turntable. The target boom system also includes a linkage assembly, which includes bent linkages and straight linkages. The parametric model of each boom segment corresponding to the target boom system is assembled according to a second preset rule to obtain a parametric model of the boom system corresponding to the target boom system. This includes: determining the hinge point coordinates of the root hinge point and the end hinge point in the parametric model of each boom segment of the target boom system; starting from the turntable, sequentially adjusting the coordinates of the root hinge point of the next boom segment to the coordinates of the end hinge point of the previous boom segment, thereby assembling the target boom system... The process involves connecting the parametric models of each boom segment; determining the hinge coordinates of the connecting rod hinge points of each boom segment in the target boom system coordinate system, where the target boom system coordinate system has its origin at the connection point between the turntable and the boom segment, the horizontal direction as the X-axis, the direction perpendicular to the X-axis as the Y-axis, and the direction perpendicular to both the X-axis and Y-axis as the Z-axis; obtaining the preset connecting rod lengths of the connecting rod groups; determining the connection points of the bent connecting rods and straight connecting rods based on the preset connecting rod lengths and the hinge coordinates of the connecting rod hinge points; and connecting the connecting rod groups according to the connection points to obtain the parametric model of the boom system corresponding to the target boom system.

[0092] In one embodiment, the method further includes: before constructing a parametric model of the boom system corresponding to the target boom system, acquiring the working tilt 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 working tilt angle data includes the boom tilt angle of each boom segment of the sample vehicle during operation, and the boom length parameters include the length parameters of each boom segment of the sample vehicle; determining all possible working postures of the sample vehicle based on the working tilt angle data and boom length parameters; performing big data statistics and classification on all working postures to determine multiple typical posture types corresponding to the sample vehicle, wherein each typical posture type includes multiple typical postures; dividing all working tilt angle data into multiple angle groups according to preset angles; determining the frequency of the boom tilt angle of each boom segment within each angle group based on the working tilt angle data corresponding to all typical postures included in each typical posture type; determining the typical posture type corresponding to the boom tilt angle with the highest 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 surrogate model according to a preset algorithm, obtaining the typical attitude tilt angle of each boom segment corresponding to the target typical attitude; sampling from a preset selection domain corresponding to each design variable according to a preset sampling method to obtain a third preset number of design variable data sets; for each set of design variable data sets, determining the performance index corresponding to each set of design variable data sets of the boom system parameterized model under the target typical attitude using finite element software; determining the third preset number of design variable data sets as the model training input sample data of the surrogate model, and determining the performance index corresponding to each set of design variable data sets as the model training output sample data of the surrogate model, for use in training the surrogate model.

[0094] In one embodiment, 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 includes: taking the performance index reaching the preset target performance index as the optimization objective, determining the design variable data set to be verified from the first preset number of design variable data sets extracted from the preset selection domain of each design variable using a surrogate model based on preset geometric constraints; verifying the design variable data set to be verified using other typical working postures besides the target typical working posture among multiple typical working postures, and determining the design variable data set to be verified as the target design variable data set if the performance index to be verified corresponding to the design variable data set to be verified meets the preset conditions.

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

[0096] In one embodiment, determining the target boom parameters of the target boom system based on the target design variable data set includes: for each boom segment of the target boom system, obtaining a preset functional relationship between the boom segment cross-sectional dimensions and the boom segment length; for each boom segment of the target boom system, determining the boom segment length based on the target design variable data and the corresponding functional relationship; and for each boom segment of the target boom system, determining the hinge point coordinates of each connecting hinge point on the boom segment based on the reference cross-sectional dimensions and the target design variable data of each boom segment, wherein the coordinate system in which the hinge point coordinates are located is constructed with the boom root hinge point of the boom segment as the origin, the extension direction of the boom segment as the X-axis, the vertical direction of the X-axis as the Y-axis, and the vertical direction of the X-axis and Y-axis as the Z-axis.

[0097] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0098] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0099] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0100] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function 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] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0103] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0104] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0105] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for determining parameters of a vehicle boom system, characterized in that, The method includes: The working tilt angle data and boom length parameters of the sample vehicle are obtained, 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 working tilt angle data includes the boom tilt 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. Based on the working tilt angle data and the boom length parameter, determine all the working postures that the sample vehicle can achieve; Big data statistics are performed on all operating postures and they are classified to determine multiple typical posture types corresponding to the sample vehicles, wherein each typical posture type includes multiple typical postures. All operational tilt angle data are divided into multiple angle groups according to preset angles; Based on the working tilt angle data corresponding to all typical postures included in each typical posture type, determine the frequency of the boom tilt angle of each boom segment within each angle group; The typical posture type corresponding to the arm segment tilt 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. Construct a parametric model of the boom system corresponding to the target boom system, and define the design variables of the parametric model of the boom system, wherein the design variables include boom section cross-sectional dimensions and boom section cover plate thickness; The parametric model of the boom system is solved using finite element software based on preset boundary conditions and preset loads, so as to output performance indicators related to the target boom system. A proxy model is constructed according to a preset algorithm. The input of the proxy model is the design variable data set corresponding to the parameterized model of the boom system. Each set of design variable data includes the value 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 target typical working posture is determined based on multiple typical working postures corresponding to the sample vehicle. With the performance index reaching the preset target performance index as the optimization objective, the target design variable data set is determined 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 constraints through the proxy model. The target boom parameters of the target boom system are determined based on the target design variable data set, wherein the target boom parameters include boom segment length, hinge point position, and cross-sectional dimensions.

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

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

4. The method for determining parameters of a vehicle boom system according to claim 3, characterized in that, The target boom system comprises boom segments connected sequentially starting from the turntable. The target boom system also includes a linkage assembly, which includes bent linkages and straight linkages. The process of assembling the single-segment boom parametric model corresponding to each boom segment of the target boom system according to a second preset rule to obtain a boom system parametric model corresponding to the target boom system includes: In the parameterized model of each boom segment of the target boom system, the hinge point coordinates of the root hinge point and the end hinge point are determined. Starting from the turntable, the coordinates of the root hinge point of the next boom segment are sequentially adjusted to the coordinates of the end hinge point of the previous boom segment to connect the parameterized models of each boom segment included in the target boom system. Determine the hinge point coordinates 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 Y-axis as the Z-axis; Obtain the preset link length of the link assembly; The connection 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 linkage groups are connected according to the connection points to obtain a parametric model of the boom system corresponding to the target boom system.

5. The method for determining parameters of a vehicle boom system according to claim 1, characterized in that, The method further includes: Before constructing the surrogate model according to the preset algorithm, obtain the typical pose tilt angle of each arm segment corresponding to the typical pose of the target; The design variable data of the third preset number group are obtained by sampling from the preset selection domain corresponding to each design variable according to the preset sampling method. For each set of design variable data, the finite element software is used to determine the performance indicators corresponding to each set of design variable data for the parametric model of the boom system under the target typical posture. The design variable data of the third preset number of groups are determined as the model training input sample data of the surrogate model, and the performance index corresponding to each group of design variable data is determined as the model training output sample data of the surrogate model, so as to train the surrogate model.

6. The method for determining parameters of a vehicle boom system according to claim 1, characterized in that, The process of 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 includes: With the performance index reaching the preset target as the optimization objective, the proxy model determines 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 preset geometric constraints. The design variable data set to be verified is verified using other typical working postures besides the target typical working posture among the multiple typical working postures. If the performance index to be verified corresponding to the design variable data set to be verified meets the preset conditions, the design variable data set to be verified is determined as the target design variable data set.

7. The method for determining parameters of a vehicle boom system according to claim 6, characterized in that, The verification of the design variable data set to be verified using other typical working postures besides the target typical working posture among the plurality of typical working postures includes: For any other typical working posture, the performance index corresponding to the design variable data set to be verified is determined by the finite element software when the parametric model of the boom system is in the other typical working posture.

8. The method for determining parameters of a vehicle boom system according to claim 1, characterized in that, The step of determining the target boom parameters of the target boom system based on the target design variable data set includes: For each boom segment of the target boom system, a preset functional relationship is obtained between the boom segment cross-sectional dimensions and the boom segment length. For each boom segment of the target boom system, the boom segment length is determined based on the target design variable data corresponding to the boom segment and the functional relationship corresponding to the boom segment; For each boom segment of the target boom system, the hinge point coordinates of each connecting hinge point on the boom segment are determined based on the reference cross-sectional dimensions and the target design variable data of each boom segment. The coordinate system in which the hinge point coordinates are located is constructed with the boom root hinge point of the boom segment as the origin, the extension direction of the boom segment as the X-axis, the vertical direction of the X-axis as the Y-axis, and the vertical direction of the X-axis and Y-axis as the Z-axis.

9. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method for determining parameters of the whole vehicle boom system as described in any one of claims 1 to 8.

10. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, the instruction causes the processor to be configured to perform a method for determining parameters of a vehicle boom system according to any one of claims 1 to 8.

11. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the method for determining the parameters of the vehicle boom system according to any one of claims 1 to 8.

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