Classification method and classification device for postures of arm support and engineering machinery

Abstract

The invention relates to the technical field of engineering machinery, in particular to a classification method and a classification device for postures of a cantilever crane and engineering machinery. Comprising the following steps: determining an arch working condition of the boom and a boom root bending moment value of each boom section; generating at least one first classification interval according to the arm root bending moment value of each arm section; according to the at least one first classification interval, the current posture type of the boom under the arched working condition is determined; wherein the step of determining the arm root bending moment value of each arm section comprises the substeps of determining the arm root bending moment value of the current arm section according to the mass parameters and the structure parameters of the current arm section and all the arm sections from the current arm section to the tail end of the arm support for the current arm section of which the arm root bending moment value is to be determined, so that the scientificity and the rationality of the posture classification of the arm support are improved; and the accuracy of structural design and service life design of the follow-up cantilever crane is improved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a classification method, a classification device, engineering machinery and a storage medium for boom posture. Background Art

[0002] Most construction machinery usually has a boom composed of multiple boom sections, such as concrete pump trucks. For concrete pump trucks, the boom is a key structural component of the concrete pump truck, and the boom posture has a huge impact on the load. However, there are many boom sections, and the combined boom postures are ever-changing. How to reasonably classify the boom postures is of great significance to the design of the boom structure and the length of its service life.

[0003] In the prior art, the posture type of the boom is determined by calculating the moment values ​​of various postures of the boom. However, there are tens of thousands of boom postures, which leads to a huge amount of calculation, and no specific basis for classification is provided, resulting in the boom posture classification being unscientific and unreasonable, and having poor feasibility, which has a certain impact on the subsequent design of the boom structure and even reduces the service life of the boom. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a classification method, a classification device, an engineering machine and a storage medium for boom posture, so as to solve the problems of unreasonable boom posture classification and poor feasibility in the prior art.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a classification method for boom posture, which is applied to engineering machinery, wherein the engineering machinery includes a main body and a boom, and the boom includes a plurality of boom sections connected in sequence, and the classification method includes:

[0006] Make sure the boom is in arched condition;

[0007] Determine the arm root bending moment value of each arm section;

[0008] Generate at least one first classification interval according to the arm root bending moment value of each arm section;

[0009] Determining a current posture type of the boom in an arched condition according to at least one first classification interval;

[0010] Among them, determining the arm root bending moment value of each arm section includes:

[0011] For the current boom section whose boom root bending moment value is to be determined, the boom root bending moment value of the current boom section is determined according to the mass parameters and structural parameters of the current boom section and all boom sections from the current boom section to the end of the boom.

[0012] In an embodiment of the present application, the structural parameters include the distance between the center of gravity of the boom section and the boom root. Determining the boom root bending moment value of the current boom section based on the mass parameters and structural parameters of the current boom section and all boom sections from the current boom section to the end of the boom includes: determining the gravity of each boom section based on the mass parameters of the current boom section and each boom section in all boom sections; determining the boom root bending moment value of the current boom section based on the gravity of each boom section and the distance between the center of gravity of each boom section and the boom root.

[0013] In the embodiment of the present application, determining the arm root bending moment value of the current arm section includes calculating the arm root bending moment value of the current arm section according to formula (1):

[0014]

[0015] Among them, W a Indicates the arm root bending moment value of the current arm section as the a-th arm section, m i is the mass parameter of the i-th arm section, g is the gravitational acceleration, Z i is the distance from the center of gravity of the i-th arm section to the arm root, cosQ (i-1)i is the relative angle Q between the i-1th arm segment and the i-th arm segment (i-1)i The cosine value of the arm, the i-1th arm segment is the arm segment connected to the i-th arm segment and close to the main body, m n is the mass parameter of the nth arm segment, B i is the arm length of the i-th arm, m (n-1) is the mass parameter of the n-1th boom section, n is the boom section where the end of the boom is located, n-1 is the boom section connected to the n-1th boom section and close to the main body, n-2 is the boom section connected to the n-1th boom section and close to the main body, m a is the mass parameter of the a-th arm segment, Z a is the distance from the center of gravity of the ath arm section to the arm root, cosQ (a-1)a is the relative angle Q between the a-1th arm segment and the ath arm segment (a-1)a The cosine value of .

[0016] In an embodiment of the present application, generating at least one first classification interval according to the arm root bending moment value of each arm section includes: obtaining the angle of each arm section in a plurality of arm sections relative to a reference plane, and a preset first angle interval of the relative angle between two adjacent arm sections; determining the second angle interval of the angle of each arm section according to the preset first angle interval; for a current arm section, determining the maximum angle change for the current arm section according to the arm root bending moment value of the current arm section and a preset change range of the arm root bending moment of the current arm section; dividing the second angle interval of the current arm section according to the maximum angle change of the current arm section, so as to obtain at least one first classification interval of the current arm section.

[0017] In an embodiment of the present application, determining the current posture type of the boom under the arch working condition according to at least one first classification interval includes: for the current boom section, determining the target first classification interval in which the angle of the current boom section is located from at least one first classification interval of the current boom section; and determining the current posture type of the boom under the arch working condition according to the target first classification intervals of all boom sections.

[0018] In an embodiment of the present application, determining the current posture type of the boom in an arch working condition according to at least one first classification interval includes: determining at least one second classification interval according to the length of each arm section, wherein the second classification interval includes a length interval and / or a height interval; determining the current posture type of the boom in the arch working condition according to at least one first classification interval and at least one second classification interval.

[0019] In an embodiment of the present application, determining the current posture type of the boom under the arch working condition according to at least one first classification interval and at least one second classification interval includes: obtaining the vertical height of the boom end relative to the connection point between the boom and the main body, and the horizontal distance between the boom end and the connection point; determining the target height interval for the vertical height of the boom end from all the second classification intervals and / or determining the target length interval for the horizontal distance of the boom end from all the second classification intervals; determining the current posture type of the boom according to the target height interval, the target length interval and the target first classification interval of each boom section.

[0020] In an embodiment of the present application, determining that the boom is in an arch condition includes: obtaining the angle of each boom section among multiple boom sections relative to a reference plane; determining the relative angle between two adjacent boom sections based on the angles of two adjacent boom sections; and determining that the boom is in an arch condition when the relative angles between all two adjacent boom sections are less than or equal to a preset angle and the angle of any boom section is outside a preset angle range, wherein the preset angle is greater than an upper limit value of the preset angle range.

[0021] In an embodiment of the present application, the classification method also includes: when the relative angle between any two adjacent arm sections is greater than a preset angle, determining that the current posture type of the arm is a first posture type; when the angle of each arm section is within a preset angle range, determining that the current posture type of the arm is a second posture type.

[0022] A second aspect of the present application provides a device for classifying arm postures, comprising:

[0023] a memory configured to store instructions;

[0024] The processor is configured to call instructions from the memory and implement the above-mentioned classification method for the arm posture when executing the instructions.

[0025] A third aspect of the present application provides an engineering machine, comprising:

[0026] main body;

[0027] A boom, the boom comprising a plurality of boom sections connected in sequence;

[0028] The above-mentioned classification device for arm posture.

[0029] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned classification method for arm posture.

[0030] Through the above technical scheme, the arch working condition of the boom and the boom root bending moment value of each boom section are determined, and at least one first classification interval is generated according to the boom root bending moment value of each boom section, and then the first classification interval in which the boom root bending moment value of each boom section is located is determined, and the current posture type of the boom under the arch working condition is determined according to the first classification interval in which the boom root bending moment values ​​of all boom sections are located, thereby improving the scientificity and rationality of the boom posture classification and improving the accuracy of the subsequent structural design and life design of the boom.

[0031] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0033] Figure 1 A schematic diagram of a flow chart of a method for classifying arm postures according to an embodiment of the present application is shown;

[0034] Figure 2 A schematic diagram schematically shows a posture type of a boom according to an embodiment of the present application;

[0035] Figure 3 A schematic diagram schematically shows a height interval according to an embodiment of the present application;

[0036] Figure 4 A schematic diagram of an engineering machine according to an embodiment of the present application is schematically shown;

[0037] Figure 5 Another flow chart of a method for classifying arm postures according to an embodiment of the present application is schematically shown;

[0038] Figure 6 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0040] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0041] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0042] Figure 1 The following schematically shows a flow chart of a method for classifying arm posture according to an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a method for classifying boom postures, which is applied to engineering machinery. The engineering machinery includes a main body and a boom, and the boom includes a plurality of boom sections connected in sequence. The method may include the following steps:

[0043] Step 101: Determine that the boom is in an arched condition.

[0044] Step 102: Determine the arm root bending moment value of each arm section.

[0045] Step 103: Generate at least one first classification interval according to the arm root bending moment value of each arm section.

[0046] Step 104: Determine the current posture type of the boom in the arched working condition according to at least one first classification interval.

[0047] Engineering machinery is an important part of the equipment industry. In general, all mechanical equipment required for comprehensive mechanized construction projects required for earthwork construction, road construction and maintenance, mobile lifting and loading and unloading operations, and various construction projects are called engineering machinery. In the embodiment of the present application, the engineering machinery can be a multi-arm section machine such as a concrete pump truck, a placing machine, a wet spraying machine, a fire truck, etc. It can be understood that the arm root bending moment value refers to the bending moment on the arm root section of the arm section, that is, the internal moment borne by the arm root section. The processor can determine that the boom is in an arched working condition and determine the arm root bending moment value of each boom section. The arched working condition refers to the angle, force, etc. of each boom section when the boom is in an arched posture. After determining the arm root bending moment value of each boom section, the processor can generate at least one first classification interval according to the arm root bending moment value of each boom section. After generating at least one first classification interval, the processor can determine the current posture type of the boom under the arched working condition according to at least one first classification interval.

[0048] In an embodiment of the present application, determining that the boom is in an arch condition includes: obtaining the angle of each boom section among multiple boom sections relative to a reference plane; determining the relative angle between two adjacent boom sections based on the angles of two adjacent boom sections; and determining that the boom is in an arch condition when the relative angles between all two adjacent boom sections are less than or equal to a preset angle and the angle of any boom section is outside a preset angle range, wherein the preset angle is greater than an upper limit value of the preset angle range.

[0049] The processor can determine that the boom is in an arched condition. Specifically, the processor can obtain the angle of each boom section relative to a reference plane such as a horizontal plane. Specifically, the angle of each boom section relative to the horizontal plane can be measured by a tilt sensor installed on each boom section. After obtaining the angle of each boom section, the processor can determine the relative angle between each two adjacent boom sections according to the angle of each two adjacent boom sections. After obtaining the relative angle between each two adjacent boom sections, the processor can determine whether the relative angle between each two adjacent boom sections is less than or equal to a preset angle, and whether the angle of each boom section is within a preset angle range. Among them, the preset angle and the preset angle range are determined by the user based on the design of the engineering machinery, and the preset angle is greater than the upper limit of the preset angle range. When the relative angle between each two adjacent boom sections is less than or equal to the preset angle, and the angle of any boom section is outside the preset angle range, the processor can determine that the boom is in an arched condition. In a specific embodiment, the preset angle is 180°, and the preset angle range is -5° to 5°.

[0050] In an embodiment of the present application, the classification method also includes: when the relative angle between any two adjacent arm sections is greater than a preset angle, determining that the current posture type of the arm is a first posture type; when the angle of each arm section is within a preset angle range, determining that the current posture type of the arm is a second posture type.

[0051] When the relative angle between any two adjacent boom sections is greater than the preset angle, the processor can determine that the current posture type of the boom is the first posture type, which can be an M-type posture, that is, the four boom sections connected in sequence form an "M" shape. When the angle of each boom section is within the preset angle range, the processor can determine that the current posture type of the boom is the second posture type, which can be a horizontal posture. Figure 2 As shown in the figure, the arch posture, M-type posture and horizontal posture of the boom are shown from top to bottom. Among them, based on big data statistics, the number of occurrences of the arch posture accounts for more than 96%, the M-type posture accounts for less than 2%, and the horizontal posture accounts for less than 2%. Therefore, the arch posture is subdivided to make the boom posture classification more refined and reasonable.

[0052] In an optional embodiment, for the current boom section whose boom root bending moment value is to be determined, the processor may determine the boom root bending moment value of the current boom section based on the mass parameters and structural parameters of the current boom section and all booms from the current boom section to the end of the boom. Both the mass parameters and the structural parameters may be acquired by sensors. Further, the structural parameters may include the distance between the center of gravity of the boom section and the boom root, which may be acquired by a distance measuring sensor installed at any position on each boom section, and the mass parameters may be acquired by a mass sensor installed at any position on each boom section.

[0053] In an embodiment of the present application, the structural parameters include the distance between the center of gravity of the boom section and the boom root. Determining the boom root bending moment value of the current boom section based on the mass parameters and structural parameters of the current boom section and all boom sections from the current boom section to the end of the boom includes: determining the gravity of each boom section based on the mass parameters of the current boom section and each boom section in all boom sections; determining the boom root bending moment value of the current boom section based on the gravity of each boom section and the distance between the center of gravity of each boom section and the boom root.

[0054] The processor can determine the arm root bending moment value of the current arm section according to the mass parameters and structural parameters of the current arm section and all the arms from the current arm section to the end of the arm section. Specifically, the processor can determine the gravity of each arm section according to the mass parameters of the current arm section and all the arms from the current arm section to the end of the arm section. And determine the arm root bending moment value of the current arm section according to the gravity of each arm section and the distance between the center of gravity of each arm section and the arm root. Assume that the current arm section is the i-th arm section, and all the arm sections from the current arm section to the end of the arm section include the i+1-th arm section, the i+2-th arm section...the n-th arm section. The processor can determine the gravity of the i-th arm section, the i+1-th arm section, the i+2-th arm section...the n-th arm section according to the mass parameters of the i-th arm section, the i+1-th arm section, the i+2-th arm section...the n-th arm section. The arm root bending moment value of the ith arm section is determined according to the gravity of the ith arm section, the i+1th arm section, the i+2th arm section... the nth arm section and the distance between the center of gravity of the ith arm section and the arm root, the distance between the center of gravity of the i+1th arm section and the arm root, the distance between the center of gravity of the i+2th arm section and the arm root... the distance between the center of gravity of the nth arm section and the arm root.

[0055] In the embodiment of the present application, determining the arm root bending moment value of the current arm section includes calculating the arm root bending moment value of the current arm section according to formula (1):

[0056]

[0057] Among them, W a Indicates the arm root bending moment value of the current arm section as the a-th arm section, m i is the mass parameter of the i-th arm section, g is the gravitational acceleration, Z i is the distance from the center of gravity of the i-th arm section to the arm root, cosQ (i-1)i is the relative angle Q between the i-1th arm segment and the i-th arm segment (i-1)i The cosine value of the arm, the i-1th arm segment is the arm segment connected to the i-th arm segment and close to the main body, m n is the mass parameter of the nth arm segment, B i) is the arm length of the i-th arm, m (n-1) is the mass parameter of the n-1th boom section, n is the boom section where the boom end is located, n-1 is the boom section connected to the n-1th boom section and close to the main body, n-2 is the boom section connected to the n-1th boom section and close to the main body, m a is the mass parameter of the a-th arm segment, Z a is the distance from the center of gravity of the ath arm section to the arm root, cosQ (a-1)a is the relative angle Q between the a-1th arm segment and the ath arm segment (a-1)a The cosine value of .

[0058] In an optional embodiment, the processor may also obtain multiple historical mass parameters and structural parameters of each boom section, and construct a calculation model through the multiple historical mass parameters and structural parameters. For the current boom section whose boom root bending moment value is to be determined, the processor may input the mass parameters and structural parameters of the current boom section and all boom sections from the current boom section to the end of the boom into the calculation model, so as to output the boom root bending moment value of the current boom section through the calculation model.

[0059] In an embodiment of the present application, generating at least one first classification interval according to the arm root bending moment value of each arm section includes: obtaining the angle of each arm section in a plurality of arm sections relative to a reference plane, and a preset first angle interval of the relative angle between two adjacent arm sections; determining the second angle interval of the angle of each arm section according to the preset first angle interval; for a current arm section, determining the maximum angle change for the current arm section according to the arm root bending moment value of the current arm section and a preset change range of the arm root bending moment of the current arm section; dividing the second angle interval of the current arm section according to the maximum angle change of the current arm section, so as to obtain at least one first classification interval of the current arm section.

[0060] The processor can generate at least one first classification interval based on the arm root bending moment value of each arm section. Specifically, the processor can obtain the angle of each arm section in the multiple arm sections relative to the reference plane, and the first angle interval for the relative angle between each two adjacent arm sections. Specifically, the reference plane can be a horizontal plane, which can be detected by an angle detection device such as an angle sensor or an inclination sensor. Furthermore, the angle detection device can be installed at any position on each arm section. The first angle interval of the relative angle between each two adjacent arm sections can be determined by the user based on the design requirements of the engineering machinery. Taking a six-arm pump truck as an example, the first angle range of the relative angle Q01 between the first arm section and the turntable of the pump truck can be 0 to 90°, the first angle range of the relative angle Q12 between the first arm section and the second arm section can be 0 to 180°, the first angle range of the relative angle Q23 between the second arm section and the third arm section can be 0 to 180°, the first angle range of the relative angle Q34 between the third arm section and the fourth arm section can be 0 to 360°, the first angle range of the relative angle Q45 between the fourth arm section and the fifth arm section can be 0 to 180°, and the first angle range of the relative angle Q56 between the fifth arm section and the sixth arm section can be 0 to 180°.

[0061] After obtaining the first angle interval of the relative angle between every two adjacent arm sections, the processor can determine the second angle interval of the angle of each arm section based on all the first angle intervals. That is, the second angle interval of the angle Q1 of the first arm section needs to be determined based on the first angle intervals of Q01, Q12, Q23, Q34, Q45, and Q56. Similarly, the angle Q2 of the second arm section, the angle Q3 of the third arm section, the angle Q4 of the fourth arm section, the angle Q5 of the fifth arm section, and the angle Q6 of the sixth arm section all need to be determined based on the first angle intervals of Q01, Q12, Q23, Q34, Q45, and Q56. In a specific embodiment, the second angle range of the angle Q1 of the first arm section can be 0 to 90°, the second angle range of the angle Q2 of the second arm section can be -180° to 90°, the second angle range of the angle Q3 of the third arm section can be -180° to 90°, the second angle range of the angle Q4 of the fourth arm section can be -180° to 180°, the second angle range of the angle Q5 of the fifth arm section can be -180° to 90°, and the second angle range of the angle Q6 of the sixth arm section can be -180° to 90°.

[0062] Specifically, for the current boom section, the processor may determine the maximum angle variation of the angle of the current boom section according to the arm root bending moment value of the current boom section and the preset variation range of the arm root bending moment of the boom section. The preset variation range may be determined by the user based on the design requirements of the boom section. After obtaining the maximum angle variation of the current boom section, the processor may divide the second angle interval of the current boom section according to the maximum angle variation of the current boom section to obtain at least one first classification interval of the current boom section. For example, if the current boom section is a five-arm section, the processor may divide the second angle interval of the five-arm section from -180° to 90° according to the maximum angle variation of the five-arm section to obtain at least one first classification interval of the five-arm section.

[0063] Taking a pump truck with 6 boom sections as an example, assuming that the current boom section for which the boom root bending moment value is to be determined is the 5th boom section, the preset change range of the boom root bending moment of the 5th boom section is less than 5%. The processor can determine the boom root bending moment value W5=m5gZ5cosQ before the boom root bending moment of the 5th boom section changes 45 +m6gZ6cosQ 56 +m6gB5cosQ 45 , the arm root bending moment value after the arm root bending moment transformation of the 5th arm section is W5 ′ =m5gZ5cosQ 45 ′ +m6gZ6cosQ 56 ′ +m6gB5cosQ 45 ′ .

[0064]

[0065] Based on the preset variation range of less than 5%, the processor can determine that |ΔW5 / W5|≤5%, m5gZ5+m6gB5, m6gZ6, and W5 are all constants, and it can be assumed that m5gZ5+m6gB5 is A, m6gZ6 is B, and W5 is C. Further,

[0066] Furthermore, it can be determined that 45 When the value is 0, ΔQ 56 The larger the possible value of 56 When the value is 0, ΔQ 45 In order to obtain the maximum angle change of the 5-arm segment, assume that ΔQ 45 =0 and ΔQ 56 = 0. and Further assumption Therefore, when ΔQ 45 = 0, When ΔQ 56 = 0, Assuming |2A / C|≤0.2 or |2B / C|≤0.2, ΔQ can be determined 45 ≤30° or ΔQ 56 ≤30°. The processor can determine that the maximum angle change of the 5-arm section is 30°. After obtaining the maximum angle change of the 5-arm section, the processor can divide the second angle interval of the angle Q5 of the 5-arm section by 30°, which can be -180° to 90°, to obtain 6 first classification intervals of the 5-arm section. The first classification interval can be used to subdivide the angle of the 5-arm section, and each subdivided angle interval corresponds to a bending moment value interval, respectively: interval W51: -180°≤Q5<-150°, interval W52: -150°≤Q5<-120°, interval W53: -120°≤Q5<-90°, interval W54: -90°≤Q5<-60° or 60°≤Q5<90°, interval W55: -60°≤Q5<-30° or 30°≤Q5<60°, interval W56: -30°≤Q5≤30°.

[0067] Similarly, the six first classification intervals of the six arm sections can be determined, namely: interval W61: -180°≤Q6<-150°, interval W62: -150°≤Q6<-120°, interval W63: -120°≤Q6<-90°, interval W64: -90°≤Q6<-60° or 60°≤Q6<90°, interval W65: -60°≤Q6<-30° or 30°≤Q6<60°, interval W66: -30°≤Q6≤30°.

[0068] In an embodiment of the present application, determining the current posture type of the boom under the arch working condition according to at least one first classification interval includes: for the current boom section, determining the target first classification interval in which the angle of the current boom section is located from at least one first classification interval of the current boom section; and determining the current posture type of the boom under the arch working condition according to the target first classification intervals of all boom sections.

[0069] The processor can determine the current posture type of the boom in the arched working condition based on at least one first classification interval. Specifically, for the current boom section, the processor can determine the target first classification interval where the angle of the current boom section is located from at least one first classification interval of the current boom section. After obtaining the target first classification interval where the angle of the current boom section is located, the processor can determine the current posture type of the boom in the arched working condition based on the target first classification intervals of all boom sections.

[0070] In an optional embodiment, the processor may input at least one first classification interval of each boom section and the angle of each boom section into a preset model, so as to automatically output the current posture type of the boom in the arched condition through the preset model. The preset model may be constructed using the historical first classification intervals of multiple boom sections and the historical angles of multiple boom sections.

[0071] Taking a concrete pump truck with 6 boom sections as an example, the processor can determine the target first classification interval X1≤Q1≤Y1 of the angle Q1 of boom section 1 from at least one first classification interval of boom section 1, determine the target first classification interval X2≤Q2≤Y2 of the angle Q2 of boom section 2 from at least one first classification interval of boom section 2, determine the target first classification interval X3≤Q3≤Y3 of the angle Q3 of boom section 3 from at least one first classification interval of boom section 3, determine the target first classification interval X4≤Q4≤Y4 of the angle Q4 of boom section 4 from at least one first classification interval of boom section 4, determine the target first classification interval X5≤Q5≤Y5 of the angle Q5 of boom section 5 from at least one first classification interval of boom section 5, and determine the target first classification interval X6≤Q6≤Y6 of the angle Q6 of boom section 6 from at least one first classification interval of boom section 6. The processor can determine that the current posture type of the boom under the arch working condition is X1≤Q1≤Y1, X2≤Q2≤Y2, X3≤Q3≤Y3, X4≤Q4≤Y4, X5≤Q5≤Y5, and X6≤Q6≤Y6 according to the target first classification interval of the six arm sections.

[0072] In an embodiment of the present application, determining the current posture type of the boom in an arch working condition according to at least one first classification interval includes: determining at least one second classification interval according to the length of each arm section, wherein the second classification interval includes a length interval and / or a height interval; determining the current posture type of the boom in the arch working condition according to at least one first classification interval and at least one second classification interval.

[0073] The processor may determine the current posture type of the boom in the arched working condition according to at least one first classification interval. Specifically, the processor may determine at least one second classification interval according to the length of each boom section, wherein the second classification interval may include a length interval and / or a height interval. After obtaining at least one second classification interval, the processor may determine the current posture type of the boom in the arched working condition according to at least one first classification interval and at least one second classification interval.

[0074] It can be understood that the length of the boom section can be measured by the length measuring device installed on each boom section. Taking a concrete pump truck with 6 boom sections as an example, the lengths of the 1st to 6th boom sections can be expressed as B1, B2, B3, B4, B5, B6 respectively. The total length L of the boom section is the sum of B1, B2, B3, B4, B5, B6. The processor can generate 11 height intervals according to the lengths of the six boom sections, which are respectively represented as the first height interval H1: -(L-B1)≤H<-(L-B1-B6), the second height interval H2: -(L-B1-B6)≤H<-(L-B1-B6-B5), the third height interval H3: -(L-B1-B6-B5)≤H<-(L-B1-B6-B5-B4), the fourth height interval H4: -(L-B1-B6-B5-B4)≤H<-(L-B1-B6-B5-B4-B3), and the fifth height interval H5: -(L-B1-B6-B5-B4)≤H<-(L-B1-B6-B5-B4-B3). The sixth height interval H5: -(L-B1-B6-B5-B4-B3)≤H<0, the sixth height interval H6: 0≤H<B1, the seventh height interval H7: B1≤H<B1+B2, the eighth height interval H8: B1+B2≤H<B1+B2+B3, the ninth height interval H9: B1+B2+B3≤H<B1+B2+B3+B4, the tenth height interval H10: B1+B2+B3+B4≤H<B1+B2+B3+B4+B5, the eleventh height interval H10: B1+B2+B3+B4+B5≤H≤L.

[0075] like Figure 3 As shown, in the first to fifth height intervals, the boom height and length range do not exceed the circle with (B1, 0) as the origin and (L-B1) as the radius. In the sixth to eleventh height intervals, the boom length and height range do not exceed the circle with (0, 0) as the origin and L as the radius.

[0076] The processor can generate 6 length intervals according to the lengths of the 6 arm segments, which are respectively represented as the first length interval C1: 0≤C<B1, the second length interval C2: B1≤C<B1+B2, the third length interval C3: B1+B2≤C<B1+B2+B3, the fourth length interval C4: B1+B2+B3≤C<B1+B2+B3+B4, the fifth length interval C5: B1+B2+B3+B4≤C<B1+B2+B3+B4+B5, and the sixth length interval C6: B1+B2+B3+B4+B5≤C≤L.

[0077] In an embodiment of the present application, determining the current posture type of the boom under the arch working condition according to at least one first classification interval and at least one second classification interval includes: obtaining the vertical height of the boom end relative to the connection point between the boom and the main body, and the horizontal distance between the boom end and the connection point; determining the target height interval for the vertical height of the boom end from all the second classification intervals and / or determining the target length interval for the horizontal distance of the boom end from all the second classification intervals; determining the current posture type of the boom according to the target height interval, the target length interval and the target first classification interval of each boom section.

[0078] The processor can determine the current posture type of the boom under the arch condition based on at least one first classification interval and at least one second classification interval. Specifically, the processor can obtain the vertical height of the boom end relative to the connection point between the boom and the main body, and the horizontal distance between the boom end and the connection point. Specifically, the vertical height and horizontal distance of the boom end relative to the connection point can be measured by measuring equipment such as ranging sensors, height sensors, etc. After obtaining the vertical height and horizontal distance of the boom end, the processor can determine the target height interval of the vertical height of the boom end from all second classification intervals and / or determine the target length interval of the horizontal distance of the boom end from all second classification intervals. After obtaining the target height interval and target length interval, the processor can determine the current posture type of the boom based on the target height interval, the target length interval and the target first classification interval of each boom section to more accurately determine the state type of the boom.

[0079] like Figure 4As shown, taking a concrete pump truck with 6 boom sections as an example, the relative angle between boom section 1 and the turntable of the pump truck is represented by Q01, the relative angle between boom section 1 and boom section 2 is represented by Q12, the relative angle between boom section 2 and boom section 3 is represented by Q23, the relative angle between boom section 3 and boom section 4 is represented by Q34, the relative angle between boom section 4 and boom section 5 is represented by Q45, and the relative angle between boom section 5 and boom section 6 is represented by Q56. The angle of boom section 1 relative to the horizontal plane is represented by Q1, the angle of boom section 2 relative to the horizontal plane is represented by Q2, the angle of boom section 3 relative to the horizontal plane is represented by Q3, the angle of boom section 4 relative to the horizontal plane is represented by Q4, the angle of boom section 5 relative to the horizontal plane is represented by Q5, and the angle of boom section 6 relative to the horizontal plane is represented by Q6. The angle of each boom section relative to the horizontal plane can be measured by the inclination sensor installed on each boom section. Among them, Qab=180°-Qa+Qb, a and b are the numbers of the two directly connected boom sections, a is the boom section close to the turntable, and b is the boom section close to the end of the boom. For the 1st boom section directly connected to the turntable, a is 0, Q01=180°-Q0+Q1, Q0 is 180°. The vertical height of the end of the boom relative to the connection point between the boom and the main body 7 is represented by H, and the horizontal distance of the end of the boom relative to the connection point is represented by C.

[0080] Assume that the processor determines that the target height interval of the vertical height H of the end of the boom is the seventh height interval H7: B1≤H<B1+B2, and the target length interval of the horizontal distance of the end of the boom is the second length interval C2: B1≤C<B1+B2. The first classification interval for boom sections 1 to 6 is X1≤Q1≤Y1, X2≤Q2≤Y2, X3≤Q3≤Y3, X4≤Q4≤Y4, X5≤Q5≤Y5, and X6≤Q6≤Y6.

[0081] The processor may determine that the current posture type of the boom is B1≤H<B1+B2, B1≤C<B1+B2, X1≤Q1≤Y1, X2≤Q2≤Y2, X3≤Q3≤Y3, X4≤Q4≤Y4, X5≤Q5≤Y5, and X6≤Q6≤Y6.

[0082] Alternatively, the processor may determine that the current posture type of the boom is B1≤H<B1+B2, X1≤Q1≤Y1, X2≤Q2≤Y2, X3≤Q3≤Y3, X4≤Q4≤Y4, X5≤Q5≤Y5, and X6≤Q6≤Y6.

[0083] Alternatively, the processor may determine that the current posture type of the boom is B1≤C<B1+B2, X1≤Q1≤Y1, X2≤Q2≤Y2, X3≤Q3≤Y3, X4≤Q4≤Y4, X5≤Q5≤Y5, and X6≤Q6≤Y6.

[0084] Alternatively, the processor may determine that the current posture type of the arm is X2≤Q2≤Y2, X3≤Q3≤Y3, X4≤Q4≤Y4, X5≤Q5≤Y5, and X6≤Q6≤Y6.

[0085] Alternatively, the processor may determine that the current posture type of the arm is B1≤C<B1+B2.

[0086] Alternatively, the processor may determine that the current posture type of the boom is B1≤H<B1+B2.

[0087] Alternatively, the processor may determine that the current posture type of the boom is B1≤H<B1+B2, B1≤C<B1+B2.

[0088] In the embodiment of the present application, the processor may define the relative angle between any two adjacent boom sections as greater than 180° as condition M. The angle of each boom section relative to the horizontal plane being within the range of -5° to 5° is defined as condition S. Figure 5 As shown, the processor can receive the angle of each boom section sent by the inclination sensor installed on each boom section, and determine the relative angle between each adjacent two boom sections according to the angle of each boom section. After obtaining the relative angle between each two boom sections, the processor can determine whether the relative angle between each two adjacent boom sections meets the condition M. When the relative angle between any two adjacent boom sections meets the condition M, the processor can determine that the boom is in the M-type working condition, that is, the posture type of the boom section is the M-type posture. When the relative angle between each two adjacent boom sections does not meet the condition M, the processor can determine whether the angle of each boom section meets the condition S. When the angle of each boom section meets the condition S, the processor can determine that the boom section is in the horizontal working condition, that is, the posture type of the boom section is the horizontal state. When the angle of any boom section does not meet the condition S, the processor can determine that the boom section is in the arched working condition. When it is determined that the boom section is in the arched working condition, the processor can further determine the height interval for the vertical height of the boom section end, the length interval for the horizontal distance of the boom section end, and the boom root bending moment value interval for the boom root bending moment value of each boom section. The subdivided arch posture is determined according to the height range, length range and arm root bending moment value range.

[0089] Through the above technical solution, the scientificity and rationality of the boom posture classification are improved, and the accuracy of the subsequent boom structure design and life design is improved.

[0090] Figure 1 and Figure 5 FIG. 1 is a flow chart of a method for classifying arm postures in one embodiment. It should be understood that although Figure 1 and Figure 5The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 and Figure 5 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0091] The embodiment of the present application also provides a classification device for boom posture, comprising:

[0092] a memory configured to store instructions;

[0093] The processor is configured to call instructions from the memory and implement the above-mentioned classification method for the arm posture when executing the instructions.

[0094] The present application also provides an engineering machine, including:

[0095] main body;

[0096] A boom, the boom comprising a plurality of boom sections connected in sequence;

[0097] The above-mentioned classification device for arm posture.

[0098] The engineering machinery of this embodiment includes traditional engineering machinery and also includes new energy vehicles used in the field of engineering machinery, such as new energy mixer trucks, new energy pump trucks, new energy excavators, etc.; in addition, the engineering machinery vehicles of this embodiment also belong to intelligent networked vehicles. The engineering machinery vehicles include sensors, communication systems, etc., and collect vehicle operation data and vehicle surrounding environment information through the sensor system in the vehicle. The network connection with other vehicles and the cloud is realized through the communication system, and the collected vehicle operation data, vehicle surrounding environment information, etc. are shared to the cloud and other authorized vehicles to realize data sharing, remote analysis, intelligent driving and other operations.

[0099] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned classification method for arm posture.

[0100] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 6As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data such as the arm root bending moment value, the first classification interval and the current posture type. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a classification method for the boom posture is implemented.

[0101] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0102] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: determining that the boom is in an arch condition; determining the arm root bending moment value of each boom section; generating at least one first classification interval based on the arm root bending moment value of each boom section; determining the current posture type of the boom under the arch condition based on the at least one first classification interval; wherein determining the arm root bending moment value of each boom section includes: for a current boom section whose arm root bending moment value is to be determined, determining the arm root bending moment value of the current boom section based on mass parameters and structural parameters of the current boom section and all boom sections from the current boom section to the end of the boom.

[0103] In one embodiment, the structural parameters include the distance between the center of gravity of the boom section and the boom root, and determining the boom root bending moment value of the current boom section according to the mass parameters and structural parameters of the current boom section and all boom sections from the current boom section to the end of the boom includes: determining the gravity of each boom section according to the mass parameters of the current boom section and each boom section in all boom sections; determining the boom root bending moment value of the current boom section according to the gravity of each boom section and the distance between the center of gravity of each boom section and the boom root.

[0104] In one embodiment, determining the arm root bending moment value of the current arm section includes calculating the arm root bending moment value of the current arm section according to formula (1):

[0105]

[0106] Among them, W a Indicates the arm root bending moment value of the current arm section as the a-th arm section, m i is the mass parameter of the i-th arm section, g is the gravitational acceleration, Z i is the distance from the center of gravity of the i-th arm section to the arm root, cosQ (i-1)i is the relative angle Q between the i-1th arm segment and the i-th arm segment (i-1)i The cosine value of the arm, the i-1th arm segment is the arm segment connected to the i-th arm segment and close to the main body, m n is the mass parameter of the nth arm segment, B i is the arm length of the i-th arm, m (n-1) is the mass parameter of the n-1th boom section, n is the boom section where the end of the boom is located, n-1 is the boom section connected to the n-1th boom section and close to the main body, n-2 is the boom section connected to the n-1th boom section and close to the main body, m a is the mass parameter of the a-th arm segment, Z a is the distance from the center of gravity of the ath arm section to the arm root, cosQ (a-1)a is the relative angle Q between the a-1th arm segment and the ath arm segment (a-1)a The cosine value of .

[0107] In one embodiment, generating at least one first classification interval according to the arm root bending moment value of each arm section includes: obtaining the angle of each arm section among multiple arm sections relative to a reference plane, and a preset first angle interval of the relative angle between two adjacent arm sections; determining the second angle interval of the angle of each arm section according to the preset first angle interval; for the current arm section, determining the maximum angle change for the current arm section according to the arm root bending moment value of the current arm section and a preset change range of the arm root bending moment of the current arm section; dividing the second angle interval of the current arm section according to the maximum angle change of the current arm section, so as to obtain at least one first classification interval of the current arm section.

[0108] In one embodiment, determining the current posture type of the boom in the arch condition according to at least one first classification interval includes: for the current boom section, determining the target first classification interval in which the angle of the current boom section is located from at least one first classification interval of the current boom section; and determining the current posture type of the boom in the arch condition according to the target first classification intervals of all boom sections.

[0109] In one embodiment, determining the current posture type of the boom in the arch working condition according to at least one first classification interval includes: determining at least one second classification interval according to the length of each boom section, wherein the second classification interval includes a length interval and / or a height interval; determining the current posture type of the boom in the arch working condition according to at least one first classification interval and at least one second classification interval.

[0110] In one embodiment, determining the current posture type of the boom under the arch working condition according to at least one first classification interval and at least one second classification interval includes: obtaining the vertical height of the boom end relative to the connection point between the boom and the main body, and the horizontal distance between the boom end and the connection point; determining the target height interval for the vertical height of the boom end from all the second classification intervals and / or determining the target length interval for the horizontal distance of the boom end from all the second classification intervals; determining the current posture type of the boom according to the target height interval, the target length interval and the target first classification interval of each boom section.

[0111] In one embodiment, determining that the boom is in an arch condition includes: obtaining the angle of each boom section among a plurality of boom sections relative to a reference plane; determining the relative angle between two adjacent boom sections based on the angles of the two adjacent boom sections; and determining that the boom is in an arch condition when the relative angles between all two adjacent boom sections are less than or equal to a preset angle and the angle of any boom section is outside a preset angle range, wherein the preset angle is greater than an upper limit value of the preset angle range.

[0112] In one embodiment, the classification method also includes: when the relative angle between any two adjacent arm sections is greater than a preset angle, determining that the current posture type of the arm is a first posture type; when the angle of each arm section is within a preset angle range, determining that the current posture type of the arm is a second posture type.

[0113] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing the steps of a classification method for a boom posture.

[0114] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0115] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0116] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0117] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0118] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0119] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0120] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0121] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0122] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A classification method for boom posture, characterized in that: Applied to engineering machinery, the engineering machinery comprises a main body and a boom, the boom comprises a plurality of boom sections connected in sequence, and the classification method comprises: Determining that the boom is in an arched condition; Determine the arm root bending moment value of each arm section; Generate at least one first classification interval according to the arm root bending moment value of each arm section; Determining a current posture type of the boom in the arched working condition according to the at least one first classification interval; Wherein, determining the arm root bending moment value of each arm section comprises: For the current boom section whose boom root bending moment value is to be determined, the boom root bending moment value of the current boom section is determined according to mass parameters and structural parameters of the current boom section and all boom sections from the current boom section to the end of the boom.

2. The method for classifying arm posture according to claim 1, characterized in that: The structural parameters include the distance between the center of gravity of the boom section and the boom root. The boom root bending moment value of the current boom section is determined according to the mass parameters and structural parameters of the current boom section and all the boom sections from the current boom section to the end of the boom frame, including: Determine the gravity of each boom section according to the mass parameters of the current boom section and each boom section in all the boom sections; The arm root bending moment value of the current arm section is determined according to the gravity of each arm section and the distance between the center of gravity of each arm section and the arm root.

3. The method for classifying arm posture according to claim 1, characterized in that: Determining the arm root bending moment value of the current arm section includes calculating the arm root bending moment value of the current arm section according to formula (1): Among them, W a Indicates that the current boom section is the arm root bending moment value of the a-th boom section, m i is the mass parameter of the i-th boom section, g is the gravitational acceleration, Zi is the distance from the center of gravity of the i-th boom section to the boom root, cos Q(i-1)i is the cosine value of the relative angle Q(i-1)i between the i-1-th boom section and the i-th boom section, the i-1-th boom section is the boom section connected to the i-th boom section and close to the main body, m n is the mass parameter of the nth arm segment, B i is the arm length of the i-th arm, m (n-1) is the mass parameter of the n-1th boom section, n is the boom section where the end of the boom is located, n-1 is the boom section connected to the n-1th boom section and close to the main body, n-2 is the boom section connected to the n-1th boom section and close to the main body, m a is the mass parameter of the ath arm segment, Z a is the distance from the center of gravity of the ath boom section to the boom root, cos Q (a-1)a is the relative angle Q between the a-1th arm segment and the ath arm segment (a-1)a The cosine value of .

4. The method for classifying arm posture according to claim 1, characterized in that: Generating at least one first classification interval according to the arm root bending moment value of each arm section comprises: Acquire an angle of each of the plurality of boom sections relative to a reference plane, and a preset first angle range of a relative angle between two adjacent boom sections; Determine a second angle interval of the angle of each arm section according to the preset first angle interval; For the current boom section, determining a maximum angle variation for the current boom section according to a boom root bending moment value of the current boom section and a preset variation range of the boom root bending moment of the current boom section; The second angle interval of the current arm section is divided according to the maximum angle variation of the current arm section to obtain at least one first classification interval of the current arm section.

5. The method for classifying arm posture according to claim 4, characterized in that: Determining the current posture type of the boom in the arched working condition according to the at least one first classification interval includes: For the current boom section, determining a target first classification interval in which the angle of the current boom section is located from at least one first classification interval of the current boom section; The current posture type of the boom in the arched working condition is determined according to the target first classification intervals of all boom sections.

6. The method for classifying arm posture according to claim 1, characterized in that: Determining the current posture type of the boom in the arched working condition according to the at least one first classification interval includes: Determine at least one second classification interval according to the length of each boom section, wherein the second classification interval includes a length interval and / or a height interval; The current posture type of the boom in the arched working condition is determined according to the at least one first classification interval and the at least one second classification interval.

7. The method for classifying arm postures according to claim 6, characterized in that: Determining the current posture type of the boom in the arched working condition according to the at least one first classification interval and the at least one second classification interval includes: Obtaining the vertical height of the end of the boom relative to the connection point between the boom and the main body, and the horizontal distance between the end of the boom and the connection point; Determine a target height interval for the vertical height of the boom end from all the second classification intervals and / or determine a target length interval for the horizontal distance of the boom end from all the second classification intervals; The current posture type of the boom is determined according to the target height interval, the target length interval, and the target first classification interval of each boom section.

8. The method for classifying boom postures according to claim 1, characterized in that: Determining that the boom is in an arched condition includes: Acquire an angle of each of the plurality of arm sections relative to a reference plane; Determine the relative angle between two adjacent boom sections according to the angles of the two adjacent boom sections; When the relative angles between all adjacent arm sections are less than or equal to a preset angle, and the angle of any arm section is outside the preset angle range, it is determined that the boom is in the arch working condition, wherein the preset angle is greater than the upper limit value of the preset angle range.

9. The method for classifying boom postures according to claim 8, characterized in that: The classification method also includes: When the relative angle between any two adjacent boom sections is greater than the preset angle, determining that the current posture type of the boom is the first posture type; When the angle of each arm section is within the preset angle range, it is determined that the current posture type of the arm is the second posture type.

10. A classification device for boom posture, characterized in that: include: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the arm posture classification method according to any one of claims 1 to 9 when executing the instructions.

11. An engineering machine, characterized in that: include: main body; A boom, the boom comprising a plurality of boom sections connected in sequence; The device for classifying arm postures according to claim 10.

12. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions, which are used to enable a machine to execute the arm posture classification method according to any one of claims 1 to 9.

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