Classification methods, classification devices, and engineering machinery for boom posture

Abstract

This application relates to the field of engineering machinery technology, and in particular to a method, device, and engineering machinery for classifying boom posture. It includes: determining the boom's position in an arched working condition and the boom root bending moment value of each boom segment; generating at least one first classification interval based on the boom root bending moment value of each boom segment; and determining the current posture type of the boom in the arched working condition based on the at least one first classification interval. Specifically, determining the boom root bending moment value of each boom segment includes: for the current boom segment whose boom root bending moment value is to be determined, determining the boom root bending moment value of the current boom segment based on the mass parameters and structural parameters of the current boom segment and all boom segments from the current boom segment to the boom end, thereby improving the scientific rigor and rationality of boom posture classification and enhancing the accuracy of subsequent boom structural and lifespan design.

Description

TECHNICAL FIELD

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

[0002] Most engineering machinery usually has an arm support composed of multiple arm sections, such as a concrete pump truck. For a concrete pump truck, the arm support is a key structural component of the concrete pump truck, and the arm posture has a huge impact on the load. However, the arm sections of the arm support are numerous, and the combined arm postures are varied. How to reasonably classify the arm postures is of great significance to the design of the arm structure and the service life.

[0003] In the prior art, the posture type of the arm support is determined by calculating the matrix values of various postures of the arm support. However, there are thousands of arm postures, resulting in a very large amount of calculation, and no specific division basis is provided, which leads to unscientific and unreasonable classification of the arm postures, poor feasibility, certain influence on the subsequent design of the arm structure, and even reduction of the service life of the arm support. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a classification method and device for arm postures, an engineering machinery and a storage medium, to solve the problem of unreasonable classification and poor feasibility of the arm postures in the prior art.

[0005] To achieve the above purpose, the first aspect of the present application provides a classification method for arm postures, applied to an engineering machinery, the engineering machinery comprising a main body and an arm support, the arm support comprising multiple arm sections connected in sequence, and the classification method comprising:

[0006] determining that the arm support is in an arch working condition;

[0007] determining an arm root bending moment value of each arm section;

[0008] generating 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 arm support in the arch working condition according to the at least one first classification interval;

[0010] wherein the determination of the arm root bending moment value of each arm section comprises:

[0011] for a current arm section to be determined for the arm root bending moment value, determining the arm root bending moment value of the current arm section according to the mass parameters and structure parameters of the current arm section and all arm sections from the current arm section to the end of the arm support.

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

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

[0014]

[0015] Among them, W a This represents the root bending moment value of the current boom segment as the a-th boom segment, m. i Let Z be the mass parameter of the i-th arm segment, g be the acceleration due to gravity, and Z be the mass parameter of the i-th arm segment. i Let cosQ be the distance from the centroid of the i-th arm segment to the arm root. (i-1)i The relative angle Q between the (i-1)th arm segment and the ith arm segment. (i-1)i The cosine value, the (i-1)th arm segment is the arm segment connected to the ith arm segment and close to the main body in the direction, m n Let B be the mass parameter of the nth arm segment. i Let m be the length of the i-th segment. (n-1) Here are the mass parameters for the (n-1)th boom section, where n is the boom section at the end of the boom, n-1 is the boom section connected to the nth boom section and close to the main body, n-2 is the boom section connected to the (n-1)th boom section and close to the main body, and m... a Z represents the mass parameter of the a-th arm segment. a Let cosQ be the distance from the center of gravity of the a-th arm segment to the arm root. (a-1)a The relative angle Q between the (a-1)th arm segment and the ath arm segment. (a-1)a The cosine value.

[0016] In this embodiment of the application, generating at least one first classification interval based on the root bending moment value of each boom segment includes: obtaining the angle of each boom segment relative to a reference plane and a preset first angle interval of the relative angle between two adjacent boom segments; determining a second angle interval of the angle of each boom segment based on the preset first angle interval; for the current boom segment, determining the maximum angle change for the current boom segment based on the root bending moment value of the current boom segment and a preset range of change of the root bending moment of the current boom segment; dividing the second angle interval of the current boom segment according to the maximum angle change of the current boom segment to obtain at least one first classification interval for the current boom segment.

[0017] In this embodiment of the application, determining the current posture type of the boom under the arched working condition based on at least one first classification interval includes: for the current boom segment, determining the target first classification interval in which the angle of the current boom segment is located from at least one first classification interval of the current boom segment; and determining the current posture type of the boom under the arched working condition based on the target first classification intervals of all boom segments.

[0018] In this embodiment of the application, determining the current attitude type of the boom under arched working conditions based on at least one first classification interval includes: determining at least one second classification interval based on the length of each boom segment, wherein the second classification interval includes a length interval and / or a height interval; and determining the current attitude type of the boom under arched working conditions based on at least one first classification interval and at least one second classification interval.

[0019] In this embodiment of the application, determining the current posture type of the boom under arched working conditions based on 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 where the vertical height of the boom end is located from all second classification intervals and / or determining the target length interval where the horizontal distance of the boom end is located from all second classification intervals; and determining 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 segment.

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

[0021] In this embodiment of the application, the classification method further includes: when the relative angle between any two adjacent boom segments is greater than a preset angle, determining the current posture type of the boom as a first posture type; and when the angle of each boom segment is within a preset angle range, determining the current posture type of the boom as a second posture type.

[0022] A second aspect of this application provides a classification device for boom posture, comprising:

[0023] The memory is configured to store instructions;

[0024] The processor is configured to retrieve instructions from memory and, when executing instructions, to implement the aforementioned classification method for boom attitude.

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

[0026] main body;

[0027] A boom, comprising multiple boom sections connected in sequence;

[0028] The aforementioned classification device for boom posture.

[0029] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned classification method for boom posture.

[0030] The above technical solution determines the boom's position under arched working conditions and the boom root bending moment value of each boom segment. Based on the boom root bending moment value of each boom segment, at least one first classification interval is generated. Then, the first classification interval in which the boom root bending moment value of each boom segment is located is determined. Based on the first classification interval in which the boom root bending moment values ​​of all boom segments are located, the current attitude type of the boom under arched working conditions is determined. This improves the scientificity and rationality of boom attitude classification and enhances the accuracy of subsequent boom structural design and lifespan design.

[0031] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0032] 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:

[0033] Figure 1 The illustration schematically shows a flowchart of a method for classifying boom postures according to an embodiment of this application;

[0034] Figure 2 A schematic diagram illustrating a boom posture type according to an embodiment of this application is shown;

[0035] Figure 3 A schematic diagram illustrating a height range according to an embodiment of this application is shown.

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

[0037] Figure 5 The illustration schematically shows another flowchart of a method for classifying boom postures according to an embodiment of this application;

[0038] Figure 6 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0039] 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.

[0040] 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.

[0041] 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.

[0042] Figure 1 The illustration schematically shows a flowchart of a method for classifying boom postures according to an embodiment of this application. Figure 1 As shown in the embodiment of this application, a method for classifying boom postures is provided, applied to construction machinery. The construction machinery includes a main body and a boom, and the boom includes multiple boom sections connected in sequence. The method may include the following steps:

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

[0044] Step 102: Determine the root bending moment value for each boom segment.

[0045] Step 103: Generate at least one first classification interval based on the boom root bending moment value of each boom segment.

[0046] Step 104: Determine the current attitude type of the boom under the arched condition based on at least one first classification interval.

[0047] Construction machinery is an important component of the equipment manufacturing industry. Broadly speaking, construction machinery refers to the mechanical equipment necessary for comprehensive mechanized construction projects, including earthwork construction, road construction and maintenance, mobile lifting and loading operations, and various building projects. In this embodiment, construction machinery can be multi-arm type machinery such as concrete pump trucks, concrete placing booms, wet spraying machines, and fire trucks. It can be understood that the boom root bending moment value refers to the bending moment on the boom root section of the boom segment, that is, the internal moment borne by the boom root section. The processor can determine that the boom is in an arched working condition and determine the boom root bending moment value of each boom segment. An arched working condition refers to the angle, force, etc., of each boom segment in an arched posture. After determining the boom root bending moment value of each boom segment, the processor can generate at least one first classification interval based on the boom root bending moment value of each boom segment. After generating at least one first classification interval, the processor can determine the current posture type of the boom in the arched working condition based on the at least one first classification interval.

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

[0049] The processor can determine that the boom is in an arched working condition. Specifically, the processor can acquire the angle of each boom segment relative to a reference plane, such as a horizontal plane. Specifically, the angle of each boom segment relative to the horizontal plane can be measured using tilt sensors installed on each boom segment. After obtaining the angle of each boom segment, the processor can determine the relative angle between each pair of adjacent boom segments based on their angles. After obtaining the relative angle between each pair of adjacent boom segments, the processor can determine whether the relative angle between each pair of adjacent boom segments is less than or equal to a preset angle, and whether the angle of each boom segment is within a preset angle range. The preset angle and 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. If the relative angle between each pair of adjacent boom segments is less than or equal to the preset angle, and the angle of any boom segment is outside the preset angle range, the processor can determine that the boom is in an arched working condition. In a specific embodiment, the preset angle is 180°, and the preset angle range is -5° to 5°.

[0050] In this embodiment of the application, the classification method further includes: when the relative angle between any two adjacent boom segments is greater than a preset angle, determining the current posture type of the boom as a first posture type; and when the angle of each boom segment is within a preset angle range, determining the current posture type of the boom as a second posture type.

[0051] If the relative angle between any two adjacent boom segments is greater than a preset angle, the processor can determine that the boom's current attitude type is the first attitude type. The first attitude type can be an M-shaped attitude, meaning the four boom segments connected in sequence form an "M" shape. If the angle of each boom segment is within a preset angle range, the processor can determine that the boom's current attitude type is the second attitude type, which can be a horizontal attitude. Figure 2 As shown, the boom's arched, M-shaped, and horizontal postures are displayed from top to bottom. Based on big data statistics, the arched posture accounts for more than 96% of occurrences, the M-shaped posture less than 2%, and the horizontal posture less than 2%. Therefore, further subdividing the arched posture makes the boom's posture classification more precise and reasonable.

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

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

[0054] The processor can determine the boom root bending moment value of the current boom segment based on the mass and structural parameters of the current boom segment and all boom segments from the current boom segment to the boom end. Specifically, the processor can determine the weight of each boom segment based on the mass parameters of the current boom segment and all boom segments from the current boom segment to the boom end. It then determines the boom root bending moment value of the current boom segment based on the weight of each boom segment and the distance between the center of gravity of each boom segment and the boom root. Assuming the current boom segment is the i-th boom segment, and all boom segments from the current boom segment to the boom end include the (i+1)-th boom segment, the (i+2)-th boom segment, ..., the n-th boom segment. The processor can determine the weight of the i-th boom segment, the (i+1)-th boom segment, the (i+2)-th boom segment, ..., the n-th boom segment based on their mass parameters. The bending moment value at the root of the i-th arm segment is determined based on the weight of the i-th arm segment, the (i+1)-th arm segment, the (i+2)-th arm segment, ..., the n-th arm segment, as well as the distance between the center of gravity of the i-th arm segment and the arm root, the (i+1)-th arm segment and the arm root, the (i+2)-th arm segment and the arm root, ..., the n-th arm segment.

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

[0056]

[0057] Among them, W a This represents the root bending moment value of the current boom segment as the a-th boom segment, m. i Let Z be the mass parameter of the i-th arm segment, g be the acceleration due to gravity, and Z be the mass parameter of the i-th arm segment. i Let cosQ be the distance from the centroid of the i-th arm segment to the arm root. (i-1)i The relative angle Q between the (i-1)th arm segment and the ith arm segment. (i-1)i The cosine value, the (i-1)th arm segment is the arm segment connected to the ith arm segment and close to the main body in the direction, m n Let B be the mass parameter of the nth arm segment. i) Let m be the length of the i-th segment. (n-1) Here are the mass parameters for the (n-1)th boom section, where n is the boom section at the end of the boom, n-1 is the boom section connected to the nth boom section and close to the main body, n-2 is the boom section connected to the (n-1)th boom section and close to the main body, and m... a Z represents the mass parameter of the a-th arm segment. a Let cosQ be the distance from the center of gravity of the a-th arm segment to the arm root. (a-1)a The relative angle Q between the (a-1)th arm segment and the ath arm segment. (a-1)a The cosine value.

[0058] In an optional embodiment, the processor can also acquire multiple historical mass parameters and structural parameters for each boom segment, and construct a calculation model using these parameters. For the current boom segment whose root bending moment value needs to be determined, the processor can input the mass parameters and structural parameters of the current boom segment and all boom segments from the current boom segment to the boom end into the calculation model, so as to output the root bending moment value of the current boom segment through the calculation model.

[0059] In this embodiment of the application, generating at least one first classification interval based on the root bending moment value of each boom segment includes: obtaining the angle of each boom segment relative to a reference plane and a preset first angle interval of the relative angle between two adjacent boom segments; determining a second angle interval of the angle of each boom segment based on the preset first angle interval; for the current boom segment, determining the maximum angle change for the current boom segment based on the root bending moment value of the current boom segment and a preset range of change of the root bending moment of the current boom segment; dividing the second angle interval of the current boom segment according to the maximum angle change of the current boom segment to obtain at least one first classification interval for the current boom segment.

[0060] The processor can generate at least one first classification interval based on the boom root bending moment value of each boom segment. Specifically, the processor can acquire the angle of each of the multiple boom segments relative to a reference plane, and a first angle interval for the relative angle between every two adjacent boom segments. Specifically, the reference plane can be a horizontal plane, which can be detected by angle detection devices such as angle sensors or tilt sensors. Furthermore, the angle detection device can be installed at any position on each boom segment. The first angle interval for the relative angle between every two adjacent boom segments 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 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 and the second arm can be 0 to 180°, the first angle range of the relative angle Q23 between the second arm and the third arm can be 0 to 180°, the first angle range of the relative angle Q34 between the third arm and the fourth arm can be 0 to 360°, the first angle range of the relative angle Q45 between the fourth arm and the fifth arm can be 0 to 180°, and the first angle range of the relative angle Q56 between the fifth arm and the sixth arm can be 0 to 180°.

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

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

[0063] Taking a pump truck with six boom sections as an example, assuming the current boom section whose root bending moment value needs to be determined is the fifth boom section, and the preset variation range of the root bending moment of the fifth boom section is less than 5%, the processor can determine the root bending moment value of the fifth boom section before the change: W5 = m5gZ5cosQ 45 +m6gZ6cosQ 56 +m6gB5cosQ 45 The transformed boom root bending moment value W5 of boom section 5 ′ =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. We can assume that m5gZ5+m6gB5 is A, m6gZ6 is B, and W5 is C. Furthermore...

[0066] Furthermore, it can be determined that in ΔQ 45 When the value is 0, ΔQ 56 The larger the possible value of ΔQ; or, in ΔQ 56 When the value is 0, ΔQ 45 The larger the possible value, the greater the angular change of the 5-arm segment. To obtain the maximum angular change of the 5-arm segment, we assume ΔQ... 45 =0 and ΔQ 56 =0. Because and Further assumptions Therefore, when ΔQ 45 When = 0, When ΔQ 56 When = 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 angle Q5 of the 5-arm section into a second angle range of -180° to 90° in 30° increments, to obtain 6 first classification intervals of the 5-arm section. The first classification intervals can be used to further subdivide the angle of the 5-arm section. Each subdivided angle interval corresponds to a bending moment value interval, namely: 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 for the six arm segments can be determined as follows: 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°, and Interval W66: -30°≤Q6≤30°.

[0068] In this embodiment of the application, determining the current posture type of the boom under the arched working condition based on at least one first classification interval includes: for the current boom segment, determining the target first classification interval in which the angle of the current boom segment is located from at least one first classification interval of the current boom segment; and determining the current posture type of the boom under the arched working condition based on the target first classification intervals of all boom segments.

[0069] The processor can determine the current attitude type of the boom under arched conditions based on at least one first classification interval. Specifically, for the current boom segment, the processor can determine the target first classification interval in which the angle of the current boom segment is located from at least one first classification interval of the current boom segment. After obtaining the target first classification interval in which the angle of the current boom segment is located, the processor can determine the current attitude type of the boom under arched conditions based on the target first classification intervals of all boom segments.

[0070] In an optional embodiment, the processor can input at least one first classification interval of each boom segment and the angle of each boom segment into a preset model to automatically output the current posture type of the boom under arched conditions. The preset model can be constructed using historical first classification intervals and historical angles of multiple boom segments.

[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 for the angle Q1 of boom section 1 from at least one first classification interval of boom section 1, the target first classification interval X2≤Q2≤Y2 for the angle Q2 of boom section 2 from at least one first classification interval of boom section 2, the target first classification interval X3≤Q3≤Y3 for the angle Q3 of boom section 3 from at least one first classification interval of boom section 3, the target first classification interval X4≤Q4≤Y4 for the angle Q4 of boom section 4 from at least one first classification interval of boom section 4, the target first classification interval X5≤Q5≤Y5 for the angle Q5 of boom section 5 from at least one first classification interval of boom section 5, and the target first classification interval X6≤Q6≤Y6 for the angle Q6 of boom section 6 from at least one first classification interval of boom section 6. The processor can determine the current attitude type of the boom under the arched working condition based on the first classification interval of the target of the six boom segments as X1≤Q1≤Y1, X2≤Q2≤Y2, X3≤Q3≤Y3, X4≤Q4≤Y4, X5≤Q5≤Y5, and X6≤Q6≤Y6.

[0072] In this embodiment of the application, determining the current attitude type of the boom under arched working conditions based on at least one first classification interval includes: determining at least one second classification interval based on the length of each boom segment, wherein the second classification interval includes a length interval and / or a height interval; and determining the current attitude type of the boom under arched working conditions based on at least one first classification interval and at least one second classification interval.

[0073] The processor can determine the current attitude type of the boom under arched conditions based on at least one first classification interval. Specifically, the processor can determine at least one second classification interval based on the length of each boom segment, 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 can determine the current attitude type of the boom under arched conditions based on at least one first classification interval and at least one second classification interval.

[0074] It is understandable that the length of the boom section can be measured using a length measuring device installed on each boom section. Taking a concrete pump truck with 6 boom sections as an example, the lengths of boom sections 1 to 6 can be represented as B1, B2, B3, B4, B5, and B6, respectively. The total length L of the boom sections is the sum of B1, B2, B3, B4, B5, and B6. The processor can generate 11 height intervals based on the length of the 6 arm segments, represented as follows: First height interval H1: -(L-B1)≤H<-(L-B1-B6), Second height interval H2: -(L-B1-B6)≤H<-(L-B1-B6-B5), Third height interval H3: -(L-B1-B6-B5)≤H<-(L-B1-B6-B5-B4), Fourth height interval H4: -(L-B1-B6-B5-B4)≤H<-(L-B1-B6-B5-B4-B3), Fifth height interval... H5: -(L-B1-B6-B5-B4-B3)≤H<0, H6: 0≤H<B1, H7: B1≤H<B1+B2, H8: B1+B2≤H<B1+B2+B3, H9: B1+B2+B3≤H<B1+B2+B3+B4, H10: B1+B2+B3+B4≤H<B1+B2+B3+B4+B5, H10: B1+B2+B3+B4+B5≤H≤L.

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

[0076] The processor can generate six length intervals based on the lengths of the six arm segments, which are represented as follows: First length interval C1: 0 ≤ C < B1, Second length interval C2: B1 ≤ C < B1 + B2, Third length interval C3: B1 + B2 ≤ C < B1 + B2 + B3, Fourth length interval C4: B1 + B2 + B3 ≤ C < B1 + B2 + B3 + B4, Fifth length interval C5: B1 + B2 + B3 + B4 ≤ C < B1 + B2 + B3 + B4 + B5, Sixth length interval C6: B1 + B2 + B3 + B4 + B5 ≤ C ≤ L.

[0077] In this embodiment of the application, determining the current posture type of the boom under arched working conditions based on 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 where the vertical height of the boom end is located from all second classification intervals and / or determining the target length interval where the horizontal distance of the boom end is located from all second classification intervals; and determining 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 segment.

[0078] The processor can determine the current attitude type of the boom under arched working conditions based on at least one first classification interval and at least one second classification interval. Specifically, the processor can acquire the vertical height of the boom tip relative to the connection point between the boom and the main body, and the horizontal distance between the boom tip and the connection point. Specifically, the vertical height and horizontal distance of the boom tip relative to the connection point can be measured using measuring devices such as distance sensors and height sensors. After obtaining the vertical height and horizontal distance of the boom tip, the processor can determine the target height interval where the vertical height of the boom tip is located and / or the target length interval where the horizontal distance of the boom tip is located from all the second classification intervals. After obtaining the target height interval and target length interval, the processor can determine the current attitude type of the boom based on the target height interval, target length interval, and the target first classification interval of each boom segment, so as to more accurately determine the state type of the boom.

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

[0080] Suppose that the processor determines the target height interval H of the boom end's vertical height as the seventh height interval H7: B1≤H<B1+B2, and the target length interval C2 of the boom end's horizontal distance as the second length interval: 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, X6≤Q6≤Y6.

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

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

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

[0084] Alternatively, the processor can determine the current attitude type of the boom as X2≤Q2≤Y2, X3≤Q3≤Y3, X4≤Q4≤Y4, X5≤Q5≤Y5, X6≤Q6≤Y6.

[0085] Alternatively, the processor can determine that the current attitude type of the boom is B1≤C<B1+B2.

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

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

[0088] In this embodiment, the processor can define a relative angle between any two adjacent segments greater than 180° as condition M. A condition S is defined as the angle of each segment relative to the horizontal plane being within the range of -5° to 5°. For example... Figure 5 As shown, the processor can receive the angle of each boom segment from the tilt sensor installed on each boom segment, and determine the relative angle between any two adjacent boom segments based on the angle of each boom segment. After obtaining the relative angle between any two boom segments, the processor can determine whether the relative angle between any two adjacent boom segments satisfies condition M. If the relative angle between any two adjacent boom segments satisfies condition M, the processor can determine that the boom is in an M-type working condition, that is, the boom segment's attitude type is M-type. If the relative angle between any two adjacent boom segments does not satisfy condition M, the processor can determine whether the angle of each boom segment satisfies condition S. If the angle of each boom segment satisfies condition S, the processor can determine that the boom is in a horizontal working condition, that is, the boom's attitude type is horizontal. If the angle of any boom segment does not satisfy condition S, the processor can determine that the boom is in an arched working condition. If the boom is determined to be in an arched working condition, the processor can further determine the height range for the vertical height of the boom end, the length range for the horizontal distance of the boom segment end, and the range for the boom root bending moment value for each boom segment. The subdivided arch posture is determined based on the height range, length range, and arm root bending moment range.

[0089] The above technical solutions improve the scientific validity and rationality of boom attitude classification, thereby enhancing the accuracy of subsequent boom structural and lifespan design.

[0090] Figure 1 and Figure 5 This is a flowchart illustrating a method for classifying boom postures in one embodiment. It should be understood that, although... Figure 1 and Figure 5The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 and Figure 5 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed 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 some of the sub-steps or stages of other steps.

[0091] This application embodiment also provides a classification device for boom posture, including:

[0092] The memory is configured to store instructions;

[0093] The processor is configured to retrieve instructions from memory and, when executing instructions, to implement the aforementioned classification method for boom attitude.

[0094] This application also provides an engineering machinery, including:

[0095] main body;

[0096] A boom, comprising multiple boom sections connected in sequence;

[0097] The aforementioned classification device for boom posture.

[0098] The construction machinery in this embodiment includes traditional construction machinery as well as new energy vehicles used in the construction machinery field, such as new energy mixer trucks, new energy pump trucks, and new energy excavators. In addition, the construction machinery vehicles in this embodiment are also intelligent connected vehicles. Construction machinery vehicles include sensing and communication systems. The in-vehicle sensing system collects vehicle operation data and information about the vehicle's surrounding environment. The communication system enables network connection with other vehicles and the cloud, and shares the collected vehicle operation data and information about the vehicle's surrounding environment with the cloud and other authorized vehicles to achieve data sharing, remote analysis, intelligent driving and other operations.

[0099] This application also provides a machine-readable storage medium storing instructions for causing a machine to execute the above-described classification method for boom posture.

[0100] In one embodiment, a computer device is provided, which 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), and a database (not shown) connected via a system bus. The processor A01 provides computational 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 data such as boom root bending moment values, the first classification interval, and the current attitude type. The network interface A02 communicates with external terminals via a network connection. When executed by the processor A01, the computer program B02 implements a classification method for boom attitude.

[0101] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does 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 those shown in the figure, or combine certain components, or have different component arrangements.

[0102] This application provides an apparatus, which includes 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: determining that the boom is in an arched working condition; determining the boom root bending moment value of each boom segment; generating at least one first classification interval based on the boom root bending moment value of each boom segment; and determining the current attitude type of the boom in the arched working condition based on the at least one first classification interval. The determination of the boom root bending moment value of each boom segment includes: for the current boom segment whose boom root bending moment value is to be determined, determining the boom root bending moment value of the current boom segment based on the mass parameters and structural parameters of the current boom segment and all boom segments from the current boom segment to the boom end.

[0103] In one embodiment, the structural parameters include the distance between the center of gravity of the boom segment and the boom root. Determining the boom root bending moment value of the current boom segment based on the mass parameters and structural parameters of the current boom segment and all boom segments from the current boom segment to the boom end includes: determining the weight of each boom segment based on the mass parameters of the current boom segment and each of the boom segments; and determining the boom root bending moment value of the current boom segment based on the weight of each boom segment and the distance between the center of gravity of each boom segment and the boom root.

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

[0105]

[0106] Among them, W a This represents the root bending moment value of the current boom segment as the a-th boom segment, m. i Let Z be the mass parameter of the i-th arm segment, g be the acceleration due to gravity, and Z be the mass parameter of the i-th arm segment. i Let cosQ be the distance from the centroid of the i-th arm segment to the arm root. (i-1)i The relative angle Q between the (i-1)th arm segment and the ith arm segment. (i-1)i The cosine value, the (i-1)th arm segment is the arm segment connected to the ith arm segment and close to the main body in the direction, m n Let B be the mass parameter of the nth arm segment. i Let m be the length of the i-th segment. (n-1) Here are the mass parameters for the (n-1)th boom section, where n is the boom section at the end of the boom, n-1 is the boom section connected to the nth boom section and close to the main body, n-2 is the boom section connected to the (n-1)th boom section and close to the main body, and m... a Z represents the mass parameter of the a-th arm segment. a Let cosQ be the distance from the center of gravity of the a-th arm segment to the arm root. (a-1)a The relative angle Q between the (a-1)th arm segment and the ath arm segment. (a-1)a The cosine value.

[0107] In one embodiment, generating at least one first classification interval based on the boom root moment value of each boom segment includes: obtaining the angle of each boom segment relative to a reference plane and a preset first angle interval of the relative angle between two adjacent boom segments; determining a second angle interval of the angle of each boom segment based on the preset first angle interval; for the current boom segment, determining the maximum angle change for the current boom segment based on the boom root moment value of the current boom segment and a preset range of variation of the boom root moment of the current boom segment; and dividing the second angle interval of the current boom segment according to the maximum angle change of the current boom segment to obtain at least one first classification interval for the current boom segment.

[0108] In one embodiment, determining the current attitude type of the boom under arched conditions based on at least one first classification interval includes: for the current boom segment, determining the target first classification interval in which the angle of the current boom segment is located from at least one first classification interval of the current boom segment; and determining the current attitude type of the boom under arched conditions based on the target first classification intervals of all boom segments.

[0109] In one embodiment, determining the current attitude type of the boom under arched conditions based on at least one first classification interval includes: determining at least one second classification interval based on the length of each boom segment, wherein the second classification interval includes a length interval and / or a height interval; and determining the current attitude type of the boom under arched conditions based on at least one first classification interval and at least one second classification interval.

[0110] In one embodiment, determining the current attitude type of the boom under an arched working condition based on 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 in which the vertical height of the boom end is located from all second classification intervals and / or determining the target length interval in which the horizontal distance of the boom end is located from all second classification intervals; and determining the current attitude type of the boom based on the target height interval, the target length interval, and the target first classification interval for each boom segment.

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

[0112] In one embodiment, the classification method further includes: determining the current posture type of the boom as a first posture type when the relative angle between any two adjacent boom segments is greater than a preset angle; and determining the current posture type of the boom as a second posture type when the angle of each boom segment is within a preset angle range.

[0113] This application also provides a computer program product that, when executed on a data processing device, is adapted to execute a program that initializes the steps of a classification method for boom posture.

[0114] 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.

[0115] 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.

[0116] 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 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0117] 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.

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

[0119] 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.

[0120] 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, magnetic 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.

[0121] 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.

[0122] 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 classifying a pose of an arm, characterized in that, The application is applied to an engineering machine, the engineering machine comprising a main body and an arm support, the arm support comprising a plurality of arm sections connected in sequence, and the classification method comprising: determining that the arm support is in an arch-shaped working condition; determining an arm root bending moment value of each arm section; generating 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 arm support in the arch-shaped working condition according to the at least one first classification interval; wherein the determination of the arm root bending moment value of each arm section comprises: for a current arm section to be determined, determining the arm root bending moment value of the current arm section according to the current arm section and mass parameters and structure parameters of all arm sections from the current arm section to the end of the arm support; the generation of the at least one first classification interval according to the arm root bending moment value of each arm section comprises: obtaining an angle of each arm section relative to a reference plane and a preset first angle interval of a relative included angle between two adjacent arm sections; determining a second angle interval of the angle of each arm section according to the preset first angle interval; for the current arm section, determining a maximum angle change amount of the current arm section according to the arm root bending moment value of the current arm section and a preset variation 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 amount of the current arm section to obtain at least one first classification interval of the current arm section.

2. The method for classifying a pose of an arm according to claim 1, wherein, the structure parameters comprise a distance between a gravity center of an arm section and an arm root, and the determination of the arm root bending moment value of the current arm section according to the mass parameters and the structure parameters of all arm sections from the current arm section to the end of the arm support comprises: determining a gravity of each arm section according to the mass parameters of the current arm section and each arm section; determining the arm root bending moment value of the current arm section according to the gravity of each arm section and the distance between the gravity center of each arm section and the arm root.

3. The method for classifying a pose of an arm according to claim 1, wherein, the determination of the arm root bending moment value of the current arm section comprises calculating the arm root bending moment value of the current arm section according to formula (1): （1） in, This indicates that the current arm segment is the [number]. The bending moment at the base of each boom segment. Let be the mass parameter of the i-th arm segment. It is the acceleration due to gravity. Let be the distance from the center of gravity of the i-th arm segment to the arm root. The relative angle between the (i-1)th arm segment and the ith arm segment. The cosine value of , where the (i-1)th arm segment is the arm segment connected to the i-th arm segment and located closer to the main body in that direction. Let n be the mass parameter of the nth arm segment. Let be the length of the i-th arm segment. Here are the mass parameters of the (n-1)th boom section, where n is the boom section at the end of the boom, n-1 is the boom section connected to the nth boom section and located close to the main body, and n-2 is the boom section connected to the (n-1)th boom section and located close to the main body. For the first Mass parameters of each boom segment For the first The distance from the center of gravity of each arm joint to the arm root. For the first -1 arm segment and the first The relative angle between each arm segment The cosine value.

4. The method for classifying a pose of an arm according to claim 1, wherein, the determination of the current posture type of the arm support in the arch-shaped working condition according to the at least one first classification interval comprises: for the current arm section, determining a target first classification interval in which the angle of the current arm section is located from the at least one first classification interval of the current arm section; determining the current posture type of the arm support in the arch-shaped working condition according to the target first classification interval of all arm sections.

5. The method for classifying a pose of an arm according to claim 1, wherein, the determination of the current posture type of the arm support in the arch-shaped working condition according to the at least one first classification interval comprises: determining at least one second classification interval according to the length of each arm section, wherein the second classification interval comprises a length interval and / or a height interval; determining the current posture type of the arm support in the arch-shaped working condition according to the at least one first classification interval and the at least one second classification interval.

6. The method for classifying a pose of an arm according to claim 5, wherein, the determination of the current posture type of the arm support in the arch-shaped working condition according to the at least one first classification interval and the at least one second classification interval comprises: obtaining a vertical height of the arm support end relative to a connection point of the arm support and the main body, and a horizontal distance between the arm support end and the connection point; determining a target height interval in which the vertical height of the arm support end is located from all the second classification intervals, and / or determining a target length interval in which the horizontal distance of the arm support end is located from all the second classification intervals; determining the current posture type of the arm support according to the target height interval, the target length interval, and the target first classification interval of each arm segment.

7. The method for classifying a pose of an arm according to claim 1, wherein, The determining that the arm support is in the arch-shaped working condition comprises: obtaining an angle of each arm segment relative to a reference plane; determining a relative included angle between two adjacent arm segments according to the angles of the two adjacent arm segments; determining that the arm support is in the arch-shaped working condition in a case where the relative included angle between all the adjacent two arm segments is less than or equal to a preset included angle, and the angle of any arm segment is outside a preset angle range, wherein the preset included angle is greater than an upper limit value of the preset angle range.

8. The method for classifying a pose of an arm according to claim 7, wherein, The classification method further comprises: determining that the current posture type of the arm support is a first posture type in a case where the relative included angle between any two adjacent arm segments is greater than the preset included angle; determining that the current posture type of the arm support is a second posture type in a case where the angle of each arm segment is within the preset angle range.

9. An apparatus for classifying a pose of an arm, the apparatus comprising: comprise: a memory configured to store instructions; a processor configured to call the instructions from the memory and capable of implementing the classification method for arm support postures according to any one of claims 1 to 8 when executing the instructions.

10. A working machine, characterized in that comprise: a main body; an arm support comprising a plurality of arm segments connected in sequence; the classification device for arm support postures according to claim 9.

11. A machine-readable storage medium, characterized in that, The machine readable storage medium has instructions stored thereon for causing a machine to execute the classification method for arm support postures according to any one of claims 1 to 8. The machine readable storage medium has instructions stored thereon for causing a machine to execute the classification method for arm support postures according to any one of claims 1 to 8.

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