Cantilever crane control method, cantilever crane system and engineering machinery

Abstract

The invention relates to the technical field of engineering machinery, and discloses a boom control method, a boom system and engineering machinery. According to the boom control method, information of a next moving point position is processed and analyzed through a trained big data training model, so that moving control information of a boom assembly is obtained, and the moving control information comprises rotary table angle control information and elongation control information of all knuckle arm oil cylinders; and controlling the arm support assembly to work according to the movement control information so as to control the tail end of the arm support assembly to move to the corresponding movement point position. Thus, according to the boom control method provided by the invention, the trained big data training model is utilized to carry out data processing analysis, and the movement control information of the boom assembly is quickly and accurately obtained, so that the boom assembly is accurately controlled to move to the corresponding movement point position, and the problems of poor precision and low processing speed in the prior art are solved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a boom control method, a boom system and engineering machinery. Background Art

[0002] As one of the main equipment in the current construction field, the main function of a concrete pump truck is to pump and pour premixed concrete to a designated location. Currently, the concrete distribution control of a concrete pump truck still mainly relies on manual operation by the operator, which is time-consuming, labor-intensive and inefficient.

[0003] However, in the prior art, a sensor is installed at the end of the boom, so that the position information of the end of the boom is directly obtained through the sensor to realize intelligent cloth control. However, the disadvantage of this method is that the measurement accuracy of the sensor is low, which leads to poor cloth accuracy control and slow processing speed. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a boom control method, a boom system and engineering machinery, so as to solve the problem of inaccurate positioning of the boom end and poor control of material distribution precision when the boom performs intelligent material distribution in the prior art.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a boom control method, which is applied to a boom system, wherein the boom system includes a boom assembly, and the boom assembly has a plurality of movable boom sections. The boom control method includes:

[0006] S100: Determine the next moving point information of the end of the boom assembly;

[0007] S200: Processing and analyzing the moving point information through a big data training model to obtain movement control information of the boom assembly, wherein the movement control information includes turntable angle control information and extension control information of each boom cylinder;

[0008] S300: Controlling the boom assembly to operate according to the movement control information, so as to control the end of the boom assembly to move to a corresponding point.

[0009] In some implementations, the step S300 further includes:

[0010] S310: When there are multiple sets of extension control information of the arm cylinders corresponding to the same movement point in the movement control information, energy evaluation is performed on the multiple sets of extension control information of the arm cylinders, and a set of data with the lowest energy consumption is taken as the optimal solution;

[0011] S320: Controlling the operation of each boom cylinder in the boom assembly according to the optimal solution.

[0012] In some implementations, the step S310 further includes:

[0013] S311: Acquire basic posture information of the boom assembly at the current position, and determine multiple groups of posture solutions according to the next moving point information;

[0014] S312: Compare the multiple groups of posture solutions with the basic posture information to determine the extension control information of each boom cylinder in the multiple groups of posture solutions;

[0015] S313: constructing an energy evaluation function to perform energy evaluation on the extension control information of each boom cylinder in multiple groups of posture solutions;

[0016] S314: taking a set of data with the lowest energy consumption as the optimal solution.

[0017] In some embodiments, the energy evaluation function is constructed as follows:

[0018]

[0019] In the above formula, δE represents the evaluation energy, k i represents the energy evaluation coefficient of the i-th arm, △L i Indicates the control information of the extension amount of the cylinder of the i-th boom;

[0020] Among them, k i It can be determined based on the maximum load bending moment at the end of each boom section. The maximum load bending moment at the end of each boom section is normalized. Assuming that the load bending moment of the i-th boom section is M i , then we can get k i =M i / M 1 , M 1 Indicates the maximum value of all load moments max(M i ).

[0021] In some implementations, before step S100, the step further includes obtaining a big data training model, and obtaining the big data training model includes:

[0022] S60: Build a big data basic model;

[0023] S70: Control the end of the boom to move to different spatial positions, and obtain the posture information corresponding to the boom and the actual coordinate information of the end of the boom at each spatial position;

[0024] S80: using the posture information as input of the big data basic model and using the actual coordinate information as output of the big data basic model to train the big data basic model;

[0025] S90: Obtain a trained big data training model.

[0026] In some embodiments, the posture information includes turntable angle information, three-axis angle variable information of the turntable, three-axis angle variable information of each boom section, and cylinder extension information of each boom section;

[0027] Among them, the turntable angle information is obtained by an angle sensor arranged on the turntable, and the three-axis angle variable information of the turntable is obtained by a three-axis inertial sensor arranged on the turntable; the three-axis angle variable information of each joint arm is obtained by a three-axis inertial sensor arranged on each joint arm, and the cylinder extension information of each joint arm is obtained by a displacement sensor arranged on the joint arm cylinder corresponding to each joint arm.

[0028] In some implementations, the step S70 further includes:

[0029] S71: determining a plurality of typical postures of the boom assembly according to historical operation data of the boom assembly;

[0030] S72: Control the end of the boom to move to different spatial positions in each of the typical postures, and obtain the current posture information of the boom and the actual coordinate information of the end of the boom at each of the spatial positions.

[0031] In some embodiments, the plurality of typical postures include an arched posture, an M-shaped posture, an inverted L-shaped posture, and a horizontal posture.

[0032] In order to achieve the above-mentioned object, the second aspect of the present application provides a boom system, comprising:

[0033] A boom assembly, comprising a turntable and a boom module arranged on the turntable, wherein the turntable is provided with an angle sensor for detecting turntable angle information and a three-axis inertial sensor for detecting three-axis angle variable information, and the boom module comprises a plurality of movable joint arms and joint arm cylinders arranged corresponding to each of the joint arms, wherein each of the joint arms is provided with a three-axis inertial sensor for detecting three-axis angle variable information, and each of the joint arm cylinders is provided with a displacement sensor for detecting elongation information; and

[0034] The boom control module is used to execute the boom control method provided according to the first aspect above.

[0035] In order to achieve the above-mentioned purpose, the third aspect of the present application provides an engineering machinery, including the boom system provided according to the above-mentioned second aspect.

[0036] Compared with the prior art, the boom control method, boom system and engineering machinery provided by the present application have at least the following beneficial effects:

[0037] The boom control method provided in the present application processes and analyzes the next moving point information through the trained big data training model to obtain the moving control information of the boom assembly, wherein the moving control information includes the turntable angle control information and the extension control information of each arm cylinder; and controls the operation of the boom assembly according to the moving control information to control the end of the boom assembly to move to the corresponding moving point. In this way, the boom control method provided in the present application uses the trained big data training model to perform data processing and analysis, quickly and accurately obtains the moving control information of the boom assembly, thereby accurately controlling the boom assembly to move to the corresponding moving point, solving the problems of poor accuracy and slow processing speed in the prior art.

[0038] 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

[0039] 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:

[0040] Figure 1 A schematic diagram of the structure of a boom system provided in an embodiment of the present application;

[0041] Figure 2 A flowchart of a boom control method provided in an embodiment of the present application;

[0042] Figure 3 A schematic diagram of a calculation process using a big data training model in a boom control method provided in an embodiment of the present application;

[0043] Figure 4 A schematic diagram of training a big data basic model in the boom control method provided in an embodiment of the present application;

[0044] Figure 5 Schematic diagram of multiple typical postures of the boom assembly provided in an embodiment of the present application, including an arched posture (a), an M-shaped posture (b), an inverted L-shaped posture (c) and a horizontal posture (d).

[0045] Description of Reference Numerals

[0046] 100. Turntable;

[0047] 200, boom module; 210, boom section; 220, boom section cylinder; 230, end hose. DETAILED DESCRIPTION

[0048] 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.

[0049] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0050] 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.

[0051] 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.

[0052] See also Figure 1 , this embodiment provides a boom system that can be applied to engineering machinery, such as a pump truck, a fire truck, and a fixed pumping equipment with a boom system.

[0053] In this embodiment, the boom system includes a boom assembly and a boom control module. The boom assembly includes a turntable 100 and a boom module 200 disposed on the turntable 100. The turntable 100 is provided with an angle sensor for detecting the turntable angle information and a three-axis inertial sensor for detecting the three-axis angle variable information. The boom module 200 includes a plurality of movable joint arms 210 and a joint arm cylinder 220 arranged corresponding to each joint arm 210. Two adjacent joint arms 210 are hingedly connected. Each joint arm 210 is provided with a three-axis inertial sensor for detecting the three-axis angle variable information, and each joint arm cylinder 220 is provided with a displacement sensor for detecting the elongation information.

[0054] The arm control module is connected to the angle sensor, the three-axis inertial sensor and the displacement sensor in communication. The arm control module is used to control the arm system, such as the end position movement control of the arm assembly and the attitude control of the arm assembly. In this embodiment, the arm control module can be used to execute the arm control method described below. The communication connection method includes wired communication or wireless communication connection.

[0055] A three-axis inertial sensor is arranged on each arm section 210 to measure the deformation of each arm section 210 under the action of gravity. It is pasted near the end of the arm section to ensure that the measurement result can truly reflect the deformation of the arm section 210.

[0056] The three-axis inertial sensor on the turntable 100 should be arranged near the hinge sleeve of the first arm 210 and the turntable 100 as much as possible, and the rotation angle of the turntable 100 can be obtained by a single-axis angle sensor. Figure 1 As shown, the joint arm 210 starting from the turntable 100 can be defined as the first joint arm B 1 、Second boom B 2 、Third boom B 3 ...Nth arm B N (Last boom section). The boom cylinders corresponding to the boom section 210 can be defined as boom cylinder 1, boom cylinder 2, boom cylinder 3, ..., boom cylinder N in sequence.

[0057] A displacement sensor is arranged on each boom cylinder 220 to obtain the elongation of the cylinder, thereby mapping the relative rotation angle between two adjacent booms 210 .

[0058] Specifically, Figure 1 As shown, Figure 1 The structural diagram of the boom system is shown in FIG. 1 ~T N+1 is a three-axis inertial sensor, T 1 is a three-axis inertial sensor on the turntable 100, used to measure the deformation of the turntable 100 itself; T 2 ~T N+1It is a three-axis inertial sensor on each arm 210, used to measure the deformation of each arm 210 itself. 1 D is an angle sensor on the turntable 100, used to measure the rotation angle of the turntable 100; 2 ~D N+1 It is a displacement sensor of each boom cylinder 220, and the relative rotation angle between each boom 210 is mapped through the displacement of the cylinder. The data of each sensor is transmitted to the big data training model, and the position information of the end of the boom assembly can be calculated through the big data training model, so as to realize the precise control of the movement of the end of the boom.

[0059] Please also read Figure 2 and Figure 3 The present application also provides a boom control method, which is applied to the above boom system. The boom control method includes the following steps:

[0060] S100: Determine the next moving point information of the end of the boom assembly, wherein the next moving point information can be manually input or automatically obtained by the system.

[0061] S200: Process and analyze the moving point information through the big data training model to obtain the movement control information of the boom assembly, wherein the movement control information includes the turntable angle control information and the extension control information of each boom cylinder. The big data training model is obtained through training in the early stage, and the specific training steps are shown in steps S60-S90 below.

[0062] S300: Control the boom assembly to work according to the movement control information, so as to control the end of the boom assembly to move to a corresponding movement point.

[0063] It should be noted that the above-mentioned processing and analysis of the moving point information through the big data training model may result in multiple solutions, that is, there may be a many-to-one relationship between the extension of each boom cylinder and the moving point information (the turntable angle affects the coordinates perpendicular to the boom web direction, and its solution corresponds to the moving point information one-to-one). Therefore, in order to better explain this application, the following is a detailed description of how the boom control module chooses and discards the solutions of the big data training model.

[0064] The above step S300 also includes:

[0065] S310: When there are multiple sets of extension control information of each boom cylinder corresponding to the same moving point in the movement control information, energy evaluation is performed on the multiple sets of extension control information of each boom cylinder, and the set of data with the lowest energy consumption is taken as the optimal solution.

[0066] S320: Control the operation of each boom cylinder 220 in the boom assembly according to the optimal solution.

[0067] Specifically, step S310 also includes:

[0068] S311: Obtain basic posture information of the boom assembly at the current position, and determine multiple groups of posture solutions based on the next moving point information.

[0069] S312: Compare the multiple groups of posture solutions with the basic posture information to determine the extension control information of each boom cylinder in the multiple groups of posture solutions.

[0070] S313: Construct an energy evaluation function to perform energy evaluation on the extension control information of each boom cylinder in multiple groups of posture solutions.

[0071] S314: Taking a set of data with the lowest energy consumption as the optimal solution (following the principle of lowest energy consumption).

[0072] In this embodiment, the formula of the constructed energy evaluation function is:

[0073]

[0074] In the above formula (1), δE represents the evaluation energy, k i represents the energy evaluation coefficient of the i-th arm, △L i Indicates the control information of the extension amount of the cylinder of the i-th boom;

[0075] Among them, k i It can be determined based on the maximum load bending moment at the end of each arm 210. The maximum load bending moment at the end of each arm 210 is normalized. Assuming that the load bending moment of the i-th arm is M i , we can get:

[0076] k i =M i / M 1 (2)

[0077] In the above formula (2), M 1 Indicates the maximum value of all load moments max(M i ).

[0078] In this way, the comparison data of each group of posture solutions is substituted into the energy evaluation function, and the position predetermined by the energy evaluation value (the position corresponding to the moving point information input in the early stage) is selected.

[0079] See also Figure 1 and Figure 4 In this embodiment, before step S100, the step further includes obtaining a big data training model. Wherein, obtaining a big data training model includes the following steps:

[0080] S60: Build a big data basic model;

[0081] S70: Control the end of the boom to move to different spatial positions, and obtain the posture information corresponding to the boom at each spatial position and the actual coordinate information of the end of the boom;

[0082] S80: taking the posture information as input of the big data basic model and taking the actual coordinate information as output of the big data basic model to train the big data basic model;

[0083] S90: Obtain a big data training model.

[0084] The posture information includes the turntable angle information, the three-axis angle variable information of the turntable, the three-axis angle variable information of each arm section, and the cylinder extension information of each arm section.

[0085] It should be noted that in the prior art, the position information of the end of the boom is obtained by obtaining the position transformation matrix through the position information of the target boom, the length and angle parameters between the target boom and the end arm. However, in actual use, the boom and turntable will have a certain deformation during work. The existing control strategy does not take into account the error caused by the deformation to the accuracy of the end of the boom, and it is impossible to compensate for the deformation of the boom itself, so there is a cloth error. In the present application, the three-axis angle variable information of the turntable and the three-axis angle variable information of each arm section in the posture information are imported into the big data basic model for training, and a big data training model with deformation compensation is obtained, so that the mobile control information output later (deformation compensation has been performed) can be closer to reality, reduce position errors, and improve control accuracy.

[0086] Optionally, the basic model can be constructed based on a neural network, or of course can be constructed in other ways.

[0087] Specifically, there are three types of inputs to the big data basic model. The first is the three-axis angle deformation θ x / θ y / θ z , where θ x is the deformation angle of the boom assembly along the length direction, θ y is the deformation angle of the boom assembly around the direction perpendicular to the web, θ z is the angle of deformation of the boom assembly around the vertical cover plate, obtained by the three-axis inertial sensors installed on the turntable 100 and each arm 210. The second is the turntable angle θ zt , reflects the posture of the turntable 100, which is obtained by the three-axis angle sensor on the turntable 100. The third is the length L of the arm cylinder 220 i, obtained through the displacement sensor on the boom cylinder 220. The output of the big data basic model is the actual coordinate information (three-dimensional coordinates) of the boom assembly end hose 230, which can be measured by a spatial coordinate meter. The input and output information is imported into the big data basic model for training, and a trained big data training model can be obtained.

[0088] Please also read Figure 5 Furthermore, the above step S70 also includes:

[0089] S71: determining multiple typical postures of the boom assembly according to historical operation data of the boom assembly;

[0090] S72: Control the end of the boom to move to different spatial positions in each typical posture, and obtain the current posture information of the boom and the actual coordinate information of the end of the boom at each spatial position.

[0091] Multiple typical postures include arch posture, M-type posture, inverted L-type posture and horizontal posture.

[0092] Furthermore, this embodiment also provides a boom control module. The boom control module may include a memory and a processor. The memory is configured to store instructions; the processor X20 is configured to call instructions from the memory and implement the above-mentioned boom control method when executing the instructions.

[0093] This embodiment also provides an engineering machine, which includes the boom system provided above.

[0094] 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.

[0095] 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 1A device that provides the functions specified in a block or multiple blocks.

[0096] 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.

[0097] 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.

[0098] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0099] 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.

[0100] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0101] It should also be noted that the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or apparatus comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or apparatus. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising the element.

[0102] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A boom control method, characterized in that: Applied to a boom system, the boom system comprises a boom assembly, the boom assembly has a plurality of movable boom sections (210), and the boom control method comprises: S100: Determine the next moving point information of the end of the boom assembly; S200: Processing and analyzing the moving point information through a big data training model to obtain movement control information of the boom assembly, wherein the movement control information includes turntable angle control information and extension control information of each boom cylinder; S300: Controlling the boom assembly to operate according to the movement control information, so as to control the end of the boom assembly to move to a corresponding point.

2. The boom control method according to claim 1, characterized in that: The step S300 also includes: S310: When there are multiple sets of extension control information of the arm cylinders corresponding to the same movement point in the movement control information, energy evaluation is performed on the multiple sets of extension control information of the arm cylinders, and a set of data with the lowest energy consumption is taken as the optimal solution; S320: Controlling the operation of each boom cylinder (220) in the boom assembly according to the optimal solution.

3. The boom control method according to claim 2, characterized in that: The step S310 further includes: S311: Acquire basic posture information of the boom assembly at the current position, and determine multiple groups of posture solutions according to the next moving point information; S312: Compare the multiple groups of posture solutions with the basic posture information to determine the extension control information of each boom cylinder in the multiple groups of posture solutions; S313: constructing an energy evaluation function to perform energy evaluation on the extension control information of each boom cylinder in multiple groups of posture solutions; S314: taking a set of data with the lowest energy consumption as the optimal solution.

4. The boom control method according to claim 3, characterized in that: The formula of the energy evaluation function constructed is: In the above formula, δE represents the evaluation energy, k i represents the energy evaluation coefficient of the i-th arm, △L i Indicates the control information of the extension amount of the cylinder of the i-th boom; Among them, k i It can be determined based on the maximum load bending moment at the end of each arm section (210), and the maximum load bending moment at the end of each arm section (210) is normalized. Assuming that the load bending moment of the i-th arm section is M i , then we can get k i =M i / M1, M1 represents the maximum value of all load bending moments max(M i ).

5. The boom control method according to any one of claims 1 to 4, characterized in that: The step S100 also includes obtaining a big data training model, and the obtaining of the big data training model includes: S60: Build a big data basic model; S70: Control the end of the boom to move to different spatial positions, and obtain the posture information corresponding to the boom and the actual coordinate information of the end of the boom at each spatial position; S80: using the posture information as input of the big data basic model and using the actual coordinate information as output of the big data basic model to train the big data basic model; S90: Obtain a big data training model.

6. The boom control method according to claim 5, characterized in that: The posture information includes the turntable angle information, the three-axis angle variable information of the turntable, the three-axis angle variable information of each arm section and the cylinder extension information of each arm section; The turntable angle information is obtained by an angle sensor arranged on the turntable (100), and the three-axis angle variable information of the turntable is obtained by a three-axis inertial sensor arranged on the turntable (100); the three-axis angle variable information of each joint arm is obtained by a three-axis inertial sensor arranged on each joint arm (210), and the cylinder extension information of each joint arm is obtained by a displacement sensor arranged on the joint arm cylinder (220) corresponding to each joint arm (210).

7. The boom control method according to claim 5, characterized in that: The step S70 also includes: S71: determining a plurality of typical postures of the boom assembly according to historical operation data of the boom assembly; S72: Control the end of the boom to move to different spatial positions in each of the typical postures, and obtain the current posture information of the boom and the actual coordinate information of the end of the boom at each of the spatial positions.

8. The boom control method according to claim 7, characterized in that: The plurality of typical postures include an arched posture, an M-shaped posture, an inverted L-shaped posture and a horizontal posture.

9. A boom system, characterized in that: include: A boom assembly, comprising a turntable (100) and a boom module (200) arranged on the turntable (100), wherein the turntable (100) is provided with an angle sensor for detecting turntable angle information and a three-axis inertial sensor for detecting three-axis angle variable information, and the boom module (200) comprises a plurality of movable boom sections (210) and boom cylinders (220) arranged corresponding to each of the boom sections (210), wherein each of the boom sections (210) is provided with a three-axis inertial sensor for detecting three-axis angle variable information, and each of the boom cylinders (220) is provided with a displacement sensor for detecting elongation information; and A boom control module, used for executing the boom control method according to any one of claims 1 to 8.

10. An engineering machine, characterized in that: Comprising a boom system according to claim 9.

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