Boom control methods, boom systems and construction machinery

Abstract

This application, in the field of construction machinery technology, discloses a boom control method, a boom system, and construction machinery. The boom control method processes and analyzes the information of the next moving point using a trained big data model to obtain the movement control information of the boom assembly. This movement control information includes turntable angle control information and extension control information for each boom section cylinder. Based on this movement control information, the boom assembly is controlled to move its end effector to the corresponding moving point. Thus, the boom control method provided in this application utilizes a trained big data model for data processing and analysis, quickly and accurately obtaining the movement control information of the boom assembly, thereby precisely controlling the boom assembly to move to the corresponding moving point, solving the problems of poor accuracy and slow processing speed in existing technologies.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a boom control method, a boom system, and engineering machinery. Background Technology

[0002] Concrete pump trucks are one of the main pieces of equipment in the construction industry. Their primary function is to pump and pour pre-mixed concrete to designated locations. Currently, the placement control of pump trucks still mainly relies on manual operation by the operator, which is time-consuming, labor-intensive, and inefficient.

[0003] However, existing technologies achieve intelligent fabric control by installing sensors at the end of the boom to directly obtain the position information of the boom end. However, this method suffers from low sensor measurement accuracy, resulting in poor fabric control precision and slow processing speed. Summary of the Invention

[0004] The purpose of this application is to provide a boom control method, boom system, and engineering machinery to solve the problem of inaccurate boom end positioning and poor material placement accuracy control in the prior art when the boom performs intelligent material placement.

[0005] To achieve the above objectives, a first aspect of this application provides a boom control method applied to a boom system, the boom system including a boom assembly having a plurality of movable boom segments, the boom control method comprising:

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

[0007] S200: The moving point information is processed and analyzed by a big data training model to obtain the 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: 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 the corresponding position.

[0009] In some embodiments, step S300 further includes:

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

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

[0012] In some embodiments, step S310 further includes:

[0013] S311: Obtain the basic attitude information of the boom assembly at the current position, and determine multiple attitude solutions based on the next moving point information;

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

[0015] S313: Construct an energy assessment function to assess the energy of the elongation control information of each boom cylinder in multiple attitude solutions;

[0016] S314: The set of data with the lowest energy consumption is taken as the optimal solution.

[0017] In some implementations, the energy assessment function is formulated as follows:

[0018]

[0019] In the above formula, δE represents the estimated energy, and k i Let ΔL represent the energy evaluation coefficient of the i-th arm. i This indicates the control information for the extension of the hydraulic cylinder in the i-th arm.

[0020] Where, k i The load moment at the end of each boom section can be determined by normalizing the maximum load moment at the end of each boom section. Let's assume the load moment of the i-th boom section is M. i Then we can obtain k i =M i / M1, where M1 represents the maximum value (max(M)) among all load bending moments. i ).

[0021] In some embodiments, the step S100 is preceded by obtaining a big data training model, wherein obtaining the big data training model includes:

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

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

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

[0025] S90: The trained model based on big data.

[0026] In some embodiments, the attitude 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] The turntable angle information is obtained by an angle sensor installed on the turntable, and the three-axis angle variable information of the turntable is obtained by a three-axis inertial sensor installed on the turntable; the three-axis angle variable information of each arm is obtained by a three-axis inertial sensor installed on each arm, and the cylinder extension information of each arm is obtained by a displacement sensor installed on the corresponding arm cylinder of each arm.

[0028] In some embodiments, step S70 further includes:

[0029] S71: Based on the historical operation data of the boom assembly, determine multiple typical postures of the boom assembly;

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

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

[0032] To achieve the above objectives, a second aspect of this application provides a boom system, comprising:

[0033] A boom assembly includes a turntable and a boom module mounted on the turntable. The turntable is equipped with an angle sensor for detecting turntable angle information and a triaxial inertial sensor for detecting triaxial angle variable information. The boom module includes multiple movable boom segments and boom cylinders corresponding to each boom segment. Each boom segment is equipped with a triaxial inertial sensor for detecting triaxial angle variable information, and each boom cylinder is equipped with a displacement sensor for detecting extension information.

[0034] A boom control module for executing the boom control method provided in accordance with the first aspect above.

[0035] To achieve the above objectives, a third aspect of this application provides an engineering machine including a boom system according to the second aspect described above.

[0036] Compared with existing technologies, the boom control method, boom system, and construction machinery provided in this application have at least the following beneficial effects:

[0037] The boom control method provided in this application processes and analyzes the information of the next moving point using a trained big data model to obtain the movement control information of the boom assembly. This movement control information includes turntable angle control information and extension control information of each boom cylinder. Based on this movement control information, the boom assembly is controlled to move its end effector to the corresponding moving point. Thus, the boom control method provided in this application utilizes a trained big data model for data processing and analysis to quickly and accurately obtain the movement control information of the boom assembly, thereby precisely controlling the boom assembly to move to the corresponding moving point, solving the problems of poor accuracy and slow processing speed in existing technologies.

[0038] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0039] 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:

[0040] Figure 1 This is a schematic diagram of a boom system provided in an embodiment of this application;

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

[0042] Figure 3 A schematic diagram illustrating the calculation process of using big data to train a model in the boom control method provided in this application embodiment;

[0043] Figure 4 A schematic diagram illustrating the training of the big data foundation model in the boom control method provided in this application embodiment;

[0044] Figure 5 The diagram shows the arched posture (a), M-shaped posture (b), inverted L-shaped posture (c), and horizontal posture (d) of the boom assembly provided in the embodiments of this application.

[0045] Explanation of reference numerals in the attached figures

[0046] 100. Turntable;

[0047] 200. Boom module; 210. Segment boom; 220. Segment boom cylinder; 230. End hose. Detailed Implementation

[0048] 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.

[0049] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with the relevant provisions of national laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0050] 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.

[0051] 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.

[0052] Please see Figure 1 This embodiment provides a boom system that can be applied to engineering machinery, such as pump trucks, fire trucks, and fixed material pumping equipment with boom systems.

[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 mounted on the turntable 100. The turntable 100 is equipped with an angle sensor for detecting turntable angle information and a triaxial inertial sensor for detecting triaxial angle variable information. The boom module 200 includes multiple movable boom segments 210 and boom cylinders 220 corresponding to each boom segment 210. Adjacent boom segments 210 are hinged together. Each boom segment 210 is equipped with a triaxial inertial sensor for detecting triaxial angle variable information, and each boom cylinder 220 is equipped with a displacement sensor for detecting extension information.

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

[0055] Each arm segment 210 is equipped with a triaxial inertial sensor to measure the deformation of each arm segment 210 under the action of gravity. The sensor is attached near the end of the arm segment to ensure that the measurement results can accurately reflect the deformation of the arm segment 210.

[0056] The three-axis inertial sensors on the turntable 100 should be positioned as close as possible to the hinge bushing between the first arm 210 and the turntable 100. The rotation angle of the turntable 100 can be obtained using a single-axis angle sensor. Figure 1 As shown, the sections 210 starting from the turntable 100 can be sequentially defined as the first section B1, the second section B2, the third section B3, ..., the Nth section B1. N (Final boom). The boom cylinders corresponding to boom 210 can be defined sequentially as boom cylinder one, boom cylinder two, boom cylinder three... boom cylinder N.

[0057] Each boom cylinder 220 is equipped with a displacement sensor to obtain the extension of the cylinder, thereby mapping the relative rotation angle between two adjacent boom cylinders 210.

[0058] Specifically, such as Figure 1 As shown, Figure 1 The diagram shows the structure of the boom system, where T1 to T1 are shown. N+1 T1 is a triaxial inertial sensor on the turntable 100, used to measure the deformation of the turntable 100 itself; T2~T N+1 These are triaxial inertial sensors on each arm segment 210, used to measure the deformation of each arm segment 210 itself. D1 is an angle sensor on the turntable 100, used to measure the rotation angle of the turntable 100; D2~DN+1 Displacement sensors are used for each boom cylinder 220, and the relative rotation angle between each boom section 210 is mapped by the cylinder displacement. The data from each sensor is fed into a big data training model, which can calculate the position information of the boom assembly end effector, thereby achieving precise control of the boom end effector movement.

[0059] Please refer to the following: Figure 2 and Figure 3 This application also provides a boom control method applied to the aforementioned 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. The next moving point information can be manually entered or automatically obtained by the system.

[0061] S200: The moving point information is processed and analyzed through a big data training model to obtain the movement control information of the boom assembly. This movement control information includes turntable angle control information and extension control information for each boom cylinder. The big data training model was previously trained; specific training steps are detailed in steps S60-S90 below.

[0062] S300: Controls the boom assembly to work according to the movement control information, so as to control the end of the boom assembly to move to the 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, and its solution corresponds one-to-one with the moving point information). Therefore, to better explain this application, the following section provides a detailed explanation of how the boom control module selects and discards solutions from the big data training model.

[0064] The above step S300 also includes:

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

[0066] S320: Controls 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 the basic attitude information of the boom assembly at the current position, and determine multiple attitude solutions based on the information of the next moving point.

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

[0070] S313: Construct an energy assessment function to assess the energy of the elongation control information of each boom cylinder in multiple attitude solutions.

[0071] S314: Select the 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 for the constructed energy assessment function is:

[0073]

[0074] In equation (1) above, δE represents the evaluation energy, and k i Let ΔL represent the energy evaluation coefficient of the i-th arm. i This indicates the control information for the extension of the hydraulic cylinder in the i-th arm.

[0075] Where, k i The load moment at the end of each boom section 210 can be determined by normalizing the maximum load moment at the end of each boom section 210. Let's assume the load moment of the i-th boom section is M. i Then we can get:

[0076] k i =M i / M1 (2)

[0077] In equation (2) above, M1 represents the maximum value of all load moments, max(M i ).

[0078] Thus, the comparison data of each attitude solution is substituted into the energy evaluation function, and the predetermined position of the energy evaluation value is selected (the position corresponding to the previously input movement point information).

[0079] Please see Figure 1 and Figure 4 In this embodiment, the step S100 is preceded by obtaining a big data training model. Obtaining the big data training model includes the following steps:

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

[0081] S70: Controls the boom end to move to different spatial positions and acquires the attitude information of the boom and the actual coordinate information of the boom end at each spatial position;

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

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

[0084] The attitude 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.

[0085] It should be noted that in existing technologies, the pose transformation matrix is ​​obtained by using the position information of the target boom and the length and angle parameters between the target boom and the end boom, thereby obtaining the position information of the boom end. However, in actual use, the boom and turntable will deform to some extent during operation. Existing control strategies do not consider the error caused by deformation to the accuracy of the boom end, nor can they compensate for the deformation of the boom itself, resulting in fabric placement errors. In this application, by importing the three-axis angle variable information of the turntable and the three-axis angle variable information of each boom section from the attitude information into a big data basic model for training, a big data training model with deformation compensation is obtained. This results in a more realistic motion control information output later (with deformation compensation), reducing position errors and improving control accuracy.

[0086] Optionally, the base model can be built based on a neural network, or it can be built in other ways.

[0087] Specifically, there are three types of inputs to the big data basic model. The first is the three-axis angular deformation θ. x / θ y / θ z , where θ x Let θ be the angle of deformation of the boom assembly about its length. y Let θ be the angle of deformation of the boom assembly about a direction perpendicular to the web. z The first method is to measure the angle of deformation of the boom assembly around the vertical cover plate, obtained using triaxial inertial sensors mounted on the turntable 100 and each boom section 210. The second method is to measure the turntable angle θ. zt This reflects the attitude of the turntable 100, obtained through a three-axis angle sensor on the turntable 100. The third type is the length L of the boom cylinder 220. i The displacement is 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 obtained by measuring with a spatial coordinate instrument. By importing the input and output information into the big data basic model for training, a trained big data model can be obtained.

[0088] Please refer to the following: Figure 5 Furthermore, step S70 above also includes:

[0089] S71: Based on the historical operation data of the boom assembly, determine several typical postures of the boom assembly;

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

[0091] Several typical poses include arched pose, M-shaped pose, inverted L-shaped pose, and horizontal pose.

[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 retrieve instructions from the memory and, when executing the instructions, to implement the aforementioned boom control method.

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

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

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

[0099] 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.

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

[0101] 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.

[0102] 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 boom control method, characterized in that, Applied to a boom system, the boom system including a boom assembly having a plurality of movable boom segments (210), the boom control method includes: S100: Determine the next moving point information of the end of the boom assembly; S200: The moving point information is processed and analyzed by a big data training model to obtain the 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: 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 the corresponding position; S310: When there are multiple sets of extension control information for each boom cylinder corresponding to the same movement point in the movement control information, energy evaluation is performed on the multiple sets of extension control information for each boom cylinder, and the set of data with the lowest energy consumption is taken as the optimal solution. S320: Control the operation of each boom cylinder (220) in the boom assembly according to the optimal solution; The formula for the constructed energy assessment function is as follows: In the above formula, Indicates energy assessment. This represents the energy assessment coefficient of the i-th arm. This indicates the control information for the extension of the hydraulic cylinder in the i-th arm. in, The maximum load bending moment at the end of each boom section (210) is determined by normalizing the maximum load bending moment at the end of each boom section (210). It is assumed that the load bending moment of the i-th boom section is... Then we can get , Represents the maximum value of the bending moment under all loads. .

2. The boom control method according to claim 1, characterized in that, Step S310 further includes: S311: Obtain the basic attitude information of the boom assembly at the current position, and determine multiple attitude solutions based on the next moving point information; S312: Compare the multiple sets of attitude solutions with the basic attitude information to determine the extension control information of each boom cylinder in the multiple sets of attitude solutions; S313: Construct an energy assessment function to assess the energy of the elongation control information of each boom cylinder in multiple attitude solutions; S314: The set of data with the lowest energy consumption is taken as the optimal solution.

3. The boom control method according to any one of claims 1-2, characterized in that, Before step S100, the method further includes obtaining a big data training model, which includes: S60: Building a basic big data model; S70: Control the end of the boom assembly to move to different spatial positions, and obtain the attitude information of the boom assembly and the actual coordinate information of the end of the boom assembly at each spatial position; S80: Use the pose information as input to the big data basic model and the actual coordinate information as output to train the big data basic model; S90: Obtain a big data training model.

4. The boom control method according to claim 3, characterized in that, The attitude information includes turntable angle information, turntable three-axis angle variable information, three-axis angle variable information of each boom section, and hydraulic cylinder extension information of each boom section. The turntable angle information is obtained by an angle sensor installed on the turntable (100), and the three-axis angle variable information of the turntable is obtained by a three-axis inertial sensor installed on the turntable (100); the three-axis angle variable information of each arm is obtained by a three-axis inertial sensor installed on each arm (210), and the cylinder extension information of each arm is obtained by a displacement sensor installed on the corresponding arm cylinder (220) of each arm (210).

5. The boom control method according to claim 3, characterized in that, Step S70 also includes: S71: Based on the historical operation data of the boom assembly, determine multiple typical postures of the boom assembly; S72: Under each of the typical postures, manipulate the end of the boom assembly to move to different spatial positions, and obtain the current posture information of the boom assembly and the actual coordinate information of the end of the boom assembly at each spatial position.

6. The boom control method according to claim 5, characterized in that, The typical postures include arched posture, M-shaped posture, inverted L-shaped posture, and horizontal posture.

7. A boom system, characterized in that, include: 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 turntable angle information and a triaxial inertial sensor for detecting triaxial angle variable information. The boom module (200) includes multiple movable boom segments (210) and boom cylinders (220) arranged corresponding to each boom segment (210). Each boom segment (210) is provided with a triaxial inertial sensor for detecting triaxial angle variable information, and each boom cylinder (220) is provided with a displacement sensor for detecting elongation information. and A boom control module for performing the boom control method according to any one of claims 1 to 6.

8. An engineering machinery, characterized in that, Includes the boom system according to claim 7.

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