Cantilever crane motion control method, processor and engineering machinery

Abstract

The invention discloses a boom motion control method, a processor and engineering machinery, and belongs to the field of engineering machinery. The boom motion control method comprises the following steps: a processor determines the rest of boom section nodes except a tail end point in a plurality of boom section nodes as reference points; the rotation sequence of the datum points and the allowable included angle range between the adjacent arm sections are obtained; sequentially determining circle centers from the plurality of datum points according to the rotation sequence; and finally, according to the circle center, the allowable included angle range between the adjacent arm sections and the rotation sequence, the connecting line between the circle center and the tail end point is sequentially rotated to the target position, so that the arm support movement is completed. According to the scheme, the motion of the arm support is controlled by combining the allowable angle range between the arm sections, the problem that the angle of the arm support is limited in the motion process can be solved, and the control accuracy of the arm support is improved.

Description

Technical Field

[0001] The present application relates to the technical field of construction machinery, and particularly relates to a boom motion control method, a processor, and a construction machinery. Background Art

[0002] Under the background of global intelligence, equipment manufacturing is also developing towards intelligence, informatization, and digitalization, striving to explore more refined operations and provide more accurate and intelligent operation services. Multi-section booms are widely used in construction machinery. The existing boom control mainly adopts a manual remote control method, and the angles of each robotic arm joint are respectively controlled by the knobs of the remote control to realize the movement of the robotic arm. Since there is no intuitive correspondence between the angle changes of each joint and the position of the boom end, it often takes multiple back-and-forth adjustments to control it in place, and its control timeliness is difficult to guarantee. Therefore, the existing technical solutions have the problem of inaccurate boom control. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a boom motion control method, a processor, and a construction machinery to solve the problem of inaccurate boom control in the prior art.

[0004] To achieve the above purpose, in the first aspect of the embodiments of the present application, a boom motion control method is provided. The boom motion control method includes:

[0005] Determine the remaining boom joint nodes except the end point among multiple boom joint nodes as reference points;

[0006] Obtain the rotation sequence of multiple reference points and the allowable included angle range between adjacent boom joints;

[0007] Successively determine the centers of circles from multiple reference points according to the rotation sequence;

[0008] According to the center of the circle, the allowable included angle range between adjacent boom joints, and the rotation sequence, successively rotate the connection line between the center of the circle and the end point to the target position to complete the boom motion.

[0009] In the embodiments of the present application, before successively rotating the connection line between the center of the circle and the end point to the target position according to the center of the circle, the allowable included angle range between adjacent boom joints, and the rotation sequence, it includes: judging whether the distance between the end point and the target position is greater than the first preset precision distance; in the case where the distance between the end point and the target position is not greater than the first preset precision distance, successively rotate the connection line between the center of the circle and the end point to the target position according to the center of the circle, the allowable included angle range between adjacent boom joints, and the rotation sequence.

[0010] In an embodiment of the present application, successively rotating the connection line between the center of the circle and the end point to a target position according to the center of the circle, the allowable included angle range between adjacent arm segments, and the rotation sequence includes: determining whether the included angle between the connection line between the center of the circle and the target position and the adjacent arm segment is within the included angle range; when the included angle between the connection line between the center of the circle and the target position and the adjacent arm segment is within the included angle range, rotating the connection line between the center of the circle and the end point to a position that coincides with the connection line between the center of the circle and the target position to update the end point.

[0011] In an embodiment of the present application, the included angle range includes a maximum angle value and a minimum angle value, and the boom movement control method further includes: when the included angle between the connection line between the center of the circle and the target position and the adjacent arm segment is not within the included angle range, determining whether the difference between the maximum angle value and the included angle is greater than the difference between the included angle and the minimum angle value; when the difference between the maximum angle value and the included angle is greater than the difference between the included angle and the minimum angle value, rotating the connection line between the center of the circle and the end point to a position where the included angle is the minimum angle value to update the end point.

[0012] In an embodiment of the present application, the boom movement control method further includes: when the difference between the maximum angle value and the included angle is not greater than the difference between the included angle and the minimum angle value, rotating the connection line between the center of the circle and the end point to a position where the included angle is the maximum angle value to update the end point.

[0013] In an embodiment of the present application, the boom movement control method further includes: when the distance between the end point and the target position is greater than a first preset precision distance, stopping the boom movement control.

[0014] In an embodiment of the present application, the boom movement control method further includes: determining whether the distance between the updated end point and the target position is greater than a second preset precision distance; when the distance between the updated end point and the target position is greater than the second preset precision distance, continuing to successively rotate the connection line between the center of the circle and the end point to the target position according to the center of the circle, the allowable included angle range between adjacent arm segments, and the rotation sequence until the distance between the updated end point and the target position is less than the second preset precision distance.

[0015] A second aspect of an embodiment of the present application provides a processor configured to execute the boom movement control method according to the above.

[0016] A third aspect of an embodiment of the present application provides a construction machine, including: a boom; and the processor according to the above.

[0017] A fourth aspect of an embodiment of the present application provides a machine-readable storage medium, on which instructions are stored for causing a machine to execute the boom movement control method according to the above.

[0018] In the above technical solution, by determining the remaining arm joint nodes except the end point among multiple arm joint nodes as reference points, obtaining the rotation order of the multiple reference points and the allowable included angle range between adjacent arm joints, and then sequentially determining the centers of circles from the multiple reference points according to the rotation order, and rotating the connection line between the center of the circle and the end point to the target position in sequence according to the center of the circle, the allowable included angle range between adjacent arm joints and the rotation order to complete the movement of the boom, the problem of limited angle during the movement of the boom can be optimized, and the accuracy of boom control can be improved.

[0019] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. They are used together with the following specific implementation manners to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0021] Figure 1 Schematically shows a flowchart of a boom movement control method according to an embodiment of the present application;

[0022] Figure 2 Schematically shows a schematic diagram of the movement of an arm joint node according to a specific embodiment of the present application;

[0023] Figure 3 Schematically shows a flowchart of a boom movement control method according to a specific embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions 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 manners 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 those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0025] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present application, the directional indications are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0026] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of this application, the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments may be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0027] Figure 1 Schematically shows a flowchart of a boom movement control method according to an embodiment of the present application. As Figure 1 shown, the embodiment of the present application provides a boom movement control method. Taking the application of this method to a processor as an example, this method may include the following steps:

[0028] Step S101: Determine the remaining boom joint nodes except the end point among multiple boom joint nodes as reference points.

[0029] Step S102: Obtain the rotation order of multiple reference points and the allowable angle range between each adjacent boom section.

[0030] Step S103: Sequentially determine the centers of circles from multiple reference points according to the rotation order.

[0031] Step S104: According to the center of the circle, the allowable angle range between each adjacent boom section, and the rotation order, sequentially rotate the connection line between the center of the circle and the end point to the target position to complete the boom movement.

[0032] It can be understood that the boom joint node refers to the two end points of the boom section. The end point refers to the end node of the end boom section among multiple boom joint nodes. The reference point refers to the point except the end point among multiple boom joint nodes. The allowable angle range between each adjacent boom section is composed of the maximum angle value and the minimum angle value of the angle between two adjacent boom sections, referring to the angle limit range between two adjacent boom sections. The target position refers to the position where the end point finally needs to move to.

[0033] Specifically, the processor first determines the end point among multiple arm segment nodes, and determines the arm segment nodes other than the end point as reference points. Then, it determines the rotation order of the boom movement and the allowable included angle range between adjacent arm segments. Min(θ) and Max(θ) respectively represent the minimum angle and the maximum angle of the included angle between adjacent joints. For example, in a certain vehicle model, the angle limit range of a certain joint is 90° to 180°. After determining the rotation order, the center of the circle is sequentially determined from multiple reference points according to the rotation order. Circles are rotated in sequence with multiple reference points as the centers of the circles and the connection line between the reference point and the end point as the radius. And during the rotation process, the allowable included angle range between adjacent arm segments is followed. For example, it is judged whether the included angle between the connection line between the center of the circle and the target position and the adjacent arm segment is within the preset included angle range. If it is within the preset included angle range, the connection line between the center of the circle and the end point is rotated to the connection line between the center of the circle and the target position. If it is not within the preset included angle range, the connection line between the center of the circle and the end point is rotated according to the preset included angle range so that the end point rotates to the target position.

[0034] In the above technical solution, the processor determines the arm segment nodes other than the end point among multiple arm segment nodes as reference points. And obtains the rotation order of multiple reference points and the allowable included angle range between adjacent arm segments. Then, the center of the circle is sequentially determined from multiple reference points according to the rotation order; according to the center of the circle, the allowable included angle range between adjacent arm segments and the rotation order, the connection line between the center of the circle and the end point is sequentially rotated to the target position to complete the boom movement, which can optimize the problem of angle limitation during the boom movement and improve the accuracy of boom control.

[0035] In one embodiment, before sequentially rotating the connection line between the center of the circle and the end point to the target position according to the center of the circle, the allowable included angle range between adjacent arm segments and the rotation order, it includes: judging whether the distance between the end point and the target position is greater than the first preset precision distance; in the case that the distance between the end point and the target position is not greater than the first preset precision distance, the connection line between the center of the circle and the end point is sequentially rotated to the target position according to the center of the circle, the allowable included angle range between adjacent arm segments and the rotation order.

[0036] Specifically, before rotating the line connecting the rotation center and the end point to the target position, it is necessary to first determine whether the distance between the end point and the target position is greater than the first preset precision distance. The first preset precision distance refers to the preset precision range between the end point and the target position. When the distance between the end point and the target position is greater than the first preset precision distance, the boom movement is stopped. When the distance between the end point and the target position is not greater than the first preset precision distance, according to the center of the circle, the allowable angle range between adjacent boom sections, and the rotation sequence, the line connecting the center of the circle and the end point is rotated to the target position in sequence. In an example, the multiple boom sections include d1, d2, and d3, and four nodes P1, P2, P3, and P4. P2 is the intersection of the d1 and d2 boom sections, and P3 is the intersection of the d2 and d3 boom sections. P4 is determined as the end point, and P1, P2, and P3 are multiple reference points. The rotation sequence is centered on P3, P2, and P1 in sequence. Then, it is first determined whether the distance between P4 and the target position is greater than the first preset precision distance. When it is not greater than the first preset precision distance, the boom movement is then carried out.

[0037] In one embodiment, rotating the line connecting the center of the circle and the end point to the target position in sequence according to the center of the circle, the allowable angle range between adjacent boom sections, and the rotation sequence includes: determining whether the angle between the line connecting the center of the circle and the target position and the adjacent boom section is within the angle range; when the angle between the line connecting the center of the circle and the target position and the adjacent boom section is within the angle range, rotating the line connecting the center of the circle and the end point to the position where it coincides with the line connecting the center of the circle and the target position to update the end point.

[0038] Specifically, when rotating the line connecting the center of the circle and the end point to the target position in sequence according to the center of the circle, the allowable angle range between adjacent boom sections, and the rotation sequence, it is first determined whether the angle between the line connecting the center of the circle and the target position and the adjacent boom section is within the angle range. If the angle between the line connecting the center of the circle and the target position and the adjacent boom section is within the angle range, the line connecting the center of the circle and the end point is rotated to the position where it coincides with the line connecting the center of the circle and the target position to update the end point. In an example, with P3 as the center of the circle, it is determined whether the angle between the line connecting P3 and the target position and d2 is within the angle range. When the angle between the line connecting P3 and the target position and d2 is within the angle range, the line connecting P3 and the target position is rotated to the position where it coincides with the line connecting P3 and the target position to update the position of the end point. Then, with P2 and P1 as the centers of the circle in sequence, the above steps are repeated to gradually update the position of the end point.

[0039] In one embodiment, the included angle range includes a maximum angle value and a minimum angle value, and the method further includes: when the included angle between the line connecting the center of the circle and the target position and the adjacent arm segment is not within the included angle range, determining whether the difference between the maximum angle value and the included angle is greater than the difference between the included angle and the minimum angle value; when the difference between the maximum angle value and the included angle is greater than the difference between the included angle and the minimum angle value, rotating the line connecting the center of the circle and the end point to the position where the included angle is the minimum angle value to update the end point.

[0040] Specifically, when it is determined that the included angle between the line connecting the center of the circle and the target position and the adjacent arm segment is not within the included angle range, the difference between the maximum angle value and the included angle and the difference between the included angle and the minimum angle value are calculated respectively. Then it is determined whether the difference between the maximum angle value and the included angle is greater than the difference between the included angle and the minimum angle value. When the difference between the maximum angle value and the included angle is greater than the difference between the included angle and the minimum angle value, rotating the line connecting the center of the circle and the end point to the position where the included angle is the minimum angle value to update the end point. In one example, with P3 as the center of the circle, when the included angle between the line connecting P3 and the target position and d2 is not within the included angle range, it is determined whether the difference between the maximum angle value Max(θ 3 ) and the included angle is greater than the difference between the included angle and the minimum angle value Min(θ 3 ). When the difference between the maximum angle value Max(θ 3 ) and the included angle is greater than the difference between the included angle and the minimum angle value Min(θ 3 ), rotating the line between P3 and P4 to the position where the included angle is the minimum angle value Min(θ 3 ) to update the end point. Then, with P2 and P1 as the centers of the circle in turn, the above steps are repeated to gradually update the position of the end point.

[0041] In one embodiment, the method further includes: when the difference between the maximum angle value and the included angle is not greater than the difference between the included angle and the minimum angle value, rotating the line connecting the center of the circle and the end point to the position where the included angle is the maximum angle value to update the end point.

[0042] Specifically, when the difference between the maximum angle value and the included angle is not greater than the difference between the included angle and the minimum angle value, rotating the line connecting the center of the circle and the end point to the position where the included angle is the maximum angle value to update the end point. In one example, with P3 as the center of the circle, when the included angle between the line connecting P3 and the target position and d2 is not within the included angle range, it is determined whether the difference between the maximum angle value Max(θ 3 ) and the included angle is greater than the difference between the included angle and the minimum angle value Min(θ 3 ). When the difference between the maximum angle value Max(θ 3 ) and the included angle is not greater than the difference between the included angle and the minimum angle value Min(θ 3) In the case of the difference, rotate the line between P3 and P4 to the position where the included angle is the maximum angle value Max(θ 3 ) to update the end point. Then, taking P2 and P1 as the centers respectively, repeat the above steps to gradually update the position of the end point.

[0043] In one embodiment, the method further includes: stopping the boom movement control when the distance between the end point and the target position is greater than the first preset precision distance.

[0044] In one embodiment, the method further includes: judging whether the distance between the updated end point and the target position is greater than the second preset precision distance; when the distance between the updated end point and the target position is greater than the second preset precision distance, continue to rotate the line between the center and the end point to the target position in sequence according to the center, the allowable included angle range between adjacent boom sections and the rotation order until the distance between the updated end point and the target position is less than the second preset precision distance.

[0045] Specifically, after controlling the boom movement according to the rotation order is completed, the updated end point is obtained. Judge whether the distance between the updated end point and the target position is greater than the second preset precision distance. The second preset precision distance refers to the precision of the distance between the preset target position and the updated end point. When the distance between the updated end point and the target position is less than the second preset precision distance, the boom movement is completed. When the distance between the updated end point and the target position is greater than the second preset precision distance, continue to rotate the line between the center and the end point to the target position in sequence according to the center, the allowable included angle range between adjacent boom sections and the rotation order, and repeat the above iterative rotation until the distance between the updated end point and the target position is less than the second preset precision distance.

[0046] In the above technical solution, the processor determines the remaining boom nodes except the end point among the multiple boom nodes as the reference points. And obtains the rotation order of the multiple reference points and the allowable included angle range between adjacent boom sections. Then, sequentially determine the centers from the multiple reference points according to the rotation order; according to the center, the allowable included angle range between adjacent boom sections and the rotation order, rotate the line between the center and the end point to the target position in sequence to complete the boom movement, which can optimize the problem of angle limitation during the boom movement and improve the accuracy of boom control.

[0047] Figure 2 Schematically shows a schematic diagram of the movement of a boom node according to a specific embodiment of the present application. As Figure 2As shown, in the embodiment of the present application, there are multiple arm segments including d1, d2, and d3, and multiple nodes including P1, P2, P3, and P4. P2 is the intersection point of the d1 arm segment and the d2 arm segment, and P3 is the intersection point of the d2 arm segment and the d3 arm segment. P4 is determined as the end point, and P1, P2, and P3 are multiple reference points. The position of x is the target position. In the first iteration process, starting from the end joint P3P4, with P3 as the center, rotate P3P4 to the connection line between P3 and x to obtain P4'. Then, with P2 as the center, rotate P2P4' to the connection line between P2 and x to obtain a new P4'. Then, with P1 as the center, rotate P1 to the connection line between P1P4' and x to obtain a new P4', and the first iteration is completed. Repeat the above process to complete the 2nd to nth iterations until the distance between the end of the boom P4 and x reaches the desired accuracy.

[0048] Figure 3 Schematically shows a flowchart of a boom motion control method according to a specific embodiment of the present application. As Figure 3 shown, a specific embodiment of the present application provides a boom motion control method, and the method may include the following steps:

[0049] S301. Start (acquire current boom length, angle, and target position information).

[0050] S302. Determine whether the distance between the end point P4 and the target point > err (set accuracy range). If so, go to S303; if not, go to S304.

[0051] S303. With P3 as the center, rotate P3P4 to the connection line between P3 and the target point, and calculate the included angle θ between d2 and d3 at this time 3 .

[0052] S304. End.

[0053] S305. Determine whether Min(θ 3 ) ≤ θ 3 ≤ Max(θ 3 ). Min(θ 3 ) and Max(θ 3 ) respectively represent the minimum angle and the maximum angle of this joint. If so, go to S306; if not, go to S307.

[0054] S306. With P3 as the center, rotate P3P4 to the connection line between P3 and the target point to obtain P4'.

[0055] S307. Determine whether {Max(θ 3 ) - θ 3} > {θ 3 - Min(θ 3)}, if yes, go to S308, if no, go to S309.

[0056] S308: With P3 as the center, rotate P3P4 until the angle between d2 and d3 is equal to Min(θ 3 ), to obtain P4'.

[0057] S309: With P3 as the center, rotate P3P4 until the angle between d2 and d3 is equal to Max(θ 3 ), to obtain P4'.

[0058] S310: With P2 as the center, rotate P2P4' to the connection line between P2 and the target point, and calculate the angle θ between d2 and d3 at this time 2 .

[0059] S311: Determine whether Min(θ 2 ) ≤ θ 2 ≤ Max(θ 2 ), where Min(θ 2 ) and Max(θ 2 ) respectively represent the minimum angle and the maximum angle of this joint. If yes, go to S312, if no, go to S313.

[0060] S312: With P2 as the center, rotate P2P4' to the connection line between P2 and the target point to obtain a new P4'.

[0061] S313: Determine whether {Max(θ 2 ) - θ 2} > {θ 2 - Min(θ 2 ). If yes, go to S314, if no, go to S315.

[0062] S314: With P2 as the center, rotate P3P4' until the angle between d1 and d2 is equal to Min(θ 2 ), to obtain a new P4'.

[0063] S315: With P2 as the center, rotate P3P4' until the angle between d1 and d2 is equal to Max(θ 2 ), to obtain a new P4'.

[0064] S316: With P1 as the center, rotate P1P4' to the connection line between P1 and the target point, and calculate the angle θ between d1 and the horizontal plane at this time 1 .

[0065] S317: Determine whether Min(θ 1 ) ≤ θ 1 ≤ Max(θ 1 ), where Min(θ 1 ) and Max(θ1 ) respectively represent the minimum angle and the maximum angle of the joint. If so, go to S318; if not, go to S319.

[0066] S318: With P1 as the center, rotate P1P4' to the connection line between P1 and the target point to obtain a new P4'.

[0067] S319: Determine whether it satisfies {Max(θ 1 ) - θ 1} > {θ 1 - Min(θ 1 ). If so, go to S320; if not, go to S321.

[0068] S320: With P1 as the center, rotate P1P4' until the angle between d1 and the horizontal plane is equal to Min(θ 1 ) to obtain a new P4'.

[0069] S321: With P1 as the center, rotate P1P4' until the angle between d1 and the horizontal plane is equal to Max(θ 1 ) to obtain a new P4'.

[0070] S322: Determine whether the distance between the end point and the target point > err (the set precision range).

[0071] Specifically, at the start of the boom motion control, obtain information such as the current boom length, angle, and target position. Determine whether the distance between the end point P4 and the target point > err (the set precision range). If not, end the motion control. If so, with P3 as the center, rotate P3P4 to the connection line between P3 and the target point, and calculate the angle θ 3 between d2 and d3 at this time. Determine whether it satisfies Min(θ 3 ) ≤ θ 3 ≤ Max(θ 3 ), where Min(θ 3 ) and Max(θ 3 ) respectively represent the minimum angle and the maximum angle of the joint. If so, with P3 as the center, rotate P3P4 to the connection line between P3 and the target point to obtain P4'. If not, determine whether it satisfies {Max(θ 3 ) - θ 3} > {θ 3 - Min(θ 3 ). If it satisfies {Max(θ 3 ) - θ 3} > {θ 3 - Min(θ 3 ), then with P3 as the center, rotate P3P4 until the angle between d2 and d3 is equal to Min(θ 3 ) to obtain P4'. If it does not satisfy {Max(θ3 ) - θ 3}) > {θ 3 -Min(θ 3 )}, then with P3 as the center, rotate P3P4 until the included angle between d2 and d3 is equal to Max(θ 3 ), to obtain P4'. Then, successively with P2 and P1 as the centers, repeat the above boom movement control process. Finally, determine whether the distance between the end point and the target point > err (the set precision range). If the distance between the end point and the target point > err, repeat the above steps until the distance between the boom end point and the target point reaches the preset precision.

[0072] In the above technical solution, the processor determines the remaining boom joint nodes except the end point among the multiple boom joint nodes as the reference points. And obtains the rotation order of the multiple reference points and the allowable included angle range between adjacent boom joints. Then, successively determine the centers from the multiple reference points according to the rotation order; according to the centers, the allowable included angle range between adjacent boom joints, and the rotation order, successively rotate the connection line between the center and the end point to the target position to complete the boom movement, which can optimize the problem of angle limitation during the boom movement and improve the accuracy of boom control.

[0073] An embodiment of the present application provides a processor configured to execute the boom movement control method according to the above embodiment.

[0074] An embodiment of the present application provides a construction machinery, including: a boom; and a processor according to the above embodiment.

[0075] An embodiment of the present application provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to cause a machine to execute the boom movement control method according to the above embodiment.

[0076] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can be in 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.) containing computer-usable program code.

[0077] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of flows and / or blocks in the flowchart and / or block diagram can also be implemented. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0078] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means implement the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0079] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0080] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0081] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of computer-readable media.

[0082] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0083] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0084] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A boom movement control method, characterized in that, the boom movement control method includes: determining the remaining boom joint nodes except the end point among multiple boom joint nodes as reference points; acquiring the rotation order of the multiple reference points and the allowable angle range between adjacent boom joints; successively determining the centers of circles from the multiple reference points according to the rotation order; successively rotating the connection line between the center of the circle and the end point to the target position according to the center of the circle, the allowable angle range between adjacent boom joints, and the rotation order to complete the boom movement.

2. The boom movement control method according to claim 1, characterized in that, before successively rotating the connection line between the center of the circle and the end point to the target position according to the center of the circle, the allowable angle range between adjacent boom joints, and the rotation order includes: judging whether the distance between the end point and the target position is greater than a first preset precision distance; when the distance between the end point and the target position is not greater than the first preset precision distance, successively rotating the connection line between the center of the circle and the end point to the target position according to the center of the circle, the allowable angle range between adjacent boom joints, and the rotation order.

3. The boom movement control method according to claim 1, characterized in that, successively rotating the connection line between the center of the circle and the end point to the target position according to the center of the circle, the allowable angle range between adjacent boom joints, and the rotation order includes: judging whether the angle between the connection line between the center of the circle and the target position and the adjacent boom joint is within the angle range; when the angle between the connection line between the center of the circle and the target position and the adjacent boom joint is within the angle range, rotating the connection line between the center of the circle and the end point to the position coinciding with the connection line between the center of the circle and the target position to update the end point.

4. The boom movement control method according to claim 3, characterized in that, the angle range includes a maximum angle value and a minimum angle value, and the boom movement control method further includes: when the angle between the connection line between the center of the circle and the target position and the adjacent boom joint is not within the angle range, judging whether the difference between the maximum angle value and the angle is greater than the difference between the angle and the minimum angle value; when the difference between the maximum angle value and the angle is greater than the difference between the angle and the minimum angle value, rotating the connection line between the center of the circle and the end point to the position where the angle is the minimum angle value to update the end point.

5. The boom movement control method according to claim 4, characterized in that, the boom movement control method further includes: when the difference between the maximum angle value and the angle is not greater than the difference between the angle and the minimum angle value, rotating the connection line between the center of the circle and the end point to the position where the angle is the maximum angle value to update the end point.

6. The boom movement control method according to claim 2, characterized in that, the boom movement control method further includes: When the distance between the end point and the target position is greater than the first preset precision distance, stop the boom movement control.

7. The boom movement control method according to claim 1, wherein, the boom movement control method further includes: judging whether the distance between the updated end point and the target position is greater than a second preset precision distance; when the distance between the updated end point and the target position is greater than the second preset precision distance, continue to rotate the line connecting the center of the circle and the end point to the target position in sequence according to the center of the circle, the allowable included angle range between adjacent boom sections and the rotation sequence until the distance between the updated end point and the target position is less than the second preset precision distance.

8. A processor, wherein, configured to execute the boom movement control method according to any one of claims 1 to 7.

9. An engineering machinery, wherein, comprising: a boom; and the processor according to claim 8.

10. A machine-readable storage medium, wherein, instructions are stored on the machine-readable storage medium, and the instructions are used to cause the machine to execute the boom movement control method according to any one of claims 1 to 7.

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