Cantilever crane interruption recovery control method, aerial work machine, controller and medium

Abstract

The invention discloses a cantilever crane interruption recovery control method, a high-altitude operation machine, a controller and a medium, the method is applied to the high-altitude operation machine, the high-altitude operation machine comprises a chassis and a cantilever crane, and the control method comprises the steps that in response to an interruption recovery instruction, a target global pose of the tail end of the cantilever crane and state data of the high-altitude operation machine at the current moment are obtained, the state data comprises the actual global pose of the tail end of the boom and the actual inclination angle of the chassis; based on the actual inclination angle, the target global pose and the actual global pose, determining a target pose deviation of the tail end of the boom under the chassis base coordinate system; according to the target pose deviation, target control parameters of all movement joints of the arm support are determined; and controlling the arm support to move according to the target control parameter, so that the tail end of the arm support is recovered to the target global pose. According to the invention, automatic recovery of the cantilever crane interruption position can be realized under complex working conditions, and the precision and efficiency of cantilever crane interruption recovery control are improved.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a control method for boom interruption recovery, aerial work machinery, controller and medium. Background Technology

[0002] Aerial work machinery, such as aerial work platforms and boom lifts, has become core equipment for aerial operations in modern municipal, wind power, shipyard, and construction industries. It uses a multi-jointed boom to deliver work equipment or personnel to the target location to complete tasks such as painting, rust removal, and installation. In actual operation, it is very common for boom operations to be paused midway due to process continuity, material interruptions, equipment scheduling, and other reasons. For example, when paint runs out during ship painting, or when waiting for components to be hoisted during high-altitude installation, the boom must be temporarily retracted and the chassis removed. When work resumes, the operator must reposition the boom end to its previous spatial position and posture to ensure the continuity of work and process quality.

[0003] Currently, the recovery process relies entirely on manual operation. Operators adjust each joint of the boom one by one using joysticks, relying on memory and visual inspection, in an attempt to return the end effector to its original working position. However, manual operation has some inherent drawbacks. From a high-altitude perspective, operators find it difficult to accurately judge subtle deviations in the end effector, and manual control is prone to introducing errors, resulting in significant deviations between the recovered position and the breakpoint. Furthermore, to approximate the original working point, operators need to repeatedly adjust multiple joints, a tedious and time-consuming process.

[0004] Therefore, existing boom interruption recovery methods that rely on human experience suffer from low control accuracy and efficiency. Summary of the Invention

[0005] The purpose of this application is to provide a control method for boom interruption recovery, aerial work machinery, controller, and machine-readable storage medium to solve the problems of low control accuracy and efficiency in existing boom interruption recovery methods that rely on human experience.

[0006] To achieve the above objectives, the first aspect of this application provides a control method for boom interruption recovery, applied to aerial work platforms, the aerial work platforms including a chassis and a boom, the control method including: In response to the interruption recovery command, the target global pose at the boom end and the current status data of the aerial work platform are obtained. The status data includes the actual global pose of the boom end and the actual tilt angle of the chassis. Based on the actual tilt angle, the target global pose, and the actual global pose, determine the target pose deviation of the boom end in the chassis base coordinate system; The target control parameters for each joint of the boom are determined based on the target pose deviation. Control the boom movement according to the target control parameters so that the boom end returns to the target global pose.

[0007] In this embodiment of the application, the target pose deviation of the boom end in the chassis base coordinate system is determined based on the actual tilt angle, the target global pose, and the actual global pose, including: Determine the global pose deviation between the target's global pose and the actual global pose in the global coordinate system; Based on the actual tilt angle of the chassis, the global pose deviation is transferred to the chassis base coordinate system through coordinate transformation to obtain the target pose deviation.

[0008] In this embodiment of the application, the state data also includes the actual displacement parameters of each joint of the boom; Based on the target pose deviation, the target control parameters for each motion joint of the boom are determined, including: Based on the actual displacement parameters of each joint of the boom, the actual pose of the boom end in the chassis base coordinate system is determined by forward kinematics calculation. Based on the deviation between the actual pose and the target pose, determine the target pose of the boom end in the chassis base coordinate system; Based on the target pose, the target control parameters of each joint are determined by inverse kinematics.

[0009] In this embodiment of the application, controlling the boom movement according to the target control parameters includes: Based on preset priority rules, the joint motion control sequence of each joint of the boom is determined; Based on the target control parameters, the movements of each joint of the boom are controlled sequentially according to the joint motion control sequence.

[0010] In this embodiment, the motion joints of the boom include a posture joint, a position compensation joint, and a position control joint. The posture joint is used to adjust the posture of the end tool of the boom, the position control joint is used to perform overall positioning of the spatial position of the end tool of the boom, and the position compensation joint is used to perform local adjustment of the spatial position of the end tool of the boom. The default priority rule is that the execution order of attitude joints takes precedence over position control joints and position compensation joints, and the execution order of position compensation joints takes precedence over position control joints.

[0011] In this embodiment of the application, the motion joint of the boom includes a turntable rotation joint; Determining the sequence of joint motion control for the rotary joint of the turntable includes: Obtain the target turntable rotation angle and the actual turntable rotation angle; If the target turntable rotation angle and the actual turntable rotation angle meet the preset conditions, the joint motion control sequence of the turntable rotation joint is determined to be executed last. If the target turntable rotation angle and the actual turntable rotation angle do not meet the preset conditions, the joint motion control sequence of the turntable rotation joint is determined to be executed first.

[0012] In this application embodiment, the preset conditions include at least one of the following: The absolute value of the target turntable rotation angle is less than the preset rotation angle threshold, and the absolute value of the actual turntable rotation angle is less than the absolute value of the target turntable rotation angle. The absolute value of the target turntable rotation angle is greater than the preset rotation angle threshold, and the absolute value of the actual turntable rotation angle is greater than the absolute value of the target turntable rotation angle.

[0013] A second aspect of this application provides a controller, comprising: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing instructions, to implement the aforementioned control method for boom interrupt recovery.

[0014] A third aspect of this application provides an aerial work platform, comprising: a chassis; a boom; and the aforementioned controller.

[0015] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned boom interruption recovery control method.

[0016] The above technical solution, in response to an interruption recovery command, first acquires the target global pose of the boom end and the current state data of the aerial work platform. The state data includes the actual global pose of the boom end and the actual tilt angle of the chassis. Then, based on the actual tilt angle, the target global pose, and the actual global pose, the target pose deviation of the boom end in the chassis base coordinate system is determined. Next, the target control parameters for each joint of the boom are determined according to the target pose deviation. Finally, the boom movement is controlled according to the target control parameters to restore the boom end to the target global pose. This application can achieve automatic recovery of the boom interruption position under complex working conditions, improving the accuracy and efficiency of boom interruption recovery control.

[0017] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0018] 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: Figure 1 A flowchart illustrating a control method for boom interruption recovery provided in an embodiment of this application; Figure 2 A schematic diagram illustrating the principle of boom interruption recovery control provided in a specific embodiment of this application; Figure 3 A structural block diagram of a boom interruption recovery control system provided in a specific embodiment of this application; Figure 4 A schematic diagram of the structure of a boom-type aerial work platform provided in a specific embodiment of this application; Figure 5 This is a structural block diagram of a controller provided in an embodiment of this application. Detailed Implementation

[0019] 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.

[0020] 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 each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0021] 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.

[0022] Boom interruption recovery refers to the control process for aerial work platforms to resume their pre-interruption operational state after a pause in operation. Interruptions typically include human error, equipment malfunction, and material resupply. Existing technologies primarily rely on manual operation to return the boom end to the previous interruption position. However, for high-altitude rust removal and spraying operations with stringent spatial requirements, manual adjustment is not only inefficient but also often fails to achieve the required positional accuracy of the boom end at higher altitudes, thus affecting the quality and effectiveness of spraying and rust removal. Therefore, this application proposes a boom interruption recovery control method that automatically controls the boom end to return to the interruption position.

[0023] Figure 1 This is a flowchart illustrating a control method for boom interruption recovery provided in an embodiment of this application. Figure 1 As shown in the figure, this application provides a control method for boom interruption recovery, which is applied to aerial work machinery. The aerial work machinery includes a chassis and a boom. The control method may include the following steps.

[0024] Step S101: In response to the interrupt recovery command, acquire the target global pose at the boom end and the current status data of the aerial work platform. The status data includes the actual global pose at the boom end and the actual tilt angle of the chassis.

[0025] In this embodiment, the interruption recovery command is issued by the operator, automation system, or remote monitoring center, instructing the aerial work platform machinery to begin interruption recovery operations. The global coordinate system typically refers to a world coordinate system fixed to the earth or work site, such as a reference system established through GPS, a total station, or a visual SLAM (Simultaneous Localization and Mapping) system. The target global pose is the precise position and attitude of the boom end in the world, recorded by positioning devices such as LiDAR or binocular cameras, when the boom is interrupted and paused. The actual global pose is the current position and attitude of the boom end, measured in real-time by the same positioning device when the interruption recovery command is issued. The actual chassis tilt angle refers to the angle of inclination of the vehicle chassis relative to the horizontal plane, which can be measured by tilt sensors mounted on the chassis, including longitudinal pitch angle and lateral roll angle.

[0026] Specifically, when the operator presses the "Resume" button or the system meets the automatic recovery conditions, an interruption recovery command is generated and sent to the controller. The controller can parse this command to confirm the task to be resumed and retrieve the corresponding target global pose from the interruption record database. While acquiring the target pose, the controller simultaneously collects the current status data of the aerial work platform machinery from multiple sensors in parallel via a high-speed data bus.

[0027] Step S102: Based on the actual tilt angle, the target global pose, and the actual global pose, determine the target pose deviation of the boom end in the chassis base coordinate system.

[0028] In this embodiment, the target pose deviation refers to the adjustment required in position and attitude when the boom end needs to move from its current position to the target position. The chassis base coordinate system is a local three-dimensional Cartesian coordinate system established with the aerial work platform chassis as a reference, and its origin can be defined at the rotation center of the turntable. It is understood that the chassis base coordinate system is fixed to the chassis and will move with the chassis and rotate with the chassis tilt.

[0029] Specifically, firstly, based on the actual tilt angle of the chassis, a rotation matrix is ​​constructed from the global coordinate system to the chassis base coordinate system. Then, the pose difference between the target's global pose and the actual global pose in the global coordinate system is calculated. Finally, this difference is transformed into the chassis base coordinate system using the constructed rotation matrix to obtain the target pose deviation.

[0030] Step S103: Determine the target control parameters for each motion joint of the boom based on the target pose deviation.

[0031] In this embodiment, the target control parameters are control commands sent by the controller to the drive unit of each boom joint, used to instruct each motion joint of the boom to move to the corresponding target position. The boom's motion joints may include a turntable slewing joint, a main boom luffing joint, a main boom telescopic joint, a forearm slewing joint, a forearm telescopic joint, and an end-effector attitude joint. Specifically, firstly, the current actual displacement value of each motion joint is obtained. Combining this actual displacement value, the actual pose of the boom end-effector in the chassis base coordinate system is calculated using forward kinematics. Then, this actual pose is added to the target pose deviation vector to obtain the target pose that the boom end-effector needs to achieve in the chassis base coordinate system. Finally, this target pose is used as input to call the boom's inverse kinematics solver for calculation. The solver will analytically or iteratively calculate the target control parameters corresponding to each motion joint to achieve the target pose of the boom end-effector based on a pre-established boom geometry model.

[0032] Step S104: Control the boom movement according to the target control parameters so that the boom end returns to the target global pose.

[0033] Specifically, after determining the target control parameters for each joint of the boom, the controller can send drive signals to the corresponding actuators (such as electro-hydraulic proportional valves or servo drives) of each joint, causing the joints to move towards the displacement set by the target control parameters. Preferably, during this process, the controller can obtain feedback in real time through the displacement sensors of each joint, forming a closed-loop control to ensure that each joint can accurately and stably reach its commanded position. Simultaneously, the actual pose of the boom end effector in the global coordinate system is continuously monitored. When all joints have reached the target, it is determined that the boom end effector has recovered to the target global pose, completing the recovery process.

[0034] Thus, when boom movement is interrupted, the boom end pose is accurately recorded in the global coordinate system as a recovery reference to eliminate the influence of target drift. During interruption recovery control, the chassis tilt angle and the actual pose of the boom end are acquired in real time. Coordinate transformation maps the global target deviation to a local coordinate system based on the current chassis attitude, thereby eliminating positioning errors caused by chassis movement or ground tilt. Inverse kinematics calculations are performed based on this local deviation to generate precise joint control parameters to drive boom movement. This embodiment transforms a complex spatial positioning problem into a relatively stable local control problem, enabling fully automatic, high-precision, and high-efficiency recovery of the boom end under complex working conditions.

[0035] The above technical solution, in response to an interruption recovery command, first acquires the target global pose of the boom end and the current state data of the aerial work platform. The state data includes the actual global pose of the boom end and the actual tilt angle of the chassis. Then, based on the actual tilt angle, the target global pose, and the actual global pose, the target pose deviation of the boom end in the chassis base coordinate system is determined. Next, the target control parameters for each joint of the boom are determined according to the target pose deviation. Finally, the boom movement is controlled according to the target control parameters to restore the boom end to the target global pose. This application can achieve automatic recovery of the boom interruption position under complex working conditions, improving the accuracy and efficiency of boom interruption recovery control.

[0036] In this embodiment of the application, step S120, determining the target pose deviation of the boom end in the chassis base coordinate system based on the actual tilt angle, the target global pose, and the actual global pose, may include: Determine the global pose deviation between the target's global pose and the actual global pose in the global coordinate system; Based on the actual tilt angle of the chassis, the global pose deviation is transferred to the chassis base coordinate system through coordinate transformation to obtain the target pose deviation.

[0037] In this application, global pose deviation refers to the difference between the target global pose and the actual global pose in the global coordinate system, including position deviation and attitude deviation. Target pose deviation refers to the pose deviation between the actual pose and the target pose of the boom end effector in the chassis base coordinate system, representing the position and rotation attitude that the boom end effector needs to move relative to the current chassis reference system.

[0038] Specifically, firstly, in the global coordinate system, the six-degree-of-freedom difference between the target global pose and the actual global pose is calculated, i.e., the global pose deviation. Next, a coordinate transformation matrix from the chassis base coordinate system to the global coordinate system is constructed using the actual chassis tilt angle. By left-multiplying the global pose deviation by the inverse of this transformation matrix and then right-multiplying it by the transformation matrix, the deviation described in the global space is transferred to the chassis base coordinate system, yielding the target pose deviation. Thus, by transforming the global deviation to a local coordinate system fixed to the chassis, the reference error introduced by chassis movement or tilt is effectively eliminated, providing a precise and stable relative target for subsequent motion control, thereby ensuring the correctness of the path recovery calculation under complex operating conditions.

[0039] In this embodiment, the state data also includes the actual displacement parameters of each joint of the boom; determining the target control parameters for each joint of the boom based on the target pose deviation may include: Based on the actual displacement parameters of each joint of the boom, the actual pose of the boom end in the chassis base coordinate system is determined by forward kinematics calculation. Based on the deviation between the actual pose and the target pose, determine the target pose of the boom end in the chassis base coordinate system; Based on the target pose, the target control parameters of each joint of the boom are determined by inverse kinematics.

[0040] In this embodiment, the motion joints of the boom of the aerial work platform may include joints such as the turntable slewing joint, the main boom luffing joint, the main boom telescopic joint, the forearm slewing joint, the forearm telescopic joint, and the end effector joint. The actual displacement parameters of each motion joint of the boom refer to the joint angular displacement fed back in real time by sensors installed on each motion joint, specifically angular displacement and / or length displacement. For example, for a multi-section telescopic boom aerial work platform, the actual displacement parameter is the extension length of each boom section; for a folding boom, it is the hinge angle between each boom section.

[0041] It is understandable that when the boom undergoes passive movement or chassis attitude change during a pause, the end-effector pose given by the global positioning system may have been converted to a new world coordinate system. Relying solely on the global positioning information of the end-effector for control may result in deviations due to accumulated sensor errors or environmental interference. To improve control accuracy, the embodiments of this application can determine the target control parameters for each joint of the boom by combining the actual displacement parameters of each joint.

[0042] Specifically, based on the actual displacement parameters of each joint, the actual pose of the boom end effector in the chassis base coordinate system can be determined through forward kinematics calculations. Forward kinematics calculation refers to calculating the position and orientation of the end effector relative to the base coordinate system based on known joint displacement parameters and the boom's geometric model. Next, the actual pose of the boom end effector is combined with the target pose deviation to obtain the target pose of the boom end effector in the chassis base coordinate system. Finally, based on this target pose, the target control parameters of each joint of the boom are determined through inverse kinematics solutions. Inverse kinematics is the inverse process of forward kinematics; that is, given the target pose of the boom end effector, it solves for the length or angular displacement values ​​required for each joint of the boom to achieve the target pose.

[0043] Figure 2 This is a schematic diagram illustrating the principle of boom interruption recovery control according to a specific embodiment of this application. Figure 3 This is a structural block diagram of a boom interruption recovery control system provided in a specific embodiment of this application. Figure 2 and Figure 3 As shown, The actual angular displacement of each joint of the boom at the moment the controller receives the interrupt pause command; The actual angular displacement of each joint of the boom at the moment the controller receives the interrupt recovery signal; This represents the actual angular displacement of the boom joint in real time. The global pose of the target at the end of the boom at the moment the controller receives the interrupt pause command; The actual global pose of the boom end at the moment the controller receives the interrupt recovery signal; This refers to the commanded angular displacement of each joint of the boom; This represents the global pose of the boom end effector in the global coordinate system. The control current commands for the electromagnetic hydraulic valves corresponding to each joint of the boom output by the PLC controller; The flow rate of hydraulic oil output is controlled by the electromagnetic hydraulic valves corresponding to each joint of each boom. This refers to the extension and retraction of the hydraulic cylinders corresponding to each joint of the boom.

[0044] Specifically, the industrial control computer receives interruption pause and interruption resume remote control commands and controls the boom to complete the corresponding actions; when the industrial control computer receives an interruption pause command, it records and saves the actual angular displacement of each joint of the boom at that moment. Global pose information of the target at the end of the boom Simultaneously, it controls the boom to stop its current movement. When the industrial control computer receives an interrupt recovery command, it uses the saved... and the current actual global pose information of the boom end effector Actual angular displacement of each joint of the boom Chassis tilt angle The command angular displacement of each joint of the boom was calculated according to the boom interruption recovery control method. The command is then output to the PLC controller; the PLC controller outputs control current commands for the electromagnetic hydraulic valves corresponding to each joint of the boom based on control algorithms such as PID. To control the hydraulic oil flow This controls the extension and retraction of the hydraulic cylinder. Ultimately, this allows the control boom to complete the interruption and recovery operation.

[0045] When the chassis of the aerial work platform is not moving, the boom interruption recovery can directly read the displacement values ​​of each joint saved during the interruption and pause operation. The system can be restored one by one in a specific order; however, if the aerial work platform chassis moves, it needs to be moved to a position near where the interruption pause operation was performed to ensure that the recovery position of the boom end is within the range of motion of the boom end, and the interruption recovery should be performed according to the following control procedure: First, based on the pose of the boom end effector in global positioning saved during the interruption. and the current global positioning and pose information of the boom end effector. Calculate the pose deviation of the boom end in the global world coordinate system. Then, based on the chassis tilt angle The coordinate transformation yields the pose deviation of the boom end in the chassis base coordinate system. Then, based on the actual position and orientation of each joint of the boom... The calculated pose of the current boom end in the chassis base coordinate system The desired pose of the boom end in the chassis base coordinate system is obtained. Finally, based on the inverse kinematics of the boom, the command displacements of each joint of the boom are solved. It then controls each boom joint to move to the commanded position, completing the interruption recovery operation.

[0046] In this way, the boom end can automatically return to the breakpoint position of the last operation within the range of motion of the boom end, without manual operation, which improves the accuracy of the boom end position and work efficiency during recovery.

[0047] In this embodiment of the application, controlling the boom movement according to the target control parameters may include: Based on preset priority rules, the joint motion control sequence of each joint of the boom is determined; Based on the target control parameters, the movements of each joint of the boom are controlled sequentially according to the joint motion control sequence.

[0048] In this embodiment, the preset priority rule is a set of predefined logical criteria based on boom mechanics, operational scenario safety constraints, and efficiency optimization principles, used to determine the execution order of each joint. It is understood that after determining the target control parameters for each boom joint, directly driving all joints in parallel to reach the commanded displacement according to these parameters could easily lead to interference and collisions between the boom and its own structure, the surrounding environment, or the work object, especially in scenarios with complex boom structures and limited working space. Therefore, to ensure the safety and efficiency of the recovery process, this embodiment introduces a preset priority rule to generate a joint movement command sequence when controlling the boom movement according to the target control parameters. The preset priority rule can be set based on the joint's range of motion, the weight of its influence on the end effector pose, motion inertia, and potential collision risks. For example, for a boom system that includes slewing, luffing, telescoping, and end-effector joints, a preset priority rule can stipulate that the end-effector joints with little impact on the end position and limited range of motion should be adjusted first, followed by the position joints with a large range of motion. Furthermore, the adjustment order of the slewing joints should be determined based on the relationship between their current position and the target position to determine whether they are the priority or the last action, so as to avoid the boom sweeping over dangerous areas during the recovery process.

[0049] Specifically, the controller invokes a pre-set priority rule base, combines the current boom configuration and task parameters to classify and sort the moving joints, generating a joint motion control sequence. Subsequently, the controller enters sequential execution mode. Based on this joint motion control sequence, in each execution step, it only sends the corresponding target control parameters to one or a group of joints specified in the current step, and initiates closed-loop position servo control for that joint. During the control process, the real-time feedback of the joint is continuously monitored until it stably reaches the target tolerance range, at which point the step is considered complete and the system safely switches to the next step in the sequence list. This process is repeated until all steps in the sequence list have been executed. This ensures precise positioning of each joint while avoiding the risk of trajectory interference and collisions that may be caused by concurrent movements of multiple joints through serial execution, achieving safe and orderly automatic recovery.

[0050] In this embodiment of the application, the preset priority rule may include the motion joints of the boom, including posture joints, position compensation joints, and position control joints. The posture joints are used to adjust the posture of the end tool of the boom, the position control joints are used to perform overall positioning of the spatial position of the end tool of the boom, and the position compensation joints are used to perform local adjustment of the spatial position of the end tool of the boom. The default priority rule is that the execution order of attitude joints takes precedence over position control joints and position compensation joints, and the execution order of position compensation joints takes precedence over position control joints.

[0051] In this embodiment, attitude joints refer to joints that directly control the spatial orientation of the end effector of the boom, such as joints that realize the pitch and swing of the end tool; position compensation joints refer to joints with limited range of motion that mainly make local fine adjustments or compensations to the position of the end of the boom, such as the rotation and extension joints of the forearm; and position control joints refer to joints with large range of motion that make large-scale coarse adjustments or overall positioning of the position of the end of the boom, such as the turntable slewing joint and the main boom luffing joint.

[0052] In this embodiment of the application, the motion joint of the boom includes a turntable rotation joint; Determining the sequence of joint motion control for the rotary joint of a turntable can include: Obtain the target turntable rotation angle and the actual turntable rotation angle; If the target turntable rotation angle and the actual turntable rotation angle meet the preset conditions, the joint motion control sequence of the turntable rotation joint is determined to be executed last. If the target turntable rotation angle and the actual turntable rotation angle do not meet the preset conditions, the joint motion control sequence of the turntable rotation joint is determined to be executed first.

[0053] It is understood that the turntable slewing joint is the core joint controlling the rotation of the entire boom system in the horizontal plane. It has a large range of motion and high inertia, and directly determines the overall orientation of the boom body in space. If the execution sequence of the turntable slewing joints is fixed, in complex operating scenarios, the boom may sweep and collide with surrounding obstacles during recovery, or the end effector may approach the work surface with an extremely unsafe trajectory. To improve control safety, the embodiments of this application can dynamically adjust the execution sequence of the turntable slewing joints according to real-time conditions.

[0054] Specifically, the first step is to obtain the target turntable rotation angle and the actual turntable rotation angle. The target turntable rotation angle is the angle value that the turntable is required to reach in order to achieve the target pose at the end effector, calculated according to the interruption recovery control algorithm. The actual turntable rotation angle is the current angle value of the turntable measured in real time by the rotary encoder at the moment the interruption recovery command is issued. Further, the execution order of the turntable rotation joints is determined by judging whether the target turntable rotation angle and the actual turntable rotation angle meet preset conditions. These preset conditions are logical judgment rules based on safety and efficiency criteria, used to assess whether turntable rotation should be prioritized to avoid risks. In one example, the preset conditions could be: both the target turntable rotation angle and the actual turntable rotation angle are located on one side of the boom's safe operating range, and the current angle is closer to the boundary of the safe range than the target angle.

[0055] Furthermore, if the preset conditions are met, the joint motion control sequence of the turntable rotary joint is determined to be executed last; if the target turntable rotation angle and the actual turntable rotation angle do not meet the preset conditions, the joint motion control sequence of the turntable rotary joint is determined to be executed first.

[0056] This approach enhances the safety and reliability of the automatic recovery process, effectively preventing equipment collisions or structural interference accidents caused by improper rotation sequence. It also optimizes the recovery path and improves operational efficiency.

[0057] In this application embodiment, the preset conditions may include at least one of the following: The absolute value of the target turntable rotation angle is less than the preset rotation angle threshold, and the absolute value of the actual turntable rotation angle is less than the absolute value of the target turntable rotation angle. The absolute value of the target turntable rotation angle is greater than the preset rotation angle threshold, and the absolute value of the actual turntable rotation angle is greater than the absolute value of the target turntable rotation angle.

[0058] In this embodiment, the preset slewing angle threshold is a safety angle boundary pre-set according to the operation scenario and boom kinematics, such as 90 degrees, which usually corresponds to the critical area where the boom turns from working on the side of the vehicle to working behind or in front of the vehicle.

[0059] Figure 4 This is a structural schematic diagram of a boom-type aerial work platform provided in a specific embodiment of this application. In this specific embodiment, based on the boom mechanism, the boom's motion control module can be divided into a position control module, a position compensation control module, and an attitude control module. Figure 4 Taking the boom-type aerial work platform shown as an example, its position control module can be set to rotate the turntable. Main boom luffing Main boom extension The position compensation control module is set to control the forearm rotation. Forearm extension The attitude control module is set to pitch. ,swing Meanwhile, considering its operational scenario, taking a shipyard high-altitude spraying application scenario as an example in a specific embodiment of this application; assuming the motion sequence for boom interruption recovery is set as follows: That is, restore first Restore until recovery .

[0060] For high-altitude spraying in shipyards, the forward or backward direction of the aerial work platform chassis must be parallel to the work surface. Therefore, to reduce the risk of collision, the turntable should be rotated as far away from the work surface as possible without affecting efficiency. Its movement sequence is set according to the following rules: If the following conditions are met without moving the chassis of the aerial work platform: ,but S=0; otherwise ; S=1。

[0061] When the chassis of the aerial work platform vehicle moves, if the following conditions are met: ,but , S=0; otherwise , S =1.

[0062] in, The turntable rotation angular displacement saved when the aerial work platform chassis is not moving and the operation is paused due to interruption. , To determine the angular displacement of the turntable during the interruption recovery operation. , S is the angular displacement of the turntable calculated during the interruption recovery operation when the chassis of the aerial work platform moves. S is the boom movement sequence identifier.

[0063] Considering that the distance between the boom tip and the working surface is relatively close at 300-400mm during operation, a principle of "small to large" should be adopted. First, adjust the movements within the smaller space, then adjust the movements within the larger space. This is to prevent the risk of collision due to an excessively narrow permissible range of motion. Therefore, attitude adjustment should be performed first. Then, position adjustments should be made, following the principle of starting with smaller adjustments and gradually increasing them, that is, adjusting the position compensation control module first. Then adjust the position module .

[0064] In summary, the sequence of motion recovery after boom interruption is as follows: ; Where S is the boom movement sequence identifier, which follows the same sequence rule as the turntable rotation.

[0065] In this way, after receiving the interruption recovery command, the industrial control computer automatically controls the boom to move according to the set interruption recovery movement sequence, so that the end of the boom moves to the break point of the last operation, which greatly simplifies manual operation, improves work efficiency, and avoids collision problems caused by human error.

[0066] Figure 5 This is a structural block diagram of a controller provided in an embodiment of this application. Figure 5 As shown in the figure, this application provides a controller that may include: Memory 510 is configured to store instructions; The processor 520 is configured to retrieve instructions from the memory 510 and, when executing the instructions, to implement the boom interruption recovery control method described in the above embodiments.

[0067] This application also provides an aerial work platform, including: a chassis; a boom; and a controller as described in the above embodiments.

[0068] This application also provides a machine-readable storage medium storing instructions for causing a machine to execute the boom interruption recovery control method described in the above embodiments.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0074] 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.

[0075] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0076] 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.

[0077] 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 control method for boom interruption recovery, characterized in that, The control method is applied to aerial work platforms, which include a chassis and a boom, and includes: In response to an interruption recovery command, the target global pose at the boom end and the current status data of the aerial work platform are acquired. The status data includes the actual global pose of the boom end and the actual tilt angle of the chassis. Based on the actual tilt angle, the target global pose, and the actual global pose, determine the target pose deviation of the boom end in the chassis base coordinate system; The target control parameters for each joint of the boom are determined based on the target pose deviation. The boom movement is controlled according to the target control parameters so that the boom end returns to the target global pose.

2. The control method according to claim 1, characterized in that, The determination of the target pose deviation of the boom end in the chassis base coordinate system based on the actual tilt angle, the target global pose, and the actual global pose includes: Determine the global pose deviation between the target global pose and the actual global pose in the global coordinate system; Based on the actual tilt angle of the chassis, the global pose deviation is transferred to the chassis base coordinate system through coordinate transformation to obtain the target pose deviation.

3. The control method according to claim 1, characterized in that, The status data also includes the actual displacement parameters of each of the motion joints of the boom; The step of determining the target control parameters for each joint of the boom based on the target pose deviation includes: Based on the actual displacement parameters of each of the motion joints of the boom, the actual pose of the boom end in the chassis base coordinate system is determined by forward kinematics calculation. Based on the deviation between the actual pose and the target pose, the target pose of the boom end in the chassis base coordinate system is determined; Based on the target pose, the target control parameters of each joint are determined by inverse kinematics solution.

4. The control method according to claim 1, characterized in that, Controlling the boom movement according to the target control parameters includes: Based on preset priority rules, the joint motion control sequence of each of the boom's motion joints is determined; Based on the target control parameters, the movements of each joint of the boom are controlled sequentially according to the joint movement control sequence.

5. The control method according to claim 4, characterized in that, The motion joints of the boom include posture joints, position compensation joints, and position control joints. The posture joints are used to adjust the posture of the end tool of the boom. The position control joints are used to perform overall positioning of the spatial position of the end tool of the boom. The position compensation joints are used to perform local adjustment of the spatial position of the end tool of the boom. The preset priority rule is that the execution order of the attitude joints takes precedence over the position control joints and the position compensation joints, and the execution order of the position compensation joints takes precedence over the position control joints.

6. The control method according to claim 4, characterized in that, The motion joints of the boom include a turntable rotation joint; The determination of the joint motion control sequence of the rotary joint of the turntable includes: Obtain the target turntable rotation angle and the actual turntable rotation angle; If the target turntable rotation angle and the actual turntable rotation angle meet the preset conditions, the joint motion control sequence of the turntable rotation joint is determined to be executed last. If the target turntable rotation angle and the actual turntable rotation angle do not meet the preset conditions, the joint motion control sequence of the turntable rotation joint is determined to be executed first.

7. The control method according to claim 6, characterized in that, The preset conditions include at least one of the following: The absolute value of the target turntable rotation angle is less than the preset rotation angle threshold, and the absolute value of the actual turntable rotation angle is less than the absolute value of the target turntable rotation angle. The absolute value of the target turntable rotation angle is greater than the preset rotation angle threshold, and the absolute value of the actual turntable rotation angle is greater than the absolute value of the target turntable rotation angle.

8. A controller, characterized in that, include: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the control method for boom interruption recovery according to any one of claims 1 to 7.

9. An aerial work platform, characterized in that, include: Chassis; boom; The controller according to claim 8.

10. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the control method for boom interruption recovery according to any one of claims 1 to 7.

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