Engineering machinery boom control system and method based on starlink communication

Abstract

The application discloses an engineering mechanical arm support control system and method based on star flash communication, and the system comprises the following: a position detection unit, which is used for collecting real-time position information of each joint; a star flash emission module, which is used for collecting signals of each position detection unit and converting the signals into star flash wireless signals; a star flash receiving module, which is used for receiving the star flash wireless signals and restoring the signals into bus data signals; a central control unit, which is used for calculating real-time poses of each joint according to the bus data signals and outputting control instructions; and a driving execution unit, which drives each joint to move according to the control instructions. The application relates to the technical field of engineering control, realizes wireless transmission of arm support joint sensor data through star flash communication, and combines dynamic mute control, link redundancy switching and protective antenna layout, so that the real-time performance and reliability of the control closed loop are ensured, the system power consumption is reduced, the endurance is prolonged, and the anti-interference and anti-shielding capabilities under complex working conditions are improved.

Description

Technical Field

[0001] This invention relates to the field of engineering control technology, specifically a control system and method for an engineering machinery boom based on star-flash communication. Background Technology

[0002] As engineering construction moves towards intelligence and automation, higher demands are being placed on the automated control of booms for construction machinery such as rock drilling and excavation. To achieve precise trajectory planning and real-time closed-loop control of multi-section booms, position detection elements such as encoders and tilt sensors are typically installed at each moving joint. A single intelligent boom system can have 6 to 9 sensors.

[0003] Currently, sensor signal transmission mainly relies on wired connections. This method has the following drawbacks:

[0004] 1) Poor reliability: During boom operation, frequent movements and exposure to harsh working conditions such as falling rocks, vibration, and impact can cause exposed or moving communication cables to be broken, worn, or torn, resulting in signal interruption and affecting the continuity of construction. 2) High cabling and maintenance costs: The complex boom structure results in numerous communication harnesses, making cabling difficult and increasing the maintenance costs for later troubleshooting and cable replacement.

[0005] To overcome the limitations of wired transmission, the industry has attempted to replace it with traditional wireless communication technologies such as Wi-Fi, Bluetooth, and radio frequency. However, these solutions generally suffer from the following drawbacks under the complex electromagnetic environment and multipath effects at rock drilling sites: 1) Weak anti-interference capability: The 2.4GHz band has a high density of devices, making it prone to signal conflicts and interference; 2) Insufficient real-time transmission: Traditional Bluetooth and Wi-Fi have high latency during connection establishment and reconnection, which makes it difficult to meet the low latency requirements of industrial control; 3) Poor stability: When the boom movement causes signal obstruction, packet loss or even disconnection is likely to occur.

[0006] Therefore, existing wireless solutions are insufficient to meet the high reliability and real-time control requirements of rock drilling equipment. Summary of the Invention

[0007] To address the shortcomings of the existing technologies, this invention provides a control system and method for engineering machinery booms based on StarFlash communication. It aims to solve the problems of poor reliability and high maintenance costs of wired solutions for boom sensor data transmission, and weak anti-interference, real-time performance, and stability of traditional wireless solutions. This invention achieves wireless transmission of boom joint sensor data through StarFlash communication, and combines dynamic silent control, link redundancy switching, and protective antenna deployment. This ensures the real-time performance and reliability of the control closed loop while reducing system power consumption, extending battery life, and improving anti-interference and anti-shielding capabilities under complex working conditions.

[0008] To achieve the above objectives, the present invention provides a control system for an engineering machinery boom based on star-flash communication, comprising: Multiple position detection units are installed at each joint of the boom to collect real-time position information of each joint. A star flash transmitter module is located at the front end of the boom and is electrically connected to each of the position detection units via cables. It is used to collect the signals from each of the position detection units and convert them into star flash wireless signals for transmission. The star flash receiver module is located on the side of the boom base and is used to receive the star flash wireless signal and restore it to a bus data signal; The central control unit is electrically connected to the star flash receiver module and is used to calculate the real-time pose of each joint on the boom based on the bus data signal, and output control commands in combination with the target pose. The drive execution unit is electrically connected to the central control unit and drives the movement of each joint of the boom according to the control command to achieve closed-loop control.

[0009] In one embodiment, the starburst emission module includes: The signal aggregation unit is electrically connected to each of the position detection units and is used to convert the original signals of each position detection unit into standardized digital signals and splice them into data frames. The Star Flash communication module is electrically connected to the signal collection unit and is used to encapsulate the data frame into Star Flash protocol data before transmitting it. The power supply unit is electrically connected to the signal collection unit, the star flash communication module, and each of the position detection units, and is used for centralized power supply.

[0010] In one embodiment, the starburst emission module further includes a dynamic silence control unit; The dynamic silence control unit is electrically connected to each of the position detection units and is used to perform time-sharing silence and wake-up control on each of the position detection units.

[0011] In one embodiment, during the operation of the star flash emission module, the dynamic silence control unit compares the continuous multi-frame data collected by the same position detection unit in real time. When it is determined that the change in the continuous multi-frame data is less than the preset silence threshold and the duration reaches the preset silence duration, the corresponding position detection unit is controlled to enter the silence state. In the silent state, the position detection unit retains only the low-power data acquisition function and stops data uploading and signal conversion. When the signal collection unit is framing, it uses the valid data of the previous frame for the data field of the position detection unit in the silent state. When the dynamic silent control unit detects that the change in the data collected by the position detection unit in the silent state exceeds the preset wake-up threshold, it controls the corresponding position detection unit to exit the silent state.

[0012] In one embodiment, when the dynamic silence control unit controls the position detection unit to enter a silent state, the power supply unit synchronously reduces the power supply power of the corresponding position detection unit, retaining only the power supply required for its low-power acquisition.

[0013] In one embodiment, the star flash emission module further includes a wired output module; The wired output module is electrically connected to the signal aggregation unit and the central control unit via cables, and is used to encapsulate the data frame into a wired data signal and output it to the central control unit. The central control unit is equipped with a link redundancy switching module for real-time monitoring of the signal quality parameters of the bus data signals. When the signal quality parameter is lower than the preset lower threshold, the central control unit is controlled to calculate the real-time pose of each joint on the boom based on the wired data signal. When the signal quality parameter recovers to above the preset lower threshold and exceeds the preset time, the central control unit is controlled to calculate the real-time pose of each joint on the boom based on the bus data signal.

[0014] In one embodiment, the signal quality parameters include one or more of the following: received signal strength indication, bit error rate, and packet loss rate.

[0015] In one embodiment, the main body of the signal collection unit, the power supply unit, and the star flash communication module is installed in the internal cavity of the boom propulsion beam bracket, so as to use the metal shell of the bracket as a physical protective barrier. The antenna portion of the Star Flash communication module extends vertically through a feed line and is fixed to the outside of the push beam bracket to ensure that the antenna radiator is kept away from a large-area metal plane.

[0016] To achieve the above objectives, the present invention also provides a control method for a boom of construction machinery based on star-flash communication. Employing the aforementioned boom control system, the boom control method includes the following steps: Step 1: Use multiple position detection units to collect real-time position information of each joint of the boom and send it to the star flash emission module; Step 2: The starlight transmitting module collects the signals from each of the position detection units, converts them into starlight wireless signals, and then transmits them. Step 3: The StarScan receiver module receives the StarScan wireless signal and restores it to a bus data signal; Step 4: The central control unit calculates the real-time pose of each joint on the boom based on the bus data signal, and outputs control commands in combination with the target pose. Step 5: The drive execution unit drives the movement of each joint of the boom according to the control command to achieve closed-loop control.

[0017] In one embodiment, the closed-loop control process is as follows: The drive execution unit drives the movement of each joint of the boom according to the control command, and forms a closed loop through the real-time feedback of steps 1 to 4. The central control unit continuously adjusts the control command according to the deviation between the feedback value and the target value until the angle error of all joints on the boom is less than the set threshold, at which point the positioning is determined to be complete.

[0018] Compared with the prior art, the present invention has the following beneficial technical effects: 1. This invention completely solves the signal interruption problem caused by falling rocks, vibration wear, and repeated tearing during boom operations by replacing traditional wired harnesses with star-flash wireless communication. This significantly improves the continuity of construction under harsh working conditions such as rock drilling and excavation, and reduces the risk of downtime due to signal failure. In addition, by adopting a multi-point acquisition and single-point transmission architecture, multiple sensors at the front end of the boom are connected to a centralized star-flash transmission module through short-distance flexible cables. Only one wireless transmission point is needed to replace the complex wire harness that is tens of meters long and runs across the entire boom. This physically eliminates signal interruption caused by cable wear and breakage, and significantly improves the operational reliability of the equipment under harsh working conditions. 2. This invention utilizes the low latency and high reliability characteristics of star flash technology to solve the problems of uncertain latency and susceptibility to interference in traditional wireless solutions in industrial fields. Moreover, compared with the solution of configuring a wireless module for each sensor independently, this invention only requires a single star flash transmitter module to aggregate data from all sensors, which greatly reduces the number of wireless modules, lowers hardware costs, and simplifies the complexity of wireless spectrum management and multiple access. 3. In the preferred embodiment of the present invention, for the working conditions of partial movement and partial stillness of multiple joints of the boom, the independent hibernation of a single joint is achieved through a dynamic silent control unit: the static / small vibration joint only retains data acquisition, stops data uploading and radio frequency transmission, so that the star flash module does not need to occupy channels and power consumption for invalid data, which can significantly reduce the overall power consumption of the front-end equipment, extend the battery life, and ensure that the system can operate for a long time, stably and independently without frequent battery replacement or power cable laying. Moreover, in the silent state, the signal collection unit uses the data of the previous frame before the silence, ensuring the integrity of the bus data frame. The pose calculation and closed-loop control of the central control unit will not be interrupted due to the silence of a single joint. While reducing power consumption, it does not affect the control accuracy and response speed of the boom at all. 4. In the preferred embodiment, this invention employs a redundant switching mechanism of a main wireless link and a backup wired link. When the wireless signal quality is below a threshold, the system can seamlessly switch to the wired link to acquire data. After the signal is restored, it automatically switches back to wireless mode, achieving absolute reliability under extreme electromagnetic interference / physical obstruction scenarios and solving the single-point failure defect of traditional single wireless / wired solutions. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 This is a block diagram of the engineering machinery boom control system based on star-flash communication in an embodiment of the present invention; Figure 2 This is a flowchart of the engineering machinery boom control method based on star-flash communication in an embodiment of the present invention.

[0021] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0023] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention 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 indication will also change accordingly.

[0024] Furthermore, in this invention, descriptions involving "first," "second," etc., 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0025] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0027] like Figure 1 The diagram shows a control system for an engineering machinery boom based on star-flash communication (hereinafter referred to as the "control system") disclosed in this embodiment. It mainly includes a position detection unit, a star-flash transmitting module, a star-flash receiving module, a central control unit, and a drive execution unit. Specifically: There are multiple position detection units, each located at a joint of the boom, used to collect real-time position information of each joint; The star flash transmission module is located at the front end of the boom and is electrically connected to each position detection unit via a short-distance flexible cable. It is used to collect the signals from each position detection unit and convert them into star flash wireless signals before transmitting them. The Star Flash receiver module is located on the side of the boom base. It is used to receive Star Flash wireless signals, demodulate them, perform CRC checks and data reconstruction, and restore them to bus data signals. The central control unit can be an industrial computer, vehicle controller, or PLC. The central control unit is electrically connected to the star flash receiver module. It is used to calculate the real-time pose of each joint on the boom in real time based on the bus data signal and the forward kinematic model based on the DH parameter method. It also generates and outputs control commands based on the deviation between the target pose and the real-time pose. The target pose can be input through the human-machine interface unit, which can be set as a touch screen integrated into the remote control or the cockpit. It supports positioning by absolute coordinate input or dragging a 3D model. The drive actuator can be a servo motor installed at each joint or a proportional valve on the hydraulic system of each joint. The drive actuator is electrically connected to the central control unit and drives each joint of the boom to move according to the control command until the target position is reached, thus realizing closed-loop control.

[0028] The control system in this embodiment replaces traditional wired harnesses with StarSpark wireless communication, which not only completely solves the signal interruption problems caused by falling rocks, vibration wear, and repeated tearing during boom operations, but also significantly improves the continuity of construction under harsh working conditions such as rock drilling and excavation, and reduces the risk of downtime due to signal failure. Furthermore, by utilizing the low latency and high reliability of StarSpark technology, it solves the problems of latency uncertainty and susceptibility to interference inherent in traditional wireless solutions in industrial settings. In addition, the control system in this embodiment adopts a multi-point acquisition, single-point transmission architecture, connecting multiple sensors at the boom front end to a centralized StarSpark transmission module via short-distance flexible cables. This single wireless transmission point replaces the complex wiring harness that stretches for tens of meters across the entire boom, physically eliminating signal interruptions caused by cable wear and breakage. This significantly improves the operational reliability of the equipment under harsh working conditions. Compared to a solution where each sensor has an independent wireless module, this invention only requires a single StarSpark transmission module to aggregate all sensor data, greatly reducing the number of wireless modules, lowering hardware costs, and simplifying the complexity of wireless spectrum management and multiple access.

[0029] In practical implementation, the position detection unit can employ multi-turn / single-turn absolute encoders, multi-axis tilt sensors, or pull-wire sensors, etc. Preferably, the position detection unit uses a low-power encoder with an operating power consumption of approximately 0.35W, which reduces power consumption by about 70% compared to a conventional 1.2W encoder, thereby further extending the battery life.

[0030] In this embodiment, the star flash transmitter module includes a signal collection unit, a star flash communication module, and a power supply unit.

[0031] The signal aggregation unit is electrically connected to each position detection unit via a short-distance flexible cable. It receives the raw signals (such as 4-20mA analog signals) from each position detection unit, converts them into standardized digital signals conforming to industrial bus protocols (such as CANopen), and then concatenates the standardized digital signals corresponding to all position detection units into a data frame. The data frame includes a joint ID, position / angle value, status word, and CRC checksum. In practical applications, the signal aggregation unit uses a refresh rate of at least 100Hz for framing.

[0032] The StarScan communication module is electrically connected to the signal aggregation unit and is used to encapsulate data frames into StarScan protocol data. It is transmitted in the 2.4GHz band using GFSK modulation and the transmission power can be dynamically adjusted in the range of -20dBm to 10dBm according to the environmental interference.

[0033] The power supply unit is electrically connected to the signal aggregation unit, the star flash communication module, and each position detection unit, supporting the independent and long-term operation of the star flash transmitting module and providing centralized power to multiple position detection units. In practical applications, the power supply unit includes a main battery, a backup battery, and a charging interface. The main battery can be a high-energy-density 4Ah rechargeable battery pack. The backup battery is a set of small-capacity batteries or supercapacitors connected in parallel with the main battery to ensure data integrity when the main battery is replaced. The charging interface is located in the electrical control cabinet on the side of the boom base for convenient centralized charging.

[0034] For situations involving partial movement and partial stillness of multiple joints on the boom, this embodiment preferably adds a dynamic silence control unit to the starlight transmission module. The dynamic silence control unit is electrically connected to each position detection unit and is used to perform time-division silent and wake-up control on each position detection unit. Specifically, during the operation of the starlight transmission module, the dynamic silence control unit compares the data collected from multiple consecutive frames of the same position detection unit in real time. When it determines that the change in the data collected from multiple consecutive frames is less than a preset silence threshold and the duration reaches a preset silence duration, it controls the corresponding position detection unit to enter a silent state. In the silent state, the position detection unit only retains low-power data acquisition functionality, stopping data uploading and signal conversion. Furthermore, when the signal aggregation unit frames data, it uses the valid data from the previous frame for the data fields of the position detection unit in the silent state. When the dynamic silence control unit detects that the change in the data collected by the position detection unit in the silent state exceeds a preset wake-up threshold, it controls the corresponding position detection unit to exit the silent state.

[0035] In the specific implementation process, when the dynamic silent control unit controls the position detection unit to enter the silent state, the power supply unit synchronously reduces the power supply of the corresponding position detection unit, and only retains the power supply required for its low-power acquisition.

[0036] In this embodiment, the control system achieves independent hibernation for each joint through a dynamic silent control unit. That is, when the joint is stationary or vibrating slightly, it only retains data acquisition and stops data uploading and radio frequency transmission. This eliminates the need for the starlight module to occupy channels and consume power for invalid data, which can significantly reduce the overall power consumption of the front-end equipment, extend battery life, and ensure that the system can operate stably and independently for a long time without frequent battery replacements or power cable laying. Moreover, in the silent state, the signal collection unit uses the data from the previous frame before the silent state, ensuring the integrity of the bus data frame. The pose calculation and closed-loop control of the central control unit will not be interrupted due to the silence of a single joint. While reducing power consumption, it does not affect the control accuracy and response speed of the boom at all.

[0037] In a preferred embodiment, the starlight transmission module also includes a wired output module, which is electrically connected to the signal aggregation unit and the central control unit via cables. This wired output module encapsulates data frames into wired data signals and outputs them to the central control unit. Furthermore, the central control unit is equipped with a link redundancy switching module, used to monitor the signal quality parameters of the bus data signals in real time. These signal quality parameters include, but are not limited to, Received Signal Strength Indication (RSSI) and bit error rate / packet loss rate. When the signal quality parameters are below a preset lower threshold (e.g., packet loss rate exceeding 5% for 3 consecutive seconds), the central control unit calculates the real-time pose of each joint on the boom based on the wired data signals. This allows the central control unit to switch from relying on wireless data to reading sensor data transmitted via a pre-reserved backup wired link. When the signal quality parameters recover to above the preset lower threshold and remain above it for a preset duration, the central control unit calculates the real-time pose of each joint on the boom based on the bus data signals. By employing a redundant switching mechanism of the StarFlash wireless main link and backup wired link, the system can seamlessly switch to the wired link to acquire data when the wireless signal quality is below the threshold. After the signal is restored, it automatically switches back to wireless mode, achieving absolute reliability under extreme electromagnetic interference / physical obstruction scenarios and solving the single-point failure defect of traditional single wireless / wired solutions.

[0038] To address the harsh rockfall conditions of rock drilling booms and the shielding effect of metal structures on wireless signals, the control system in this embodiment features an optimized design for the deployment of the starlight transmitting module. Specifically, the signal gathering unit, power supply unit, and the main body of the starlight communication module are installed within the internal cavity of the boom's push beam bracket. This utilizes the bracket's metal shell as a physical protective barrier, preventing the module from being directly struck by falling rocks or becoming loose due to vibration. To avoid shielding the radio frequency signal from the metal bracket, the antenna of the starlight communication module is extended vertically via a feed line and fixed to the outside of the push beam bracket. This ensures that the antenna radiator is kept away from large-area metal planes, effectively preventing signal attenuation caused by the antenna being in close contact with metal. Furthermore, the antenna's vertical polarization direction can be optimized to adapt to the signal coverage requirements under various boom postures.

[0039] In practical implementation, the signal aggregation unit, star-flash communication module, and power supply unit can be integrated into a single package to form an independent intelligent wireless aggregation module with standard interfaces. The intelligent wireless aggregation module's casing is made of high-strength engineering plastic, internally potted for waterproofing and shockproofing, and features multiple standard sensor interfaces (such as M12 aviation connectors) on its exterior for direct connection to the encoders of each joint. Additionally, a charging port is located at the rear of the intelligent wireless aggregation module for connecting to the charging port of the electrical control cabinet. This intelligent wireless aggregation module is plug-and-play and can be independently installed inside a bracket, greatly simplifying on-site wiring.

[0040] Example 2 Based on the star-flash communication-based boom control system for construction machinery in Embodiment 1, this embodiment discloses a star-flash communication-based boom control method for construction machinery. (Refer to...) Figure 2 The specific steps of this engineering machinery boom control method are as follows: Step 1: Use multiple position detection units to collect real-time position information of each joint of the boom and send it to the star flash emission module; Step 2: The starlight transmitting module collects the signals from the detection units at each location, converts them into starlight wireless signals, and then transmits them. Step 3: The StarScan receiver module receives the StarScan wireless signal and converts it back into a bus data signal; Step 4: The central control unit calculates the real-time pose of each joint on the boom based on the bus data signal, and outputs control commands in combination with the target pose. Step 5: The drive execution unit drives the movement of each joint of the boom according to the control command to achieve closed-loop control.

[0041] In the specific implementation of step 2, if the change in data collected by a certain position detection unit in the starlight transmission module for multiple consecutive frames is less than a preset silence threshold, and the duration reaches the preset silence duration, then the corresponding position detection unit is controlled to enter a silence state. In this state, the corresponding position detection unit only retains low-power data acquisition functionality, stops data uploading and signal conversion, and uses the valid data from the previous frame for the data fields of the position detection unit in the silence state during frame assembly. When the starlight transmission module detects that the change in data collected by the position detection unit in the silence state exceeds a preset wake-up threshold, it controls the corresponding position detection unit to exit the silence state.

[0042] In the specific implementation of step 2, the starlight transmission module not only converts the signals from each position detection unit into starlight wireless signals for transmission, but also simultaneously encapsulates the signals from each position detection unit into wired data signals and sends them to the central control unit in an effective manner. After receiving the bus data signals, the central control unit detects the signal quality parameters of the bus data signals, including but not limited to Received Signal Strength Indication (RSSI) and bit error rate / packet loss rate. When the signal quality parameters are lower than a preset lower threshold, the central control unit is controlled to calculate the real-time pose of each joint on the boom based on the wired data signals, even if the central control unit no longer relies on wireless data, but instead reads sensor data transmitted by a pre-reserved backup wired link. When the signal quality parameters recover to above the preset lower threshold and exceed a preset time, the central control unit is controlled to calculate the real-time pose of each joint on the boom based on the bus data signals.

[0043] In the specific implementation of step 5, the drive execution unit drives the movement of each joint of the boom according to the control command. At the same time, a closed loop is formed through the real-time feedback from steps 1 to 4. The central control unit continuously adjusts the control command according to the deviation between the feedback value and the target value until the angle error of all joints on the boom is less than the set threshold, at which point the positioning is determined to be complete.

[0044] The above description is only a preferred embodiment of the present invention and does not limit the scope of protection of the present invention. All equivalent structural transformations made under the inventive concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A control system for an engineering machinery boom based on star-flash communication, characterized in that, include: Multiple position detection units are installed at each joint of the boom to collect real-time position information of each joint. A star flash transmitter module is located at the front end of the boom and is electrically connected to each of the position detection units via cables. It is used to collect the signals from each of the position detection units and convert them into star flash wireless signals for transmission. The star flash receiver module is located on the side of the boom base and is used to receive the star flash wireless signal and restore it to a bus data signal; The central control unit is electrically connected to the star flash receiver module and is used to calculate the real-time pose of each joint on the boom based on the bus data signal, and output control commands in combination with the target pose. The drive execution unit is electrically connected to the central control unit and drives the movement of each joint of the boom according to the control command to achieve closed-loop control.

2. The engineering machinery boom control system based on star-flash communication according to claim 1, characterized in that, The star flash emission module includes: The signal aggregation unit is electrically connected to each of the position detection units and is used to convert the original signals of each position detection unit into standardized digital signals and splice them into data frames. The Star Flash communication module is electrically connected to the signal collection unit and is used to encapsulate the data frame into Star Flash protocol data before transmitting it. The power supply unit is electrically connected to the signal collection unit, the star flash communication module, and each of the position detection units, and is used for centralized power supply.

3. The engineering machinery boom control system based on star-flash communication according to claim 2, characterized in that, The star flash emission module also includes a dynamic silent control unit; The dynamic silence control unit is electrically connected to each of the position detection units and is used to perform time-sharing silence and wake-up control on each of the position detection units.

4. The engineering machinery boom control system based on star-flash communication according to claim 3, characterized in that, During the operation of the star flash emission module, the dynamic silence control unit compares the continuous multi-frame data collected by the same position detection unit in real time. When it is determined that the change in the continuous multi-frame data is less than the preset silence threshold and the duration reaches the preset silence duration, the corresponding position detection unit is controlled to enter the silence state. In the silent state, the position detection unit retains only the low-power data acquisition function and stops data uploading and signal conversion. When the signal collection unit is framing, it uses the valid data of the previous frame for the data field of the position detection unit in the silent state. When the dynamic silent control unit detects that the change in the data collected by the position detection unit in the silent state exceeds the preset wake-up threshold, it controls the corresponding position detection unit to exit the silent state.

5. The engineering machinery boom control system based on star-flash communication according to claim 4, characterized in that, When the dynamic silent control unit controls the position detection unit to enter a silent state, the power supply unit synchronously reduces the power supply power of the corresponding position detection unit, retaining only the power supply required for its low-power acquisition.

6. The engineering machinery boom control system based on star-flash communication according to any one of claims 2 to 5, characterized in that, The star flash emission module also includes a wired output module; The wired output module is electrically connected to the signal aggregation unit and the central control unit via cables, and is used to encapsulate the data frame into a wired data signal and output it to the central control unit. The central control unit is equipped with a link redundancy switching module for real-time monitoring of the signal quality parameters of the bus data signals. When the signal quality parameter is lower than the preset lower threshold, the central control unit is controlled to calculate the real-time pose of each joint on the boom based on the wired data signal. When the signal quality parameter recovers to above the preset lower threshold and exceeds the preset time, the central control unit is controlled to calculate the real-time pose of each joint on the boom based on the bus data signal.

7. The engineering machinery boom control system based on star-flash communication according to claim 6, characterized in that, The signal quality parameters include one or more of the following: received signal strength indication, bit error rate, and packet loss rate.

8. The engineering machinery boom control system based on star-flash communication according to any one of claims 2 to 5, characterized in that, The main body of the signal collection unit, the power supply unit, and the star flash communication module is installed in the internal cavity of the propulsion beam bracket on the boom, so as to use the metal shell of the bracket as a physical protective barrier. The antenna portion of the Star Flash communication module extends vertically through a feed line and is fixed to the outside of the push beam bracket to ensure that the antenna radiator is kept away from a large area of ​​metal plane.

9. A control method for an engineering machinery boom based on star-flash communication, characterized in that, The boom control system for construction machinery according to any one of claims 1 to 8, wherein the boom control method for construction machinery includes the following steps: Step 1: Use multiple position detection units to collect real-time position information of each joint of the boom and send it to the star flash emission module; Step 2: The starlight transmitting module collects the signals from each of the position detection units, converts them into starlight wireless signals, and then transmits them. Step 3: The StarScan receiver module receives the StarScan wireless signal and restores it to a bus data signal; Step 4: The central control unit calculates the real-time pose of each joint on the boom based on the bus data signal, and outputs control commands in combination with the target pose. Step 5: The drive execution unit drives the movement of each joint of the boom according to the control command to achieve closed-loop control.

10. The engineering machinery boom control method based on star-flash communication according to claim 9, characterized in that, The closed-loop control process is as follows: The drive execution unit drives the movement of each joint of the boom according to the control command, and forms a closed loop through the real-time feedback of steps 1 to 4. The central control unit continuously adjusts the control command according to the deviation between the feedback value and the target value until the angle error of all joints on the boom is less than the set threshold, at which point the positioning is determined to be complete.

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