CN112776005B - Multi-arm-section arm support detection method, device and system and storage medium - Google Patents
Multi-arm-section arm support detection method, device and system and storage medium Download PDFInfo
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- CN112776005B CN112776005B CN202110044441.1A CN202110044441A CN112776005B CN 112776005 B CN112776005 B CN 112776005B CN 202110044441 A CN202110044441 A CN 202110044441A CN 112776005 B CN112776005 B CN 112776005B
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The embodiment of the invention provides a multi-arm-section arm support detection method, and belongs to the technical field of engineering machinery. The method for detecting the arm support of the multi-arm section comprises the following steps: when the relative angle between a first arm section and a second arm section is fixed, acquiring the final effective angle of the first arm section as an initial angle, wherein the first arm section and the second arm section are any two arm sections of the arm support; acquiring the inclination angle of the second arm section in real time; and determining the inclination angle of the first arm section according to the initial angle and the inclination angle of the second arm section. Through the included angle constraint, namely the relative position of any two arms is fixed, the association between the angle detection device utilizing the second arm joint and the target detection arm, namely the first arm joint, can be established, and the inclination angle detection of the target detection arm is realized.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a multi-arm-section arm support detection method, device, system and storage medium.
Background
In order to realize the function of preventing the arm frame from tipping during operation or the function of complex or intelligent control of the arm frame, the multi-arm engineering machinery needs to continuously and reliably detect the posture of the arm frame. The existing detection method is as follows:
1) detecting an included angle of the arm support, wherein the included angle is directly detected by the following steps: rotary encoders, rotary potentiometers, and the like; the indirect detection of the included angle comprises the following steps: cylinder stroke, adjacent arm inclinometer difference and the like;
2) and detecting the inclination angle of each section of the arm support, and directly representing the posture of the arm support by using the inclination angle.
In the two methods, the relative motion of each arm support joint needs to be detected, so that one sensor (such as a stroke, an encoder, a potentiometer and the like) or a group of sensors (such as the difference of adjacent arm inclinometers) needs to be arranged at each joint. When one sensor in the sensor, the sensor group or the sensor in the sensor group is damaged, the boom gesture detection is invalid, so that the correct gesture of the whole boom gesture cannot be acquired.
Disclosure of Invention
The embodiment of the invention aims to provide a multi-arm-section arm support detection method, which can still acquire the posture of the whole arm support when one angle sensor in one or a group of angle sensors is damaged.
In order to achieve the above object, an embodiment of the present invention provides a method for detecting an arm support with multiple arm joints, where the method for detecting an arm support with multiple arm joints includes: when the relative angle between a first arm section and a second arm section is fixed, acquiring the final effective angle of the first arm section as an initial angle, wherein the first arm section and the second arm section are any two arm sections of the arm support; acquiring the inclination angle of the second arm section in real time; and determining the inclination angle of the first arm section according to the initial angle and the inclination angle of the second arm section.
Optionally, before the relative angle between the first arm section and the second arm section is fixed, the method for detecting the arm support with multiple arm sections further includes: if the next arm section of the first arm section is in a pause state, determining that the second arm section is the next arm section, and the next arm section is an adjacent arm section of the current arm section far away from the arm support rotary table; if the next arm section is not in a pause state and the first arm section is in a pause state, determining that the second arm section is the last arm section of the first arm section, and the last arm section is an adjacent arm section of the current arm section close to the arm support rotary table; and otherwise, controlling the first arm section to be in a pause state, and determining the second arm section to be the previous arm section.
Optionally, before the relative angle between the first arm section and the second arm section is fixed, the method for detecting the arm support with multiple arm sections further includes: if the first arm section is in a pause state, determining that the second arm section is the upper arm section of the first arm section, and the upper arm section is the adjacent arm section of the current arm section close to the arm support rotary table; if the first arm section is not in a pause state and the next arm section of the first arm section is in a pause state, determining that the second arm section is the next arm section, and the next arm section is an adjacent arm section of the current arm section far away from the arm support rotary table; and otherwise, controlling the next arm section to be in a pause state, and determining the second arm section to be the next arm section.
Optionally, before the relative angle between the first arm section and the second arm section is fixed, the method for detecting the arm support with multiple arm sections further includes: and if the first arm section and the second arm section are not adjacent arm sections, controlling the arm section between the first arm section and the second arm section to be in a pause state.
Optionally, the determining the tilt angle of the first arm section according to the initial angle and the tilt angle of the second arm section includes: determining the angle increment of the second arm section according to the inclination angle of the second arm section; and determining the inclination angle of the first arm section according to the angle increment and the initial angle of the first arm section.
Optionally, the method for detecting the arm support with multiple arm sections further includes: when the second arm section is the last arm section of the arm support, and the relative angle between any arm section and the last arm section is fixed, acquiring the initial angle of any arm section; acquiring the inclination angle of the last arm section in real time; and determining the inclination angle of any arm section according to the initial angle of any arm section and the inclination angle of the last arm section.
The embodiment of the invention also provides a multi-arm-section arm support detection device, which comprises: the arm support detection method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the computer program to realize the arm support detection method of the multi-arm section.
The embodiment of the invention also provides a machine-readable storage medium, where the machine-readable storage medium stores instructions, and the instructions enable a machine to execute any one of the above-mentioned multi-arm-section arm support detection methods.
The embodiment of the invention also provides a multi-arm-section arm support detection system, which comprises: the angle detection devices are respectively arranged on the arm sections of the arm support and used for acquiring the inclination angles of the corresponding arm sections; and the multi-arm-section arm support detection device is used for determining the inclination angle of a second arm section according to the inclination angle of a first arm section, and the first arm section and the second arm section are any two arm sections of the arm support.
Optionally, the angle detection devices are multiple and are arranged on arm sections of the arm support in an alternating manner.
Optionally, the number of the angle detection devices is two, and one of the angle detection devices is arranged on the last arm section of the arm support, and the other angle detection device is arranged on any arm section.
The embodiment of the invention also provides multi-arm-section engineering machinery, which comprises any one of the multi-arm-section arm support detection systems.
Through the technical scheme, the association between the angle detection device utilizing the second arm section and the target detection arm (the first arm section) can be established through the included angle constraint (namely the relative positions of any two arms are fixed), and the detection is carried out. In the multi-arm-section arm support type engineering machinery control system, a targeted and selective intervention measure is taken for an angle detection device generating a fault, the defect that the fault angle detection device fails in detection of the arm section is overcome, the system is enhanced to meet the overall considerable control requirement in a self-adaptive manner, and the system has the outstanding technical advantages of intelligence and high reliability.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a schematic structural diagram of a conventional multi-arm-section arm support detection;
fig. 2 is a schematic flow chart of a method for detecting a multi-arm-section arm support according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of arm support detection through adjacent arm sections;
FIG. 4 is a schematic view of a process for detecting the arm support by using adjacent arm sections;
FIG. 5 is another schematic structural diagram of arm support detection through adjacent arm sections;
fig. 6 is another schematic flow chart of arm support detection through adjacent arm sections;
FIG. 7 is a schematic flow chart of a selection made for the alternative shown in FIG. 5 or FIG. 6;
FIG. 8 is a schematic view of a process for detecting the boom by using adjacent boom sections;
fig. 9 is another schematic flow chart of arm support detection through adjacent arm sections;
FIG. 10 is a schematic view of an alternate arrangement of angle sensing devices;
fig. 11 is a schematic flow chart of arm support detection performed by non-adjacent arm sections;
fig. 12 is a schematic structural diagram of arm support detection performed by non-adjacent arm sections;
FIG. 13 is a schematic view of a boom detection using an angle detection device;
fig. 14 is a schematic structural diagram of an arm support detection system with multiple arm sections according to an embodiment of the present invention; and
fig. 15 is a schematic structural diagram of a preferred arrangement angle detection device for detecting the boom.
Description of the reference numerals
10 angle detection device 20 multi-arm-section arm support detection device
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 shows a conventional method for detecting a boom with multiple boom sections, where each boom section is provided with an angle detection device, which can detect an inclination angle of each boom section in real time, for example, an angle detection device (e.g., an angle sensor) of a k boom section can obtain an inclination angle Ag of the k boom section in real timekThe angle detection device of the k +1 arm joint can acquire the inclination angle Ag of the arm joint in real timek+1. However, if the angle detection device of the k arm joint or the k +1 arm joint fails, the corresponding tilt angle cannot be obtained in real time.
Therefore, an embodiment of the present invention provides a method for detecting a multi-arm-section arm support, fig. 2 is a schematic flow chart of the method for detecting a multi-arm-section arm support provided in the embodiment of the present invention, please refer to fig. 2, where the method for detecting a multi-arm-section arm support may include the following steps:
step S110: when the relative angle between a first arm section and a second arm section is fixed, the last effective angle of the first arm section is obtained as an initial angle, and the first arm section and the second arm section are any two arm sections of the arm support.
Referring to fig. 1, for example, if the angle detection device of the first arm section (e.g., k arm section) fails or is damaged, the inclination angle (or posture) of the k arm section may be detected by the angle detection device of the second arm section (e.g., k +1 arm section). Wherein the initial angle Ag of the first arm sectionk0The last effective angle obtained before the k arm joint angle sensor fails, namely the k +1 arm joint is temporarily prohibited from moving, and the k +1 arm joint is the last effective angle and the initial angle Ag of the k arm joint in a pause statek0External gesture detection is also possible.
Step S120: and acquiring the inclination angle of the second arm section in real time.
For example, the inclination angle Ag of the k +1 arm joint is obtained in real time through the angle sensor of the k +1 arm jointk+1。
Step S130: and determining the inclination angle of the first arm section according to the initial angle and the inclination angle of the second arm section.
Preferably, step S13 may include: determining the angle increment of the second arm section according to the inclination angle of the second arm section; and determining the inclination angle of the first arm section according to the angle increment and the initial angle of the first arm section.
For example, the inclination angle Ag of the k +1 arm segment is obtained in real timek+1Determining the angle increment delta A of the k +1 arm joint, the inclination angle of the k arm joint can be Agk0+ΔA。
Therefore, when the angle detection device on one arm section fails, the angle detection device of the other arm section can replace the angle detection device to detect, and the angle detection device of part of the arm sections can be omitted.
The implementation of the multi-arm-section arm support detection method under different working conditions is explained in detail through the following preferred embodiments.
Operating condition 1): referring to fig. 3 and 4, the arm section detection can be performed by the following steps.
When the angle detection device of the k arm section is omitted or fails, the inclination angle of the k arm section is detected through the angle detection device of the next adjacent arm section k +1 arm section, wherein the next arm section k +1 arm section is the adjacent arm section of the k arm section far away from the arm support rotary table.
Step S11: the action of the k +1 arm section is temporarily prohibited, and the k +1 arm section is in a pause state. It should be noted that the temporary prohibition of the k +1 arm joint action is to realize the acquisition of Ag for the (fault) angle sensorkThe cost of implementing alternative detection, i.e. where Ag cannot be obtained in real timej+1In the case of (2), it is required to use for Agj+1The angle value is locked.
Step S12: obtaining an initial angle Ag of a k-arm jointk0. The steps S11 and S12 are performed simultaneously, that is, when the k +1 arm section is in the pause state, the initial angle Ag is obtainedk0。
Step S13: acquiring the inclination angle Ag of the k +1 arm joint in real time through the angle sensor of the k +1 arm jointk+1。
Step S14: according to the inclination angle Ag of k +1 arm segmentk+1The real-time angle increment Δ A of the k +1 arm segment is determined.
Step S15: the real-time inclination angle of the k arm joint is Agk0+ Δ a, and updating and storing the inclination angle of the k-arm section.
Working condition 2): referring to fig. 5 and 6, the arm section detection can be performed as follows.
When the angle detection device of the k arm section is omitted or fails, the angle detection device of the k-1 arm section of the upper arm section adjacent to the angle detection device detects the inclination angle of the k arm section, wherein the k-1 arm section of the upper arm section is the adjacent arm section of the k arm section close to the arm support rotary table.
Step S21: temporarily forbidding the action of the k arm section, and the k arm section is in a pause state. It should be noted that the temporary prohibition of the k-arm joint action is to realize the acquisition of Ag for the (fault) angle sensorkThe cost of implementing alternative detection, i.e. where Ag cannot be obtained in real timejIn the case of (2), it is required to use for AgjThe angle value is locked.
Step S22: obtaining an initial angle Ag of a k-arm jointk0. The steps S21 and S22 are performed simultaneously, that is, when the k-1 arm section is in the pause state, the initial angle Ag is obtainedk0。
Step S23: acquiring the inclination angle Ag of the k-1 arm joint in real time through an angle sensor of the k-1 arm jointk-1。
Step S24: according to the inclination angle Ag of the k-1 arm segmentk-1The real-time angle increment delta a of the k-1 arm segment is determined.
Step S25: the real-time inclination angle of the k arm joint is Agk0+ Δ a, and updating and storing the inclination angle of the k-arm section.
Referring to fig. 4, 6, and 7, and combining the two working conditions 1) and 2), if the angle detection device on the previous arm section fails or is not used, the angle detection device on the adjacent arm section may perform alternative detection through the angle sensor of the adjacent arm section, if the angle detection device of the next arm section is selected to perform the alternative detection, the step of working condition 1) is executed (as shown in fig. 4), and if the angle detection device of the previous arm section is selected to perform the alternative detection, the step of working condition 2) is executed (as shown in fig. 6).
The embodiment of the invention also provides the following two processes of carrying out substitution detection by automatically selecting the angle detection device of the adjacent arm section.
Alternative detection 1), before the relative angle between the first arm section and the second arm section is fixed, the method for detecting the arm support of the multi-arm section further comprises: if the next arm section of the first arm section is in a pause state, determining that the second arm section is the next arm section, and the next arm section is an adjacent arm section of the current arm section far away from the arm support rotary table; if the next arm section is not in a pause state and the first arm section is in a pause state, determining that the second arm section is the last arm section of the first arm section, and the last arm section is an adjacent arm section of the current arm section close to the arm support rotary table; and otherwise, controlling the first arm section to be in a pause state, and determining the second arm section to be the previous arm section.
For example, referring to fig. 8, the first arm section is a current arm section k, the second arm section is an adjacent arm section (arm section k +1 or arm section k-1), and the process of performing the substitute detection by the angle detection apparatus may include the following steps:
step S31: detecting the fault of the angle detection device of the current arm section k;
step S32: if the k +1 arm section is in a pause state, executing step S36, namely detecting the inclination angle of the arm section k through the step of the working condition 1); if the k +1 arm segment is not in the pause state (i.e., the k +1 arm segment moves), go to step S33;
step S33: if the arm section k is in a pause state, executing step S35, namely detecting the inclination angle of the arm section k through the step of the working condition 2); if the k-arm section is not in the pause state (i.e., the k-arm section is moving), go to step S34;
step S34: after the control k-arm section is in the suspended state, step S35 is executed.
The alternative detection 2), before the relative angle between the first arm section and the second arm section is fixed, the method for detecting the arm support of the multi-arm section further comprises: if the first arm section is in a pause state, determining that the second arm section is the upper arm section of the first arm section, and the upper arm section is the adjacent arm section of the current arm section close to the arm support rotary table; if the first arm section is not in a pause state and the next arm section of the first arm section is in a pause state, determining that the second arm section is the next arm section, and the next arm section is an adjacent arm section of the current arm section far away from the arm support rotary table; and otherwise, controlling the next arm section to be in a pause state, and determining the second arm section to be the next arm section.
For example, referring to fig. 9, the first arm section is a current arm section k, the second arm section is an adjacent arm section (arm section k +1 or arm section k-1), and the process of performing the substitute detection by the angle detection apparatus may include the following steps:
step S41: detecting the fault of the angle detection device of the current arm section k;
step S42: if the arm section k is in a pause state, executing step S46, namely detecting the inclination angle of the arm section k through the step of the working condition 2); if the k-arm section is not in the pause state (i.e., the k-arm section is moving), go to step S43;
step S43: if the k +1 arm section is in a pause state, executing step S45, namely detecting the inclination angle of the arm section k through the step of the working condition 1); if the k +1 arm segment is not in the pause state (i.e., the k +1 arm segment moves), go to step S44;
step S44: after the k +1 arm segment is controlled to be in the pause state, step S45 is executed.
It should be noted that, judging the arm joint k, the k +1 arm joint, or the k-1 arm joint motion means an operation of causing the corresponding arm joint to generate motion, and the judgment can be performed by monitoring the system; pausing the motion of the k arm joint or pausing the motion of the k +1 arm joint, namely, the selection of the alternative scheme is synchronous with the prohibition of the control of the arm support (the time is not separated); the alternative detection approach of fig. 8 is preferred in view of the experience of the operation.
In the case of changing the angle, if one angle detection device is provided in each arm section among the arm section, the next arm section and the previous arm section, each arm section can be detected, and therefore, the angle detection device of a part of the arm sections can be omitted. Fig. 7 is a preferred arrangement of the angle detecting means, and referring to fig. 10, the angle sensors are arranged in an alternating manner from the last arm segment to the arm segment of the smaller order.
Further, in working condition 3), before the relative angle between the first arm section and the second arm section is fixed, the method for detecting the arm support of the multi-arm section further includes: and if the first arm section and the second arm section are not adjacent arm sections, controlling the arm section between the first arm section and the second arm section to be in a pause state.
Referring to fig. 11, the arm section detection process for condition 3) may include the following steps.
Step S51: temporarily pausing the arm section between the first arm section s and the second arm section t, and then fixing the included angle between the first arm section s and the second arm section t, namely fixing the relative positions of the first arm section s and the second arm section t.
Step S52: obtaining the initial angle Ag of the first arm section ss0。
Step S53: acquiring the inclination angle Ag of the first arm section s in real time through the angle sensor of the second arm section tt。
Step S54: according to the angle of inclination Ag of the second arm sectiontA real-time angular increment of the second arm segment, Δ a, is determined.
Step S55: the real-time inclination angle of the first arm section s is Ags0+ Δ a, and updating and storing the inclination angle of the first arm segment s.
For example, referring to FIG. 12, if the arm segment has a 6-segment arm segment, temporarily disabling the 3-, 4-, and 5-arm motion will cause A to be activatedj3、Aj4、Aj5Remain unchanged, i.e. the relative angular relationship of the 2 and 5 arms is (temporarily) fixed. Using Ag5The incremental detection of (A) can be obtainedg2Or vice versa with Ag2The incremental detection of (A) can be obtainedg5。
Through working conditions 1), 2) and 3), association between the angle detection device utilizing the second arm section and the target detection arm (first arm section) can be established through included angle constraint (namely, the relative positions of any two arms are fixed), and detection is carried out.
Therefore, in the multi-arm-section arm support type engineering machinery control system, a targeted and selective intervention measure is taken for the angle detection device generating the fault, the fault defect that the fault angle detection device and the arm section where the fault angle detection device is located fail is overcome, the system is enhanced to meet the overall considerable control requirement in a self-adaptive manner, and the system has the outstanding technical advantages of intelligence and high reliability; furthermore, part of angle detection devices can be omitted according to the multi-arm-section arm support detection process, and the contradiction between product intellectualization and economy can be avoided according to the most economical and saved hardware configuration scheme.
Preferably, the method for detecting the arm support of the multi-arm section further includes: when the second arm section is the last arm section of the arm support, and the relative angle between any arm section and the last arm section is fixed, acquiring the initial angle of any arm section; acquiring the inclination angle of the last arm section in real time; and determining the inclination angle of any arm section according to the initial angle of any arm section and the inclination angle of the last arm section.
For example, referring to fig. 13, only one angle sensor is used to detect the postures (tilt angles) of all the arm frames, the angle sensor may be installed on the arm section with the largest serial number (the last arm section), and the arm frame is limited to move only one other arm section at a time (i.e., change the included angle between one arm section and the last arm section).
And for changing the inclination angle of the arm support to any posture from the determined posture as a starting point, the real-time monitoring of the posture of the full arm support can be realized according to the optimal control method.
Table 1 control strategy table for construction machinery of fig. 9 arm support
In step S110, for determining Ag by external attitude detectionk0The method of the initial value of (1) can be illustrated by the following example:
for example, after the pump truck enters the construction site, before the boom is unfolded, the boom is completely folded and retracted on the support frame (at this time, a sensor detects the completely retracted state of the boom, and a proximity switch or a travel switch is often adopted to realize the in-place signal that the boom falls on the support frame on the pump truck), and at this time, the inclination angle of each arm section can be calculated and obtained as Ag according to the structural characteristics and the support state of the arm section10To Agn0. Then, the real-time values Ag of the inclination angles of the arm joints can be calculated by the detection method of fig. 9 and the control method of table 1, respectively1To Agn。
The preferred embodiment only uses one angle detection device, is the most economical and economical hardware configuration scheme, can avoid the contradiction between product intellectualization and economy to a great extent, and has good practicability.
The embodiment of the invention also provides a multi-arm-section arm support detection device, which comprises: the arm support detection method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the computer program to realize the arm support detection method of the multi-arm section.
Further, an embodiment of the present invention further provides a machine-readable storage medium, where instructions are stored on the machine-readable storage medium, and the instructions enable a machine to execute the above-mentioned multi-arm-section arm support detection method.
Fig. 14 is a schematic structural diagram of a multi-arm-section boom detection system according to an embodiment of the present invention, and referring to fig. 14, the multi-arm-section boom detection system includes: the angle detection devices 10 are respectively arranged on the arm sections of the arm support and are used for acquiring the inclination angles of the corresponding arm sections; and the multi-arm-section arm support detection device 20 is configured to determine an inclination angle of a second arm section according to an inclination angle of a first arm section, where the first arm section and the second arm section are any two arm sections of the arm support.
The angle detection device 10 may be an angle sensor.
As shown in fig. 13, it is the most economical design to arrange only one angle detection device 10 at the last arm section of the arm support, and the angle detection device 10 can be added moderately to enhance the flexibility of control when the economic condition allows.
The reasonable configuration of the installation of the newly added angle detection device 10 has engineering practical value, engineers have different understandings on the application requirements of each arm support device, and have different weights on the convenience requirement of controlling the arm support action, so that the angle detection device 10 can be saved preferentially or arranged preferentially to detect multiple arm supports.
Preferably, there are two angle detection devices 10, and one of the two angle detection devices is disposed on the last arm section of the arm support, and the other is disposed on any arm section.
Referring to fig. 15, it is preferable to arrange one angle sensor at the last arm section, and it is preferable to mount a second angle sensor on the 2-arm, based on the fact that in actual work, the 1-arm and the 2-arm generally do not allow simultaneous actions. Control constraints can be reduced, and the flexibility of arm support control is enhanced.
Preferably, the number of the angle detection devices 10 is several, and the angle detection devices are arranged on arm sections of the arm support in an alternating manner. Please refer to fig. 10 for the arrangement and the detection process of the angle detection apparatus 10, which will not be described herein.
The embodiment of the invention also provides the multi-arm-section engineering machinery, and the multi-arm-section engineering machinery comprises the multi-arm-section arm support detection system.
The engineering machinery with multiple arm sections, such as pump trucks, fire trucks, overhead working trucks, high-altitude cleaning equipment, bridge detection equipment and the like.
It should be noted that the technical contents and technical effects of the multi-arm-section arm support detection device, system and storage medium provided in the embodiments of the present invention are similar to those of the method embodiments, and specific reference is made to the method embodiments, which are not described herein again.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may 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, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may 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, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (11)
1. A multi-arm-section arm support detection method is characterized by comprising the following steps:
if the next arm section of the first arm section is in a pause state, determining that the second arm section is the next arm section, and the next arm section is an adjacent arm section of the current arm section far away from the arm support rotary table;
if the next arm section is not in a pause state and the first arm section is in a pause state, determining that the second arm section is the last arm section of the first arm section, and the last arm section is an adjacent arm section of the current arm section close to the arm support rotary table;
otherwise, controlling the first arm section to be in a pause state, and determining the second arm section to be the previous arm section;
when the relative angle between the first arm section and the second arm section is fixed, acquiring the final effective angle of the first arm section as an initial angle;
acquiring the inclination angle of the second arm section in real time; and
and determining the inclination angle of the first arm section according to the initial angle and the inclination angle of the second arm section.
2. The method of claim 1, wherein before the relative angle between the first arm section and the second arm section is fixed, the method further comprises:
if the first arm section is in a pause state, determining that the second arm section is the upper arm section of the first arm section, and the upper arm section is the adjacent arm section of the current arm section close to the arm support rotary table;
if the first arm section is not in a pause state and the next arm section of the first arm section is in a pause state, determining that the second arm section is the next arm section, and the next arm section is an adjacent arm section of the current arm section far away from the arm support rotary table; and
otherwise, controlling the next arm section to be in a pause state, and determining the second arm section to be the next arm section.
3. The method of claim 1, wherein before the relative angle between the first arm section and the second arm section is fixed, the method further comprises:
and if the first arm section and the second arm section are not adjacent arm sections, controlling the arm section between the first arm section and the second arm section to be in a pause state.
4. The method for detecting the arm support of the multi-arm section according to any one of claims 1 to 3, wherein the determining the tilt angle of the first arm section according to the initial angle and the tilt angle of the second arm section comprises:
determining the angle increment of the second arm section according to the inclination angle of the second arm section; and
and determining the inclination angle of the first arm section according to the angle increment and the initial angle of the first arm section.
5. The method for detecting the boom of the multi-boom section according to claim 1, wherein the method for detecting the boom of the multi-boom section further comprises:
when the second arm section is the last arm section of the arm support, and the relative angle between any arm section and the last arm section is fixed, acquiring the initial angle of any arm section;
acquiring the inclination angle of the last arm section in real time; and
and determining the inclination angle of any arm section according to the initial angle of any arm section and the inclination angle of the last arm section.
6. A multi-arm-joint arm support detection device is characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the multi-arm section arm support detection method according to any one of claims 1 to 5.
7. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the method of multi-arm boom detection according to any of claims 1-5.
8. A multi-arm-section arm support detection system is characterized by comprising:
the angle detection devices are respectively arranged on the arm sections of the arm support and used for acquiring the inclination angles of the corresponding arm sections; and
the multi-arm boom detection apparatus of claim 6, configured to determine the tilt angle of a second arm section according to the tilt angle of a first arm section, wherein the first arm section and the second arm section are any two arm sections of the boom.
9. The system as claimed in claim 8, wherein the angle detecting device is provided in a plurality of numbers and arranged on the arm sections of the arm support in an alternating manner.
10. The system as claimed in claim 8, wherein the angle detection device is two, and one of the angle detection devices is disposed on the last arm section of the arm support, and the other angle detection device is disposed on any arm section.
11. A multi-armed segment working machine, characterized in that it comprises a multi-armed segment boom detection system according to any of claims 8-10.
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