CN116036531A - Control method for arm support, processor, arm support assembly and storage medium - Google Patents

Control method for arm support, processor, arm support assembly and storage medium Download PDF

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Publication number
CN116036531A
CN116036531A CN202211623795.2A CN202211623795A CN116036531A CN 116036531 A CN116036531 A CN 116036531A CN 202211623795 A CN202211623795 A CN 202211623795A CN 116036531 A CN116036531 A CN 116036531A
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CN
China
Prior art keywords
arm
arm section
turntable
gravity center
section
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Pending
Application number
CN202211623795.2A
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Chinese (zh)
Inventor
李乡安
蒋旭
冯赫
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Hunan Zoomlion Emergency Equipment Co Ltd
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Hunan Zoomlion Emergency Equipment Co Ltd
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Application filed by Hunan Zoomlion Emergency Equipment Co Ltd filed Critical Hunan Zoomlion Emergency Equipment Co Ltd
Priority to CN202211623795.2A priority Critical patent/CN116036531A/en
Publication of CN116036531A publication Critical patent/CN116036531A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C31/00—Delivery of fire-extinguishing material
    • A62C31/02—Nozzles specially adapted for fire-extinguishing
    • A62C31/24—Nozzles specially adapted for fire-extinguishing attached to ladders, poles, towers, or other structures with or without rotary heads
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C31/00—Delivery of fire-extinguishing material
    • A62C31/28—Accessories for delivery devices, e.g. supports

Abstract

The application relates to the field of engineering machinery, in particular to a control method for an arm support, a processor, an arm support assembly and a storage medium. The control method comprises the following steps: acquiring an arm joint inclination angle of each arm joint; determining the gravity center position of the arm support assembly according to the arm section inclination angle of each arm section; acquiring the counterforce of the water cannon; determining a virtual dynamic gravity center position corresponding to the gravity center position after the gravity center position is shifted under the counter force; under the condition that the virtual dynamic gravity center position is not in the gravity center safety range of the arm support assembly, determining an included angle between adjacent arm sections according to the inclination angle of the arm sections; and adjusting the included angle to enable the virtual dynamic gravity center position to be in the gravity center safety range. According to the technical scheme, the gravity center position of the arm support assembly under the water cannon work is always in the gravity center safety range by adjusting the included angle between the arm sections. Therefore, the condition that the engineering vehicle is overturned or the structural member is broken is avoided, and the safety of the engineering vehicle is ensured.

Description

Control method for arm support, processor, arm support assembly and storage medium
Technical Field
The application relates to the field of engineering machinery, in particular to a control method for an arm support, a processor, an arm support assembly and a storage medium.
Background
Engineering vehicles comprise a plurality of high-altitude operation vehicle types, such as lifting jet fire-fighting vehicles, and as high-rise buildings are increased, the operation height of the high-altitude operation vehicles is increased, the arm support of the engineering vehicles is longer, and the arm sections are more and more. The level of unnecessary is increased while pursuing the working height. For the lifting jet fire truck, the weight and the gravity center of the lower truck part are always kept unchanged, and the movement of the dynamic gravity center of the whole truck is mainly influenced by the gravity center movement of the boom system. Therefore, the control of the dynamic gravity center of the arm support system indirectly controls the dynamic gravity center of the whole vehicle.
If the horizontal working range of the cantilever crane system is not limited, when the dynamic gravity center of the whole vehicle leaves a supporting polygonal safety area formed by the supporting legs, the whole vehicle is easy to roll over, the life safety of operators is critical, or the roll-over moment generated by the cantilever crane system is far greater than the roll-over moment born by the underframe and the supporting legs, and structural members of the engineering vehicle are broken.
Disclosure of Invention
The purpose of the application is to provide a control method for the arm support, which is used for avoiding the tipping of an engineering vehicle and/or the breakage of structural members.
In order to achieve the above objective, the present application provides a control method for an arm support, which is applied to an arm support assembly, wherein the arm support assembly includes a plurality of arm segments and a water cannon, and the control method includes:
acquiring an arm joint inclination angle of each arm joint;
determining the gravity center position of the arm support assembly according to the arm section inclination angle of each arm section;
acquiring the counterforce of the water cannon;
determining a virtual dynamic gravity center position corresponding to the gravity center position after the gravity center position is shifted under the counter force;
under the condition that the virtual dynamic gravity center position is not in the gravity center safety range of the arm support assembly, determining an included angle between adjacent arm sections according to the inclination angle of the arm sections;
and adjusting the included angle to enable the virtual dynamic gravity center position to be in the gravity center safety range.
In an embodiment of the present application, the boom assembly further includes a turntable, and determining the center of gravity position of the boom assembly according to the boom inclination angle of each boom section includes: acquiring the arm section weight, the arm section gravity center, the arm section length, the turntable weight of the turntable, the turntable gravity center and the turntable length of each arm section; determining a gravity center constant of each arm section according to the arm section weight, the arm section gravity center and the arm section length of each arm section, and determining a gravity center constant of the turntable according to the turntable weight, the turntable gravity center and the turntable length; and determining the gravity center position of the arm support assembly according to the gravity center constant of each arm section, the gravity center constant of the turntable and the arm section inclination angle of each arm section.
In an embodiment of the present application, the boom assembly includes a turntable, an inclination sensor corresponding to each arm segment, the plurality of arm segments including a first arm segment, a second arm segment, and a plurality of third arm segments; the first arm section refers to the arm section closest to the turntable, the second arm section refers to the arm section farthest from the turntable, the third arm section refers to the arm section connecting the first arm section and the second arm section, the inclination angle sensor corresponding to the second arm section is arranged at the arm section midpoint of the second arm section, the other inclination angle sensors are arranged at the midpoint of the arm fuel-saving cylinder hinging point on the first arm section and each third arm section, and the acquisition of the arm section inclination angle of each arm section comprises: the arm section inclination angle of each arm section is obtained through an inclination angle sensor corresponding to each arm section.
In the embodiment of the application, the arm support assembly further comprises a pin shaft, any two adjacent arm sections and the first arm section are hinged with the turntable through the pin shaft, and the water cannon is hinged with the second arm section; the determining of the virtual dynamic gravity center position corresponding to the offset of the gravity center position under the counter force comprises the following steps: determining a first coordinate of a first hinge point in a turntable coordinate system, wherein the first hinge point is a hinge point of a first arm joint and a turntable, an origin of the turntable coordinate system is an intersection point of a rotation central axis of the turntable and the lower surface of the turntable, an x-axis direction of the turntable coordinate system is an extension direction of projection of the arm support on a horizontal plane, a y-axis direction is a direction vertical to a horizontal direction and vertical to the horizontal direction, and a z-axis of the turntable coordinate system is vertical to both the x-axis and the y-axis; determining a second coordinate of a hinge point far from the turntable on a coordinate system corresponding to a hinge point close to the turntable aiming at two adjacent hinge points on any arm section; acquiring an included angle of a straight line of the water cannon relative to the second arm section, wherein the included angle is 0 degrees when the straight line of the water cannon and the second arm section coincide, the included angle formed by the water cannon and the second arm section in a clockwise rotation direction is a negative angle, and the included angle formed by the water cannon and the second arm section in a anticlockwise rotation direction is a positive angle; determining the tilting moment generated by the counter force relative to the turntable according to the included angle, the first coordinate, the second coordinate and the arm joint inclination angle of each arm joint; determining the offset of the counter force relative to the gravity center position according to the tipping moment; and determining the virtual dynamic gravity center position of the arm support assembly according to the offset and the gravity center position.
In an embodiment of the present application, each arm segment includes two hinge points, any one of the third arm segments includes a second hinge point close to the turntable and a third hinge point far away from the turntable, and determining, for any two adjacent hinge points on the arm segment, a second coordinate of the hinge point far away from the turntable on a coordinate system corresponding to the hinge point close to the turntable includes: determining a first sub-coordinate of a second hinge point of a third arm section adjacent to the first arm section in a first coordinate system, wherein an origin of the first coordinate system is the first hinge point, the x-axis direction is the extending direction of the first arm section, the z-axis direction is the direction of a pin shaft at the first hinge point, and the y-axis is perpendicular to the x-axis and the z-axis; determining a second sub-coordinate of a third hinge point of the third arm section in a second coordinate system aiming at each third arm section, wherein the origin of the second coordinate system is the second hinge point of the third arm section, the x-axis direction is the extending direction of the third arm section, the z-axis direction is the direction of a pin shaft at the second hinge point, and the y-axis is perpendicular to the x-axis and the z-axis; determining a third sub-coordinate of a fourth hinge point in a third coordinate system, wherein the fourth hinge point is a hinge point between the second arm section and the water cannon, the origin of the third coordinate system is a hinge point far away from the water cannon in the hinge points included in the second arm section, the x-axis direction is the extending direction of the second arm section, the z-axis direction is the direction of a pin shaft at the third hinge point of the third arm section adjacent to the second arm section, and the y-axis is perpendicular to the x-axis and the z-axis.
In an embodiment of the present application, adjusting the included angle so that the virtual dynamic center of gravity position is within the center of gravity critical position includes: after determining the included angle of each arm section according to the arm section inclination angle, determining the partial derivative of the included angle of each arm section; under the condition that the partial derivative of the included angle is larger than zero, the included angle corresponding to the partial derivative is controlled to be reduced, so that the virtual dynamic gravity center position is in the gravity center critical range; and under the condition that the partial derivative of the included angle is smaller than zero, controlling the included angle corresponding to the partial derivative to be increased so as to enable the virtual dynamic gravity center position to be in the gravity center critical range.
A second aspect of the present application provides a controller configured to perform the control method for an arm rest of any one of the above.
A third aspect of the present application provides a boom assembly, the boom assembly comprising:
a plurality of arm segments;
the water cannon is connected with the endmost arm section of the arm sections in the arm support assembly; and the controller.
In an embodiment of the present application, the plurality of arm segments includes: the first arm section is the arm section nearest to the turntable; the second arm section is the arm section farthest from the turntable; a plurality of third arm sections, the third arm sections being arm sections connecting between the first arm section and the second arm section; the boom assembly further comprises: the turntable is used for being connected with the arm section so as to control the arm section to rotate; the first inclination angle sensors are correspondingly arranged at the middle points of the hinge points of the arm oil-saving cylinders on the first arm section and each third arm section; and the second inclination angle sensor is arranged at the middle point of the arm joint of the second arm joint.
A fourth aspect of the present application provides a machine-readable storage medium having stored thereon instructions that, when executed by a processor, cause the processor to be configured to perform a control method for a boom according to any of the above.
According to the technical scheme, the gravity center position of the boom assembly under the condition of no load is rapidly determined by acquiring the boom inclination angle of each boom, and the virtual dynamic gravity center position of the boom assembly obtained after the gravity center position of the boom assembly under the influence of the water cannon counterforce is deviated is determined by acquiring the counterforce of the water cannon. And judging the virtual dynamic gravity center position, and ensuring that the gravity center position of the arm support assembly under the water cannon work is always in a gravity center safety range by adjusting the included angle between the arm joints. Therefore, the condition that the engineering vehicle is overturned or the structural member is broken is avoided, and the safety of the engineering vehicle is ensured.
Additional features and advantages of the present application will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate the application and, together with the description, do not limit the application. In the drawings:
Fig. 1 schematically shows a flow diagram of a control method for a boom according to an embodiment of the present application;
FIG. 2 schematically illustrates an example diagram A of a boom assembly according to an embodiment of the present application;
FIG. 3 schematically illustrates an example diagram B of a boom assembly according to an embodiment of the present application;
FIG. 4 schematically illustrates an example diagram C of a boom assembly according to an embodiment of the present application;
fig. 5 schematically shows an internal structural diagram of a computer device according to an embodiment of the present application.
Description of the reference numerals
1. A turntable; 2. an arm cylinder; 3. an arm tilt sensor; 4. an arm section I; 5. a two-arm oil cylinder; 6. two arm inclination angle sensors; 7. an arm section II; 8. a three-arm oil cylinder; 9. a three-arm tilt sensor; 10. arm section III; 11. a water cannon; A. arm segment inclination angle of arm segment one; B. arm section inclination angle of the arm section II; C. arm joint inclination angle of arm joint three; delta A, the included angle between the first arm section and the rotary table; delta B, an included angle between the arm section II and the arm section I; delta C, the included angle between the arm joint III and the arm joint II; θ 1 The water cannon and the straight line where the three arms are positioned form a positive included angle; θ 2 A negative included angle is formed between the water cannon and the straight line where the three arms are positioned; l1, the distance between the hinge point of the first arm cylinder and the first arm section and the hinge point of the second arm cylinder and the first arm section; lcx1, a distance between an arm inclination angle sensor and a hinge point of the two arm oil cylinders and the arm section I; hinge joint of L2, two-arm oil cylinder and arm joint II The distance between the three-arm oil cylinder and the hinge point of the arm section II; lcx2, a distance from the two-arm inclination angle sensor to a hinge point of the three-arm oil cylinder and the arm section II; lc, length of arm segment three; lcx3, distance of the three-arm tilt sensor to the three ends of the arm segment.
Detailed Description
The following detailed description of specific embodiments of the present application refers to the accompanying drawings. It should be understood that the detailed description is presented herein for purposes of illustration and explanation only and is not intended to limit the present application.
It should be noted that, in the embodiment of the present application, directional indications (such as up, down, left, right, front, and rear … …) are referred to, and the directional indications are merely used to explain the relative positional relationship, movement conditions, and the like between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be regarded as not exist and not within the protection scope of the present application.
Fig. 1 schematically shows a flow diagram of a control method for a boom according to an embodiment of the present application. As shown in fig. 1, in one embodiment of the present application, there is provided a control method for an arm support, including the steps of:
step 101, acquiring an arm section inclination angle of each arm section;
102, determining the gravity center position of the arm support assembly according to the arm section inclination angle of each arm section;
step 103, obtaining the counter force of the water cannon;
104, determining a virtual dynamic gravity center position corresponding to the gravity center position after the gravity center position is deviated under the counter force;
step 105, determining an included angle between adjacent arm sections according to the inclination angle of the arm sections under the condition that the virtual dynamic gravity center position is not in the gravity center safety range of the arm frame assembly;
and 106, adjusting the included angle to enable the virtual dynamic gravity center position to be in the gravity center safety range.
The boom assembly of the work vehicle may include a plurality of boom sections and a water cannon that may be used to deliver liquid to a location where rescue is desired, such as spraying water to a fire point. The processor can acquire the arm section inclination angle of each arm section of the arm support assembly, and determine the gravity center position of the arm support assembly according to the arm section inclination angle of each arm section. The gravity center position of the arm support assembly is determined by the processor according to all the arm sections when the water cannon of the arm support assembly does not work. The processor can acquire the counter force of the water cannon of the boom assembly, namely the counter force generated by the boom system when the water cannon works, and determine the virtual dynamic gravity center position obtained after the center position of the boom assembly is deviated after the influence of the water cannon counter force on the center position of the boom assembly under the condition that the water cannon works according to the water cannon counter force.
After the processor determines the virtual dynamic gravity center position, the processor can judge whether the virtual dynamic gravity center position is in the gravity center safety range of the boom assembly, and under the condition that the virtual dynamic gravity center position is not in the gravity center safety range of the boom assembly, the processor can determine the included angle between the adjacent booms according to the inclination angle of the boom section and adjust the included angle so that the virtual dynamic gravity center position of the boom assembly is in the gravity center safety range of the boom assembly, thereby avoiding the condition that the engineering vehicle is tilted or a structural member is broken due to gravity center deviation of the engineering vehicle in the process of controlling the water cannon to work.
In one embodiment, the boom assembly further comprises a turntable, and determining the position of the center of gravity of the boom assembly from the boom inclination angle of each boom section comprises: acquiring the arm section weight, the arm section gravity center, the arm section length, the turntable weight of the turntable, the turntable gravity center and the turntable length of each arm section; determining a gravity center constant of each arm section according to the arm section weight, the arm section gravity center and the arm section length of each arm section, and determining a gravity center constant of the turntable according to the turntable weight, the turntable gravity center and the turntable length; and determining the gravity center position of the arm support assembly according to the gravity center constant of each arm section, the gravity center constant of the turntable and the arm section inclination angle of each arm section.
The boom assembly may further comprise a turntable, which may be used to connect the arm sections for driving the arm sections to rotate. The processor may obtain a boom weight, a boom center of gravity, and a boom length for each boom section of the boom assembly, and determine a center constant for each boom section from the boom weight, the boom center of gravity, and the boom length for each boom section. The processor may also obtain a turntable weight, a turntable center of gravity, and a turntable length of the turntable, and determine a center of gravity constant of the turntable based on the turntable weight, the turntable center of gravity, and the turntable length of the turntable. The processor can determine the gravity center position of the arm support assembly according to the gravity center constant of each arm joint, the gravity center constant of the state and the arm joint inclination angle of each arm joint, and the gravity center position of the arm support assembly determined by the processor is the gravity center position of the arm support assembly when the arm support assembly is in no-load, namely the gravity center position of the arm support assembly when a water cannon of the arm support assembly does not work.
In one embodiment, the boom assembly includes a turntable, an inclination sensor corresponding to each arm section, the plurality of arm sections including a first arm section, a second arm section, and a plurality of third arm sections; the first arm section refers to the arm section closest to the turntable, the second arm section refers to the arm section farthest from the turntable, the third arm section refers to the arm section connecting the first arm section and the second arm section, the inclination angle sensor corresponding to the second arm section is arranged at the arm section midpoint of the second arm section, the other inclination angle sensors are arranged at the midpoint of the arm fuel-saving cylinder hinging point on the first arm section and each third arm section, and the acquisition of the arm section inclination angle of each arm section comprises: the arm section inclination angle of each arm section is obtained through an inclination angle sensor corresponding to each arm section.
The arm support assembly further comprises a turntable and an inclination angle sensor corresponding to each arm section, the plurality of arm sections of the arm support assembly can comprise a first arm section closest to the turntable, a second arm section farthest from the turntable and a third arm section which is arranged between the first arm section and the second arm section and used for connecting the first arm section and the second arm section, and the plurality of third arm sections can be arranged. The inclination angle sensor corresponding to the second arm section can be arranged at the position of the arm section middle point of the second arm section, the inclination angle sensors corresponding to other arm sections can be arranged at the middle point of the arm oil-saving cylinder hinging point of each arm section, and the processor can acquire the arm section inclination angle of the arm section through the inclination angle sensor.
As shown in fig. 2, it is assumed that the boom assembly includes three arm sections, and the boom assembly includes a turntable 1, a first arm cylinder 2, a first arm inclination sensor 3, a first arm section 4, a second arm cylinder 5, a second arm inclination sensor 6, a second arm section 7, a third arm cylinder 8, a third arm inclination sensor 9, a third arm section 10, and a water cannon 11. The first arm joint closest to the turntable 1 is the arm joint one 4 in fig. 2, the processor may determine the hinge point of the arm cylinder 2 on the arm joint one 4, the hinge point of the arm cylinder 5 on the arm joint one 4, and the distance between the two hinge points is L1, that is, L1 is the distance between the hinge point of the arm cylinder and the arm joint one to the hinge point of the arm cylinder and the arm joint one, lcx1 is the distance between the arm inclination sensor and the hinge point of the arm cylinder and the arm joint one, and the processor may determine that the arm inclination sensor 3 is installed at the midpoint of the hinge points of the two arm oil cylinders, that is, lcx 1=1/2L 1. The second arm section is the arm section farthest from the turntable 1, namely the arm section three 10 in fig. 3, the length of the arm section three is Lc, lcx is the distance from the three-arm inclination sensor to the three ends of the arm section, and the processor can mount the three-arm inclination sensor 9 at the midpoint of the arm section three, namely Lcx 3=1/2 Lc. The third arm segment connecting the first arm segment and the second arm segment is the second arm segment 7 in the figure, the processor can determine the hinge point of the two-arm oil cylinder 5 on the second arm segment 7, the hinge point of the three-arm oil cylinder 8 on the second arm segment 7, and determine the distance between the two hinge points as L2, that is, L2 is the distance between the hinge point of the two-arm oil cylinder and the second arm segment to the hinge point of the three-arm oil cylinder and the second arm segment, lcx2 is the distance between the two-arm inclination sensor and the hinge point of the three-arm oil cylinder and the second arm segment, and the processor can determine that the two-arm inclination sensor 6 of the second arm segment 7 is mounted at the midpoint of the hinge point of the two-arm oil cylinder, that is, lcx 2=1/2L 2. The processor can determine the arm pitch angle of each arm pitch by using the pitch angle sensor installed on each arm pitch, as shown in fig. 2, the first arm pitch sensor 3 determines the arm pitch angle of the first arm pitch 4 as a, the processor can determine the arm pitch angle of the second arm pitch 7 as B by using the second arm pitch sensor 6, and the processor can determine the arm pitch angle of the third arm pitch 10 as C by using the third arm pitch sensor 9.
In one embodiment, the arm support assembly further comprises a pin shaft, wherein any two adjacent arm sections and the first arm section and the turntable are hinged through the pin shaft, and the water cannon is hinged with the second arm section; the determining of the virtual dynamic gravity center position corresponding to the offset of the gravity center position under the counter force comprises the following steps: determining a first coordinate of a first hinge point in a turntable coordinate system, wherein the first hinge point is a hinge point of a first arm joint and a turntable, an origin of the turntable coordinate system is an intersection point of a rotation central axis of the turntable and the lower surface of the turntable, an x-axis direction of the turntable coordinate system is an extension direction of projection of the arm support on a horizontal plane, a y-axis direction is a direction vertical to a horizontal direction and vertical to the horizontal direction, and a z-axis of the turntable coordinate system is vertical to both the x-axis and the y-axis; determining a second coordinate of a hinge point far from the turntable on a coordinate system corresponding to a hinge point close to the turntable aiming at two adjacent hinge points on any arm section; acquiring an included angle of a straight line of the water cannon relative to the second arm section, wherein the included angle is 0 degrees when the straight line of the water cannon and the second arm section coincide, the included angle formed by the water cannon and the second arm section in a clockwise rotation direction is a negative angle, and the included angle formed by the water cannon and the second arm section in a anticlockwise rotation direction is a positive angle; determining the tilting moment generated by the counter force relative to the turntable according to the included angle, the first coordinate, the second coordinate and the arm joint inclination angle of each arm joint; determining the offset of the counter force relative to the gravity center position according to the tipping moment; and determining the virtual dynamic gravity center position of the arm support assembly according to the offset and the gravity center position.
The arm support assembly further comprises a pin shaft, any two adjacent arm sections of the arm support assembly are hinged through the pin shaft, the turntable is also hinged with the first arm section closest to the turntable through the pin shaft, and the water cannon of the arm support assembly is hinged with the second arm section farthest from the turntable. The processor can firstly determine a first coordinate of a first hinge point of the first arm joint and the turntable in a turntable coordinate system after determining that the gravity center position of the arm support deviates under the counter force of the water cannon, the processor can use an intersection point of a rotation central axis of the turntable and the lower surface of the turntable as an origin, the projection extension direction of the arm support on a horizontal plane is an x-axis direction, a y-axis direction is a direction vertical to the horizontal direction and vertical to the upward direction, a z-axis can be determined through a right-hand rule, the z-axis is vertical to both the x-axis and the y-axis, the turntable coordinate system can rotate along with the turntable, the turntable coordinate system is established, and the first coordinate of the first hinge point in the turntable coordinate system is determined.
For each arm section of the arm support system, the processor can establish a coordinate system of each arm section by taking a hinge point of the arm support as an origin, and determine a second coordinate of a hinge point far from the turntable on a coordinate system corresponding to a hinge point close to the turntable for two adjacent hinge points on each arm section.
The processor can also acquire the included angle of the water cannon relative to the straight line where the second arm section connected with the water cannon is located, when the water cannon coincides with the straight line where the second arm section is located, the included angle is 0 degrees, the hinge point of the water cannon and the second arm section is used as the circle center, the included angle formed by the water cannon in the clockwise rotation direction and the second arm section is a negative angle, and the included angle formed by the water cannon in the anticlockwise rotation direction and the second arm section is a positive angle.
The processor can determine the tilting moment generated by the bull-cannon counter force relative to the turntable according to the determined included angle, the first coordinate, the second coordinate and the arm joint inclination angle of each arm joint, determine the offset of the counter force of the cannon relative to the gravity center position of the arm frame assembly according to the tilting moment, and determine the virtual dynamic gravity center position of the arm frame assembly when the cannon is started according to the offset and the gravity center position processor of the arm frame assembly when the arm frame assembly is unloaded.
In one embodiment, each arm segment includes two hinge points, any one of the third arm segments includes a second hinge point close to the turntable and a third hinge point far from the turntable, and determining, for any two adjacent hinge points on the arm segment, a second coordinate of the hinge point far from the turntable on a coordinate system corresponding to the hinge point close to the turntable includes: determining a first sub-coordinate of a second hinge point of a third arm section adjacent to the first arm section in a first coordinate system, wherein an origin of the first coordinate system is the first hinge point, the x-axis direction is the extending direction of the first arm section, the z-axis direction is the direction of a pin shaft at the first hinge point, and the y-axis can be determined to be perpendicular to both the x-axis and the z-axis through a right-hand rule; determining a second sub-coordinate of a third hinge point of the third arm section in a second coordinate system aiming at each third arm section, wherein an origin of the second coordinate system is the second hinge point of the third arm section, the x-axis direction is the extending direction of the third arm section, the z-axis direction is the direction of a pin shaft at the second hinge point, and the y-axis can be determined to be perpendicular to the x-axis and the z-axis through a right-hand rule; determining a third sub-coordinate of a fourth hinge point in a third coordinate system, wherein the fourth hinge point is a hinge point between the second arm section and the water cannon, the origin of the third coordinate system is a hinge point far away from the water cannon in the hinge points included in the second arm section, the x-axis direction is the extending direction of the second arm section, the z-axis direction is the direction of a pin shaft at the third hinge point of the third arm section adjacent to the second arm section, and the y-axis can be determined to be perpendicular to the x-axis and the z-axis through a right-hand rule.
Each arm segment of the boom assembly may include two hinge points and any one of the third arm segments may include a second hinge point proximate to the turntable and a third hinge point distal from the turntable. The processor may determine, for any two adjacent hinge points on the arm segment, a second coordinate of a hinge point away from the turntable on a coordinate system corresponding to a hinge point close to the turntable, where the second coordinate may include a first sub-coordinate, a second sub-coordinate, and a third sub-coordinate.
The processor may take a first hinge point of the turntable and the first arm section as an origin, an x-axis direction is an extending direction of the first arm section, a z-axis direction is a direction of a pin shaft at the first hinge point, and the y-axis may determine that the y-axis is perpendicular to both the x-axis and the z-axis by a right-hand rule, so as to establish a first coordinate system at the first hinge point, and determine a first sub-coordinate in the first coordinate system of a second hinge point, close to the turntable, on a third arm section adjacent to the first arm section.
For each third arm segment, the processor may use a second hinge point on the third arm segment near the turntable as an origin, the x-axis direction is an extending direction of the third arm segment, the z-axis direction is a direction of a pin shaft at the second hinge point, the y-axis may determine that the y-axis is perpendicular to both the x-axis and the z-axis by a right-hand rule, so as to establish a second coordinate system, and determine a second sub-coordinate in the second coordinate system of a third hinge point on the third arm segment far from the turntable.
The second arm section is connected with the water cannon, the processor can take a hinge point far away from the water cannon in the second arm section as an original point, the x-axis direction is the extending direction of the second arm section, the z-axis direction is the direction of a pin shaft at a third hinge point far away from the rotary table of a third arm section adjacent to the second arm section, the y-axis can be determined to be perpendicular to the x-axis and the z-axis through a right-hand rule so as to establish a third coordinate system, and a third sub-coordinate of the hinge point between the second arm section and the water cannon in the third coordinate system is determined.
As shown in fig. 3, it is assumed that the boom assembly includes a turntable, three arm sections and a water cannon, the arm sections are hinged by pin shafts, one arm is also hinged with the turntable by pin shafts, and the three arms are also hinged with the water cannon by pin shafts. The first arm section closest to the turntable is one arm in fig. 3, the second arm section farthest from the turntable is three arms in fig. 3, and the third arm section for connecting the first arm section and the second arm section is two arms in fig. 3. The processor may use an intersection point of a rotation center axis of the turntable and a lower surface of the turntable as an origin, an extension direction of projection of the arm support on a horizontal plane is an x-axis direction, a y-axis direction is a direction perpendicular to a horizontal direction and vertically upward, a z-axis is determined by a right-hand rule, a turntable coordinate system is established perpendicular to both the x-axis and the y-axis (not shown in a z-axis diagram), and the established turntable coordinate system may be rotated according to rotation of the turntable.
The processor may determine a first coordinate of a hinge point between the turntable and an arm on a turntable coordinate system. The turntable may take a hinge point between the turntable and an arm as an origin, an extension direction of the arm is an x-axis, a pin axis direction at a hinge point of the turntable and the arm is a z-axis direction (not shown in a z-axis diagram), a y-axis is determined by a right-hand rule, and the y-axis is perpendicular to the x-axis and the z-axis to establish a first coordinate system, that is, an arm coordinate system in fig. 3. The processor may determine a first sub-coordinate of the hinge point of the first arm and the second arm within an arm coordinate system. The processor may use a hinge point between the first arm and the second arm as an origin, an extension direction of the second arm is an x-axis, a direction of a pin shaft at a hinge position of the first arm and the second arm is a z-axis direction (not shown in a z-axis diagram), a y-axis is determined by a right-hand rule, and a second coordinate system, that is, a two-arm coordinate system in fig. 3, is established perpendicularly to the x-axis and the z-axis, and the processor may determine a second sub-coordinate of the hinge point between the second arm and the third arm in the two-arm coordinate system. The processor may use a hinge point between the two arms and the three arms (that is, a hinge point in the three arms far away from the water cannon) as an origin, an extending direction of the three arms is an x-axis, a direction of a pin shaft at a hinge position of the two arms and the three arms is a z-axis direction (not shown in a z-axis diagram), a y-axis is determined by a right-hand rule, and the y-axis, the x-axis and the z-axis are all perpendicular to establish a third coordinate system, that is, a three-arm coordinate system in fig. 3, and the processor may determine a third sub-coordinate of the hinge point between the water cannon and the three arms in the three-arm coordinate system.
The processor may also obtain that the included angle of the water cannon with respect to the straight line where the three arms are located is 0 ° when the water cannon coincides with the straight line where the second arm section is located, and the included angle formed between the water cannon and the three arms is a negative angle, for example θ in fig. 3, after clockwise rotation with the hinge point of the water cannon and the three arms as the center of a circle 1 After counterclockwise rotation by taking the hinge point of the water cannon and the three arms as the center of circle, the included angle formed between the water cannon and the straight line where the three arms are positioned is positive, such as theta in fig. 3 2 。
The processor can determine the tilting moment generated by the counter force of the water cannon relative to the turntable according to the obtained included angle, the first coordinate, the first sub-coordinate, the second sub-coordinate, the third sub-coordinate and the arm joint inclination angle of each arm joint, determine the offset of the counter force of the water cannon to the gravity center position of the boom assembly when the boom assembly is in idle load according to the tilting moment, and determine the virtual dynamic gravity center position of the boom assembly when the water cannon is in operation according to the offset and the gravity center position of the boom assembly when the boom assembly is in idle load.
For example, assume the coordinates of the intersection of the cannon and the three arms relative to the three-arm coordinate systemFor (Lc, y3, 0), the coordinates of the hinge point of the two arms and the three arms with respect to the two-arm coordinate system are (Lb, y2, 0), the coordinates of the hinge point of the one arm and the two arms with respect to the one-arm coordinate system are (La, y1, 0), the coordinates of the hinge point of the turntable and the one arm with respect to the turntable coordinate system are (L0, y0, 0), assuming the water cannon reaction force magnitude F w The included angle formed by the water cannon and the straight line where the three arms are positioned is theta. Tilting moment M generated by water cannon to z-axis of turntable coordinate system w The determination can be made by the following formula:
M w ＝F w [L 0 sin(θ+C)+L a sin(θ+C-A)+L b sin(θ+C-B)+L c sin(θ)
-y 0 cos(θ+C)-y 1 cos(θ+C-A)-y 2 cos(θ+C-B)-y 3 cos(θ)]
the tipping action of the water cannon counter force on the whole vehicle can be regarded as the shifting action of the water cannon counter force on the gravity center position of the arm support assembly. Moment M generated by water cannon w When the direction of the tipping moment generated by the arm support assembly is consistent, the reaction force of the water cannon is equivalent to moving the dynamic gravity center of the original arm support system to a more distant place; moment M generated by water cannon w When the direction of the tipping moment generated by the arm support assembly is opposite to that of the tipping moment generated by the arm support assembly, the reaction force of the water cannon is equivalent to pulling the dynamic gravity center of the original arm support system back to a closer place. Assume that the total mass of the boom assembly is m U The offset of the counter force of the water cannon relative to the tilting moment generated by the turntable to the gravity center position of the boom assembly can be determined by the following formula:
Figure SMS_1
wherein x is w The offset of the gravity center position, g, is gravity acceleration, and the coordinate x of the virtual dynamic gravity center position of the boom assembly on the turntable coordinate system of the water cannon counter force is considered v Is x v ＝x G +x w Wherein x is G Is the gravity center position of the arm support assembly, x w Is the offset of the gravity center position of the arm support assembly.
In one embodiment, adjusting the included angle such that the virtual dynamic center of gravity position is within the center of gravity threshold position comprises: after determining the included angle of each arm section according to the arm section inclination angle, determining the partial derivative of the included angle of each arm section; under the condition that the partial derivative of the included angle is larger than zero, the included angle corresponding to the partial derivative is controlled to be reduced, so that the virtual dynamic gravity center position is in the gravity center critical range; and under the condition that the partial derivative of the included angle is smaller than zero, controlling the included angle corresponding to the partial derivative to be increased so as to enable the virtual dynamic gravity center position to be in the gravity center critical range.
After the processor determines the virtual dynamic gravity center position of the arm support assembly obtained under the influence of the water cannon counter force, whether the virtual dynamic gravity center position is in the gravity center safety range of the arm support assembly or not can be judged, and when the processor determines that the virtual dynamic gravity center position of the arm support assembly is not in the gravity center safety range of the arm support assembly, the processor can convert the obtained arm section inclination angles of each arm section, so that the included angle between adjacent arm sections is determined according to the arm section inclination angle of each arm section.
The processor can determine the partial derivative of the included angle of each arm section, and when the partial derivative of the included angle is larger than zero, the processor can control the included angle corresponding to the partial derivative to be reduced, so that the virtual dynamic gravity center position is adjusted, and the virtual dynamic gravity center position is within the gravity center safety range. Under the condition that the partial derivative of the included angle is smaller than zero, the processor can control the included angle corresponding to the partial derivative to be increased, so that the virtual dynamic gravity center position is adjusted, and the virtual dynamic gravity center position is located in the gravity center safety range. For example, assume that the partial derivative of angle δA is obtained
Figure SMS_2
Wherein x is U The virtual dynamic gravity center position of the arm support assembly is the turntable coordinates of the turntable coordinate system, when +.>
Figure SMS_3
And under the condition that the included angle delta A is smaller than zero, the processor can control the included angle delta A to be increased so that the virtual dynamic gravity center position is within the gravity center safety range of the arm support assembly.
As shown in fig. 4, it is assumed that the boom assembly includes three arm sections and a water cannon, and the boom assembly includes a turntable 1, a boom oilCylinder 2, one arm inclination angle sensor 3, arm section one 4, two arm oil cylinders 5, two arm inclination angle sensors 6, arm section two 7, three arm oil cylinders 8, three arm inclination angle sensors 9, arm section three 10 and water cannon 11. The second arm section farthest from the turntable 1, namely, the three-arm inclination sensor 9 of the arm section three 10 in the figure, is arranged at the middle point of the arm section three 10, the first arm inclination sensor 3 and the second arm inclination sensor 6 of the arm section one 4 and the arm section two 7 are arranged at the middle point of the hinging point of the oil cylinder hinged with the arm sections, and the processor can obtain the arm section inclination angle of the arm section through the inclination sensor of each arm section, as shown in fig. 4, the arm section inclination angle of the arm section one 4 is A, the arm section inclination angle of the arm section two 7 is B, and the arm section inclination angle of the arm section three 10 is C. The processor may determine the gravity constant of each arm segment based on the arm segment weight, the arm segment center of gravity, and the arm segment length, and when the processor determines the arm segment weight of arm segment three, the weight of arm segment three may be determined using the water cannon as the mass point of arm segment three, so the actual arm segment weight of arm segment three is the weight of arm segment three plus the weight of the water cannon itself. The processor may determine x by the following formula G ＝k 0 '+k A 'cos(A)+k B 'cos(B)+k C The gravity center position of the' cos (C) arm support assembly, wherein xG is the gravity center coordinate of the arm support assembly, and the gravity center position is positioned in a turntable coordinate system, and k 0 ' is the gravity constant, k of the turntable A ’、k B ’、k C The gravity center constants of the arm joint one 4, the arm joint two 7 and the arm joint three 10 are respectively shown as's'.
Under the condition that the processor determines that the virtual dynamic gravity center position of the arm support assembly is not in the gravity center safety range of the arm support assembly under the influence of the water cannon counterforce, the included angle between the adjacent arm joints can be determined according to the arm joint inclination angle of each arm joint, as shown in fig. 4, the included angle between the arm joint I4 and the rotary table 1 is delta A, the included angle between the arm joint II 7 and the arm joint I4 is delta B, and the included angle between the arm joint III 10 and the arm joint II 7 is delta C. The included angle is adjusted, so that the virtual dynamic gravity center position of the arm support assembly is located in the gravity center safety range, and therefore when the water cannon works, the gravity center position of the arm support assembly is also located in the gravity center safety range under the counter force of the water cannon, and the condition that an engineering vehicle is tipped over or structural members of the engineering vehicle are broken is avoided.
According to the technical scheme, the gravity center constant of each arm section and the gravity center constant of the turntable are obtained to determine the gravity center position of the arm support assembly under the condition of no load, and the processor can quickly determine the tipping moment generated by the counter force of the water cannon on to the turntable by establishing the arm section coordinate system of each arm section and the turntable coordinate system of the turntable, and determine the offset generated by the counter force to the gravity center position of the arm support assembly according to the tipping moment, so that the virtual dynamic gravity center position of the arm support assembly is determined under the counter force action of the water cannon. And judging the virtual dynamic gravity center position, and ensuring that the gravity center position of the arm support assembly under the water cannon work is always in a gravity center safety range by adjusting the included angle between the arm joints. Therefore, the condition that the engineering vehicle is overturned or the structural member is broken is avoided, and the safety of the engineering vehicle is ensured.
In one embodiment, a controller is provided that is configured to perform the control method for a boom of any of the above.
In one embodiment, there is provided a boom assembly comprising: a plurality of arm segments; the water cannon is connected with the endmost arm section of the arm sections in the arm support assembly; and a controller.
In one embodiment, the plurality of arm segments comprises: the first arm section is the arm section nearest to the turntable; the second arm section is the arm section farthest from the turntable; a plurality of third arm sections, the third arm sections being arm sections connecting between the first arm section and the second arm section; the boom assembly further comprises: the turntable is used for being connected with the arm section so as to control the arm section to rotate; the first inclination angle sensors are correspondingly arranged at the middle points of the hinge points of the arm oil-saving cylinders on the first arm section and each third arm section; and the second inclination angle sensor is arranged at the middle point of the arm joint of the second arm joint.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a processor a01, a network interface a02, a memory (not shown) and a database (not shown) connected by a system bus. Wherein the processor a01 of the computer device is adapted to provide computing and control capabilities. The memory of the computer device includes internal memory a03 and nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used for storing relevant data of the engineering machinery and relevant data input by an operator. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program B02, when executed by the processor a01, implements a control method for the boom.
Fig. 1 is a flow chart of a control method for a boom in an embodiment. It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the following steps: acquiring an arm joint inclination angle of each arm joint; determining the gravity center position of the arm support assembly according to the arm section inclination angle of each arm section; acquiring the counterforce of the water cannon; determining a virtual dynamic gravity center position corresponding to the gravity center position after the gravity center position is shifted under the counter force; under the condition that the virtual dynamic gravity center position is not in the gravity center safety range of the arm support assembly, determining an included angle between adjacent arm sections according to the inclination angle of the arm sections; and adjusting the included angle to enable the virtual dynamic gravity center position to be in the gravity center safety range.
In one embodiment, the boom assembly further comprises a turntable, and determining the position of the center of gravity of the boom assembly from the boom inclination angle of each boom section comprises: acquiring the arm section weight, the arm section gravity center, the arm section length, the turntable weight of the turntable, the turntable gravity center and the turntable length of each arm section; determining a gravity center constant of each arm section according to the arm section weight, the arm section gravity center and the arm section length of each arm section, and determining a gravity center constant of the turntable according to the turntable weight, the turntable gravity center and the turntable length; and determining the gravity center position of the arm support assembly according to the gravity center constant of each arm section, the gravity center constant of the turntable and the arm section inclination angle of each arm section.
In one embodiment, the boom assembly includes a turntable, an inclination sensor corresponding to each arm section, the plurality of arm sections including a first arm section, a second arm section, and a plurality of third arm sections; the first arm section refers to the arm section closest to the turntable, the second arm section refers to the arm section farthest from the turntable, the third arm section refers to the arm section connecting the first arm section and the second arm section, the inclination angle sensor corresponding to the second arm section is arranged at the arm section midpoint of the second arm section, the other inclination angle sensors are arranged at the midpoint of the arm fuel-saving cylinder hinging point on the first arm section and each third arm section, and the acquisition of the arm section inclination angle of each arm section comprises: the arm section inclination angle of each arm section is obtained through an inclination angle sensor corresponding to each arm section.
In one embodiment, the arm support assembly further comprises a pin shaft, wherein any two adjacent arm sections and the first arm section and the turntable are hinged through the pin shaft, and the water cannon is hinged with the second arm section; the determining of the virtual dynamic gravity center position corresponding to the offset of the gravity center position under the counter force comprises the following steps: determining a first coordinate of a first hinge point in a turntable coordinate system, wherein the first hinge point is a hinge point of a first arm joint and a turntable, an origin of the turntable coordinate system is an intersection point of a rotation central axis of the turntable and the lower surface of the turntable, an x-axis direction of the turntable coordinate system is an extension direction of projection of the arm support on a horizontal plane, a y-axis direction is a direction vertical to a horizontal direction and vertical to the horizontal direction, and a z-axis of the turntable coordinate system is vertical to both the x-axis and the y-axis; determining a second coordinate of a hinge point far from the turntable on a coordinate system corresponding to a hinge point close to the turntable aiming at two adjacent hinge points on any arm section; acquiring an included angle of a straight line of the water cannon relative to the second arm section, wherein the included angle is 0 degrees when the straight line of the water cannon and the second arm section coincide, the included angle formed by the water cannon and the second arm section in a clockwise rotation direction is a negative angle, and the included angle formed by the water cannon and the second arm section in a anticlockwise rotation direction is a positive angle; determining the tilting moment generated by the counter force relative to the turntable according to the included angle, the first coordinate, the second coordinate and the arm joint inclination angle of each arm joint; determining the offset of the counter force relative to the gravity center position according to the tipping moment; and determining the virtual dynamic gravity center position of the arm support assembly according to the offset and the gravity center position.
In one embodiment, each arm segment includes two hinge points, any one of the third arm segments includes a second hinge point close to the turntable and a third hinge point far from the turntable, and determining, for any two adjacent hinge points on the arm segment, a second coordinate of the hinge point far from the turntable on a coordinate system corresponding to the hinge point close to the turntable includes: determining a first sub-coordinate of a second hinge point of a third arm section adjacent to the first arm section in a first coordinate system, wherein an origin of the first coordinate system is the first hinge point, the x-axis direction is the extending direction of the first arm section, the z-axis direction is the direction of a pin shaft at the first hinge point, and the y-axis is perpendicular to the x-axis and the z-axis; determining a second sub-coordinate of a third hinge point of the third arm section in a second coordinate system aiming at each third arm section, wherein the origin of the second coordinate system is the second hinge point of the third arm section, the x-axis direction is the extending direction of the third arm section, the z-axis direction is the direction of a pin shaft at the second hinge point, and the y-axis is perpendicular to the x-axis and the z-axis; determining a third sub-coordinate of a fourth hinge point in a third coordinate system, wherein the fourth hinge point is a hinge point between the second arm section and the water cannon, the origin of the third coordinate system is a hinge point far away from the water cannon in the hinge points included in the second arm section, the x-axis direction is the extending direction of the second arm section, the z-axis direction is the direction of a pin shaft at the third hinge point of the third arm section adjacent to the second arm section, and the y-axis is perpendicular to the x-axis and the z-axis.
In one embodiment, adjusting the included angle such that the virtual dynamic center of gravity position is within the center of gravity threshold position comprises: after determining the included angle of each arm section according to the arm section inclination angle, determining the partial derivative of the included angle of each arm section; under the condition that the partial derivative of the included angle is larger than zero, the included angle corresponding to the partial derivative is controlled to be reduced, so that the virtual dynamic gravity center position is in the gravity center critical range; and under the condition that the partial derivative of the included angle is smaller than zero, controlling the included angle corresponding to the partial derivative to be increased so as to enable the virtual dynamic gravity center position to be in the gravity center critical range.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. 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 storage media for a computer 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, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
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 one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims (10)

1. The control method for the arm support is characterized by being applied to an arm support assembly, wherein the arm support assembly comprises a plurality of arm sections and a water cannon, and the control method comprises the following steps:
acquiring an arm joint inclination angle of each arm joint;
determining the gravity center position of the arm support assembly according to the arm joint inclination angle of each arm joint;
acquiring the counterforce of the water cannon;
determining a virtual dynamic gravity center position corresponding to the gravity center position after the gravity center position is deviated under the counter force;
under the condition that the virtual dynamic gravity center position is not in the gravity center safety range of the arm support assembly, determining an included angle between adjacent arm sections according to the arm section inclination angle;
and adjusting the included angle to enable the virtual dynamic gravity center position to be in the gravity center safety range.
2. The control method for a boom according to claim 1, wherein the boom assembly further comprises a turntable, and the determining the center of gravity position of the boom assembly according to the boom inclination angle of each boom section comprises:
Acquiring the arm section weight, the arm section gravity center, the arm section length, the turntable weight of the turntable, the turntable gravity center and the turntable length of each arm section;
determining a gravity center constant of each arm section according to the arm section weight, the arm section gravity center and the arm section length of each arm section, and determining the gravity center constant of the turntable according to the turntable weight, the turntable gravity center and the turntable length;
and determining the gravity center position of the arm support assembly according to the gravity center constant of each arm section, the gravity center constant of the turntable and the arm section inclination angle of each arm section.
3. The control method for a boom according to claim 1, wherein the boom assembly includes a turntable, an inclination sensor corresponding to each arm section, the plurality of arm sections including a first arm section, a second arm section, and a plurality of third arm sections; the first arm section refers to the arm section closest to the turntable, the second arm section refers to the arm section farthest from the turntable, the third arm section refers to the arm section connecting the first arm section and the second arm section, the inclination sensor corresponding to the second arm section is mounted at the arm section midpoint of the second arm section, the other inclination sensors are mounted at the midpoints of the arm fuel-saving cylinder hinging points on the first arm section and each third arm section, and the obtaining the arm section inclination of each arm section comprises:
The arm section inclination angle of each arm section is obtained through an inclination angle sensor corresponding to each arm section.
4. The control method for a boom according to claim 3, wherein the boom assembly further comprises a pin, the two adjacent boom sections and the first boom section are hinged to the turntable by the pin, and the water cannon is hinged to the second boom section;
the determining the virtual dynamic gravity center position corresponding to the gravity center position after the gravity center position is deviated under the counter force comprises the following steps:
determining a first coordinate of a first hinge point in a turntable coordinate system, wherein the first hinge point is a hinge point of the first arm joint and the turntable, an origin of the turntable coordinate system is an intersection point of a rotation central axis of the turntable and the lower surface of the turntable, an x-axis direction of the turntable coordinate system is an extension direction of projection of the arm support on a horizontal plane, a y-axis direction is a direction vertical to a horizontal direction and vertical to the horizontal direction, and a z-axis of the turntable coordinate system is vertical to both the x-axis and the y-axis;
determining a second coordinate of a hinge point far from the turntable on a coordinate system corresponding to a hinge point close to the turntable aiming at two adjacent hinge points on any arm section;
Acquiring an included angle of the water cannon relative to a straight line where the second arm section is located, wherein the included angle is 0 degrees when the water cannon is overlapped with the straight line where the second arm section is located, the included angle formed by the water cannon and the second arm section in a clockwise rotation direction is a negative angle by taking a hinging point of the water cannon and the second arm section as a circle center, and the included angle formed by the water cannon and the second arm section in a anticlockwise rotation direction is a positive angle;
determining the counter force relative to the tilting moment generated by the turntable according to the included angle, the first coordinate, the second coordinate and the arm joint inclination angle of each arm joint;
determining an offset of the reaction force relative to a center of gravity position according to the tipping moment;
and determining the virtual dynamic gravity center position of the arm support assembly according to the offset and the gravity center position.
5. The control method for an arm rest according to claim 4, wherein each arm section comprises two hinge points, any one third arm section comprises a second hinge point close to the turntable and a third hinge point far from the turntable, and determining, for any two adjacent hinge points on the arm section, a second coordinate of the hinge point far from the turntable on a coordinate system corresponding to the hinge point close to the turntable comprises:
Determining a first sub-coordinate of a second hinge point of a third arm section adjacent to the first arm section in a first coordinate system, wherein an origin of the first coordinate system is the first hinge point, the x-axis direction is the extending direction of the first arm section, the z-axis direction is the direction of a pin shaft at the first hinge point, and the y-axis is perpendicular to the x-axis and the z-axis;
determining a second sub-coordinate of a third hinge point of each third arm section in a second coordinate system, wherein an origin of the second coordinate system is the second hinge point of the third arm section, an x-axis direction is the extending direction of the third arm section, a z-axis direction is the direction of a pin shaft at the second hinge point, and a y-axis is perpendicular to the x-axis and the z-axis;
determining the third sub-coordinate of a fourth hinge point in a third coordinate system, wherein the fourth hinge point is a hinge point between the second arm section and the water cannon, the origin of the third coordinate system is a hinge point far away from the water cannon in the hinge points included in the second arm section, the x-axis direction is the extending direction of the second arm section, the z-axis direction is the direction of a pin shaft at the third hinge point of the third arm section adjacent to the second arm section, and the y-axis is perpendicular to the x-axis and the z-axis.
6. The control method for an arm rest according to claim 1, wherein said adjusting the included angle so that the virtual dynamic center of gravity position is within the center of gravity critical position comprises:
after determining the included angle of each arm segment according to the arm segment inclination angle, determining the partial derivative of the included angle of each arm segment;
under the condition that the partial derivative of the included angle is larger than zero, controlling the included angle corresponding to the partial derivative to be reduced so as to enable the virtual dynamic gravity center position to be in the gravity center critical range;
and under the condition that the partial derivative of the included angle is smaller than zero, controlling the included angle corresponding to the partial derivative to be increased so as to enable the virtual dynamic gravity center position to be in the gravity center critical range.
7. A controller configured to perform the control method for an arm rest according to any one of claims 1 to 6.
8. A boom assembly, the boom assembly comprising:
a plurality of arm segments;
the water cannon is connected with the endmost arm section of the arm sections in the arm support assembly; and
the controller of claim 7.
9. The boom assembly of claim 8, wherein the plurality of boom segments comprises:
The first arm section is the arm section closest to the turntable;
the second arm section is the arm section farthest from the turntable;
a plurality of third arm segments, the third arm segments being arm segments connecting between the first arm segment and the second arm segment;
the boom assembly further comprises:
the turntable is used for being connected with the arm section so as to control the arm section to rotate;
the first inclination angle sensors are correspondingly arranged at the middle points of the arm oil-saving cylinder hinging points on the first arm section and each third arm section;
and the second inclination angle sensor is arranged at the middle point of the arm joint of the second arm joint.
10. A machine-readable storage medium having instructions stored thereon, which when executed by a processor cause the processor to be configured to perform the control method for an arm segment according to any of claims 1 to 6.
CN202211623795.2A 2022-12-16 2022-12-16 Control method for arm support, processor, arm support assembly and storage medium Pending CN116036531A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211623795.2A CN116036531A (en) 2022-12-16 2022-12-16 Control method for arm support, processor, arm support assembly and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211623795.2A CN116036531A (en) 2022-12-16 2022-12-16 Control method for arm support, processor, arm support assembly and storage medium

Publications (1)

Publication Number Publication Date
CN116036531A true CN116036531A (en) 2023-05-02

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211623795.2A Pending CN116036531A (en) 2022-12-16 2022-12-16 Control method for arm support, processor, arm support assembly and storage medium

Country Status (1)

Country Link
CN (1) CN116036531A (en)

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