CN118143935A - Method, processor, device and engineering machinery for arm support control - Google Patents
Method, processor, device and engineering machinery for arm support control Download PDFInfo
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Abstract
The application discloses a method, a processor, a device and engineering machinery for arm support control, and belongs to the technical field of engineering machinery. The method comprises the following steps: under the condition that a target motion instruction is received, acquiring the current positions of a plurality of joints, and respectively corresponding target constraint conditions and a plurality of target joints in the plurality of joints by the target motion instruction; determining a target motion sequence of the plurality of target joints according to the current positions of the plurality of joints, the target motion instruction and the target constraint condition; and controlling the plurality of target joints according to the target movement sequence of the plurality of target joints. The application can control the movement tail end of the arm support to move to the target position, and the movement path of the arm support tail end is controllable, thereby reducing the safety risk in the arm support movement.
Description
Technical Field
The application relates to the technical field of engineering machinery, in particular to a method, a processor, a device and engineering machinery for arm support control.
Background
The existing arm support movement control method is that the arm support joint target position is obtained through an arm support reverse movement model according to the arm support end position target requirement, and then all arm supports are controlled to move simultaneously so as to ensure the end track requirement. However, the method ignores the requirement of the tail end track, and moves each arm support from the current position to the target position by a single action, so that the tail end movement path is uncontrollable, and safety risks such as collision risks exist.
Disclosure of Invention
The embodiment of the application aims to provide a method, a processor, a device and engineering machinery for arm support control, which are used for solving the safety problem caused by uncontrollable arm support tail end movement paths in the prior art.
In order to achieve the above object, a first aspect of the present application provides a method for boom control, the boom including a plurality of joints, the method comprising:
Under the condition that a target motion instruction is received, acquiring the current positions of a plurality of joints, and respectively corresponding target constraint conditions and a plurality of target joints in the plurality of joints by the target motion instruction;
Determining a target motion sequence of the plurality of target joints according to the current positions of the plurality of joints, the target motion instruction and the target constraint condition;
and controlling the plurality of target joints according to the target movement sequence of the plurality of target joints.
In an embodiment of the present application, determining a target motion sequence of a plurality of target joints according to current positions of the plurality of joints, a target motion instruction, and a target constraint condition includes: acquiring a plurality of joint movement sequences corresponding to a plurality of target joints; determining target positions of a plurality of target joints according to the current positions of the plurality of joints and the target motion instruction; and determining a target movement sequence in the plurality of joint movement sequences according to the current positions of the plurality of target joints, the target positions of the plurality of target joints and the target constraint conditions.
In an embodiment of the present application, determining target positions of a plurality of target joints according to current positions of the plurality of joints and target motion instructions includes: determining the current position of the tail end of the arm support through a preset forward kinematics model of the arm support according to the current positions of the joints; determining the tail end target position of the arm support according to the tail end current position and the target motion instruction; and determining target positions of a plurality of target joints through a preset arm support inverse kinematics model according to the target positions of the tail ends.
In an embodiment of the present application, determining a target motion sequence of a plurality of joint motion sequences according to current positions of a plurality of target joints, target positions of a plurality of target joints, and target constraints includes: determining a motion path of the tail end of the arm support under each joint motion sequence through a preset arm support forward motion model according to the current positions of the plurality of target joints and the target positions of the plurality of target joints; determining an optimal motion path in the motion paths according to the target constraint condition; and determining the joint movement sequence corresponding to the optimal movement path as a target movement sequence.
In the embodiment of the application, the preset cantilever crane forward kinematics model is determined according to the structural form of the cantilever crane and a preset algorithm.
In the embodiment of the application, a stay wire sensor or an inclination angle sensor is arranged at a plurality of joints of the arm support, and the obtaining of the current positions of the joints comprises the following steps: receiving arm section telescopic distance data of the arm support sent by a stay wire sensor; receiving inclination angle data of the arm support relative to the horizontal plane, which is sent by a stay wire sensor; and determining the current positions of the joints according to the telescopic distance data and the inclination angle data of the arm sections of the arm support.
A second aspect of the application provides a processor configured to perform a method for boom control according to the above.
A third aspect of the present application provides an apparatus for boom control, comprising: the acquisition module is used for acquiring the current positions of the joints, the target constraint conditions corresponding to the target motion instruction and the target joints in the joints under the condition that the target motion instruction is received; the determining module is used for determining the target movement sequence of the plurality of target joints according to the current positions of the plurality of joints, the target movement instructions and the target constraint conditions; and the control module is used for controlling the plurality of target joints according to the target movement sequence of the plurality of target joints.
A fourth aspect of the present application provides a construction machine, comprising: the arm support comprises a plurality of joints; and a device for boom control according to the processor described above or according to the above.
A fifth aspect of the application provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform a method for boom control according to the above.
According to the technical scheme, under the condition that the target motion instruction is received, the current positions of the plurality of joints are obtained, the target constraint condition corresponding to the target motion instruction respectively and the plurality of target joints in the plurality of joints are obtained, then the target motion sequence of the plurality of target joints is determined according to the current positions of the plurality of joints, the target motion instruction and the target constraint condition, and finally the plurality of target joints are controlled according to the target motion sequence of the plurality of target joints. The application can control the movement tail end of the arm support to move to the target position, and the movement path of the arm support tail end is controllable, thereby reducing the safety risk in the arm support movement.
Additional features and advantages of embodiments of the application will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain, without limitation, the embodiments of the application. In the drawings:
Fig. 1 schematically shows a flow chart of a method for boom control according to an embodiment of the application;
Fig. 2 schematically shows a block diagram of a boom of a curtain wall mounting robot according to an embodiment of the present application;
fig. 3 schematically shows a block diagram of an apparatus for boom control according to an embodiment of the application.
Description of the reference numerals
1. Main arm amplitude-changing joint of turntable joint 2
3. Main arm telescopic joint 4 up-down pitching joint
5. Front-back turning joint of left-right side-shifting joint 6
7. Rotary joint 310 acquisition module
320. Determination Module 330 control Module
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the detailed description described herein is merely for illustrating and explaining the embodiments of the present application, and is not intended to limit the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present application, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. 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 considered to be absent and not within the scope of protection claimed in the present application.
Fig. 1 schematically shows a flow chart of a method for boom control according to an embodiment of the application. As shown in fig. 1, an embodiment of the present application provides a method for controlling an arm support, where the arm support includes a plurality of joints, and the method is applied to a processor as an example, and the method may include the following steps:
Step S101: under the condition that the target motion instruction is received, the current positions of a plurality of joints are obtained, and the target constraint condition and a plurality of target joints in the plurality of joints respectively corresponding to the target motion instruction.
Step S102: and determining the target movement sequence of the plurality of target joints according to the current positions of the plurality of joints, the target movement instructions and the target constraint conditions.
Step S103: and controlling the plurality of target joints according to the target movement sequence of the plurality of target joints.
It can be understood that the boom movement control method in the prior art is to obtain the boom joint target position through the boom inverse movement model according to the boom end position target requirement, and then control each boom to move simultaneously so as to ensure the end track requirement, but the method cannot be applied to equipment with hardware condition limitation that each boom cannot move simultaneously, such as curtain wall installation robot equipment, and ignores the end track requirement, and moves each boom singly from the current position to the target position, so that the end movement path is uncontrollable, and safety risks such as collision risks exist. Based on the above, the embodiment of the application provides a method for controlling the arm support, which can optimally select the arm support joint movement sequence logic under the constraint condition according to equipment such as a curtain wall installation robot, wherein the equipment has the constraint condition that each arm support cannot move simultaneously, so that the optimal joint movement sequence logic is obtained, the arm support end movement path can be controlled on the basis of completing the arm support end target position movement, and the arm support movement safety risk is reduced.
Fig. 2 schematically shows a block diagram of a boom of a curtain wall mounting robot according to an embodiment of the present application. As shown in fig. 2, the boom according to the embodiment of the present application may include a turntable joint 1, a main boom luffing joint 2, a main boom extension joint 3, an up-down pitch joint 4, a left-right side shift joint 5, a front-rear roll joint 6, and a rotation joint 7. In the embodiment of the application, when the processor receives the target motion instruction, the current position of each joint of the arm support is firstly obtained, then the target constraint condition corresponding to the target motion instruction is obtained according to the received target motion instruction, and a plurality of target joints required for completing the target motion instruction are obtained. In one example, an operator may input a motion command through a user input interface, and the target motion command received by the processor is: and the arm support joints required for finishing the position movement of the arm support tail end are a main arm luffing joint 2, a main arm telescopic joint 3 and an up-down pitching joint 4 when the arm support tail end moves vertically upwards by 50 cm. After determining the arm support joints, i.e. the target joints in the joints, required for completing the arm support end position movement, the processor acquires the arrangement combination of the target joint movement sequence logics. Meanwhile, according to the obtained current positions of the joints, determining the current position of the tail end of the arm support, then determining the target position of the tail end of the arm support by combining a target motion instruction, and then solving through a preset arm support inverse kinematics model to determine the target positions of the joints. According to the current positions and the target positions of the plurality of target joints, the arm support tail end motion path under the arrangement combination of each target joint motion sequence logic can be calculated, an optimal arm support tail end path can be obtained by combining target constraint conditions, and the arrangement combination of the plurality of target joint motion sequence logics corresponding to the optimal arm support tail end path is the optimal motion sequence, namely the target motion sequence. The driving unit of the curtain wall installation robot controls a plurality of target joints according to the target movement sequence so as to enable the arm support joint to move from the current position of the arm support joint to the target position of the arm support joint. In the control process, the display unit of the curtain wall installation robot can display the current position and the target position of the arm support and the optimal joint movement sequence in real time, and provide feedback through sound/light signals when errors occur or tasks are completed. It should be noted that the constraint condition is a boom end motion constraint condition, and the boom end motion constraint condition includes, but is not limited to, no X-axis positive or negative direction bias, no Y-axis positive or negative direction bias, and no Z-axis positive or negative direction bias being minimal, and the processor obtains different boom end motion constraint conditions according to the input motion instruction. For example, when the input motion command is a vertical upward motion, the constraint condition is that no X-axis positive direction bias is generated, and the X-axis direction, Y-axis direction, and Z-axis direction are determined when the positive kinematics is established.
According to the technical scheme, under the condition that the target motion instruction is received, the current positions of the plurality of joints are obtained, the target constraint condition corresponding to the target motion instruction respectively and the plurality of target joints in the plurality of joints are obtained, then the target motion sequence of the plurality of target joints is determined according to the current positions of the plurality of joints, the target motion instruction and the target constraint condition, and finally the plurality of target joints are controlled according to the target motion sequence of the plurality of target joints. The application can control the movement tail end of the arm support to move to the target position, and the movement path of the arm support tail end is controllable, thereby reducing the safety risk in the arm support movement.
In an embodiment of the present application, determining a target motion sequence of a plurality of target joints according to current positions of the plurality of joints, a target motion instruction, and a target constraint condition includes: acquiring a plurality of joint movement sequences corresponding to a plurality of target joints; determining target positions of a plurality of target joints according to the current positions of the plurality of joints and the target motion instruction; and determining a target movement sequence in the plurality of joint movement sequences according to the current positions of the plurality of target joints, the target positions of the plurality of target joints and the target constraint conditions.
Specifically, after determining the boom joint required for completing the boom end position movement, that is, a plurality of target joints in the plurality of joints, the processor first obtains a permutation and combination of the movement sequence logics of the plurality of target joints. In one example, the target motion instruction received by the processor is: the tail end of the arm support moves vertically upwards by 50 cm, and the arm support joints required for finishing the position movement of the tail end of the arm support are a main arm luffing joint 2, a main arm telescopic joint 3 and an up-down pitching joint 4, so that six arm support joint movement sequences are logically arranged and combined. After acquiring a plurality of joint movement sequences corresponding to a plurality of target joints, the processor determines the target position of each target joint according to the current position of each joint of the arm support and the target movement instruction, and then determines the target movement sequence in the plurality of joint movement sequences according to the current positions of the plurality of target joints, the target positions of the plurality of target joints and the target constraint conditions, wherein the target movement sequence is the optimal target joint movement sequence.
In an embodiment of the present application, determining target positions of a plurality of target joints according to current positions of the plurality of joints and target motion instructions includes: determining the current position of the tail end of the arm support through a preset forward kinematics model of the arm support according to the current positions of the joints; determining the tail end target position of the arm support according to the tail end current position and the target motion instruction; and determining target positions of a plurality of target joints through a preset arm support inverse kinematics model according to the target positions of the tail ends.
In the embodiment of the application, the preset cantilever crane forward kinematics model is determined according to the structural form of the cantilever crane and a preset algorithm.
Specifically, the target position of the target joint is the position to which the target joint needs to move according to the target instruction, the processor can determine the current position of the tail end of the arm support through a preset arm support forward kinematics model according to the current positions of the joints, and then the target position of the tail end of the arm support is determined by combining the target movement instruction, for example, the tail end of the arm support is vertically moved upwards by 50 cm. After determining the target positions of the tail ends, the target positions of the target joints can be determined through a preset arm support inverse kinematics model. The preset cantilever crane forward kinematics model can be determined according to the structural form of the cantilever crane and a preset algorithm, and the preset algorithm can be a DH method, a rotation method and the like. The preset arm support inverse kinematics model solution can be a geometric method, a numerical iteration method and the like.
In an embodiment of the present application, determining a target motion sequence of a plurality of joint motion sequences according to current positions of a plurality of target joints, target positions of a plurality of target joints, and target constraints includes: determining the motion path of the tail end of the arm support under each joint motion sequence through a preset arm support forward motion model according to the current positions of the plurality of target joints and the target positions of the plurality of target joints; determining an optimal motion path in the motion paths according to the target constraint condition; and determining the joint movement sequence corresponding to the optimal movement path as a target movement sequence.
Specifically, according to the current positions of the plurality of target joints and the target positions of the plurality of target joints, the motion path of the tail end of the arm support under each joint motion sequence can be determined through a preset forward motion model of the arm support, and the optimal motion path in the motion path of the tail end of the arm support can be determined by combining constraint conditions, wherein the joint motion sequence corresponding to the optimal motion path is the target motion sequence. For example, the main arm luffing joint 2 moves, the up-down pitch joint 4 moves, and the main arm telescopic joint 3 moves. The processor can also generate a boom joint movement sequence logic instruction according to the optimal joint movement sequence logic so as to control the boom joint to move from the current position of the boom joint to the target position of the boom joint.
In the embodiment of the application, a stay wire sensor or an inclination angle sensor is arranged at a plurality of joints of the arm support, and the obtaining of the current positions of the joints comprises the following steps: receiving arm section telescopic distance data of the arm support sent by a stay wire sensor; receiving inclination angle data of the arm support relative to the horizontal plane, which is sent by a stay wire sensor; and determining the current positions of the joints according to the telescopic distance data and the inclination angle data of the arm sections of the arm support.
Specifically, the stay wire sensor is built in the main arm telescopic joint 3 and is used for measuring the telescopic distance of the arm section; the inclination angle sensor is arranged on the turntable joint 1, the upper pitching joint 4, the lower pitching joint 4 and the left and right swaying joints 6 and is used for measuring the inclination angle of each part of the arm support relative to the horizontal plane. The current positions of the joints can be determined according to the telescopic distance data and the inclination angle data of the arm segments of the arm support.
The embodiment of the application provides a processor configured to execute the method for boom control according to the above.
Specifically, in an embodiment of the present application, a processor may be configured to: under the condition that a target motion instruction is received, acquiring the current positions of a plurality of joints, and a target constraint condition corresponding to the target motion instruction and a plurality of target joints in the plurality of joints; determining a target motion sequence of the plurality of target joints according to the current positions of the plurality of joints, the target motion instruction and the target constraint condition; and controlling the plurality of target joints according to the target movement sequence of the plurality of target joints.
In an embodiment of the present application, the processor may be further configured to: acquiring a plurality of joint movement sequences corresponding to a plurality of target joints; determining target positions of a plurality of target joints according to the current positions of the plurality of joints and the target motion instruction; and determining a target movement sequence in the plurality of joint movement sequences according to the current positions of the plurality of target joints, the target positions of the plurality of target joints and the target constraint conditions.
In an embodiment of the present application, the processor may be further configured to: determining the current position of the tail end of the arm support through a preset forward kinematics model of the arm support according to the current positions of the joints; determining the tail end target position of the arm support according to the tail end current position and the target motion instruction; and determining target positions of a plurality of target joints through a preset arm support inverse kinematics model according to the target positions of the tail ends.
In an embodiment of the present application, the processor may be further configured to: determining a motion path of the tail end of the arm support under each joint motion sequence through a preset arm support forward motion model according to the current positions of the plurality of target joints and the target positions of the plurality of target joints; determining an optimal motion path in the motion paths according to the target constraint condition; and determining the joint movement sequence corresponding to the optimal movement path as a target movement sequence.
In the embodiment of the application, the preset cantilever crane forward kinematics model is determined according to the structural form of the cantilever crane and a preset algorithm.
In an embodiment of the present application, the processor may be further configured to: receiving arm section telescopic distance data of the arm support sent by a stay wire sensor; receiving inclination angle data of the arm support relative to the horizontal plane, which is sent by a stay wire sensor; and determining the current positions of the joints according to the telescopic distance data and the inclination angle data of the arm sections of the arm support.
According to the technical scheme, under the condition that the target motion instruction is received, the current positions of the plurality of joints are obtained, the target constraint condition corresponding to the target motion instruction respectively and the plurality of target joints in the plurality of joints are obtained, then the target motion sequence of the plurality of target joints is determined according to the current positions of the plurality of joints, the target motion instruction and the target constraint condition, and finally the plurality of target joints are controlled according to the target motion sequence of the plurality of target joints. The application can control the movement tail end of the arm support to move to the target position, and the movement path of the arm support tail end is controllable, thereby reducing the safety risk in the arm support movement.
Fig. 3 schematically shows a block diagram of an apparatus for boom control according to an embodiment of the application. As shown in fig. 3, an embodiment of the present application further provides a device for boom control, which may include:
An obtaining module 310, configured to obtain current positions of a plurality of joints, and a target constraint condition and a plurality of target joints in the plurality of joints, where the target constraint condition and the plurality of target joints correspond to the target motion instruction respectively, when the target motion instruction is received;
a determining module 320, configured to determine a target motion sequence of the plurality of target joints according to the current positions of the plurality of joints, the target motion command, and the target constraint condition;
The control module 330 is configured to control the plurality of target joints according to a target motion sequence of the plurality of target joints.
The embodiment of the application also provides engineering machinery, which can comprise: the arm support comprises a plurality of joints; and a device for boom control according to the processor described above or according to the above.
The embodiment of the application also provides a machine-readable storage medium, wherein the machine-readable storage medium is stored with instructions for causing a machine to execute the method for boom control.
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 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 variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (10)
1. A method for boom control, wherein the boom includes a plurality of joints, the method comprising:
Under the condition that a target motion instruction is received, acquiring the current positions of the joints, and respectively corresponding target constraint conditions and a plurality of target joints in the joints;
determining a target motion sequence of the plurality of target joints according to the current positions of the plurality of joints, the target motion instruction and the target constraint condition;
and controlling the plurality of target joints according to the target movement sequence of the plurality of target joints.
2. The method of claim 1, wherein the determining a target sequence of movements of the plurality of target joints based on the current positions of the plurality of joints, the target movement instructions, and the target constraints comprises:
Acquiring a plurality of joint movement sequences corresponding to the target joints;
Determining target positions of the plurality of target joints according to the current positions of the plurality of joints and the target motion instruction;
And determining a target movement sequence in the plurality of joint movement sequences according to the current positions of the plurality of target joints, the target positions of the plurality of target joints and the target constraint conditions.
3. The method of claim 2, wherein the determining the target positions of the plurality of target joints based on the current positions of the plurality of joints and the target motion instructions comprises:
determining the current position of the tail end of the arm support through a preset arm support forward kinematics model according to the current positions of the joints;
Determining the tail end target position of the arm support according to the tail end current position and the target motion instruction;
and determining the target positions of the target joints through a preset arm support inverse kinematics model according to the target positions of the tail ends.
4. The method of claim 2, wherein the determining a target sequence of motion of the plurality of joint sequences based on the current positions of the plurality of target joints, the target positions of the plurality of target joints, and the target constraint condition comprises:
Determining a motion path of the tail end of the arm support under each joint motion sequence through a preset arm support forward motion model according to the current positions of the plurality of target joints and the target positions of the plurality of target joints;
Determining an optimal motion path in the motion paths according to the target constraint condition;
And determining the joint movement sequence corresponding to the optimal movement path as a target movement sequence.
5. The method according to claim 3 or 4, wherein the predetermined boom forward kinematics model is determined according to a structural form of the boom and a predetermined algorithm.
6. The method of claim 1, wherein a guy wire sensor or an inclination sensor is provided at a plurality of joints of the boom, and wherein obtaining the current positions of the plurality of joints comprises:
Receiving the telescopic distance data of the arm segment of the arm support, which is sent by the stay wire sensor;
Receiving inclination angle data of the arm support relative to a horizontal plane, which is sent by the stay wire sensor;
And determining the current positions of the joints according to the telescopic distance data and the inclination angle data of the arm segments of the arm support.
7. A processor configured to perform the method for boom control according to any of claims 1 to 6.
8. A device for boom control, comprising:
The acquisition module is used for acquiring the current positions of the joints under the condition that the target motion instruction is received, and respectively corresponding target constraint conditions and a plurality of target joints in the joints;
The determining module is used for determining a target movement sequence of the plurality of target joints according to the current positions of the plurality of joints, the target movement instruction and the target constraint condition;
and the control module is used for controlling the plurality of target joints according to the target movement sequence of the plurality of target joints.
9. A construction machine, comprising:
The arm support comprises a plurality of joints; and
A processor according to claim 7 or a device for boom control according to claim 8.
10. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the method for boom control according to any of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410210128.4A CN118143935A (en) | 2024-02-26 | 2024-02-26 | Method, processor, device and engineering machinery for arm support control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410210128.4A CN118143935A (en) | 2024-02-26 | 2024-02-26 | Method, processor, device and engineering machinery for arm support control |
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| CN118143935A true CN118143935A (en) | 2024-06-07 |
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