SE2251379A1

SE2251379A1 - Geotechnical engineering machine, and working arm deflection compensation method thereof

Info

Publication number: SE2251379A1
Application number: SE2251379A
Authority: SE
Inventors: Hao Liu; Xiaodong Liu; Zhiqiang Hou; Zhongshang Zhou
Original assignee: Jiangsu Xcmg Construction Machinery Res Institute Ltd
Priority date: 2021-11-30
Filing date: 2022-11-28
Publication date: 2023-05-31
Also published as: CN114135224A; CN114135224B

Abstract

The present disclosure provides a geotechnical engineering machine, and a working arm deflection compensation method thereof. The geotechnical engineering machine includes: a vehicle body; a working arm, having a plurality of degrees of freedom of motion relative to the vehicle body; a working arm position and attitude detection system, configured to acquire working arm real-time position and attitude information for reflecting the real-time position and the real-time attitude of the working arm in an operation space; and a working arm deflection compensation system, including a storage device and a controller, where the storage device stores deflection compensation data obtained by experiments or simulation, the controller is configured to acquire theoretical coordinates of a given point on the working arm in a state of not considering the bending deformation of the working arm according to the working arm real-time position and attitude information, and acquire predetermined coordinates of the given point according to the theoretical coordinates and the deflection compensation data, and predetermined coordinates are used to acquire the predetermined position and the predetermined attitude required to adjust the position and attitude of the working arm, so that the coordinates of the given point in the operation space reach the theoretical coordinates in a state of considering the bending deformation of the working arm.

Description

GEOTECHNICAL ENGINEERING MACHINE, AND WORKING ARM DEFLECTION COMPENSATION METHOD THEREOF Field of the Invention [001] The present disclosure relates to the field of engineering machinery, and in particular to a geotechnical engineering machine, and a working arrn deflection compensation method thereof Background of the Invention id="p-2" id="p-2" id="p-2" id="p-2" id="p-2"

[002] Drill jumbo, as rock drilling equipment for tunnels and underground engineering, is Widely applied to drilling-blasting method construction of railway tunnels and highway tunnels. The mechanical arm of the drill jumbo is a main Working mechanism for realizing drilling operation in the drilling-blasting method construction. The positioning precision of the mechanical arm directly determines the blasting effect and construction efficiency of rock stratum. Due to the manufacturing error, the assembling error and the Wear during use, the mechanical arm has a large deflection after construction for a period of time, Which seriously affect the positioning precision and construction efficiency of the mechanical arm, thereby leading to bad blasting effect of the tunnel section and increasing the construction cost.

Summary of the Invention id="p-3" id="p-3" id="p-3" id="p-3" id="p-3"

[003] An objective of the present disclosure is to provide a geotechnical engineering machine, and a Working arm deﬂection compensation method thereof, thereby improving the construction precision and the operation efficiency of the geotechnical engineering machine. id="p-4" id="p-4" id="p-4" id="p-4" id="p-4"

[004] A first aspect of the present disclosure provides a geotechnical engineering machine, including: id="p-5" id="p-5" id="p-5" id="p-5" id="p-5"

[005] a vehicle body; id="p-6" id="p-6" id="p-6" id="p-6" id="p-6"

[006] a Working arm, connected to the vehicle body and having a plurality of degrees of freedom of motion relative to the vehicle body; id="p-7" id="p-7" id="p-7" id="p-7" id="p-7"

[007] a Working arm position and attitude detection system, arranged on the Working arm and configured to acquire Working arm real-time position and attitude information for reﬂecting the 1 / 3 IEM220083-SE real-time position and the real-time attitude of the Working arrn in an operation space; and id="p-8" id="p-8" id="p-8" id="p-8" id="p-8"

[008] a Working arm deflection compensation system, comprising a storage device and a controller, Wherein the storage device stores deflection compensation data obtained by experiments or simulation, the controller is signally connected to the Working arm position and attitude detection system and the storage device and is configured to acquire theoretical coordinates of a given point on the Working arm in a state of not considering the bending deformation of the Working arm according to the Working arm real-time position and attitude information, and acquire predeterrnined coordinates of the given point according to the theoretical coordinates and the deflection compensation data, and predetermined coordinates are used to acquire the predeterrnined position and the predeterrnined attitude required to adjust the position and attitude of the working arm, so that the coordinates of the given point in the operation space reach the theoretical coordinates in a state of considering the bending deformation of the Working arm. id="p-9" id="p-9" id="p-9" id="p-9" id="p-9"

[009] According to some embodiments of the present disclosure, the working arm includes a first arrn and a propelling beam, a first end of the first Working arm is connected to the vehicle body and has a plurality of degrees of freedom of motion relative to the vehicle body, and the propelling beam is connected to a second end of the first arm and has a plurality of degrees of freedom of motion relative to the first arm ; id="p-10" id="p-10" id="p-10" id="p-10" id="p-10"

[010] the Working arm position and attitude detection system includes a first arm position and attitude detection device and a propelling beam position and attitude detection device; the first arm position and attitude detection device is configured to acquire at least one of the followings to serve as first arm real-time position and attitude information: a first actual value oil of a pitch angle of the first arm relative to the vehicle body, a second actual value 71 of a yaW angle of the first arm relative to the vehicle body and a third actual value vl of the displacement of a first end of the first arm in a length direction relative to a second end in the length direction; and the propelling beam position and attitude detection device is configured to acquire at least one of the followings to serve as propelling beam real-time position and attitude information: a fourth actual value ot2 of a pitch angle of the propelling beam relative to the ﬁrst arm , a fifth actual value [32 of a roll angle of the propelling beam relative to the first arm , a sixth actual value 72 of a yaw angle 2 / 3 IEM220083-SE of the propelling beam relative to the ﬁrst arm and a seventh actual value v2 of the displacement of a ﬁrst end of the propelling beam in a length direction relative to a second end in the length direction. id="p-11" id="p-11" id="p-11" id="p-11" id="p-11"

[011] According to some embodiments of the present disclosure, the ﬁrst arm position and attitude detection device includes a first angle sensor, a second angle sensor and a ﬁrst displacement sensor; the first angle sensor is configured to detect the first actual value ul; the second angle sensor is configured to detect the second actual value yl; and the first displacement sensor is configured to detect the third actual value v1. id="p-12" id="p-12" id="p-12" id="p-12" id="p-12"

[012] According to some embodiments of the present disclosure, the propelling beam position and attitude detection device includes a third angle sensor, a fourth angle sensor, a fifth angle sensor and a second displacement sensor; the third angle sensor is configured to detect the fourth actual value oi2; the fourth angle sensor is configured to detect the fifth actual value ß2; the fifth angle sensor is configured to detect the sixth actual value y2; and the second displacement sensor is configured to detect the seventh actual value v2. id="p-13" id="p-13" id="p-13" id="p-13" id="p-13"

[013] According to some embodiments of the present disclosure, the controller is ﬁirther configured to: acquire a first transformation relation according to the first arm real-time position and attitude information, acquire a second transformation relation according to the propelling beam real-time position and attitude information and acquire the theoretical coordinates according to the first transformation relation and/or the second transformation relation; the first transformation relation represents a coordinate transformation relation of the first arm and the propelling beam relative to the vehicle body; and the second transformation relation represents a coordinate transformation relation of the propelling beam relative to the first arm . id="p-14" id="p-14" id="p-14" id="p-14" id="p-14"

[014] According to some embodiments of the present disclosure, the controller is ﬁirther configured to: acquire first deflection compensation data from the deﬂection compensation data according to the first arm real-time position and attitude information, acquire a first deﬂection compensation function according to the first arm real-time position and attitude information and the first deﬂection compensation data, and acquire the predetermined coordinates according to the theoretical coordinates and the first deflection compensation function, so that the given point reaches the theoretical coordinates in the operation space in a first state of considering the bending 3 / 3 IEM220083-SE deformation of the first ann and not considering the bending deformation of the propelling beam. [015] According to some embodiments of the present disclosure, the controller is further conﬁgured to: acquire second deﬂection compensation data from the deﬂection compensation data according to the propelling beam real-time position and attitude information, acquire a second deﬂection compensation function according to the propelling beam real-time position and attitude information and the second deﬂection compensation data, and acquire the predetermined coordinates according to the theoretical coordinates and the second deﬂection compensation ﬁinction, so that the given point reaches the theoretical coordinates in the operation space in a second state of considering the bending deformation of the propelling beam and not considering the bending deformation of the first arm . id="p-16" id="p-16" id="p-16" id="p-16" id="p-16"

[016] According to some embodiments of the present disclosure, the controller is further configured to: acquire third deﬂection compensation data from the deflection compensation data according to the first arm real-time position and attitude information and the propelling beam real-time position and attitude information, acquire a third deflection compensation function according to the first arm real-time position and attitude information, the propelling beam real-time position and attitude information and the third deﬂection compensation data, and acquire the predetermined coordinates according to the theoretical coordinates and the third deﬂection compensation function, so that the given point reaches the theoretical coordinates in the operation space in a third state of considering both the bending deformation of the first arm and the bending deformation of the propelling beam. id="p-17" id="p-17" id="p-17" id="p-17" id="p-17"

[017] According to some embodiments of the present disclosure, the working arm deflection compensation system ﬁirther includes a display device connected to the controller through a signal; and the display device is configured to display at least one of the following: the theoretical coordinates, a deﬂection compensation value acquired according to the working arm real-time position and attitude information and the deflection compensation data, and the predeterrnined coordinates. id="p-18" id="p-18" id="p-18" id="p-18" id="p-18"

[018] According to some embodiments of the present disclosure, the geotechnical engineering machine includes a drill jumbo, an anchor rod trolley or a wet spraying trolley. id="p-19" id="p-19" id="p-19" id="p-19" id="p-19"

[019] A second aspect of the present disclosure provides a working arm deflection 4 / 3 IEM220083-SE compensation method of a geotechnical engineering machine, including the following steps: id="p-20" id="p-20" id="p-20" id="p-20" id="p-20"

[020] acquiring working arm real-time position and attitude information for reﬁecting the real-time position and the real-time attitude of a Working arm of the geotechnical engineering machine in the operation space of the geotechnical engineering machine; id="p-21" id="p-21" id="p-21" id="p-21" id="p-21"

[021] acquiring theoretical coordinates of a given point on the Working arm in a state of not considering the bending deformation of the Working arm according to the Working arm real-time position and attitude information; and id="p-22" id="p-22" id="p-22" id="p-22" id="p-22"

[022] acquiring predetermined coordinates of the given point according to the theoretical coordinates and the deﬂection compensation data obtained by experiments or simulation, Where predetermined coordinates are used to acquire the predeterrnined position and the predeterrnined attitude required to adjust the position and attitude of the Working arm, so that the coordinates of the given point in the operation space reach the theoretical coordinates in a state of considering the bending deformation of the Working arm. id="p-23" id="p-23" id="p-23" id="p-23" id="p-23"

[023] According to some embodiments of the present disclosure, id="p-24" id="p-24" id="p-24" id="p-24" id="p-24"

[024] the working arm includes a first arm and a propelling beam, a first end of the first arm is connected to the vehicle body and has a plurality of degrees of freedom of motion relative to the vehicle body, the first arm is telescopically arranged along a length direction thereof ; the propelling beam is connected to a second end of the ﬁrst arm and has a plurality of degrees of freedom of motion relative to the first arm , and the propelling beam is telescopically arranged on the propelling beam along a length direction thereof; id="p-25" id="p-25" id="p-25" id="p-25" id="p-25"

[025] the step of acquiring the Working arm real-time position and attitude information includes: acquiring first arm real-time position and attitude information and acquiring propelling beam real-time position and attitude information; the acquiring the first arm real-time position and attitude information comprises: acquiring at least one of the followings: a first actual value oil of a pitch angle of the first arm relative to the vehicle body, a second actual value 71 of a yaw angle of the ﬁrst arm relative to the vehicle body and a third actual value vl of the displacement of the first end of the first arm in a length direction relative to a second end in the length direction; and the acquiring the propelling beam real-time position and attitude information comprises: acquiring at least one of a fourth actual angle ot2 of a pitch angle of the propelling beam relative to the first arm / 3 IEM220083-SE , a fifth actual Value ß2 of a roll angle of the propelling beam relative to the ﬁrst ann , a sixth actual value 72 of a yaw angle of the propelling beam relative to the first arm and a Seventh actual value V2 of the displacement of a first end of the propelling beam in a length direction relative to a second end in the length direction. id="p-26" id="p-26" id="p-26" id="p-26" id="p-26"

[026] According to some embodiments of the present disclosure, the step of acquiring the theoretical coordinates according to the working arm real-time position and attitude information includes the following steps: id="p-27" id="p-27" id="p-27" id="p-27" id="p-27"

[027] acquiring a first transformation relation according to the first arrn real-time position and attitude information, and acquiring a second transformation relation according to the propelling beam real-time position and attitude information, where the first transformation relation represents a coordinate transformation relation of the first arm and the propelling beam relative to the vehicle body, and the second transformation relation represents a coordinate transformation relation of the propelling beam relative to the first arm ; and id="p-28" id="p-28" id="p-28" id="p-28" id="p-28"

[028] acquiring the theoretical coordinates according to the first transformation relation and/or the second transformation relation. id="p-29" id="p-29" id="p-29" id="p-29" id="p-29"

[029] According to some embodiments of the present disclosure, id="p-30" id="p-30" id="p-30" id="p-30" id="p-30"

[030] the first transformation relation meets the following relation: cifï. wsyí cyï cotï Û saft vi === caï [031] Û 0 1 -ﬂsozí 0 m1 -v1 === ssxï , [032] where Tboom represents the first transformation relation, c represents taking cosine, and s represents taking sine; and [03 3] the second transformation relation meets the following relation: 1 0 0 0 :BZ 0 s|32 C02 cyZ 0 sy2 v2 »I- (NZ T 3 0 cctå "m2 m2 O 1 0 0 G l 0 0 feed 0 :m2 m2 m2 «-sß2 0 :E12 "SEZ ~sy2 O CVZ =~v2 r SYZ [034] .0 0 0 1 . _ 0 0 0 1 _ 0 0 0 1 id="p-35" id="p-35" id="p-35" id="p-35" id="p-35"

[035] where Tfeed represents the second transformation relation, c represents taking cosine, and s represents taking sine. [03 6] According to some embodiments of the present disclosure, the step of acquiring the 6 / 3 IEM220083-SE predeterrnined coordinates according to the theoretical coordinates and deﬂection compensation data includes the following steps: [03 7] acquiring first deﬂection compensation data from the deﬂection compensation data according to the first arm real-time position and attitude information; [03 8] acquiring a first deﬂection compensation function according to the first arm real-time position and attitude information and the first deﬂection compensation data; and id="p-39" id="p-39" id="p-39" id="p-39" id="p-39"

[039] acquiring the predetermined coordinates according to the theoretical coordinates and the first deﬂection compensation function, so that the given point reaches the theoretical coordinates in the operation space in a first state of considering the bending deformation of the first arm and not considering the bending deformation of the propelling beam. id="p-40" id="p-40" id="p-40" id="p-40" id="p-40"

[040] According to some embodiments of the present disclosure, the first deﬂection compensation function meets the following relation: Kl KE KS till Dbggmﬁigy, z) = X4 KS Kö V1 [041] K? Kß EQ? vi [042] where Db00m(x,y,z) represents the first deﬂection compensation function, and Kl-K9 represent first deﬂection compensation data. [043] According to some embodiments of the present disclosure, the step of acquiring the predeterrnined coordinates according to the theoretical coordinates and deﬂection compensation data includes the following steps: [044] acquiring second deﬂection compensation data from the deﬂection compensation data according to the propelling beam real-time position and attitude information; [045] acquiring a second deﬂection compensation function according to the propelling beam real-time position and attitude information and the second deﬂection compensation data; and [046] acquiring the predetermined coordinates according to the theoretical coordinates and the second deﬂection compensation function, so that the given point reaches the theoretical coordinates in the operation space in a second state of considering the bending deformation of the propelling beam and not considering the bending deformation of the first arm . [047] According to some embodiments of the present disclosure, the second deﬂection 7 / 3 IEM220083-SE compensation function meets the following relation: 'KID Kll E12 E13 Dfeeá (x, y, 2) ä E14 Klä Klﬁ Kl? KIS Klä KZE) H21 id="p-48" id="p-48" id="p-48" id="p-48" id="p-48"

[048] , id="p-49" id="p-49" id="p-49" id="p-49" id="p-49"

[049] where Dfeed(x,y,z) represents the second deﬂection compensation function, and K10- K21 represent the second deﬂection compensation data. id="p-50" id="p-50" id="p-50" id="p-50" id="p-50"

[050] According to some embodiments of the present disclosure, the step of acquiring the predeterrnined coordinates according to the theoretical coordinates and deﬂection compensation data includes the following steps: id="p-51" id="p-51" id="p-51" id="p-51" id="p-51"

[051] acquiring third deﬂection compensation data from the deﬂection compensation data according to the first arm real-time position and attitude information and the propelling beam real-time position and attitude information; id="p-52" id="p-52" id="p-52" id="p-52" id="p-52"

[052] acquiring a third deﬂection compensation function according to the first arm real-time position and attitude information, the propelling beam real-time position and attitude information and the third deﬂection compensation data; and id="p-53" id="p-53" id="p-53" id="p-53" id="p-53"

[053] acquiring the predetermined coordinates according to the theoretical coordinates and the third deﬂection compensation function, so that the given point reaches the theoretical coordinates in the operation space in a third state of considering both the bending deformation of the working arm and the bending deformation of the propelling beam. id="p-54" id="p-54" id="p-54" id="p-54" id="p-54"

[054] According to some embodiments of the present disclosure, the third deﬂection compensation function meets the following relation: 3:22 :(23 :(24 E25 Kze X2? :(28 nmta¿(x,y,z)= m9 Kao m1 m2 Kaa E34.- Kas Kas m? Kas Kaa :mn m: iir-z id="p-55" id="p-55" id="p-55" id="p-55" id="p-55"

[055] IEM220083-SE otl *gl irl 0:2 ßZ V2 id="p-56" id="p-56" id="p-56" id="p-56" id="p-56"

[056] where Dmta1(x,y,z) represents the third deﬂection compensation function, and K22- K42 represent the third deflection compensation data. id="p-57" id="p-57" id="p-57" id="p-57" id="p-57"

[057] In the geotechnical engineering machine, and the Working arrn deflection compensation method thereof according to the embodiments of the present disclosure, the working arrn deﬂection compensation system may acquire the theoretical coordinates of a given point on the Working arrn according to the Working arm real-time position and attitude information acquired by the working ann position and attitude detection system and acquire the predetermined coordinates of the given point on the working arrn by combining the theoretical coordinates and the deflection compensation data, so that the coordinates of the given point in the operation space can reach the theoretical coordinates in a state of considering the bending deformation of the Working arm by making the predetermined position and the predeterrnined attitude acquired by the predeterrnined coordinates be used for adjusting the position and the attitude of the working arrn, the deﬂection of the working arm can be compensated in real time under the dynamic condition, and it is beneﬁcial to improve the positioning precision o the Working arrn and the construction precision and operation efficiency of the geotechnical engineering machine. id="p-58" id="p-58" id="p-58" id="p-58" id="p-58"

[058] Other features and advantages of the present disclosure will become apparent by the detailed description for exemplary embodiments of the present disclosure with reference to the following accompany drawings.

Brief Description of the Drawings id="p-59" id="p-59" id="p-59" id="p-59" id="p-59"

[059] The accompanying drawings described herein are used to provide further understanding of the present disclosure and constitute a part of the present application. The schematic embodiments of the present disclosure and the description thereof are used to explain the present disclosure, but do not constitute an inappropriate limitation to the present disclosure. In the accompanying drawings: id="p-60" id="p-60" id="p-60" id="p-60" id="p-60"

[060] FIG. I is a schematic structural diagram of a geotechnical engineering machine according to some embodiments of the present disclosure; id="p-61" id="p-61" id="p-61" id="p-61" id="p-61"

[061] FIG. 2 is a schematic structural diagram of a Working arrn position and attitude detection system according to some embodiments of the present disclosure; 9 / 3 IEM220083-SE id="p-62" id="p-62" id="p-62" id="p-62" id="p-62"

[062] FIG. 3 is a working schematic diagram of a working arrn position and attitude detection system and a working arm deﬂection compensation system according to some embodiments of the present disclosure; id="p-63" id="p-63" id="p-63" id="p-63" id="p-63"

[063] FIG. 4 is a schematic diagram that a working arm deﬂection compensation system compensates the deﬂection of a first arm arm according to some embodiments of the present disclosure; id="p-64" id="p-64" id="p-64" id="p-64" id="p-64"

[064] FIG 5 is a schematic diagram that a working arm deﬂection compensation system compensates the deﬂection of a propelling beam according to some embodiments of the present disclosure; id="p-65" id="p-65" id="p-65" id="p-65" id="p-65"

[065] FIG. 6 is a schematic diagram that a working arm deﬂection compensation system compensates the deﬂection of a first arm and the deﬂection of a propelling beam according to some embodiments of the present disclosure; and id="p-66" id="p-66" id="p-66" id="p-66" id="p-66"

[066] FIG. 7 is a schematic ﬂowchart of a method of a working arm deﬂection compensation system according to some embodiments of the present disclosure.

Detailed Description of the Embodiments id="p-67" id="p-67" id="p-67" id="p-67" id="p-67"

[067] The technical solutions in the embodiments of the present disclosure are described clearly with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are merely some rather than all of the embodiments of the present disclosure. The following description of the at least one exemplary embodiment is actually merely illustrative and never constitutes any limitation to the present disclosure and application or use thereof. All other embodiments made on the basis of the embodiments of the present disclosure by a person of ordinary skill in the art without paying any creative effort shall be included in the protection scope of the present disclosure. id="p-68" id="p-68" id="p-68" id="p-68" id="p-68"

[068] Unless otherwise specified, relative arrangement, numerical expressions and values of parts and steps described in the embodiments do not limit the scope of the present disclosure. Meanwhile, it should be understood that for the convenience of description, the dimensions of each part shown in the accompanying drawings are not drawn according to the actual proportional relationship. Technologies, methods and devices known to those of ordinary skill in the related / 3 IEM220083-SE field may not be discussed in detail, but, where appropriate, these technologies, methods and devices should be regarded as a part of the authorized specification. In all the examples shown and discussed herein, any specific value should be interpreted as merely exemplary rather than a lirnitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the accompanying drawings below. Therefore, once a certain item is defined in one drawing, it is unnecessary to further discuss the item in the subsequent drawings. id="p-69" id="p-69" id="p-69" id="p-69" id="p-69"

[069] In the description of the present disclosure, it should be understood that the words "first", "second" and the like for limiting parts are merely for convenience of distinguishing corresponding parts. Unless otherwise stated, the above words do not have special meanings and cannot be construed as limitations to the protection scope of the present disclosure. id="p-70" id="p-70" id="p-70" id="p-70" id="p-70"

[070] In the description of the present disclosure, it should be understood that an azimuth or position relationship indicated by azimuth words "front, rear, upper, lower, left, right", "transverse, longitudinal, vertical, horizontal", "top, bottom" and the like is generally an azimuth or position relationship based on the accompanying draws, which is only for facilitating description of the present disclosure and simplifying description. In the absence of a statement to the contrary, these azimuth words do not indicate and imply that the referred device or component must have a specific azimuth or perform construction and operation in the specific azimuth; therefore, it cannot be interpreted as a limitation to the protection scope of the present disclosure. The azimuth words "inner, outer" refer to the inside and outside relative to the outline of each component itself. id="p-71" id="p-71" id="p-71" id="p-71" id="p-71"

[071] As shown in FIG. l to FIG. 7, some embodiments of the present disclosure provide a geotechnical engineering machine, and a working arm deflection compensation method thereof. [072] The geotechnical engineering machine includes a vehicle body, a working arm, a working arm position and attitude detection system and a working arm deflection compensation system. id="p-73" id="p-73" id="p-73" id="p-73" id="p-73"

[073] The working arm is connected to the vehicle body and has a plurality of degrees of freedom of motion relative to the vehicle body. The geotechnical engineering machine may include one or more working arms with the same or different functions. id="p-74" id="p-74" id="p-74" id="p-74" id="p-74"

[074] The working arm position and attitude detection system is arranged on the working arm 11 / 3 IEM220083-SE and is conﬁgured to acquire Working arrn real-time position and attitude information for reﬂecting the real-time position and the real-time attitude of the working arm in an operation space. id="p-75" id="p-75" id="p-75" id="p-75" id="p-75"

[075] The working ann deílection compensation system includes a storage device and a controller. The storage device stores deflection compensation data obtained by expenments or simulation; and the controller is connected to the working ann position and attitude detection system and the storage device, and is configured to acquire theoretical coordinates of a given point on the working arm in a state of not considering the bending deformation of the working arm according to the working ann real-time position and attitude information and acquire predetennined coordinates of the given point according to the theoretical coordinates and the deﬂection compensation data, where predeterrnined coordinates are used to acquire the predetennined position and the predetennined attitude required to adjust the position and attitude of the working arm, so that the coordinates of the given point in the operation space reach the theoretical coordinates in a state of considering the bending deformation of the working arm. id="p-76" id="p-76" id="p-76" id="p-76" id="p-76"

[076] In the present disclosure, the geotechnical engineering machine may be a drill jumbo, an anchor rod trolley or a wet spraying trolley. For example, in the embodiment shown in FIG. 1, the geotechnical engineering machine is the drill jumbo. The vehicle body includes a chassis 1, a cab 2 arranged on the walking chassis 1, a plurality of working arms, and supporting legs 4 connected to the walking chassis 1. Each working arm includes an operation device for performing a construction operation. The given point may be an endpoint of one end, connected to an operation device, of the working arm. The plurality of working arms include a plurality of rock drilling arms 3A and a platform arm 3B. Each of the rock drilling arms 3A includes a drilling device for drilling a construction operation surface. The coordinates of the given point is adjusted to reach the theoretical coordinates by calling deﬂection compensation data, so that the influence of the bending deformation of the working ann on the position of the drilling device can be counteracted, and the position and the drilling precision of the drilling device can correspondingly meet the requirement of drilling construction. In some embodiments not shown in the figure, the working arm may also be a wet spraying manipulator of the wet spraying trolley. id="p-77" id="p-77" id="p-77" id="p-77" id="p-77"

[077] In the geotechnical engineering machine according to the embodiments of the present disclosure, the working arm deflection compensation system may acquire the theoretical 12 / 3 IEM220083-SE coordinates of a given point on the working arrn according to the working arm real-time position and attitude information acquired by the Working arm position and attitude detection system and acquire the predetermined coordinates of the given point on the working arm by combining the theoretical coordinates and the deflection compensation data, so that the coordinates of the given point in the operation space can reach the theoretical coordinates in a state of considering the bending deformation of the working arm by making the predeterrnined position and the predetennined attitude acquired by the predeterrnined coordinates be used for adjusting the position and the attitude of the working ann, the deﬂection of the working ann can be compensated in real time under the dynamic condition, and it is beneficial to improve the positioning precision of the working arm and the construction precision and operation efficiency of the geotechnical engineering machine. id="p-78" id="p-78" id="p-78" id="p-78" id="p-78"

[078] As shown in FIG. 1 and FIG. 2, a vehicle body coordinate system Oxayaza taking a width direction of the vehicle body as an xa axis, a length direction of the vehicle body as a ya axis and a height direction of the vehicle body as a za axis is defined; a ﬁrst arm coordinate system Oxbybzb taking a width direction of the first arm as an xb axis, a length direction of the first arm as a yb axis and a height direction of the first arm as a zb axis is defined; and a propelling beam coordinate system Oxcyczc taking a width direction of the propelling beam as an xc axis, a length direction of the propelling beam as a y., axis and a height direction of the propelling beam as a zc axis is defined. id="p-79" id="p-79" id="p-79" id="p-79" id="p-79"

[079] Based on the above definitions, in the following description: id="p-80" id="p-80" id="p-80" id="p-80" id="p-80"

[080] "the pitch angle of the first arm 311 relative to the vehicle body" refers to an included angle between the yb axis of the ﬁrst ann coordinate system Oxbybzb and the xaOya plane of the vehicle body coordinate system Oxayaza; id="p-81" id="p-81" id="p-81" id="p-81" id="p-81"

[081] "the yaw angle of the first ann 311 relative to the vehicle body" refers to an included angle between a projection of the yb axis of the first ann coordinate system Oxbybzb in the xaOya plane of the vehicle body coordinate system Oxayaza and the ya axis of the vehicle coordinate system Oxayaza; id="p-82" id="p-82" id="p-82" id="p-82" id="p-82"

[082] "the pitch angle of the propelling beam 331 relative to the ﬁrst ann 311" refers to an included angle between the yc axis of the propelling beam coordinate system Oxcyczc and the xbOyb 13 / 3 IEM220083-SE plane of the ﬁrst arin coordinate system Oxbybzb; id="p-83" id="p-83" id="p-83" id="p-83" id="p-83"

[083] "the roll angle of the propelling beam 331 relative to the ﬁrst arin 311" refers to an included angle between the za axis of the propelling beam coordinate system Oxcyczc and a plane perpendicular to the xbOyb plane of the first arm coordinate system Oxbybzb and including the yc axis of the propelling beam coordinate system Oxcyczc; and id="p-84" id="p-84" id="p-84" id="p-84" id="p-84"

[084] "the yaw angle of the propelling beam 331 relative to the first arm 311" refers to an included angle between a projection of the yc axis of the propelling beam coordinate system Oxcyczc in the xbOyb plane of the first ann coordinate system Oxbybzb and the yb axis of the first ann coordinate system Oxbybzb. id="p-85" id="p-85" id="p-85" id="p-85" id="p-85"

[085] In some embodiments, the working arm includes a first arm 311 and a propelling beam 331, a first end of the first arm 311 is connected to the vehicle body and has a plurality of degrees of freedom of motion relative to the vehicle body, and the propelling beam 331 is connected to a second end of the first arm 311 and has a plurality of degrees of freedom of motion relative to the first arm 311. The given point may be located on the first arm 311, or may be located on the propelling beam 331. For example, the given point may be an end point of one end, connected to the propelling beam, of the first arm , or may be an endpoint of one end, connected to the operation device, of the propelling beam 331. id="p-86" id="p-86" id="p-86" id="p-86" id="p-86"

[086] For example, in the embodiment shown in FIG. 2, the working arm includes a first arm 311, a rotary base 312, a second arm 321, a first arm base 322, a propelling beam 331, a propelling beam base 332 and a drilling rod 34. The first arm 311 and the second arm 321 are movably connected through the first arm base 322, and the ﬁrst arm 311 and the propelling beam are movably connected through the rotary base 312 and the propelling beam base 332. The first arm 311 is telescopically arranged along a length direction thereofarm , and the propelling beam 331 is telescopically arranged along a length direction thereof. The drilling rod 34 is movably arranged on the propelling beam 331 along the length direction of the propelling beam 331. The first arm 311 respectively has degrees of freedom of rotation around an axis extending along a length direction of the chassis 1, an axis along a width direction of the chassis 1 and an axis extending along a height direction of the chassis 1 relative to the chassis 1. The first end of the first arm 311 in the length direction has degree of freedom of translation along the length direction thereof arm 14 / 3 IEM220083-SE relative to the second end in the length direction. The propelling beam 331 respectively has degrees of freedom of rotation around an axis extending a length direction of the ﬁrst arm 311, an axis extending a width direction of the ﬁrst arm 311 and an axis extending a height direction of the first arrn 311. A first end of the propelling beam 331 in the length direction has a degree of freedom of translation along the length direction thereof relative to the second end in the length direction. id="p-87" id="p-87" id="p-87" id="p-87" id="p-87"

[087] In the above embodiments, the working arrn position and attitude detection system includes a first arm position and attitude detection device and a propelling beam position and attitude detection device; the first arrn position and attitude detection device is configured to acquire at least one of the followings to serve as first arrn real-time position and attitude information: a first actual value oil of a pitch angle of the first arrn 311 relative to the vehicle body, a second actual value yl of a yaw angle of the first arm 311 relative to the vehicle body and a third actual value v1 of the displacement of a first end of the first arm 311 in a length direction relative to a second end in the length direction; and the propelling beam position and attitude detection device is configured to acquire at least one of the followings to serve as propelling beam real-time position and attitude information: a fourth actual value ot2 of a pitch angle of the propelling beam 331 relative to the first arm 311, a fifth actual value ß2 of a roll angle of the propelling beam 331 relative to the first arm 311, a sixth actual value 72 of a yaw angle of the propelling beam 331 relative to the first arrn 311 and a seventh actual value v2 of the displacement of a first end of the propelling beam 331 in a length relative to a second end in the length direction. id="p-88" id="p-88" id="p-88" id="p-88" id="p-88"

[088] In some embodiments, as shown in FIG. 2, the first arm position and attitude detection device includes a first angle sensor 51, a second angle sensor 52 and a first displacement sensor 53, the first angle sensor 51 is conﬁgured to detect the ﬁrst actual value oil, the second angle sensor 52 is configured to detect the second actual value yl, and the first displacement sensor 53 is configured to detect the third actual value vl. id="p-89" id="p-89" id="p-89" id="p-89" id="p-89"

[089] In some embodiments, as shown in FIG. 2, the propelling beam position and attitude detection device includes a third angle sensor 61, a fourth angle sensor 62, a ﬁfth angle sensor 63 and a second displacement sensor 64, the third angle sensor 61 is configured to detect the fourth actual value oi2, the fourth angle sensor 62 is configured to detect the fifth actual value ß2, the fifth / 3 IEM220083-SE angle sensor 63 is configured to detect the sixth actual value 1/2, and the second displacement sensor 64 is configured to detect the seventh actual value V2. id="p-90" id="p-90" id="p-90" id="p-90" id="p-90"

[090] In some embodiments, the controller is further configured to: acquire a first transformation relation according to the first arm real-time position and attitude information, acquire a second transformation relation according to the propelling beam real-time position and attitude information and acquire the theoretical coordinates according to the first transformation relation and/or the second transformation relation, Where the first transformation relation represents a coordinate transformation relation of the first arm and the propelling beam relative to the vehicle body, and the second transformation relation represents a coordinate transformation relation of the propelling beam relative to the first arm . [09 l] According to the requirement on the positioning precision of the operation device on the Working arm, and the structural characteristic and stiffness characteristic of the first arm and the propelling beam, the Working arm deflection compensation system may singly compensate the bending deformation of the first arm , singly compensate the bending deformation of the propelling beam, or compensate both the bending deformation of the first arm and the bending deformation of the propelling beam. The compensation principles of the deﬂection of the Working arm in the three cases are shown in FIG. 4 to FIG. 6. id="p-92" id="p-92" id="p-92" id="p-92" id="p-92"

[092] In FIG. 4 to FIG. 6, Bl represents the outline of the first arm at the real-time position and the real-time attitude in a state of not considering bending deformation; Bl' represents the outline of the first arm at the real-time position and the real-time attitude in a state of considering bending deformation; BO represents the outline of the first arm at the predeterrnined position and the predetermined attitude in a state of not considering bending deformation; BO' represents the outline of the first arm at the predeterrnined position and the predetermined attitude in a state of considering bending deformation; Fl represents the outline of the propelling beam at the real-time position and the real-time attitude in a state of not considering bending deformation; Fl " represents the outline of the propelling beam at the real-time position and the real-time attitude in a state of considering bending deformation; FO represents the outline of the propelling beam at the predetermined position and the predeterrnined attitude in a state of not considering bending deformation; and FO" represents the outline of the propelling beam at the predeterrnined position 16 / 3 IEM220083-SE and the predeterrnined attitude in a state of considering bending deformation. id="p-93" id="p-93" id="p-93" id="p-93" id="p-93"

[093] In some embodiments, as shown in FIG. 4, the controller is further conﬁgured to: acquire ﬁrst deﬂection compensation data from the deﬂection compensation data according to the ﬁrst arrn real-time position and attitude information, acquire a first deﬂection compensation function according to the first arm real-time position and attitude information and the ﬁrst deﬂection compensation data, and acquire the predetermined coordinates according to the theoretical coordinates and the ﬁrst deﬂection compensation function, so that the given point reaches the theoretical coordinates in the operation space in a ﬁrst state of considering the bending deformation of the first arm and not considering the bending deformation of the propelling beam. By the above arrangement, deﬂection compensation of the first arm can be realized. id="p-94" id="p-94" id="p-94" id="p-94" id="p-94"

[094] In some embodiments, as shown in FIG. 5, the controller is ﬁirther conﬁgured to: acquire second deﬂection compensation data from the deﬂection compensation data according to the propelling beam real-time position and attitude information, acquire a second deﬂection compensation function according to the propelling beam real-time position and attitude information and the second deﬂection compensation data, and acquire the predetermined coordinates according to the theoretical coordinates and the second deﬂection compensation ﬁinction, so that the given point reaches the theoretical coordinates in the operation space in a second state of considering the bending deformation of the propelling beam and not considering the bending deformation of the ﬁrst arm . By the above arrangement, deﬂection compensation of the propelling beam can be realized. id="p-95" id="p-95" id="p-95" id="p-95" id="p-95"

[095] In some embodiments, as shown in FIG. 6, the controller is further conﬁgured to: acquire third deﬂection compensation data from the deﬂection compensation data according to the first arm real-time position and attitude information and the propelling beam real-time position and attitude information, acquire a third deﬂection compensation ﬁinction according to the first arm real-time position and attitude information, the propelling beam real-time position and attitude information and the third deﬂection compensation data, and acquire the predeterrnined coordinates according to the theoretical coordinates and the third deﬂection compensation ﬁinction, so that the given point reaches the theoretical coordinates in the operation space in a third state of considering both the bending deformation of the first arm and the bending deformation of the propelling beam.

By the above arrangement, deﬂection compensation of the whole working arm can be realized. [096] In some embodiments, in order to facilitate operators of the geotechnical engineering machine to grasp the working situation of the working arrn deﬂection compensation system in real time, the working arm deﬂection compensation system further includes a display device signally connected to the controller, where the display device is conﬁgured to display at least one of the following: theoretical coordinates, deﬂection compensation values acquired according to the working arm real-time position and attitude information and the deﬂection compensation data, and predetennined coordinates. id="p-97" id="p-97" id="p-97" id="p-97" id="p-97"

[097] FIG. 3 shows the Working principle of a working arrn position and attitude detection system and a working arrn deﬂection compensation system according to some embodiments of the present disclosure. id="p-98" id="p-98" id="p-98" id="p-98" id="p-98"

[098] In the embodiment shown in FIG. 3, the controller includes a sensor demodulation module and a data processing module, the sensor demodulation module and the data processing module are signally connected, and the storage device and the data processing module are signally connected. The sensor demodulation module converts an analog signal of the first arm real-time position and attitude information acquired by the first arm position and attitude detection device and an analog signal of the propelling beam real-time position and attitude information acquired by the propelling beam position and attitude detection device into a digital signal which can be identified by the data processing module, and transmits the digital signal to the data processing module. The data processing module calculates the theoretical coordinates of the given point according to the working arrn real-time position and attitude information, calls deflection compensation data from the storage device and perforrns compensation calculation on the coordinates of the given point to acquire the predeterrnined coordinates of the given point, and then the display device provides display information of the theoretical coordinates, the deflection compensation value and the predeterrnined coordinates. id="p-99" id="p-99" id="p-99" id="p-99" id="p-99"

[099] In some embodiments, the controller described above may be implemented as a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application speciﬁc integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, a discrete gate or a transistor logic device, a discrete 18 / 3 IEM220083-SE hardware assembly or any appropriate combination thereof for performing the functions described by the present disclosure. id="p-100" id="p-100" id="p-100" id="p-100" id="p-100"

[0100] Some embodiments of the present disclosure further provide a working arm deﬂection compensation method of a geotechnical engineering machine, including the following steps: Working arm real-time position and attitude information for reﬂecting the real-time position and the real-time attitude of a working arm of the geotechnical engineering machine in an operation space is acquired; theoretical coordinates of a given point on the Working arm are acquired according to the real-time position and attitude information in a state of not considering the bending deformation of the Working arm; the predeterrnined coordinates of the given point are acquired according to the theoretical coordinates and the deflection compensation data obtained through experiments or simulation, where predetermined coordinates are used to acquire the predetermined position and the predeterrnined attitude required to adjust the position and attitude of the working arm, so that the coordinates of the given point reach the theoretical coordinates in a state of considering the bending deformation of the Working arm. id="p-101" id="p-101" id="p-101" id="p-101" id="p-101"

[0101] The working arm deﬂection compensation method provided by the embodiment of the present disclosure may be implemented based on the geotechnical engineering machine provided by the embodiment of the present disclosure. id="p-102" id="p-102" id="p-102" id="p-102" id="p-102"

[0102] In the working arm deflection compensation method thereof according to the embodiments of the present disclosure, the working arm deflection compensation system may acquire the theoretical coordinates of a given point on the Working arm according to the Working arm real-time position and attitude information and acquire the predetermined coordinates of the given point on the working arm by combining the theoretical coordinates and the deflection compensation data, so that the coordinates of the given point in the operation space can reach the theoretical coordinates in a state of considering the bending deformation of the working arm by making the predetermined position and the predetermined attitude acquired by the predetermined coordinates be used for adjusting the position and the attitude of the working arm, the deﬂection of the working arm can be compensated in real time under the dynamic condition, and it is beneﬁcial to improve the positioning precision o the Working arm and the construction precision and operation efficiency of the geotechnical engineering machine. 19 / 3 IEM220083-SE id="p-103" id="p-103" id="p-103" id="p-103" id="p-103"

[0103] In some embodiments, the Working arrn includes a ﬁrst arrn 311 and a propelling beam 331, a ﬁrst end of the first arm 311 is connected to the vehicle body and has a plurality of degrees of freedom of motion relative to the vehicle body, the first arm 311 is telescopically arranged along a length direction thereof, the propelling beam 331 is connected to a second end of the first arm 311 and has a plurality of degrees of freedom of motion relative to the first arm 311, and the propelling beam 331 is telescopically arranged along a length direction of thereof; and id="p-104" id="p-104" id="p-104" id="p-104" id="p-104"

[0104] The step of acquiring the Working arm real-time position and attitude information includes: ﬁrst ann real-time position and attitude information and propelling beam real-time position and attitude information are acquired; the acquiring the first arm real-time position and attitude information includes: at least one of the followings: a first actual value oil of a pitch angle of the first arm 311 relative to the vehicle body, a second actual value 'y1 of a yaw angle of the first arm 311 relative to the vehicle body and a third actual value v1 of the displacement of the ﬁrst end of the first arm 311 in a length direction relative to a second end in the length direction is acquired; and the acquiring the propelling beam real-time position and attitude information includes: at least one of a fourth actual angle oi2 of a pitch angle of the propelling beam 331 relative to the first arm 311, a fifth actual value BZ of a roll angle of the propelling beam 331 relative to the first arm 311, a sixth actual value 72 of a yaw angle of the propelling beam 331 relative to the first arm 311 and a seventh actual value v2 of the displacement of a first end of the propelling beam 331 in a length direction relative to a second end in the length direction is acquired. id="p-105" id="p-105" id="p-105" id="p-105" id="p-105"

[0105] In some embodiments, the step of acquiring theoretical coordinates according to the working arm real-time position and attitude information includes the following steps: a first transformation relation is acquired according to ﬁrst arm real-time position and attitude information, and a second transformation relation is acquired according to propelling beam real-time position and attitude information, where the first transformation relation represents a coordinate transformation relation of the first arm and the propelling beam relative to the vehicle body; and the second transformation relation represents a coordinate transformation relation of the propelling beam relative to the first arm . id="p-106" id="p-106" id="p-106" id="p-106" id="p-106"

[0106] In some embodiments, / 3 IEM220083-SE id="p-107" id="p-107" id="p-107" id="p-107" id="p-107"

[0107] the first transformation relation meets the following relation: cyl ﬂsvï cyï " cccí 0 m1 V1 w cczï [0108] Û 0 1 msocï 0 cal wví === sal , [0109] where Tboom represents the ﬁrst transformation relation, c represents taking cosine, and s represents taking sine; and [01 10] the second transformation relation meets the following relation: 1 0 0 0 CBZ 0 502 C152 G12 0 WE V2 * C112 T g 0 m2 ~«-s id="p-112" id="p-112" id="p-112" id="p-112" id="p-112"

[0112] where Tfeed represents the second transformation relation, c represents taking cosine, and s represents taking sine. [01 13] The theoretical coordinates meet the following relation: id="p-114" id="p-114" id="p-114" id="p-114" id="p-114"

[0114] T(x,y,z)= {Tb00m*Tfeed}(:4), id="p-115" id="p-115" id="p-115" id="p-115" id="p-115"

[0115] where T(x,y,z) represents the theoretical coordinates, and (14) represents taking the fourth column of the matrix operation result. id="p-116" id="p-116" id="p-116" id="p-116" id="p-116"

[0116] According to the requirement on the positioning precision of the operation device on the working arm, and the structural characteristic and stiffness characteristic of the ﬁrst arrn and the propelling beam, the working arm deflection compensation system may singly compensate the bending deformation of the first arm , singly compensate the bending deformation of the propelling beam, or compensate both the bending deformation of the first arm and the bending deformation of the propelling beam. The compensation principles of the deflection of the working arm in the three cases are shown in FIG. 4 to FIG, 6, where the meanings ofB1, B1", BO, B0", F1, F1', FO and FO" may be referenced to the previous related descriptions. id="p-117" id="p-117" id="p-117" id="p-117" id="p-117"

[0117] In some embodiments, as shown in FIG. 4, the acquiring predetermined coordinates according to the theoretical coordinates and the deflection compensation data includes: first deflection compensation data is acquired from the deflection compensation data according to the ﬁrst ann real-time position and attitude information; a first deflection compensation function is acquired according to the first arm real-time position and attitude information and the first 21 / 3 IEM220083-SE deﬂection compensation data; and the predeterrnined coordinates are acquired according to the theoretical coordinates and the first deﬂection compensation function, so that the given point reaches the theoretical coordinates in the operation space in a first state of considering the bending deformation of the first arm and not considering the bending deformation of the propelling beam. id="p-118" id="p-118" id="p-118" id="p-118" id="p-118"

[0118] According to some embodiments of the present disclosure, the first deﬂection eempeneettee futtettee meets the feiiewtttg teiettee: Kil. KE KS al.

Dhwm (KJ, z) -1 X4.- K5 Kö Yi. id="p-119" id="p-119" id="p-119" id="p-119" id="p-119"

[0119] K? KS X9 vi. id="p-120" id="p-120" id="p-120" id="p-120" id="p-120"

[0120] where Dboom(x,y,z) represents the first deﬂection compensation function, and KI-K9 represent first deﬂection compensation data. id="p-121" id="p-121" id="p-121" id="p-121" id="p-121"

[0121] In the embodiment shown in FIG. 4, an endpoint P1 of one end, connected to the propelling beam, of the first arm is taken as a given point, the predetermined coordinates b0@m(x1",yl",z1') after compensation and the theoretical coordinates Tb0em(xl,y1,zl) meet: Tboom(x 1 " ,y1" ,z1")= Tb00m(x1,y1,z1)+Db0Om(x1,y1,z1)=Tb00m(:4)+Db00m(x1,y1,zl), the predetennined coordinates and the theoretical coordinates refer to the coordinates under the vehicle body coordinate system Oxayaza, and (:4) represents taking the fourth column of the matrix operation result. id="p-122" id="p-122" id="p-122" id="p-122" id="p-122"

[0122] In some embodiments, as shown in FIG. 5, the step of acquiring predeterrnined coordinates according to the theoretical coordinates and the deflection compensation data includes the following steps: second deflection compensation data is acquired from the deﬂection compensation data according to the propelling beam real-time position and attitude information; a second deﬂection compensation function is acquired according to the propelling beam real-time position and attitude information and the second deflection compensation data; and the predetermined coordinates are acquired according to the theoretical coordinates and the second deﬂection compensation function, so that the given point reaches the theoretical coordinates in the operation space in a second state of considering the bending deformation of the propelling beam and not considering the bending deformation of the first arm . id="p-123" id="p-123" id="p-123" id="p-123" id="p-123"

[0123] In some embodiments, the second deﬂection compensation function meets the following 22 / 3 IEM220083-SE relation: K1o K11 K12 H13 "2 2 Dfeed(x,y,z)ﬂ«~ E14- KIS Klå Kl? Kia K19 Kzø K21: V2 [0124] t V id="p-125" id="p-125" id="p-125" id="p-125" id="p-125"

[0125] where Dfeed(x,y,z) represents the second deﬂection compensation function, and K10- K21 represent the second deﬂection compensation data. id="p-126" id="p-126" id="p-126" id="p-126" id="p-126"

[0126] In the embodiment shown in FIG. 5, an endpoint P2 of one end, connected to the operation device, of the propelling beam is taken as a given point, the predeterrnined coordinates Tfeed(x2',y2",z2") after compensation and the theoretical coordinates Tfeed(x2,y2,z2) meet: Tfeed(x2",y2",z2") = Tfeed(x2,y2,z2)+Dfeed(x2,y2,z2)=Tfeed(:4)+Dfeed(x2,y2,Z2). In the above expressions, the predetermined coordinates and the theoretical coordinates refer to the coordinates under the first arm coordinate system Oxbybzb, and (14) represents taking the fourth column of the matrix operation result. id="p-127" id="p-127" id="p-127" id="p-127" id="p-127"

[0127] In some embodiments, as shown in FIG. 6, the step of acquiring predetermined coordinates according to the theoretical coordinates an the deﬂection compensation data includes the following steps: third deﬂection compensation data is acquired from the deﬂection compensation data according to the first arm real-time position and attitude information and the propelling beam real-time position and attitude information; a third deﬂection compensation ﬁlnction is acquired according to the first arm real-time position and attitude information, the propelling beam real-time position and attitude information and the third deﬂection compensation data; and the predeterrnined coordinates are acquired according to the theoretical coordinates and the third deﬂection compensation function, so that the given point reaches the theoretical coordinates in the operation space in a third state of considering both the bending deformation of the ﬁrst arm and the bending deformation of the propelling beam. id="p-128" id="p-128" id="p-128" id="p-128" id="p-128"

[0128] In some embodiments, the third deﬂection compensation function meets the following relation: 23 / 3 IEM220083-SE ocï vi KZZ E23 E24- K25 E26 KZ? E28 vi Btotalçgyﬂ) = E29 B30 E31 E32 E33 E34 E35 012 Efíâﬁ KB? K38 E39 E40 KM K4f2 [32 'y2 id="p-129" id="p-129" id="p-129" id="p-129" id="p-129"

[0129] V2 , id="p-130" id="p-130" id="p-130" id="p-130" id="p-130"

[0130] Where Dwta1(x,y,z) represents the third deﬂection compensation function, and K22- K42 represent the third deﬂection compensation data. id="p-131" id="p-131" id="p-131" id="p-131" id="p-131"

[0131] In the embodiment shown in FIG. 6, an endpoint P2 of one end, connected to the operation device, of the propelling beam is taken as a given point, the predetermined coordinates t0ta1(x2",y2',z2") after compensation and the theoretical coordinates Tmta1(x2,y2,z2) meet: Ttota1(x2',y2',z2")= Twta1(x2,y2,z2)+Dt0ta1(x2,y2,z2)= {Tboom (z 4) *Tfeed ( : 4) }+Dmta1 (X2, y2 , 22) , the predetermined coordinates and the theoretical coordinates refer to the coordinates under the vehicle body coordinate system Oxayaza, and (24) represents taking the fourth column of the matrix operation result. id="p-132" id="p-132" id="p-132" id="p-132" id="p-132"

[0132] In the above embodiments, the deflections of the Working arm at different positions and different attitudes may be tested, and the first deﬂection compensation data, the second deﬂection compensation data and the third deflection compensation data can be obtained by ﬁtting according to the test results. id="p-133" id="p-133" id="p-133" id="p-133" id="p-133"

[0133] The function of each step in the Working arm deflection compensation method may be referenced to the related description of the deﬂection compensation system of the geotechnical engineering machine. id="p-134" id="p-134" id="p-134" id="p-134" id="p-134"

[0134] The working arm deﬂection compensation method according to some embodiments of the present disclosure is further described below with reference to FIG. 7. An endpoint P2 of one end, connected to the operation device, of the propelling beam is taken as a given point, and both the bending deformation of the ﬁrst arm 331 and the bending deformation of the propelling beam 331 are taken into consideration. id="p-135" id="p-135" id="p-135" id="p-135" id="p-135"

[0135] 1. Detect Working arm real-time position and attitude information. A first actual value otl is detected by a first angle sensor 51, a second actual value yl is detected by a second angle sensor 24 / 3 IEM220083-SE 52, and a third actual value vl is detected by a first displacement sensor to serve as first arrn real-time position and attitude information. A fourth actual value ot2 is detected by a third angle sensor 61, a fifth actual value ß2 is detected by a fourth angle sensor 62, a sixth actual value 72 is detected by a fifth angle sensor 63, and a seventh actual value v2 is detected by a second displacement sensor 64 to serve as propelling beam real-time position and attitude information. [0136] 2. Calculate the theoretical coordinates of a given point. A first transformation relation Tboom is acquired according to first arrn real-time position and attitude information, a second transformation relation Tfeed is acquired according to propelling beam real-time position and attitude information, and the theoretical coordinates Ti0ta|(x2,y2,z2)= {Tboom*Tfeed}(:4) of the given point P2 are acquired according to the first transformation relation Tboom and the second transformation relation Tfeed. id="p-137" id="p-137" id="p-137" id="p-137" id="p-137"

[0137] 3. Call deflection compensation data and calculate the predeterniined coordinates of a given point. A third defection compensation function Dmm (x,y,z) is acquired according to the first arm real-time position and attitude information, the propelling beam real-time position and attitude information and the third deﬂection compensation data, the predeterrnined coordinates are acquired according to the theoretical coordinates and the third deﬂection compensation function, and the predetermined coordinates of the given point P2 are Tt0ta1(x2",y2',z2)= Tt0m1(x2,y2,z2)+DtO1a1(x2,y2,z2). id="p-138" id="p-138" id="p-138" id="p-138" id="p-138"

[0138] 4. Provide display information, including: providing the theoretical coordinates, deﬂection compensation values acquired according to the working arrn real-time position and attitude information and the deﬂection compensation data, and the predetermined coordinates. [0139] By the working ann deﬂection compensation method according to the above embodiments, the deílection of the Working arm With a multi-degree-of-freedom serial structure formed by the first arm and the propelling beam can be compensated in real time, and the positioning precision of the working arm can be improved. id="p-140" id="p-140" id="p-140" id="p-140" id="p-140"

[0140] Finally, it should be noted that the above embodiments are only used to describe the technical solution of the present disclosure, but not to lirnit thereto. Although the present disclosure is described in detail with reference to preferred embodiments, those of ordinary skill in the art should understand: the speciﬁc embodiments of the present disclosure still can be modified or part of technical features can be equivalently substituted, which should be included in the scope of the technical solutions claimed by the present disclosure.

Claims

1. A geotechnical engineering machine, comprising: a vehicle body; a working arrn, connected to the vehicle body and having a plurality of degrees of freedom of motion relative to the vehicle body; a working arm position and attitude detection system, arranged on the working arm and configured to acquire Working arm real-time position and attitude information for reflecting the real-time position and the real-time attitude of the Working arm in an operation space; and a Working arm deflection compensation system, comprising a storage device and a controller, wherein the storage device stores deﬂection compensation data obtained by experiments or simulation, the controller is signally connected to the working ann position and attitude detection system and the storage device, and is configured to acquire theoretical coordinates of a given point on the working arm in a state of not considering the bending deformation of the Working arm according to the working arm real-time position and attitude information, and acquire predetermined coordinates of the given point according to the theoretical coordinates and the deflection compensation data, and predeterrnined coordinates are used to acquire the predetermined position and the predeterrnined attitude required to adjust the position and attitude of the working arm, so that the coordinates of the given point in the operation space reach the theoretical coordinates in a state of considering the bending deformation of the Working arm.

2. The geotechnical engineering machine according to claim 1, wherein the Working arm comprises a first arm (311) and a propelling beam (331), a first end of the first Working ann (311) is connected to the vehicle body and has a plurality of degrees of freedom of motion relative to the vehicle body, and the propelling beam (331) is connected to a second end of the first arm (311) and has a plurality of degrees of freedom of motion relative to the first arm (311); and the Working arm position and attitude detection system comprises a first arm position and attitude detection device and a propelling beam position and attitude detection device; the first arm position and attitude detection device is configured to acquire at least one of the followings to serve as first arm real-time position and attitude information: a first actual value oil of a pitch angle of the first arm (311) relative to the vehicle body, a second actual value 71 of a yaw angle of the first ann (311) relative to the vehicle body and a third actual value vl of the displacement of a first end of the first arm (311) in a length direction relative to a second end in the length direction; and the propelling beam position and attitude detection device is conﬁgured to acquire at least one of followings to serve as propelling beam real-time position and attitude information: a fourth actual value oi2 of a pitch angle of the propelling beam (331) relative to the first arm (311), a fifth actual value ß2 of a roll angle of the propelling beam (331) relative to the first arm (311), a sixth actual value 72 of a yaw angle of the propelling beam (331) relative to the first arm (311) and a seventh actual value v2 of the displacement of a first end of the propelling beam (331) in a length direction relative to a second end in the length direction.

3. The geotechnical engineering machine according to claim 2, Wherein the first arm position and attitude detection device comprises a first angle sensor (51), a second angle sensor (52) and a first displacement sensor (53); the first angle sensor (51) is configured to detect the first actual value oil; the second angle sensor (52) is conﬁgured to detect the second actual value yl; and the first displacement sensor (53) is conﬁgured to detect the third actual value v

4. The geotechnical engineering machine according to claim 2, Wherein the propelling beam position and attitude detection device comprises a third angle sensor (61), a fourth angle sensor (62), a fifth angle sensor (63) and a second displacement sensor (64); the third angle sensor (61) is configured to detect the fourth actual value 0:2; the fourth angle sensor (62) is conﬁgured to detect the ﬁfth actual value ß2; the fifth angle sensor (63) is conﬁgured to detect the sixth actual value y2; and the second displacement sensor (64) is conﬁgured to detect the seventh actual value v

5. The geotechnical engineering machine according to claim 2, Wherein the controller is further conﬁgured to: acquire a ﬁrst transformation relation according to the first arm real-time position and attitude information, acquire a second transformation relation according to the propelling beam real-time position and attitude information and acquire the theoretical coordinates according to the first transformation relation and/or the second transformation relation; the first transformation relation represents a coordinate transformation relation of the first arm and the propelling beam relative to the vehicle body; and the second transformation relation represents a coordinate transfonnation relation of the propelling beam relative to the first arm .

6. The geotechnical engineering machine according to claim 2, Wherein the controller is further configured to: acquire first deﬂection compensation data from the deﬂection compensation data according to the first arm real-time position and attitude information, acquire a first deflection compensation function according to the first arm real-time position and attitude information and the first deﬂection compensation data, and acquire the predeterinined coordinates according to the theoretical coordinates and the first deﬂection compensation function, so that the given point reaches the theoretical coordinates in the operation space in a first state of considering the bending deformation of the first arm and not considering the bending deformation of the propelling beam.

7. The geotechnical engineering machine according to claim 2, Wherein the controller is further configured to: acquire second deﬂection compensation data from the deﬂection compensation data according to the propelling beam real-time position and attitude information, acquire a second deﬂection compensation function according to the propelling beam real-time position and attitude information and the second deﬂection compensation data, and acquire the predeterrnined coordinates according to the theoretical coordinates and the second deflection compensation function, so that the given point reaches the theoretical coordinates in the operation space in a second state of considering the bending deformation of the propelling beam and not considering the bending deformation of the first arm .

8. The geotechnical engineering machine according to claim 2, Wherein the controller is further conﬁgured to: acquire third deﬂection compensation data from the deﬂection compensation data according to the first arm real-time position and attitude information and the propelling beam real-time position and attitude information, acquire a third deflection compensation function according to the first arm real-time position and attitude information, the propelling beam real-time position and attitude information and the third deflection compensation data, and acquire the predetermined coordinates according to the theoretical coordinates and the third deflection compensation ﬁinction, so that the given point reaches the theoretical coordinates in the operation space in a third state of considering both the bending deformation of the first arm and the bending deformation of the propelling beam.

9. The geotechnical engineering machine according to any one of claims 1 to 8, wherein the working arm deflection compensation system ﬁirther comprises a display device signally connected to the controller; and the display device is configured to display at least one of the following: the theoretical coordinates, a deflection compensation value acquired according to the working arm real-time position and attitude information and the deﬂection compensation data, and the predetermined coordinates.

10. The geotechnical engineering machine according to any one of claims 1 to 8, comprising a drill jumbo, an anchor rod trolley or a wet spraying trolley,

11. A working arm deflection compensation method of a geotechnical engineering machine, comprising the following steps: acquiring working arm real-time position and attitude information for reflecting the real-time position and the real-time attitude of a working arm of the geotechnical engineering machine in the operation space of the geotechnical engineering machine; acquiring theoretical coordinates of a given point on the working arm in a state of not considering the bending deformation of the working arm according to the working arm real-time position and attitude information; and acquiring predetermined coordinates of the given point according to the theoretical coordinates and the deflection compensation data obtained by experiments or simulation, Where predetennined coordinates are used to acquire the predetennined position and the predetermined attitude required to adjust the position and attitude of the working ann, so that the coordinates of the given point in the operation space reach the theoretical coordinates in a state of considering the bending deformation of the working ann.

12. The Working arrn deflection compensation method according to claim 11, Wherein the Working arm comprises a first arm (311) and a propelling beam (331), a first end of the first arm (311) is connected to the vehicle body and has a plurality of degrees of freedom of motion relative to the vehicle body, the first arm (311) is telescopically arranged along a length direction thereof, the propelling beam (331) is connected to a second end of the first arm (311) and has a plurality of degrees of freedom of motion relative to the first ann (311), and the propelling beam (331) is telescopically airanged along a length direction thereof; the step of acquiring the Working arm real-time position and attitude information comprises: acquiring first arm real-time position and attitude information and acquiring propelling beam real-time position and attitude information; the acquiring the ﬁrst arm real-time position and attitude information comprises: acquiring at least one of the followings: a first actual value otl of a pitch angle of the ﬁrst arm (311) relative to the vehicle body, a second actual value yl of a yaw angle of the first ann (311) relative to the vehicle body and a third actual value v1 of the displacement of the ﬁrst end of the first arm (311) in a length direction relative to a second end in the length direction; and the step of acquiring the propelling beam real-time position and attitude information comprises: acquiring at least one of a fourth actual angle (12 of a pitch angle of the propelling beam (331) relative to the first arm (311), a ﬁfth actual value [32 of a roll angle of the propelling beam (331) relative to the first arm (311), a sixth actual value 72 of a yaw angle of the propelling beam (331) relative to the first ann (311) and a seventh actual value v2 of the displacement of a ﬁrst end of the propelling beam (331) in a length direction relative to a second end in the length direction.

13. The working ann deflection compensation method according to claim 12, Wherein the step of acquiring the theoretical coordinates according to the working arm real-time position and attitude information comprises the following steps: acquiring a first transformation relation according to the first arm real-time position and attitude information, and acquiring a second transformation relation according to the propelling beam real-time position and attitude information, wherein the ﬁrst transformation relation represents a coordinate transformation relation of the ﬁrst arm and the propelling beam relative to the vehicle body, and the second transformation relation represents a coordinate transformation relation of the propelling beam relative to the ﬁrst arm ; and acquiring the theoretical coordinates according to the ﬁrst transformation relation and/or the second transformation relation.

14. The working arm deflection compensation method according to claim 13, wherein the first transformation relation meets the following relation: cyl --syï cyï ccxï (1 soil vi :w cozí 0 l) 1 i. «sa1 E) ccxí “vi =l= scxï , wherein Tboom represents the first transformation relation, c represents taking cosine, and s represents taking sine; and the second transformation relation meets the following relation: 1 Ü 0 O cßz O sßâ 4:52 cyâ 0 :WE v23 »ß C112 T g Ü m2 ~s represents taking sine.

15. The working arm deflection compensation method according to claim 12, wherein the step of acquiring the predetermined coordinates according to the theoretical coordinates and deﬂection compensation data comprises the following steps: acquiring first deﬂection compensation data from the deflection compensation data according to the first arm real-time position and attitude information; acquiring a first deﬂection compensation function according to the first arni real-time position and attitude information and the first deﬂection compensation data; and acquiring the predetermined coordinates according to the theoretical coordinates and the first deﬂection compensation function, so that the given point reaches the theoretical coordinates in the operation space in a first state of considering the bending deformation of the first arm and not considering the bending deformation of the propelling beam.

16. The Working arm deﬂection compensation method according to claim 15, Wherein the ﬁrst deﬂection compensation ﬁinction meets the following relation: Wherein Dboom(x,y,z) represents the first deﬂection compensation function, and Kl-Krepresent first deﬂection compensation data.

17. The working arm deﬂection compensation method according to claim 12, Wherein the step of acquiring the predetermined coordinates according to the theoretical coordinates and deflection compensation data comprises the following steps: acquiring second deﬂection compensation data from the deflection compensation data according to the propelling beam real-time position and attitude information; acquiring a second deﬂection compensation function according to the propelling beam real-time position and attitude information and the second deﬂection compensation data; and acquiring the predeteririined coordinates according to the theoretical coordinates and the second deﬂection compensation function, so that the given point reaches the theoretical coordinates in the operation space in a second state of considering the bending deformation of the propelling beam and not considering the bending deformation of the first arm .

18. The Working arm deílection compensation method according to claim 17, Wherein the second deflection compensation ﬁrnction meets the following relation: H10 Kll KIZ E13 532 Dfeeﬁiﬁßißßäï) ä H14 KIS Klši Kl? K18 E19 E20 Kwherein Dfeed(x,y,z) represents the second deflection compensation function, and K10- Krepresent the second deﬂection compensation data.

19. The working arrn deﬂection compensation method according to claim 12, wherein the step of acquiring the predetermined coordinates according to the theoretical coordinates and deflection compensation data comprises the following steps: acquiring third deflection compensation data from the deflection compensation data according to the first arm real-time position and attitude information and the propelling beam real-time position and attitude information; acquiring a third deﬂection compensation function according to the first arm real-time position and attitude information, the propelling beam real-time position and attitude information and the third deﬂection compensation data; and acquiring the predetermined coordinates according to the theoretical coordinates and the third deflection compensation function, so that the given point reaches the theoretical coordinates in the operation space in a third state of considering both the bending deformation of the Working arm and the bending deformation of the propelling beam.

20. The working arm deflection compensation method according to claim 19, wherein the third deflection compensation ﬁinction meets the following relation: wherein Dmta1(x,y,z) represents the third deﬂection cornpensation function, and KZZ- Krepresent the third deﬂection compensation data.