WO2020258381A1 - 泵车臂架控制方法、泵车臂架控制系统及泵车 - Google Patents

泵车臂架控制方法、泵车臂架控制系统及泵车 Download PDF

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Publication number
WO2020258381A1
WO2020258381A1 PCT/CN2019/095546 CN2019095546W WO2020258381A1 WO 2020258381 A1 WO2020258381 A1 WO 2020258381A1 CN 2019095546 W CN2019095546 W CN 2019095546W WO 2020258381 A1 WO2020258381 A1 WO 2020258381A1
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WIPO (PCT)
Prior art keywords
boom
arm
pump truck
working condition
type
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PCT/CN2019/095546
Other languages
English (en)
French (fr)
Inventor
吴亮
尹君
陈泽
万梁
付新宇
Original Assignee
中联重科股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 中联重科股份有限公司 filed Critical 中联重科股份有限公司
Priority to EP19931511.0A priority Critical patent/EP3792428B1/en
Priority to US17/252,486 priority patent/US11970869B2/en
Publication of WO2020258381A1 publication Critical patent/WO2020258381A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck

Definitions

  • the invention relates to the technical field of pump truck control, in particular to a pump truck boom control method, a pump truck boom control system and a pump truck.
  • the above technical solution (1) is to control the end motion speed of the boom according to the extreme operating conditions of the boom, which does not conform to the actual boom posture, and the boom motion speed is slow.
  • the above technical solution (2) has the following shortcomings: a large number of sensors are installed at the boom end, which is costly, and the pumping construction conditions are bad, the sensors are easy to damage and cause control failure; and the boom attitude is ever-changing, and the boom speed is real-time based on the boom attitude Control results in complex control algorithms, frequent speed adjustments, and poor operating experience.
  • the present invention provides a method for controlling the boom of a pump truck.
  • the method includes: detecting the working condition of the boom, wherein the boom is pre-divided into: a type close to the boom end Arm and the second-class arm near the end of the forearm; and when the working condition of the boom is the boom working condition before the construction of the pump truck or the boom working condition after the construction of the pump truck, control Each section of the arm of the type of arm moves at its own preset movement speed.
  • the respective preset motion speeds are that when the second type arms are fully retracted and the boom end speed when the first type arms are fully extended is within a motion speed threshold range, the respective section arms correspond to The speed of movement.
  • the detecting the working condition of the boom includes: collecting a pumping state signal, a boom in-position state signal, and timing the action enable signal corresponding to each arm in the second type arm Signal; and according to the pumping state signal, the boom in-position state signal, and the timing signal of the action enable signal corresponding to each arm of the second type arm, determine the boom position Working conditions.
  • the determination of the position of the boom is determined based on the pumping state signal, the boom in-position state signal, and the timing signal of the action enable signal corresponding to each arm of the second type arm.
  • the working conditions include: the pumping state signal indicates that the pump truck is not in the pumping state, the boom in-position state signal indicates that the boom has changed from a fully retracted state to a partially retracted state, and In the case that the cumulative time of the second type of boom boom determined by the timing signal is less than the first preset time, it is determined that the working condition of the boom is the boom working condition before the construction of the pump truck; or When the pumping state signal indicates that the pump truck is in the reverse pumping state and the number of reverse pumping times is greater than the preset number, and the cumulative time of the second type arm retracting arm determined by the timing signal is greater than the second preset time In the case of the boom, it is determined that the working condition of the boom is the boom-retracting working condition after the construction of the pump truck, wherein the first preset
  • the respective preset motion speeds are those corresponding to each section arm when the boom end speed when the second type arm is fully retracted and the first type arm is fully extended is within the motion speed threshold range Movement speed.
  • the determining unit is configured to determine the pumping state signal, the boom in-position state signal, and the timing signal of the action enable signal corresponding to each arm of the second type arm.
  • the operating conditions of the boom include: when the pumping state signal indicates that the pump truck is not in a pumping state, the boom in-position state signal indicates that the boom is changed from a fully retracted state to a partially retracted state.
  • the accumulated time of the second type of boom boom determined by the timing signal is less than the first preset time, it is determined that the working condition of the boom is the boom before construction of the pump truck Working condition; or when the pumping state signal indicates that the pump truck is in the reverse pump state and the number of reverse pump times is greater than the preset number, and the cumulative time of the second type arm retracted arm determined by the timing signal is greater than the first 2.
  • the present invention also provides a pump truck, which is configured with the above-mentioned pump truck boom control system.
  • the present invention also provides a machine-readable storage medium with instructions stored on the machine-readable storage medium, and the instructions are used to make a machine execute the above-mentioned pump truck boom control method.
  • the present invention creatively detects the working condition of the boom, and detects that the working condition of the boom is the boom working condition before the pump truck construction or the boom after the pump truck construction.
  • control each arm of the first type of arm to move at its own preset motion speed, so that it can be used in the boom working condition before the pump truck construction or the retracting after the pump truck construction without passing through the boom attitude detection sensor.
  • the speed control of the movement speed of each arm in a type of arm is realized.
  • Figure 1 is a flowchart of a method for controlling a boom of a pump truck provided by an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for controlling the boom of a pump truck provided by an embodiment of the present invention
  • FIG. 3 is a flow chart of the detection process of the boom working condition before the construction of the pump truck and the process of controlling the movement of a type of arm provided by the embodiment of the present invention
  • FIG. 4 is a flow chart of the detection process of the arm-retracting working condition after the construction of the pump truck and the process of controlling the movement of a type of arm according to an embodiment of the present invention
  • FIG. 5 is a flow chart of the detection process of the boom working condition before the pump truck construction and the process of controlling the movement of a type of arm provided by the embodiment of the present invention
  • Fig. 6 is a flow chart of the detection process of the arm-retracting working condition after the construction of the pump truck and the process of controlling the movement of a type of arm according to an embodiment of the present invention.
  • Figure 7 is a structural diagram of a pump truck boom control system provided by an embodiment of the present invention.
  • the moving speed during the pumping and distributing construction process is relatively slow, and the maximum speed of the boom is not pursued. Therefore, the present invention does not control the process.
  • the boom working conditions before the construction of the pump truck and the boom working conditions after the construction of the pump truck require the pump truck to be able to be in place or leave as soon as possible.
  • the boom is required to move quickly. Condition to improve the movement speed control.
  • the basic control principle of the present invention is: according to the basic control signal in the existing electronic control system, real-time detection of the working condition of the boom, when the boom is in the above two types of boom working conditions, and the end of the boom is guaranteed Under the premise that the speed is the maximum speed (generally linear speed) set in accordance with the safety standard, only the slower type of arm is controlled to increase the speed of the boom, so as to increase the speed of the boom as a whole.
  • the maximum speed generally linear speed
  • Fig. 1 is a flowchart of a method for controlling the movement speed of a boom of a pump truck provided by an embodiment of the present invention.
  • the method for controlling the movement speed of the boom of a pump truck may include the following steps: step S101, detecting the operating condition of the boom, and step S102,
  • step S101 detecting the operating condition of the boom
  • step S102 When the working condition is the boom working condition before the construction of the pump truck or the retracting working condition after the construction of the pump truck, each section of the boom is controlled to move at its own preset speed action.
  • the respective preset movement speeds are the movement speeds corresponding to each section arm when the boom end speed of the second type arm is fully retracted and the first type arm is fully extended is within the movement speed threshold range .
  • the detecting the working condition of the boom may include: collecting a pumping state signal, a boom in-position state signal, and a timing signal for an action enable signal corresponding to each arm of the second type of arm; And according to the pumping state signal, the boom in-position state signal, and the timing signal of the action enable signal corresponding to each arm of the second-class arm, the working condition of the boom is determined. According to the working condition of the boom, one type of arm is controlled to move at its normal speed or a larger preset speed.
  • the boom control method of a pump truck provided by the present invention may include the following steps:
  • Step S202 It is judged whether the working condition of the boom is the boom working condition before the construction of the pump truck or the boom working condition after the construction of the pump truck. If the working condition of the boom is one of the above two working conditions, step S204 is executed ; Otherwise, go to step S203.
  • Step S203 controlling a class of arms to move at their respective regular motion speeds.
  • Step S204 controlling a class of arms to move at their respective preset motion speeds.
  • the respective preset movement speeds may be that when the second type arms are fully retracted and the boom end speed when the first type arms are fully extended is the maximum movement speed set in accordance with safety standards, each section arm The corresponding movement speed.
  • the respective preset movement speed is greater than the regular movement speed.
  • the work position of the boom is determined
  • the conditions may include: when the pumping state signal indicates that the pump truck is not in the pumping state, the boom in-position state signal indicates that the boom has changed from a fully retracted state to a non-fully retracted state, and that When the accumulated time of the second type of boom boom determined by the timing signal is less than the first preset time, it is determined that the working condition of the boom is the boom working condition before the pump truck is constructed; or The pumping state signal indicates that the pump truck is in the reverse pumping state and the number of reverse pumping times is greater than the preset number, and the cumulative time of the second type arm retracted arm determined by the timing signal is greater than the second preset time Next, it is determined that the working condition of the boom is the boom-retracting working condition after the construction of the pump truck.
  • the first preset time is the product of the time taken for the second type of arm to fully expand (ie, fully extended) and a first preset coefficient
  • the second preset time is the product of the second type of arm to fully retract ( That is, the product of the time consumed for full collection and the second preset coefficient, and the first preset coefficient and the second preset coefficient are both less than one.
  • Step S301 Determine whether the pump truck is in the pumping state according to the pumping signal. When the pump truck is in the pumping state, the process ends; otherwise, step S302 is executed.
  • the pump truck When the pump truck is not in the pumping state, it indicates that the pump truck is not in construction conditions. Once it is detected that the pump truck is in the pumping state, indicating that the pump truck is in the construction state, the process ends.
  • step S302 it is determined whether the boom is changed from the fully retracted state to the non-fully retracted state according to the boom in-position state signal, if yes, execute step S303; otherwise, execute step S304.
  • Step S303 Trigger a timing signal for the action enable signal corresponding to the second-class arm.
  • step S304 it is determined whether the timing signal of the action enable signal corresponding to the second-class arm is triggered, if so, step S305 is executed, otherwise, the process ends.
  • Step S305 According to the timing signal, it is judged whether the accumulated time of the second type of arm span is less than the first preset time, if yes, step S306 is executed; otherwise, step S307 is executed.
  • step S307 the accumulated time of the second type of extended arm is cleared.
  • the accumulated time of the second type arm span is greater than or equal to the first preset time, it indicates that the second type arm has been basically fully deployed. At this time, the length of the boom is relatively long. If the arms of the first type are still controlled The joint arm moves at a larger preset movement speed, which is very likely to cause the movement speed of the end of the boom to exceed the maximum speed set according to the safety standard, which will then bring great safety hazards to the pump truck and the construction site. As a result, the accumulated time of the second type of boom can be cleared.
  • the control system used in the embodiment of the present invention detects the working conditions of the boom in real time based on the basic control signals in the existing electronic control system, so there is no need to install various boom attitude detection sensors, which saves the cost of the acquisition device, and Reduce the possibility of failure, by focusing only on key boom working conditions (such as the boom working condition before pump truck construction, or the boom working condition after pump truck construction), and the boom is classified and controlled to simplify the overall With the control logic, it is more practical.
  • the working condition of the detection pump truck provided by the present invention is the boom-retracting working condition after construction, and the process of controlling a type of boom action may include the following steps:
  • step S401 it is judged by the pumping signal whether the working state of the delivery pump of the pump truck is a positive pump state, if so, step S407 is executed; otherwise, step S402 is executed.
  • Step S402 counting the number of inverse pumping times based on the pumping signal.
  • step S403 it is judged whether the number of reverse pumping times is greater than the preset number, if yes, step S404 is executed; otherwise, step S401 is executed.
  • the delivery pump When the number of reverse pumps is greater than the preset number, it indicates that the delivery pump has completely sucked the material (such as concrete) from the delivery pipe and pushed it into the hopper.
  • Step S404 Obtain the accumulated time of arm retracting of the second type arm through the timing signal of the action enable signal corresponding to the second type arm.
  • Step S405 It is judged whether the accumulated time of arm retracting of the second type arm is greater than the second preset time, if yes, execute step S406; otherwise, end the process.
  • the accumulated time of the second type of arm retracting is greater than the second preset time, it indicates that the retracting action of the second type of arm has been basically completed, that is, it is determined that the working condition of the boom is in the retracting condition after construction. At this time, Only then control the lifting speed of a type of arm.
  • the accumulated time of the second type of arm retracting is less than or equal to the second preset time, it indicates that the retracting action of the second type of arm still needs a certain time to complete. At this time, the length of the boom is longer. Controlling each arm of the first type of boom to move at a larger preset movement speed is very likely to cause the movement speed of the end of the boom to exceed the maximum speed set according to safety standards, which will then bring great impact to the pump truck and the construction site Safety hazards. Thus, the flow ends.
  • Step S406 controlling each arm in a type of arm to move at its preset motion speed.
  • Step S407 reset the number of reverse pumping times to zero.
  • the delivery pump is in the positive pump state, it indicates that the pump truck is in the construction state, and the counted number of reverse pumps needs to be cleared.
  • the accumulated time of the second type arm is used to determine whether the second type arm has completed the arm extension.
  • the working condition of the detection pump truck provided by the present invention is the boom working condition before construction, and the process of controlling a type of boom action may include the following steps:
  • Step S501 Determine whether the pump truck is in the pumping state according to the pumping signal. When the pump truck is in the pumping state, the process ends; otherwise, step S502 is executed.
  • Step S502 judging whether the boom has changed from the fully retracted state to the non-fully retracted state according to the boom in-position state signal, if yes, execute step S503; otherwise, execute step S504.
  • Step S503 trigger a timing signal for the action enable signal corresponding to each arm of the second type arm.
  • step S504 it is determined whether the timing signal of the action enable signal corresponding to each arm of the second-class arm is triggered, if so, step S505 is executed, otherwise, the process is ended.
  • Step S505 determine whether the time of each arm span in the second category arm is less than the corresponding third preset time, if yes, execute step S506; otherwise, execute step S507.
  • step S507 the accumulated time of each arm span in the second type arm is cleared, and the process ends.
  • the span of a certain length of arm in the second type of arm is greater than or equal to the corresponding third preset time, it indicates that the length of the arm is basically fully deployed. At this time, the length of the boom is longer. If the first type is still controlled Each section of the arm moves at a larger preset speed, which is very likely to cause the end of the boom to exceed the maximum speed set in accordance with the safety standard, which will then bring great safety hazards to the pump truck and the construction site . As a result, the accumulated time of the second type of boom can be cleared and the process can be ended.
  • the working condition of the detection pump truck provided by the present invention is the boom-retracting working condition after construction, and the process of controlling a type of boom action may include the following steps:
  • step S601 it is judged by the pumping signal whether the working state of the delivery pump of the pump truck is in the positive pump state, if so, step S607 is executed; otherwise, step S602 is executed.
  • Step S602 counting the number of inverse pumping times based on the pumping signal.
  • step S603 it is judged whether the number of reverse pumping times is greater than the preset number, if yes, step S604 is executed; otherwise, step S601 is executed.
  • Step S604 Obtain the time for each arm of the second type of arm to retract the arm through the timing signal of the action enable signal corresponding to each arm of the second type of arm.
  • step S605 it is judged whether the arm retracting time of each arm of the second type arm is greater than the corresponding fourth preset time, if so, step S606 is executed; otherwise, the process ends.
  • the retracting time of each section of the second-class boom is greater than the corresponding fourth preset time, it indicates that the retracting action of each section of the second-class boom has been basically completed, that is, it is determined that the working condition of the boom is in construction At this time, the retracting speed of the first type of arm is controlled to be raised in the post-retracting working condition.
  • the arm retracting time of each arm in the second category arm is less than or equal to the corresponding fourth preset time, it indicates that the retracting action of each arm in the second category arm needs a certain amount of time to complete.
  • the length of the boom is long. If the arms of a class of arms are still controlled to move at a larger preset movement speed, it is very likely that the movement speed of the end of the boom will exceed the maximum speed set in accordance with the safety standard. Pump trucks and construction sites bring great safety hazards. Thus, the process ends.
  • Step S606 controlling each arm in a class of arms to move at their respective preset motion speeds.
  • step S608 the time for the arms of each arm of the second category to be retracted is cleared.
  • the above-mentioned preferred embodiment can be used to determine whether each section of the arm is not fully deployed through the time for each section of the second type of arm to extend (or retract) (Or almost fully retracted), when each section of the arm is not fully expanded (or almost fully retracted), each section of the arm is controlled to move at its own preset speed, so that it can be more In order to accurately control the arm extension (or arm extension) movement of each section of the arm.
  • the present invention creatively detects the working condition of the boom, and detects that the working condition of the boom is the boom working condition before the construction of the pump truck or the retracting boom after the construction of the pump truck.
  • control each arm of the first type of arm to move at its own preset motion speed, so that it can be used in the boom working condition before the pump truck construction or the retracting after the pump truck construction without passing through the boom attitude detection sensor.
  • the speed control of the movement speed of each arm in a type of arm is realized.
  • the present invention also provides a boom control system for a pump truck.
  • the system may include: a detection device 10 for detecting the working condition of the boom, wherein the boom is It is pre-divided into: a type of arm near the boom end and a type II arm near the forearm end; and the control device 20.
  • the working condition of the boom is the boom working condition before the pump truck is constructed or the In the case of the arm-retracting working condition after the pump truck is constructed, the arms of the first type of arms are controlled to move at their respective preset motion speeds.
  • the respective preset motion speeds are the motion speeds corresponding to the respective arms when the second-type arms are fully retracted and the motion speed of the end of the first-type arms is within the motion speed threshold range.
  • the control device 20 may be a general-purpose processor, a special-purpose processor, a conventional processor, a digital signal processor (DSP), multiple microprocessors, one or more microprocessors associated with the DSP core, a controller, a micro Controller, application specific integrated circuit (ASIC), field programmable gate array (FPGA) circuit, any other type of integrated circuit (IC), state machine, etc.
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • the present invention also provides a pump truck, which is configured with the above-mentioned pump truck boom control system.
  • the present invention also provides a machine-readable storage medium with instructions stored on the machine-readable storage medium, and the instructions are used to make a machine execute the above-mentioned pump truck boom control method.
  • the machine-readable storage medium includes, but is not limited to, phase change memory (Phase Change Random Access Memory, PRAM, also known as RCM/PCRAM), 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, CD-ROM, Digital Versatile Disk (DVD) or other optical storage, magnetic cassette tape, magnetic tape disk storage or other magnetic storage devices and other media that can store program codes.
  • PRAM Phase Change Random Access Memory
  • SRAM static random access memory
  • DRAM dynamic Random access memory
  • RAM random access memory
  • ROM read only memory
  • EEPROM electrically erasable programmable read only memory
  • flash memory or other memory Technology
  • CD-ROM Compact Disk
  • DVD Digital Versatile Disk

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Abstract

一种泵车臂架控制方法、泵车臂架控制系统及泵车。泵车臂架控制方法包括：检测臂架所处的工况，所述臂架被预先划分为：靠近大臂端的一类臂及靠近小臂端的二类臂；以及在臂架所处的工况为泵车施工前的展臂工况或泵车施工后的收臂工况的情况下，控制所述一类臂中的各节臂以各自的预设运动速度动作。该方法无需通过臂架姿态检测传感器，即可在泵车施工前的展臂工况或泵车施工后的收臂工况的情况下，实现对一类臂中的各节臂的运动速度的提速控制。

Description

泵车臂架控制方法、泵车臂架控制系统及泵车 技术领域
本发明涉及泵车控制技术领域，具体地，涉及一种泵车臂架控制方法、泵车臂架控制系统及泵车。
背景技术
在建筑施工中，混凝土泵车的灵活性高，故其成为越来越重要的泵送施工设备。但是泵车在转场过程中，需要先将臂架全部收回，到达新施工位置后又需要全部展开臂架，臂架收回和展开耗费了大量的时间，尤其是目前臂架长度越来越高，臂架节数越来越多。严格的安全标准限定了臂架末端的最大运动速度，因此，在限定范围内最大限度地提升臂架运动速度对施工效率的提升极其重要。
在现有技术中主要采用以下两种技术方案提升臂架运动速度：(1)泵车的臂架系统均在出厂时按臂架末端运动速度对每节臂架进行速度调试限定，臂架末端运动速度计算时假定臂架姿态处于极限工况，即所有臂架呈一条直线。通过限定每节臂对应的多路阀片的最大电流，即可限定该片多路阀的开度，从而实现对每节臂的运动速度限定；(2)在泵车臂架上安装大量的传感器，通过检测的信号直接或间接得到臂架姿态，按臂架实时姿态计算臂架末端的运动速度，实时给定臂架多路阀的开度，实现臂架运动速度最大化的控制。
上述技术方案(1)是按照臂架极限工况进行臂架的末端运动速度的控制，不符合实际臂架姿态，臂架运动速度慢。上述技术方案(2)具备以下缺点：臂架端安装大量的传感器，成本高，且泵送施工工况恶劣，传感器易损坏引起控制失效；以及臂架姿态千变万化，臂架速度根据臂架姿态实时控制导致控制算法复杂，速度调节频繁，操作体验差。
发明内容
本发明的目的是提供一种泵车臂架控制方法、泵车臂架控制系统及泵车，其无需通过臂架姿态检测传感器，即可在泵车施工前的展臂工况或泵车施工后的收臂工况的情况下，实现对一类臂中的各节臂的运动速度的提速控制。
为了实现上述目的，本发明提供一种泵车臂架控制方法，所述方法包括：检测所 述臂架所处的工况，其中，所述臂架被预先划分为：靠近大臂端的一类臂及靠近小臂端的二类臂；以及在所述臂架所处的工况为所述泵车施工前的展臂工况或所述泵车施工后的收臂工况的情况下，控制所述一类臂中的各节臂以各自的预设运动速度动作。
优选地，所述各自的预设运动速度为在所述二类臂全收且所述一类臂全展时的臂架末端速度在运动速度阈值范围内的情况下，所述各节臂对应的运动速度。
优选地，所述检测所述臂架所处的工况包括：采集泵送状态信号、大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号；以及根据所述泵送状态信号、所述大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号，确定所述臂架所处的工况。
优选地，所述根据所述泵送状态信号、所述大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号，确定所述臂架所处的工况包括：在所述泵送状态信号表明所述泵车未处于泵送状态、所述大臂在位状态信号表明所述臂架由全收状态变为非全收状态、且由所述计时信号所确定的该二类臂展臂的累计时间小于第一预设时间的情况下，确定所述臂架所处的工况为所述泵车施工前的展臂工况；或者在所述泵送状态信号表明所述泵车处于反泵状态且反泵次数大于预设次数、且由所述计时信号所确定的所述二类臂收臂的累计时间大于第二预设时间的情况下，确定所述臂架所处的工况为所述泵车施工后的收臂工况，其中，所述第一预设时间为所述二类臂全展所耗时间与第一预设系数的乘积；所述第二预设时间为所述二类臂全收所耗时间与第二预设系数的乘积，所述第一预设系数与所述第二预设系数均小于1。
优选地，所述根据所述泵送状态信号、所述大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号，确定所述臂架所处的工况包括：在所述泵送状态信号表明所述泵车未处于泵送状态、所述大臂在位状态信号表明所述臂架由全收状态变为非全收状态、且由所述计时信号所确定的所述二类臂中的任一臂展臂的时间均小于相应的第三预设时间的情况下，确定所述臂架所处的工况为所述泵车施工前的展臂工况；或者在所述泵送状态信号表明所述泵车处于反泵状态且反泵次数大于预设次数、且由所述计时信号所确定的所述二类臂中的任一臂收臂的时间均大于相应的第四预设时间的情况下，确定所述臂架所处的工况为所述泵车施工后的收臂工况，其中，所述相应的第三预设时间为所述二类臂中的各节臂全展所耗时间与第三预设系数的乘积；所述相应的第四预设时间为所述二类臂中的各节臂全收所耗时间与第四预设系数的乘积，所述第三预设系数与所述第四预设系数均小于1。
相应地，本发明还提供一种泵车臂架控制系统，所述系统包括：检测装置，检测所述臂架所处的工况，其中，所述臂架被预先划分为：靠近大臂端的一类臂及靠近小臂端的二类臂；以及控制装置，在所述臂架所处的工况为所述泵车施工前的展臂工况或所述泵车施工后的收臂工况的情况下，控制所述一类臂中的各节臂以各自的预设运动速度动作。
优选地，所述各自的预设运动速度为在所述二类臂全收且所述一类臂全展时的臂架末端速度在运动速度阈值范围的情况下，所述各节臂对应的运动速度。
优选地，所述检测装置包括：采集单元，采集泵送状态信号、大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号；以及确定单元，用于根据所述泵送状态信号、所述大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号，确定所述臂架所处的工况。
优选地，所述确定单元用于根据所述泵送状态信号、所述大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号，确定所述臂架所处的工况包括：在所述泵送状态信号表明所述泵车未处于泵送状态、所述大臂在位状态信号表明所述臂架由全收状态变为非全收状态、且由所述计时信号所确定的该二类臂展臂的累计时间小于第一预设时间的情况下，确定所述臂架所处的工况为所述泵车施工前的展臂工况；或者在所述泵送状态信号表明所述泵车处于反泵状态且反泵次数大于预设次数、且由所述计时信号所确定的所述二类臂收臂的累计时间大于第二预设时间的情况下，确定所述臂架所处的工况为所述泵车施工后的收臂工况，其中，所述第一预设时间为所述二类臂全展所耗时间与第一预设系数的乘积；所述第二预设时间为所述二类臂全收所耗时间与第二预设系数的乘积，所述第一预设系数与所述第二预设系数均小于1。
优选地，所述确定单元用于根据所述泵送状态信号、所述大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号，确定所述臂架所处的工况包括：在所述泵送状态信号表明所述泵车未处于泵送状态、所述大臂在位状态信号表明所述臂架由全收状态变为非全收状态、且由所述计时信号所确定的所述二类臂中的任一臂展臂的时间均小于相应的第三预设时间的情况下，确定所述臂架所处的工况为所述泵车施工前的展臂工况；或者在所述泵送状态信号表明所述泵车处于反泵状态且反泵次数大于预设次数、且由所述计时信号所确定的所述二类臂中的任一臂收臂的时间均大于相应的第四预设时间的情况下，确定所述臂架所处的工况为所述泵车施工后的收臂工况，其中，所述相应的第三预设时间为所述二类臂中的各节臂全展所耗时间与第三预设系数的 乘积；所述相应的第四预设时间为所述二类臂中的各节臂全收所耗时间与第四预设系数的乘积，所述第三预设系数与所述第四预设系数均小于1。
相应地，本发明还提供一种泵车，所述泵车被配置有上述的泵车臂架控制系统。
相应地，本发明还提供一种机器可读存储介质，所述机器可读存储介质上存储有指令，该指令用于使得机器执行上述的泵车臂架控制方法。
通过上述技术方案，本发明创造性地通过检测臂架所处的工况，并在检测到所述臂架所处的工况为泵车施工前的展臂工况或泵车施工后的收臂工况时，控制一类臂中的各节臂以各自的预设运动速度动作，从而无需通过臂架姿态检测传感器，即可在泵车施工前的展臂工况或泵车施工后的收臂工况的情况下，实现对一类臂中的各节臂的运动速度的提速控制。
本发明的其它特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本发明的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明，但并不构成对本发明的限制。在附图中：
图1是本发明实施例提供的泵车臂架控制方法的流程图；
图2是本发明实施例提供的泵车臂架控制方法的流程图；
图3是本发明实施例提供的泵车施工前的展臂工况的检测过程及控制一类臂运动过程的流程图；
图4是本发明实施例提供的泵车施工后的收臂工况的检测过程及控制一类臂运动过程的流程图；
图5是本发明实施例提供的泵车施工前的展臂工况的检测过程及控制一类臂运动过程的流程图；
图6是本发明实施例提供的泵车施工后的收臂工况的检测过程及控制一类臂运动过程的流程图；以及
图7是本发明实施例提供的泵车臂架控制系统的结构图。
附图标记说明
10   检测装置      20   控制装置
具体实施方式
以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明，并不用于限制本发明。
本发明所涉及的泵车臂架控制系统中无需安装臂架姿态检测传感器，故无法通过精确计算臂架末端的运动速度，对每节臂的运动速度进行细化控制，因此需对臂架进行分类模糊控制。为使控制简单实用，根据臂架的整体运动速度，可将整个臂架分为两大类：靠近大臂端的一类臂，该一类臂的角速度相对较慢；及靠近最末节小臂端的二类臂，该二类臂的角速度相对较快。例如，六节臂泵车中的1～3节臂为一类臂，4～6节臂为二类臂。
在泵车(例如混凝土泵车)实际施工中，泵送布料施工过程中的运动速度都比较慢，不追求臂架速度最大化，由此，本发明不对该过程进行控制。而泵车施工前的展臂工况、及泵车施工后的收臂工况，要求泵车能够尽快就位或离开，一般要求臂架动作迅速，由此，本发明仅对该两类工况进行运动速度的提升控制。具体地，本发明基本控制原理为：根据现有电控系统中的基本控制信号，实时检测臂架的工况，在所述臂架处于上述两类臂架工况，且在保证臂架末端的速度为按照安全标准设置的最大速度(一般为线速度)的前提下，仅对运动速度偏慢的一类臂进行臂架提速控制，从而，可从整体上提升臂架的运动速度。
图1是本发明实施例提供的用于控制泵车的臂架的运动速度的方法的流程图。如图1所示，所述用于控制泵车的臂架的运动速度的方法可包括如下步骤：步骤S101，检测所述臂架所处的工况，以及步骤S102，在所述臂架所处的工况为所述泵车施工前的展臂工况或所述泵车施工后的收臂工况的情况下，控制所述一类臂中的各节臂以各自的预设运动速度动作。所述各自的预设运动速度为在所述二类臂全收且所述一类臂全展时的臂架末端速度在运动速度阈值范围内的情况下，所述各节臂对应的运动速度。
其中，所述运动速度阈值范围的最大值可为按照安全标准设置的最大速度，最小值可为比按照安全标准设置的最大运动速度小预设值的运动速度。所述预设值可基于实际情况合理设置，通常较小。
所述检测所述臂架所处的工况可包括：采集泵送状态信号、大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号；以及根据所述泵送状态信号、所述大臂在位状态信号及对所述二类臂中的各节臂对应的动作使能信号的计时信号，确定所述臂架所处的工况。根据所述臂架所处的工况，控制一类臂以各自的常规运动速 度或者较大的预设运动速度动作。
具体地，如图2所示，本发明提供的泵车臂架控制方法可包括如下步骤：
步骤201，采集泵送状态信号、大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号。
步骤S202，判断臂架的工况是否为泵车施工前的展臂工况或者泵车施工后的收臂工况，若臂架的工况为上述两种工况之一，则执行步骤S204；否则，执行步骤S203。
步骤S203，控制一类臂以各自的常规运动速度动作。
步骤S204，控制一类臂以各自的预设运动速度动作。
例如，所述各自的预设运动速度可为在二类臂全收且所述一类臂全展时的臂架末端速度为按照安全标准设置的最大运动速度的情况下，所述各节臂对应的运动速度。所述各自的预设运动速度大于所述常规运动速度。
所述根据所述泵送状态信号、所述大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号，确定所述臂架所处的工况可包括：在所述泵送状态信号表明所述泵车未处于泵送状态、所述大臂在位状态信号表明所述臂架由全收状态变为非全收状态、且由所述计时信号所确定的该二类臂展臂的累计时间小于第一预设时间的情况下，确定所述臂架所处的工况为所述泵车施工前的展臂工况；或者在所述泵送状态信号表明所述泵车处于反泵状态且反泵次数大于预设次数、且由所述计时信号所确定的所述二类臂收臂的累计时间大于第二预设时间的情况下，确定所述臂架所处的工况为所述泵车施工后的收臂工况。其中，所述第一预设时间为所述二类臂完全展开(即全展)所耗时间与第一预设系数的乘积；所述第二预设时间为所述二类臂完全收拢(即全收)所耗时间与第二预设系数的乘积，所述第一预设系数与所述第二预设系数均小于1。
具体地，如图3所示，本发明提供的检测泵车的工况为施工前的展臂工况，且控制一类臂动作的过程可包括如下步骤：
步骤S301，根据泵送信号判断泵车是否处于泵送状态，当泵车处于泵送状态时，结束流程；否则，执行步骤S302。
在泵车未处于泵送状态的情况下，表明泵车未处于施工工况。一旦检测出泵车处于泵送状态，表明泵车处于施工状态，则结束流程。
步骤S302，根据大臂在位状态信号判断臂架是否从全收状态变为非全收状态，若是，执行步骤S303；否则，执行步骤S304。
步骤S303，触发对与二类臂相应的动作使能信号的计时信号。
步骤S304，判断对与二类臂相应的动作使能信号的计时信号是否被触发，若是，则执行步骤S305，否则，结束流程。
在臂架由全收变为非全收状态之后，且对与二类臂相应的动作使能信号的计时信号已被触发的情况下，确定二类臂开始执行展臂动作。
步骤S305，根据计时信号，判断二类臂展臂的累计时间是否小于第一预设时间，若是，执行步骤S306；否则，执行步骤S307。
在对与二类臂相应的动作使能信号的计时信号已被触发的情况下，开始对二类臂展臂的时间进行计时，并且在二类臂展臂的累计时间小于第一预设时间的情况下，表明二类臂并未完全展开，即确定臂架的工况处于施工前的展臂工况。
步骤S306，控制一类臂中的各节臂以各自的预设运动速度动作。
当二类臂展臂的累计时间小于第一预设时间时，表明二类臂并未完全展开，此时，才控制提升一类臂的展臂速度。
以六节臂泵车中的一类臂(1～3节臂)为例，若基于所有二类臂全收且一类臂全展时的臂架末端的按照安全标准设置的最大速度，计算得到一类臂的1、2、3节臂对应的预设角速度分别为w1、w2、w3(w1<w2<w3)，则一类臂1、2、3节臂动作时分别按照预设角速度w1、w2、w3运行。
步骤S307，二类臂展臂的累计时间清零。
在二类臂展臂的累计时间大于或等于所述第一预设时间的情况下，表明二类臂已基本完全展开，此时臂架的长度较长，若仍控制一类臂中的各节臂以较大的预设运动速度动作，极有可能使得臂架末端的运动速度超过按照安全标准设置的最大速度，继而会给泵车及施工现场带来极大的安全隐患。由此，可将二类臂展臂的累计时间清零。
本发明实施例中所采用的控制系统是根据现有电控系统中的基本控制信号，实时检测臂架的工况，故无需安装各种臂架姿态检测传感器，节省了采集装置的成本，且降低了故障可能性，通过只关注重点臂架工况(如泵车施工前的展臂工况、或泵车施工后的收臂工况)，并对臂架进行了分类控制，整体上精简了控制逻辑，实用性更强。
具体地，如图4所示，本发明提供的检测泵车的工况为施工后的收臂工况，且控制一类臂动作的过程可包括如下步骤：
步骤S401，通过泵送信号判断泵车的输送泵的工作状态是否为正泵状态，若是，则执行步骤S407；否则，执行步骤S402。
在输送泵的工作状态未处于正泵状态的情况下，表明泵车未处于施工工况。
步骤S402，通过泵送信号统计反泵次数。
步骤S403，判断反泵次数是否大于预设次数，若是，执行步骤S404；否则，执行步骤S401。
在反泵次数大于预设次数的情况下，表明输送泵已完全将料(例如混凝土)从输送管里吸出推入料斗。
步骤S404，通过对与二类臂对应的动作使能信号的计时信号，获取二类臂收臂的累计时间。
在所述计时信号已被触发的情况下，开始对二类臂收臂的时间进行计时。
步骤S405，判断二类臂收臂的累计时间是否大于第二预设时间，若是，执行步骤S406；否则，结束流程。
在二类臂收臂的累计时间大于第二预设时间的情况下，表明二类臂的收臂动作已基本完成，即确定臂架的工况处于施工后的收臂工况，此时，才控制提升一类臂的收臂速度。
在二类臂收臂的累计时间小于或等于所述第二预设时间的情况下，表明二类臂的收臂动作还需要一定的时间才能完成，此时臂架的长度较长，若仍控制一类臂中的各节臂以较大的预设运动速度动作，极有可能使得臂架末端的运动速度超过按照安全标准设置的最大速度，继而会给泵车及施工现场带来极大的安全隐患。由此，结束流程。
步骤S406，控制一类臂中的各节臂以各自的预设运动速度动作。
以六节臂泵车中的一类臂(1～3节臂)为例，若基于所有二类臂全收且一类臂全展时的臂架末端的按照安全标准设置的最大速度，计算得到一类臂的1、2、3节臂对应的预设角速度分别为w1、w2、w3(w1<w2<w3)，则一类臂1、2、3节臂动作时分别按照预设角速度w1、w2、w3运行。
步骤S407，将反泵次数清零。
一旦出现输送泵为正泵状态，则表明泵车处于施工状态，则需要将之前统计的反泵次数清零。
步骤S408，将二类臂收臂的累计时间清零。
一旦出现输送泵为正泵状态，则表明泵车处于施工状态，则需要将之前的二类臂收臂的累计时间清零。
在上述实施例中，通过二类臂展臂的累计时间来判断二类臂是否完成展臂动作。为避免二类臂在展臂过程中，某节臂展臂时间过长而另一节臂展臂时间过短的情况，由 于二类臂中的各节臂均有相应的预设的展臂时间，故在优选实施例中，所述根据所述泵送状态信号、所述大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号，确定所述臂架所处的工况可包括：在所述泵送状态信号表明所述泵车未处于泵送状态、所述大臂在位状态信号表明所述臂架由全收状态变为非全收状态、且由所述计时信号所确定的所述二类臂中的任一臂展臂的时间均小于相应的第三预设时间的情况下，确定所述臂架所处的工况为所述泵车施工前的展臂工况；或者在所述泵送状态信号表明所述泵车处于反泵状态且反泵次数大于预设次数、且由所述计时信号所确定的所述二类臂中的任一臂收臂的时间均大于相应的第四预设时间的情况下，确定所述臂架所处的工况为所述泵车施工后的收臂工况。
其中，所述相应的第三预设时间为所述二类臂中的各节臂全展所耗时间与第三预设系数的乘积；所述相应的第四预设时间为所述二类臂中的各节臂全收所耗时间与第四预设系数的乘积，所述第三预设系数与所述第四预设系数均小于1。
具体地，如图5所示，本发明提供的检测泵车的工况为施工前的展臂工况，且控制一类臂动作的过程可包括如下步骤：
步骤S501，根据泵送信号判断泵车是否处于泵送状态，当泵车处于泵送状态时，结束流程；否则，执行步骤S502。
步骤S502，根据大臂在位状态信号判断臂架是否从全收状态变为非全收状态，若是，执行步骤S503；否则，执行步骤S504。
步骤S503，触发对与二类臂中各节臂相应的动作使能信号的计时信号。
步骤S504，判断对与二类臂中各节臂相应的动作使能信号的计时信号是否被触发，若是，则执行步骤S505，否则，结束流程。
在臂架由全收变为非全收状态之后，且对与二类臂中各节臂相应的动作使能信号的计时信号已被触发的情况下，确定二类臂开始执行展臂动作。
步骤S505，根据所述计时信号，判断二类臂中的各节臂展臂的时间是否小于相应的第三预设时间，若是，执行步骤S506；否则，执行步骤S507。
在对与二类臂中的各节臂相应的动作使能信号的计时信号已被触发的情况下，开始对各节臂展臂的时间进行计时，并且在各节臂展臂的时间均小于第三预设时间的情况下，表明二类臂中的各节臂并未完全展开，即确定臂架的工况处于施工前的展臂工况。以六节臂泵车中的二类臂(4～6节臂)为例，若4、5、6节臂对应的第三预设时间分别为t4、t5、t6(t4>t5>t6)，则在4、5、6节臂各自展臂的时间分别小于t4、t5、t6的情 况下，才确定臂架的工况处于施工前的展臂工况。
步骤S506，控制一类臂中的各节臂以各自的预设运动速度动作。
当二类臂中的各节臂展臂的时间均小于相应的第三预设时间时，表明二类臂中的各节臂并未完全展开，此时，才控制提升一类臂的展臂速度。
步骤S507，二类臂中的各节臂展臂的累计时间清零，并结束流程。
在二类臂中的某节臂展臂的时间大于或等于相应的第三预设时间的情况下，表明该节臂已基本完全展开，此时臂架的长度较长，若仍控制一类臂中的各节臂以较大的预设运动速度动作，极有可能使得臂架末端的运动速度超过按照安全标准设置的最大速度，继而会给泵车及施工现场带来极大的安全隐患。由此，可将二类臂展臂的累计时间清零，并结束流程。
具体地，如图6所示，本发明提供的检测泵车的工况为施工后的收臂工况，且控制一类臂动作的过程可包括如下步骤：
步骤S601，通过泵送信号判断泵车的输送泵的工作状态是否为正泵状态，若是，则执行步骤S607；否则，执行步骤S602。
步骤S602，通过泵送信号统计反泵次数。
步骤S603，判断反泵次数是否大于预设次数，若是，执行步骤S604；否则，执行步骤S601。
步骤S604，通过对与二类臂中的各节臂对应的动作使能信号的计时信号，获取二类臂的各节臂收臂的时间。
在对与二类臂中的各节臂的动作使能信号的计时信号已被触发的情况下，开始对相应的臂的收臂时间进行计时。
步骤S605，判断二类臂的各节臂收臂的时间是否大于相应的第四预设时间，若是，执行步骤S606；否则，结束流程。
在二类臂中的各节臂收臂的时间大于相应的第四预设时间的情况下，表明二类臂的各节臂的收臂动作已基本完成，即确定臂架的工况处于施工后的收臂工况，此时，才控制提升一类臂的收臂速度。
在二类臂中的各节臂收臂的时间小于或等于相应的第四预设时间的情况下，表明二类臂中的各节臂的收臂动作还需要一定的时间才能完成，此时臂架的长度较长，若仍控制一类臂中的各节臂以较大的预设运动速度动作，极有可能使得臂架末端的运动速度超过按照安全标准设置的最大速度，继而会给泵车及施工现场带来极大的安全隐患。由 此，结束流程。
步骤S606，控制一类臂中的各节臂以各自的预设运动速度动作。
步骤S607，将反泵次数清零。
步骤S608，将二类臂的各节臂收臂的时间清零。
图3(或图4)所示的实施例相比，上述优选实施例，可通过二类臂的各节臂展臂(或收臂)的时间，来确定所述各节臂是否未完全展开(或基本完全收臂)，在各节臂未完全展开(或基本完全收臂)的情况下，才控制一类臂中的各节臂以各自的预设运动速度动作，由此，可更为精确地控制各节臂的展臂(或收臂)动作。
综上所述，本发明创造性地通过检测臂架所处的工况，并在检测到所述臂架所处的工况为泵车施工前的展臂工况或泵车施工后的收臂工况时，控制一类臂中的各节臂以各自的预设运动速度动作，从而无需通过臂架姿态检测传感器，即可在泵车施工前的展臂工况或泵车施工后的收臂工况的情况下，实现对一类臂中的各节臂的运动速度的提速控制。
相应地，如图7所示，本发明还提供一种泵车臂架控制系统，所述系统可包括：检测装置10，检测所述臂架所处的工况，其中，所述臂架被预先划分为：靠近大臂端的一类臂及靠近小臂端的二类臂；以及控制装置20，在所述臂架所处的工况为所述泵车施工前的展臂工况或所述泵车施工后的收臂工况的情况下，控制所述一类臂中的各节臂以各自的预设运动速度动作。
其中，所述各自的预设运动速度为在所述二类臂全收且所述一类臂末端的运动速度在运动速度阈值范围的情况下，所述各节臂对应的运动速度。
所述控制装置20可以是通用处理器、专用处理器、常规处理器、数字信号处理器(DSP)、多个微处理器、与DSP核心关联的一个或多个微处理器、控制器、微控制器、专用集成电路(ASIC)、现场可编程门阵列(FPGA)电路、其他任何类型的集成电路(IC)、状态机等等。
有关本发明提供的用于控制泵车的臂架的运动速度的系统的具体细节及益处可参阅上述针对用于控制泵车的臂架的运动速度的方法的描述，于此不再赘述。
相应地，本发明还提供一种泵车，所述泵车被配置有上述的泵车臂架控制系统。
相应地，本发明还提供一种机器可读存储介质，所述机器可读存储介质上存储有指令，该指令用于使得机器执行上述的泵车臂架控制方法。
所述机器可读存储介质包括但不限于相变内存(相变随机存取存储器的简称， Phase Change Random Access Memory，PRAM，亦称为RCM/PCRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体(Flash Memory)或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁盘存储或其他磁性存储设备等各种可以存储程序代码的介质。
以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于上述实施方式中的具体细节，在本发明的技术构思范围内，可以对本发明的技术方案进行多种简单变型，这些简单变型均属于本发明的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合。为了避免不必要的重复，本发明对各种可能的组合方式不再另行说明。
此外，本发明的各种不同的实施方式之间也可以进行任意组合，只要其不违背本发明的思想，其同样应当视为本发明所公开的内容。

Claims (12)

  1. 一种泵车臂架控制方法，其特征在于，所述方法包括：
    检测所述臂架所处的工况，其中，所述臂架被预先划分为：靠近大臂端的一类臂及靠近小臂端的二类臂；以及
    在所述臂架所处的工况为所述泵车施工前的展臂工况或所述泵车施工后的收臂工况的情况下，控制所述一类臂中的各节臂以各自的预设运动速度动作。
  2. 根据权利要求1所述的泵车臂架控制方法，其特征在于，所述各自的预设运动速度为在所述二类臂全收且所述一类臂全展时的臂架末端速度在运动速度阈值范围内的情况下，所述各节臂对应的运动速度。
  3. 根据权利要求1所述的泵车臂架控制方法，其特征在于，所述检测所述臂架所处的工况包括：
    采集泵送状态信号、大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号；以及
    根据所述泵送状态信号、所述大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号，确定所述臂架所处的工况。
  4. 根据权利要求3所述的泵车臂架控制方法，其特征在于，所述根据所述泵送状态信号、所述大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号，确定所述臂架所处的工况包括：
    在所述泵送状态信号表明所述泵车未处于泵送状态、所述大臂在位状态信号表明所述臂架由全收状态变为非全收状态、且由所述计时信号所确定的该二类臂展臂的累计时间小于第一预设时间的情况下，确定所述臂架 所处的工况为所述泵车施工前的展臂工况；或者
    在所述泵送状态信号表明所述泵车处于反泵状态且反泵次数大于预设次数、且由所述计时信号所确定的所述二类臂收臂的累计时间大于第二预设时间的情况下，确定所述臂架所处的工况为所述泵车施工后的收臂工况，
    其中，所述第一预设时间为所述二类臂全展所耗时间与第一预设系数的乘积；所述第二预设时间为所述二类臂全收所耗时间与第二预设系数的乘积，所述第一预设系数与所述第二预设系数均小于1。
  5. 根据权利要求3所述的泵车臂架控制方法，其特征在于，所述根据所述泵送状态信号、所述大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号，确定所述臂架所处的工况包括：
    在所述泵送状态信号表明所述泵车未处于泵送状态、所述大臂在位状态信号表明所述臂架由全收状态变为非全收状态、且由所述计时信号所确定的所述二类臂中的任一臂展臂的时间均小于相应的第三预设时间的情况下，确定所述臂架所处的工况为所述泵车施工前的展臂工况；或者
    在所述泵送状态信号表明所述泵车处于反泵状态且反泵次数大于预设次数、且由所述计时信号所确定的所述二类臂中的任一臂收臂的时间均大于相应的第四预设时间的情况下，确定所述臂架所处的工况为所述泵车施工后的收臂工况，
    其中，所述相应的第三预设时间为所述二类臂中的各节臂全展所耗时间与第三预设系数的乘积；所述相应的第四预设时间为所述二类臂中的各节臂全收所耗时间与第四预设系数的乘积，所述第三预设系数与所述第四预设系数均小于1。
  6. 一种泵车臂架控制系统，其特征在于，所述系统包括：
    检测装置，检测所述臂架所处的工况，其中，所述臂架被预先划分为： 靠近大臂端的一类臂及靠近小臂端的二类臂；以及
    控制装置，在所述臂架所处的工况为所述泵车施工前的展臂工况或所述泵车施工后的收臂工况的情况下，控制所述一类臂中的各节臂以各自的预设运动速度动作。
  7. 根据权利要求6所述的泵车臂架控制系统，其特征在于，所述各自的预设运动速度为在所述二类臂全收且所述一类臂全展时的臂架末端速度在运动速度阈值范围内的情况下，所述各节臂对应的运动速度。
  8. 根据权利要求6所述的泵车臂架控制系统，其特征在于，所述检测装置包括：
    采集单元，采集泵送状态信号、大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号；以及
    确定单元，用于根据所述泵送状态信号、所述大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号，确定所述臂架所处的工况。
  9. 根据权利要求8所述的泵车臂架控制系统，其特征在于，所述确定单元用于根据所述泵送状态信号、所述大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号，确定所述臂架所处的工况包括：
    在所述泵送状态信号表明所述泵车未处于泵送状态、所述大臂在位状态信号表明所述臂架由全收状态变为非全收状态、且由所述计时信号所确定的该二类臂展臂的累计时间小于第一预设时间的情况下，确定所述臂架所处的工况为所述泵车施工前的展臂工况；或者
    在所述泵送状态信号表明所述泵车处于反泵状态且反泵次数大于预设 次数、且由所述计时信号所确定的所述二类臂收臂的累计时间大于第二预设时间的情况下，确定所述臂架所处的工况为所述泵车施工后的收臂工况，
    其中，所述第一预设时间为所述二类臂全展所耗时间与第一预设系数的乘积；所述第二预设时间为所述二类臂全收所耗时间与第二预设系数的乘积，所述第一预设系数与所述第二预设系数均小于1。
  10. 根据权利要求8所述的泵车臂架控制系统，其特征在于，所述确定单元用于根据所述泵送状态信号、所述大臂在位状态信号及对与所述二类臂中的各节臂对应的动作使能信号的计时信号，确定所述臂架所处的工况包括：
    在所述泵送状态信号表明所述泵车未处于泵送状态、所述大臂在位状态信号表明所述臂架由全收状态变为非全收状态、且由所述计时信号所确定的所述二类臂中的任一臂展臂的时间均小于相应的第三预设时间的情况下，确定所述臂架所处的工况为所述泵车施工前的展臂工况；或者
    在所述泵送状态信号表明所述泵车处于反泵状态且反泵次数大于预设次数、且由所述计时信号所确定的所述二类臂中的任一臂收臂的时间均大于相应的第四预设时间的情况下，确定所述臂架所处的工况为所述泵车施工后的收臂工况，
    其中，所述相应的第三预设时间为所述二类臂中的各节臂完全展开所耗时间与第三预设系数的乘积；所述相应的第四预设时间为所述二类臂中的各节臂全收所耗时间与第四预设系数的乘积，所述第三预设系数与所述第四预设系数均小于1。
  11. 一种泵车，其特征在于，所述泵车被配置有根据权利要求6-10中任一项所述的泵车臂架控制系统。
  12. 一种机器可读存储介质，其特征在于，所述机器可读存储介质上存储有指令，该指令用于使得机器执行根据权利要求1-5中任一项所述的泵车臂架控制方法。
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