HK1102015B - An intelligent control device for arm - Google Patents

Description

Intelligent arm support control device

Technical Field

The invention relates to a device for controlling an arm support, in particular to an intelligent control arm support control device.

Background

Various construction vehicles with arm supports are widely used. The arm support is a device comprising at least three rod sections hinged by a horizontal hinge shaft, and each rod section can rotate for a corresponding angle around the hinge shaft. Meanwhile, the whole arm support is fixed on the base through the rotary table, and the whole arm support can rotate 360 degrees around a vertical axis perpendicular to the horizontal plane under the driving of the rotary table. Typical applications of such booms are as construction equipment, e.g. moving objects from one place to another and hoisting objects. At present, the arm support equipment is widely used for concrete pouring and other similar works in various construction sites.

For example, a typical construction vehicle with a boom is a concrete pump truck with a boom distribution boom, and the vehicle performs concrete pouring construction according to control requirements at a construction site where concrete pouring is required. When the arm support device is used for concrete pouring and other similar occasions, the control of the arm support device is high in requirement, and particularly the motion trail of the tail end of the arm support device needs to be accurately controlled.

Fig. 1 shows a boom structure of such a concrete pump truck. The structure and control principle of the arm support are described below with reference to fig. 1.

As shown in fig. 1, the concrete pump truck 8 includes a boom 9 and a frame 10 formed by a truck chassis.

In the illustration of fig. 1, the arm support 9 is composed of five articulated sections 12 to 16, respectively designated as large arm 12, two arm 13, three arm 14, four arm 15 and five arm 16, each of which is controlled by a respective hydraulic ram 31 to 35, the action of which allows a limited pivoting of the respective controlled section about the respective articulation axis, and of a turntable 11 driven by means of a hydraulic motor and rotatable about a vertical axis 18. Meanwhile, the turntable 11 may also be rotated by the driving of a hydraulic rotating motor 30 (not shown in fig. 1, see fig. 2). During construction, an operator can control the movement of the handle by means of a remote controller, so as to control the posture adjustment of the arm support and the rotation of the rotary table, and move the tail end 20 of the arm support with the terminal hose 17 to the position above an area to be poured with concrete. The terminal hose 17 is connected to a concrete delivery pump, and concrete is discharged through the terminal hose 17 to perform concrete pouring.

Fig. 2 illustrates a motion control system of the boom shown in fig. 1 in the prior art. The system comprises a remote controller 40 capable of sending wireless remote control signals, a receiver 41 fixed on a vehicle, an electro-hydraulic control element electro-proportional multi-way valve 52, and an execution unit 53 consisting of the hydraulic motor 30 and the hydraulic oil cylinders 31 to 35.

As shown in fig. 2, the remote control 40 comprises six proportional rockers 42 to 47 which are adjustable to and fro in a main adjustment direction and emit analog remote control signals which are used for controlling the turntable and the individual lever segments, respectively. The remote control signal is transmitted via a radio wave 51 of a certain frequency to a receiver 41 fixed to the car. The remote control 40 also comprises a bank of further switch mechanisms 48, 49', 49 "which, when actuated, transmit further associated remote control wireless signals via radio waves 51 of a certain frequency to the wireless receiver 41. When the working position of the end of the arm support is adjusted, if a certain rod section needs to act or rotate, the corresponding proportional rocker arms 42 to 47 are operated to tilt forwards or backwards in a reciprocating manner to send out a control instruction, and after the receiver 41 receives a wireless signal, the receiver is responsible for outputting a PWM driving signal corresponding to each arm support rod section or rotary table to the electric proportional multi-way valve 52 for control. The electric proportional multi-way valve 52 comprises electric proportional valves 56 to 60 which respectively drive the two-way hydraulic oil cylinders 31 to 35; an electro proportional valve 55 is also included for driving the bi-directional hydraulic motor 30. The extension or shortening of the hydraulic cylinders 31 to 35 causes a limited pivoting of the respective rod section about the hinge axis, the rotation of the hydraulic motor 30 being able to drive the entire arm support 9 about the vertical axis 18 by means of a reduction mechanism.

The above describes a typical implementation of a single boom movement, which does not need to use a boom measurement sensing system and a computer-supported coordinate transformation system, but is cumbersome to manipulate. For example, assuming in fig. 1 that termination hose 17 needs to be moved to position a in the position shown and the height of boom tip 20 remains constant, the operator must move at least two or more boom sections. For this purpose, the operator needs to control two of the rockers 43 to 47, respectively, in order to move to point a with a constant height. Only an experienced operator can do this quickly, but it is still difficult to ensure that the boom tip 20 is at a constant height during the movement.

In order to solve the problem that the operating height of the multi-rod-section arm support is not changed, a plurality of technical schemes for automatically controlling the movement of the arm support by adopting an automatic control technology have been proposed in the prior art. According to the technical scheme, the simple control on the operation of the arm support is realized by means of an arm support measuring and sensing system and a coordinate conversion system supported by a computer.

For example, a related boom manipulator patent DE-a-4306127, published by Putzmeister, germany (see also US 6862509), provides a boom manipulator defining a pattern of cylindrical (polar) coordinates having three coordinate axes: psi, r, h, see fig. 1. The three coordinate axes correspond to the rotation (psi) of the boom, the extension and shortening (r) of the boom, and the elevation (h) of the height of the boom, respectively.

In the patent provided by the company Putzmeister, a joystick with three main adjustment directions is used for control according to the three directions of the defined cylindrical coordinate pattern. Each main adjustment direction of the control rocker corresponds to one coordinate axis of the cylindrical coordinates. When the operator controls the rocker to act, signals corresponding to corresponding coordinate axes are generated according to the action direction of the rocker, control components corresponding to the relative rotation of each rod section and the integral rotation of the arm support are generated through the calculation of a computer, and the arm support is controlled to act in a set coordinate system according to the control action of the rocker. The control components on the three coordinate axes can be combined, so that one control action can send out control signals in more than two coordinate axis directions, and the simple and accurate control of the tail end of the arm support is realized, particularly the control on the coordinate axis parallel to the horizontal plane.

The coordinate system of the device for intelligently controlling the arm support provided by the patent is very intuitive, so that an operator can conveniently move the tail end of the arm support from one spatial position to another spatial position.

However, the above device for intelligently operating the arm support also has obvious defects.

For concrete pump truck, a typical boom application, the problem of concern when performing concrete pouring is not only how to move from one spatial location to another, but also the need to precisely control the movement trajectory of the boom tip so that proper pouring can be achieved.

In the casting construction, a typical casting method is to perform casting in mutually perpendicular straight directions. In this casting manner, the motion trajectory of the end of the boom is required to be a straight line.

In the cylindrical coordinate mode provided by the prior art, the manipulation trajectory of the boom tip is generally an arc, and not a straight line, due to the use of the rotation axis. Please refer to fig. 3, which shows the process of forming the motion trajectory for moving from point a on the plane to point D on the same plane in the above cylindrical coordinate mode. In this example, it is assumed that there is no requirement for movement in the direction of the height axis h, i.e., the movement from point a to point D is at the same height.

Fig. 3a shows a projection of the initial position of the boom on the horizontal plane, at which the boom end N is located at a point a on the cylindrical coordinate plane with the turntable as the origin O, and the present operation requirement is as shown in fig. 3b, that is, the boom end N is moved from the coordinate point a to a point D, and the required trajectory is a straight line from the point a to the point D shown in fig. 3 b. However, in the cylindrical coordinate mode, the actual trajectory of the boom tip N is not a straight line.

Please refer to fig. 3c, which shows the trajectory of the boom tip N in the cylindrical coordinate mode. In the conventional cylindrical coordinate mode, the motion trajectory of the boom tail end N is decomposed into motions in the psi axis and the r axis, and after the motion decomposition mode is adopted, the boom tail end N moves on the r axis, namely a straight line in the MN direction of the boom extension while rotating on the psi axis in the axial direction. In the initial state, the tail end N of the arm support MN is superposed with the point A, namely the projection of the arm support MN on the horizontal plane is OA; when the arm support moves, the arm support rotates and extends at the same time, and the projection of the arm support on the plane is OB when the next unit time is up. Similarly, when the next unit time is reached, the projection of the boom on the plane is OC, and when the final target position D is reached, the projection of the boom on the plane is OD. Thus, the projected point track of the arm support tail end N on the plane is a section of broken line from the point A to the point D. This is a trajectory obtained only at a few points per unit time, and in fact, the final trajectory from point a to point D, the end N of the boom, is an arc of increasing radius. Such a motion trajectory has no adverse effect on general construction operations, but the motion trajectory cannot meet the operation requirements in the occasions where the motion trajectory of the boom tail end N has high requirements such as cement pouring.

Disclosure of Invention

In view of the above-mentioned defects, the technical problem to be solved by the present invention is to provide a device for intelligently controlling an arm support, which can make the end of the arm support move along a linear track when moving from one point to another point, so as to meet the requirement of a construction occasion requiring the motion track of the end of the arm support to be a straight line.

The invention provides an intelligent arm support control device, wherein an arm support is fixed on a rotary table capable of rotating around a vertical shaft on a fixed rack in a hinged mode and is provided with at least three rod sections which are mutually hinged through a horizontal hinged shaft, and each rod section can rotate around the hinged shaft which is parallel to each other in a limited way relative to the rotary table or other rod sections under the action of a driver; the intelligent arm support control device comprises:

the control unit is used for controlling each driver according to a control instruction so that the tail end of the arm support moves in a set coordinate system according to the control instruction;

an angle measuring unit including angle sensors for measuring angles between the respective pole segments and a rotation angle of the turntable, the unit being adapted to provide angle measurements to the control unit; the control unit calculates the position information of the arm support according to the angle measurement value and adjusts the control of each driver according to the position information;

the remote controller is used for sending a control instruction in a wireless remote control mode;

the remote controller can provide a motion control command for the rectangular coordinate system, wherein the motion control command comprises an X-axis component, a Y-axis component and a Z-axis component;

defining a rectangular coordinate system in space, wherein an X axis, a Y axis and a Z axis of the rectangular coordinate system respectively correspond to an X axis component, a Y axis component and a Z axis component in the motion control command of the remote controller; the plane of the rectangular plane coordinate system formed by the X axis and the Y axis is parallel to the horizontal plane; the Z axis always takes the upward direction vertical to the horizontal plane as the positive direction;

when the remote controller sends out a motion control command, the control unit determines the motion direction of the tail end of the arm support in a rectangular coordinate system on the plane according to the X-axis component and the Y-axis component of the received motion control command, and decomposes the motion into the motion of each rod section and the rod seat, so that the tail end of the arm support moves towards the direction indicated by the motion control command in the rectangular coordinate system.

Preferably, the remote controller provides the motion control instruction by using a proportional rocker with two main adjusting directions, wherein one main adjusting direction corresponds to an X axis, and the other main adjusting direction corresponds to a Y axis; the projection of the inclination direction of the proportional rocker in the main adjusting direction corresponding to the X axis is the X-axis component, and the projection of the inclination direction of the proportional rocker in the main adjusting direction corresponding to the Y axis is the Y-axis component.

Preferably, when the instruction for establishing the rectangular coordinate system is sent, the rectangular coordinate system where the X axis and the Y axis are located is determined by taking the turntable as a starting point, the projection direction of the boom on the horizontal plane as the positive direction of the Y axis of the rectangular coordinate system, and the end point of the projection of the boom on the horizontal plane as an origin of coordinates.

Preferably, when the proportional rocker of the remote controller returns to the neutral position, the command of establishing the rectangular coordinate system is sent out.

Preferably, the rectangular coordinate system is established as follows: firstly, recording the initial point position of the tail end of the arm support on a horizontal plane, moving the tail end of the arm support, recording the final point position of the tail end of the arm support on the horizontal plane, and determining the rectangular coordinate system by taking the connecting line direction from the initial point to the final point as the forward direction of an X axis; after the coordinate system is established, the movement of the remote controller proportion rocker in the main adjusting direction corresponding to the X axis corresponds to the movement of the tail end of the arm support parallel to the X axis of the plane rectangular coordinate system, and the movement of the remote controller proportion rocker in the main adjusting direction corresponding to the Y axis corresponds to the movement of the tail end of the arm support parallel to the Y axis of the plane rectangular coordinate system.

Preferably, the remote controller is provided with a dedicated teaching selection switch, and when the teaching selection switch selects a teaching mode, the position of the horizontal plane where the tail end of the arm support is located is recorded so as to be used for determining the rectangular coordinate system.

Preferably, a receiver is fixed on the vehicle where the boom is located, and the receiver is used for receiving a remote control command sent by the remote controller and converting the received remote control command into a control data stream for output.

Preferably, the driver is a hydraulic oil cylinder and a hydraulic motor controlled by an electric proportional valve.

Preferably, the control unit includes:

the command parameter decomposition unit is used for receiving the control data stream output by the receiver and decomposing the control data stream into command codes corresponding to commands sent by a control mechanism on a remote controller;

the actual position calculation unit is used for receiving the angle measurement value data output by the angle measurement unit and calculating to obtain arm support position information according to the data;

the motion planning unit is used for receiving the instruction codes output by the instruction parameter decomposition unit and the arm support position information output by the actual position calculation unit, calculating motion amounts of all rod sections and the rotary table required by the movement of the tail end of the arm support to the target position and the maintenance of the tail end of the arm support in the same set straight line or plane, and taking the motion amounts as motion plans;

the flow control unit is used for receiving the motion plan output by the motion planning unit and outputting command voltage or command current for controlling each pole section and the rotary table according to the motion plan;

and the PWM voltage output unit is used for receiving the command voltage or the command current which is output by the flow control unit and corresponds to each rod section and the rotary table, generating a driving voltage with a corresponding numerical value according to the command voltage or the command current, controlling the opening and the direction of each electro-proportional valve, and further controlling the extension or the shortening of the hydraulic oil cylinder and the rotation of the hydraulic motor to reach the position determined by the motion planning.

Preferably, the boom position information obtained by the calculation of the actual position calculating unit includes the tail ends of the respective boom sections and the position coordinates of the tail ends of the boom.

Preferably, when the motion planning unit performs motion planning, the target position is obtained by: calculating to obtain the motion direction of the tail end of the arm support according to the X-axis component and the Y-axis component of the motion control command in the received command code; and according to the movement direction, combining a preset step length parameter, adding the step length to the current position of the tail end of the arm support in the movement direction, and then obtaining the target position of the tail end of the arm support.

Preferably, the flow control unit adjusts output command current or command voltage corresponding to each rod section and the rotary table at any time according to the arm support position information obtained in real time, so as to realize servo control on the arm support motion; the servo control ensures that the tail ends of the arm supports move in the same horizontal plane.

Preferably, the inclination angle of the proportional rocker on the remote controller corresponds to the movement speed of the tail end of the arm support; and the flow control unit adjusts the output of the command voltage or the command current according to the movement speed.

Preferably, the flow control unit calculates a difference between the boom end movement speed and the command movement speed according to the boom position information obtained in real time, and adjusts output command currents or command voltages corresponding to the respective boom sections and the rotary table according to the difference, so as to realize synchronous control of the boom movement.

Preferably, after receiving the motion plan, the flow control unit first determines the rationality of the motion plan, and if the motion plan is rational, the flow control unit generates the command voltage or the command current; and if the planning is not reasonable, the planning is required to be carried out again.

Preferably, the flow control unit performs rationality judgment on the movement plan, including judging the continuity of movement of each pole segment and the rotary table relative to the current position; if the movement is continuous, the movement plan is reasonable; if not, the movement plan is not reasonable.

Preferably, the intelligent boom control device provides a cylindrical coordinate control mode and a manual control mode in addition to the rectangular coordinate control mode; the various control modes are selected by a control mode selection switch specially arranged on the remote controller.

Preferably, the remote controller is further provided with a proportional rocker for controlling the lifting of the tail end of the arm support, and the proportional rocker is used for controlling the lifting movement of the tail end of the arm support in the Z-axis direction.

Preferably, the PWM voltage output unit obtains the driving voltage or current by using a pulse width modulation method or a current method, specifically, the received command voltage or command current is used to control the pulse square wave width or control the current magnitude, so as to obtain the required driving voltage or current.

Preferably, the control unit further comprises a remote controller feedback display unit which transmits information and status of interest to the operator to a receiver fixed to the automobile and transmitted to the remote controller by the receiver through radio waves; the remote controller is provided with a liquid crystal display for displaying the received feedback information.

Preferably, the remote controller is provided with a proportional rocker for controlling the movement of each rod segment and the rotary table; and the proportional rocker controls the ascending and descending motion of the tail end of the arm support in the Z-axis direction.

Preferably, the receiver, the control unit and the angle measuring unit are in data transmission through a CAN bus.

Compared with the prior art, the intelligent boom control device provided by the invention provides a control mode of a rectangular coordinate system on the basis of the prior art. In the control mode, an operator sends out a motion control command comprising an X-axis component, a Y-axis component and a Z-axis component in the vertical direction on a plane parallel to the horizontal plane through a remote controller, and the control unit moves to the motion direction required by the motion control command under the rectangular coordinate system according to the current position of the tail end of the arm support and the motion control command. Because the motion planning is carried out according to the rectangular coordinate system, the control of the linear motion can be intuitively carried out. In the preferred embodiment of the present invention, the linear motion trajectories in the same horizontal plane can be obtained.

The control device provided by the invention can enable an operator to conveniently realize the linear control of the motion trail of the tail end of the arm support, and is particularly suitable for occasions requiring the tail end of the arm support to move in a linear motion trail, such as a concrete pump truck.

Drawings

FIG. 1 is a schematic view of a boom to be controlled according to the present invention;

FIG. 2 is a prior art boom control apparatus;

FIG. 3 is a process of forming a motion trajectory of an end of a boom in a cylindrical coordinate control mode in the prior art;

wherein: fig. 3a is a projection of the boom tip in an initial position;

FIG. 3b is a diagram of a required trajectory of the boom tip movement;

fig. 3c is the trajectory of the boom tip N in the cylindrical coordinate mode;

fig. 4 is a schematic block diagram of an intelligent boom control device according to a first embodiment of the present invention;

FIG. 5 is a process for determining a rectangular coordinate system in a centered manner according to the first embodiment of the present invention;

wherein: FIG. 5a is the establishment of a rectangular coordinate system on the proportional rocker;

FIG. 5b is a projection of the arm support in the horizontal plane when the proportional rocker is centered;

fig. 5c is a rectangular coordinate system established in the horizontal plane of the boom tip at the boom position;

FIG. 5d is a schematic view of the tilting direction of the proportional rocker;

FIG. 5e is a schematic diagram of the movement locus determined when the end of the boom moves linearly in the rectangular coordinate system;

fig. 6 is a schematic diagram of the boom intelligent control device according to the first embodiment of the present invention, which determines a rectangular coordinate system in a teaching manner.

Detailed Description

In order to explain the device provided by the present invention, the following first embodiment describes a specific implementation of the intelligent boom control device provided by the present invention, with reference to the boom structure of the concrete pump truck shown in fig. 1. The boom structure of the concrete pump truck has already been described in the background art and will not be described here. Since the core problem solved by the present invention is the movement of the boom in the horizontal plane, the following description will mainly describe the control of the movement of the boom in the horizontal plane, and the control of the raising and lowering of the boom in the vertical direction is simpler than the control of the movement in the horizontal plane, and will not be described in detail herein.

Fig. 4 shows a schematic block diagram of an intelligent boom control apparatus according to a first embodiment of the present invention.

As shown in fig. 4, the intelligent boom control device includes a remote controller 70, a receiver 82 fixed on the concrete pump truck, an angle measuring unit 89, and a control unit 90.

The remote controller 70 comprises 5 proportional rockers 71-75, wherein the proportional rockers 71-74 have a main movement direction which can be adjusted back and forth in a reciprocating manner, and the proportional rocker 75 has two main adjustment directions which can be adjusted in a reciprocating manner, can move back and forth and left and right respectively, and sends out control signals. The remote controller 70 also has an operation mode selection switch 77, and the operation mode selection switch 77 is designed as a three-position self-locking type selection switch, and different positions of the switch correspond to different operation modes, including a manual operation mode, a cylindrical coordinate mode, and a rectangular coordinate mode. The remote control 70 also has other control mechanisms. The control signal generated by operating the control mechanism such as the proportional rocker generates a wireless remote control signal 83 with a certain frequency correspondingly, and the wireless remote control signal is sent out.

The receiver 82 is fixed on the concrete pump truck, and is configured to receive the wireless remote control signal 83 sent by the remote Controller 70, convert the wireless remote control signal into a control data stream, and transmit the control data stream to the control unit 90 through a CAN (Controller Area Network) data bus 85. In this embodiment, since more control signals need to be transmitted, the CAN bus 85 is used to transmit information, which CAN effectively reduce signal attenuation caused by the length of the electrical line; on the other hand, the weight of the electric wiring harness can be reduced.

The angle measuring unit 89 includes six angle sensors 88, which are respectively used for measuring the angle between the rod sections, the angle between the large arm 12 and the base, and the rotation angle of the middle position when the rotary table deviates from the arm support and is folded down, and transmitting the measured values of the angles to the control unit 90.

Fig. 4 also shows an electric proportional multi-way valve 52 and an execution unit 53, the functions and the components of the above units are the same as those of the control device described in fig. 2 in the background art, and the same reference numerals are used in the figure, which is not described again here.

The control unit 90 is configured to receive a control data stream sent by the receiver 82 and an angle measurement value sent by the angle measurement unit 89 through a CAN (Controller Area Network) data bus 85. And calculates based on the above data to generate drive voltages for controlling the hydraulic motors and the respective hydraulic cylinders in the execution unit 53. The control unit 90 converts the control command into the driving voltage, which is a key for realizing the movement of the boom according to the expected movement track.

The control unit 90 comprises the following sub-units: command parameter decomposing unit 91, actual position calculating unit 92, motion planning unit 93, flow control unit 94, and PWM (pulse width modulation) voltage output unit 95. The specific implementation manner of each sub-unit included in the control unit 90 may be a software module, and may also be a hardware module.

The command parameter decomposition unit 91 receives the control data stream transmitted by the bus 85, and decomposes the message command conforming to the CAN protocol into recognizable command codes corresponding to the positions of the control mechanisms such as the selection switches and the rocker mechanisms on the remote controller 70. The instruction codes related to the technical problems solved by the invention mainly comprise an operation mode, a remote controller rocker inclination direction and push degree, a teaching and clearing instruction and the like, and other instruction codes comprising the locking state of the arm support and the rotary table and the like. The tilt direction and the push degree of the rocker actually represent motion control instructions such as the motion direction and the motion speed of the tail end of the arm support. In polar or rectangular coordinate mode, the command parameter decomposition unit 91 recognizes and decomposes the received real-time data from the remote controller 70 into different types of commands, and transmits the commands to the motion planning unit 93 as input parameters of the motion planning unit 93. In the manual operation mode, the manipulation command for a certain pole segment is directly transmitted to the PWM voltage output unit 95.

The actual position calculating unit 92 is configured to receive angle measurement value data output by the angle measuring unit 89 from the CAN data bus 85, and calculate actual position information of the boom 9 according to the angle measurement value data. The position information is information such as a stroke of the hydraulic cylinders 31 to 35, a position coordinate of each rod section end including the arm support end, and the like obtained through a relation between an edge and an angle of any quadrangle after the motion angle of each arm support is obtained, and the calculation result is output to the motion planning unit 93.

The motion planning unit 93 is configured to receive the instruction code output by the instruction parameter decomposition unit 91 and the actual position information of the boom 9, which is calculated by the actual position calculation unit 92 and includes the actual position of the end of each boom segment, and calculate to obtain the target position. The target position is obtained by adding a set step length in the direction based on the motion direction represented by the motion control command sent by the proportional rocker and by taking the current position of the tail end 20 of the arm support as a reference; according to the target position, the locking state of each rod section of the arm support 9 and the rotary table 11 and the current positions of each rod section of the arm support 9 and the rotary table 11, calculating the degree of movement of each rod section of the arm support 9 and the rotary table 11 in which direction, and obtaining the expected movement track of the next step. The motion planning unit 93 may perform motion planning under the following constraints, including: the locking condition of the large arm 12, the locking condition of the large arm 12 and the two arms 13, the locking condition of the rotary table 11, the unlocking condition of all rod segments of the arm support 9 and the condition that the rotary table 11 participates in control under rectangular coordinates. The result calculated by the motion planning unit 93 is output to the flow control unit 94. The motion planning unit 93 performs the function of determining the motion direction and trajectory of the boom tip 20 and decomposing the motion of the boom tip 20 into the boom segments 12 to 16 and the turntable 11. The movement direction and trajectory of the boom tip 20 are determined according to the movement control command sent by the operator through the remote controller 70 and the operation mode in which the control device is currently located. The motion planning unit 93 obtains the motion planning result, which is needed to ensure the coordinated motion of the boom, for example, when the boom tip 20 moves on a horizontal plane, the boom tip always keeps moving on the same plane parallel to the horizontal plane.

The flow control unit 94 is configured to receive the motion planning result output by the motion planning unit 93, perform rationality judgment on the motion planning result, and when the motion planning result is judged to be rational and can be implemented, use the motion planning result as a basis for controlling hydraulic oil flow distribution of the motion driving mechanisms of each boom section and the turntable, according to which the flow control unit 94 outputs a command current or a command voltage for each motion mechanism, where the command current or the command voltage determines an opening and a direction of each control valve in the electro-proportional multi-way valve 52, so as to further determine a flow direction and a flow rate of hydraulic oil distributed to each hydraulic cylinder of the boom section and the hydraulic motor of the turntable; the flow direction determines whether each hydraulic oil cylinder extends or shortens, the hydraulic motor rotates forwards or backwards, and the flow rate determines the movement speed of the hydraulic oil cylinders and the rotary table. The motion matching of each rod section and the rotary table can jointly determine the motion track of the tail end of the arm support. Judging whether the motion planning is reasonable or not, wherein the judgment comprises the step of judging that the oil supply quantity of each driving element does not exceed the maximum value of the total oil supply quantity, so that the situation that the required motion cannot be realized is avoided; the flow rate control unit 94 can perform a normal driving by reducing the amount of the oil supplied to each driving element in proportion to the total amount of the oil supplied if the amount of the oil supplied exceeds the total amount of the oil supplied. And judging whether the movement plan is reasonable or not, and further judging the continuity of the movement of each rod section and the rotary table 11 relative to the current position. By continuity is meant that the movement of the respective pole segment and turntable 11 relative to the current position cannot be abrupt, i.e. excessive variation of the movement amount in adjacent time periods, so as not to cause movement non-uniformity. If the motion continuity meets the requirement after judgment, the motion planning is reasonable; if the movement is not consistent with the requirement continuously, the movement plan is not reasonable. The flow control unit 94 ensures that the movement speed of the end 20 of the boom corresponds to the pushing degree of the proportional rocker, and the pushing degree is slow when the pushing degree is small and fast when the pushing degree is large. The flow control unit 94 may also obtain the actual position of the boom according to the actual position measurement value of the boom, so as to obtain the actual motion trajectory of the boom end, and adjust the command voltage or the command current accordingly to implement the servo control. In addition, the flow control unit 94 also obtains the movement speed of the boom end 20 according to the change of the boom position in the unit time, and adjusts the command voltage or the command current accordingly to realize the synchronous control of the boom.

Under the action of the motion planning unit 93 and the flow control unit 94, the motion in the cylindrical coordinate mode and the rectangular coordinate mode can be completed under the coordinated motion of each rod segment and the rotary table.

The PWM voltage output unit 95 is configured to receive a command current or a command voltage for each link segment and the rotary table 11 output by the flow control unit 94, or directly receive a command parameter output by the command parameter decomposition module 91, and generate a PWM (pulse width modulation) driving voltage or current for driving the electro-proportional valves 56 to 60 according to the command, so as to implement driving control of the electro-proportional valves 55 to 60, and further control extension or shortening of the hydraulic cylinders 31 to 35 and rotation of the hydraulic motor 30. The extension or shortening of the hydraulic cylinders 31 to 35 makes the corresponding rod sections rotate around the hinge shaft, the rotation of the hydraulic motor 30 drives the whole arm support 9 to rotate around the vertical shaft 18 through the speed reducing mechanism, and finally the tail end 20 of the arm support reaches the movement track expected by an operator through the mutual matching of the rotation of each rod section and the whole arm support 9.

The intelligent arm support control device has three main control modes, including a manual mode, a cylindrical coordinate mode and a rectangular coordinate mode. The three control modes are selected by operating different gear positions of the mode selection switch 77.

In the manual mode, the command parameter decomposition unit 91 is responsible for decomposing the received proportional rocker signal, and seating the proportional rocker signal, the signals of the proportional rockers 71 to 74 correspond to the control rod sections 12 to 15, the first main adjustment direction 86 (forward tilt or backward tilt of the rocker) of the proportional rocker 75 corresponds to the control rod section 16, the second main adjustment direction 87 (left tilt or right tilt of the rocker) of the proportional rocker 75 corresponds to the control turntable 11, and the decomposed control signal is output to the PWM signal output unit 95 through the branch 97, which generates a PWM driving voltage to drive the electric proportional multi-way valve 52. The control function of the manual operation mode is completely the same as that of the manual operation mode in the prior art shown in fig. 2, and the manual operation mode is mainly used in occasions which are not suitable for linkage control of the arm support or when a system for implementing linkage of the arm support has faults. The inclination direction of each proportional rocker corresponds to the movement direction of the rod section or the rotary table, the push degree of each proportional rocker is relative to the movement speed of the rod section or the rotary table, and the larger the push degree is, the faster the movement speed is.

The cylindrical coordinate pattern is substantially the same as the cylindrical coordinate pattern defined in the german patent DE-a-4306127, published by the prior art company Putzmeister, which has three components: psi, r, h, see fig. 1. The difference between this embodiment and this embodiment is that according to the situation of the remote control in this embodiment that has the operating rocker, the adjustment of the r component is defined in the first main adjustment direction 86 of the rocker mechanism 75, i.e. the forward tilting or backward tilting of the rocker mechanism 75 corresponds to the increase or decrease of r, which corresponds to the extending or shortening movement of the arm, while the height h of the end of the arm remains unchanged. While the adjustment of said psi component is defined in a second main adjustment direction 87 of the rocker mechanism 75, a left or right tilt of the rocker mechanism 75 corresponds to an increase or decrease of psi, corresponding to a clockwise and a counter-clockwise rotation of the turntable in the case of a boom. The adjustment of these two components is combined as a two-dimensional movement in the horizontal in a subdivision of the adjustment movement on a rocker mechanism with two main adjustment directions. If the tilt angle of the rocker mechanism 75 is at a certain angle to the main adjustment direction, then the motion at the end of the boom is effective at both the r and ψ components, and a combined telescopic and rotary motion is performed on the boom while the height h at the end of the boom remains unchanged. The adjustment of the height h of the end of the boom is relatively independent of the movement of the end of the boom in the horizontal plane and is controlled by a relatively independent rocker mechanism 71. The forward tilting of the rocker mechanism achieves an increase in h and the backward tilting achieves a decrease in h. The above functions need to be implemented in the control unit 90 with the participation of the actual position calculation unit 92, the motion planning unit 93, the flow control unit 94, the PWM voltage output unit 95, and the like.

When in the operation mode of cylindrical coordinates, the motion planning unit 93 simply determines the extension or contraction of the boom 9 according to the front-back main direction component of the proportional rocker 75; accordingly, the next motion trail of the arm support is calculated. The specific motion track of the end of the boom in the cylindrical coordinate mode is shown in fig. 3c, and it can be seen that the finally formed motion track of the end of the boom is a curve.

The cylindrical coordinate mode is adopted, the motion planning is simple, because the rotation of the arm support only relates to the motion of the rotary table 11, does not relate to the corresponding relation with the coordinates, and does not need to carry out special calculation, the motion planning only needs to decompose the extension and shortening motion of the arm support in the r direction to each rod section, and the planning of the rotary table is not needed.

The main disadvantages of the cylindrical coordinate pattern described above have been described previously, namely: in the coordinate mode, although the tail end of the arm support can be conveniently moved from one point on the horizontal plane to another point on the horizontal plane, the motion track when the arm support moves between the two points is a curve, and the linear motion from one point on the horizontal plane to another point cannot be formed unless the arm support only extends and shortens in the r direction, and the linear motion is not realized as long as the arm support participates in rotation.

The rectangular coordinate mode is a specific operation mode of the present embodiment. Considering that the linear motion is the main motion mode required during the pouring process, this embodiment designs a completely new rectangular coordinate mode for the control device, in which the motion trajectory of the control device can be a linear motion trajectory from one point to another point on the horizontal plane, and this mode is particularly suitable for the cement pouring operation in building construction.

In the rectangular coordinate mode, mutually perpendicular X-axis coordinates and Y-axis coordinates are introduced differently from the cylindrical coordinate components ψ, r, and the other coordinate axis Z-axis is the same as the h-axis of the cylindrical coordinates, and will not be described in detail here. As shown in fig. 5a, the first main adjustment direction 86 (front-rear direction) of the proportional rocker 75 is defined as the vertical axis Y, and the second main adjustment direction 87 (left-right direction) is defined as the horizontal axis X. The above definition determines the relationship between the rocker mechanism 75 and the main adjustment direction and the rectangular coordinate system, and when the proportional rocker 75 tilts in the other adjustment directions than the main adjustment direction, the components corresponding to the movement direction in the two main adjustment directions are motion control commands in the X-axis direction and the Y-axis direction, respectively.

The X-axis and Y-axis directions of the rectangular coordinate system can be easily determined on the remote controller 70 because the main adjustment direction of the proportional rocker 75 is fixed. But it is difficult to determine in the horizontal plane of the arm end movement because it requires a reference system. According to different requirements, the embodiment provides two ways of determining the rectangular coordinate system of the movement of the end of the arm support in the horizontal plane, namely a proportional rocker 75 centering way and a teaching way.

The rectangular coordinate system is determined by the centering mode of the proportion rocker 75, and the rectangular coordinate system of the arm support motion horizontal plane is determined according to the arm support position when the proportion rocker 75 is centered. By proportional rocker 75 is meant that proportional rocker 75 is in the neutral position in both main adjustment directions.

As mentioned before, the movement of the proportional rocker 75 can be responded to in the control unit 90. In the manner of determining the rectangular coordinate system in the manner of centering the proportional rocker, the control unit 90 centers the proportional rocker 75 as a special event to be processed, that is, centers the proportional rocker 75 as a difference point between two previous and next control processes of the proportional rocker 75. When the proportional rocker 75 is centered, the previous control process is ended, and the next control process is started, at which time a new rectangular coordinate system needs to be established.

The new rectangular coordinate system is established as follows: when the proportional rocker 75 is centered, the rotation table is used as a starting point, the projection direction of the arm support on the horizontal plane is used as the positive direction of the Y axis, and the end point of the projection of the arm support on the horizontal plane is used as the origin of coordinates. As shown in fig. 5b, when the proportional rocker 75 is centered, the projection of the arm support in the horizontal plane is MN. The next time the rocker mechanism 75 leaves the neutral position, the boom motion coordinate system corresponding to the coordinate system determined on the proportional rocker 75 shown in fig. 5a is determined as follows: taking N as the origin of coordinates, and the extending direction of the arm support is the Y direction; further, a corresponding X direction is determined according to the Y direction, and a rectangular coordinate system determined by the boom position shown in fig. 5b is shown in fig. 5 c.

After the two rectangular coordinate systems of the proportional rocker 75 and the arm support movement horizontal plane are determined, the two coordinate systems have a corresponding relationship, that is, the inclination direction of the proportional rocker 75 in the rectangular coordinate system thereof also indicates that the tail end of the arm support needs to move in the same direction in the rectangular coordinate system of the arm support movement horizontal plane.

If the proportional rocker 75 tilts from the origin O 'of coordinates to the point a' as shown in fig. 5D, it means that the arm end N needs to move from the point a coinciding with the origin O of the coordinate system as shown in fig. 5c to the point D, and the moving speed is related to the degree of push of the proportional rocker 75, and the greater the degree of push of the proportional rocker 75, the greater the moving speed of the arm end. Different from the cylindrical coordinate working mode, in the rectangular coordinate working mode, when the point A needs to be moved to the point D, the motion trail is decomposed in the X-axis and Y-axis directions according to the rectangular coordinate system. That is to say, the boom tail end N moves along the AD linear direction, and obtains a linear motion trajectory, which needs to ensure that the movement speeds of the boom tail end on the X axis and the Y axis are coordinated with each other, so that the boom tail end N can ensure to move in the AD direction.

The motion planning unit 93 determines the motion direction of the boom under the rectangular coordinate system according to the inclination direction of the proportional rocker 75. Obtaining the motion direction, motion planning is needed to ensure that the motion direction of the tail end of the arm support is correct and a linear motion track is obtained. Because the motion of the tail end of the arm support on the X axis and the Y axis is not driven by a single driving device, the motion planning under the rectangular coordinate system is quite complex.

Because the motion of the boom end is decomposed into X-axis and Y-axis motions in the rectangular coordinate system, the motion planning unit 93 needs to consider the coordination between the boom rotation motion and the boom extension motion at the same time, so as to ensure that the boom always moves linearly in the direction of the command motion. The motion planning unit 93 plans by using the following method: first, a desired movement direction is calculated and obtained based on the values of the X-axis component and the Y-axis component of the movement control command. Next, based on the step length parameter that has been set, a coordinate point at which the step length is moved in the above-described direction from the current point is calculated, and the movement of each pole segment and the turn table 11 that is required to be performed to move to that point is planned based on this. The above movement planning also takes into account that the boom tip 20 is highly invariant during the movement. During actual movement, the flow control unit 94 also checks the rationality of the movement plan from a movement continuity point of view, and performs servo control and synchronization control during movement. During the movement, if the remote controller 70 still sends the same movement control command, the next coordinate point is continuously taken according to the step length parameter, and the next movement planning is performed. The step size parameter is a parameter value set in advance, which determines in what unit the motion planning unit 93 performs motion planning.

Assuming a step size parameter of 1 meter, as shown in fig. 5e, it is required to move from point a to point D. Accordingly, it is required to move to the point B' 1 meter from the point a. As can be seen from fig. 5e, at this time, the boom needs to rotate clockwise ≧ AMB '(the angle is θ), and the boom elongates by a length MB' -MA ═ L. The motion plan output by the motion planning unit 93 is to ensure that the boom rotates clockwise by an angle θ and extends L at the same time. When the next point B' is continuously set in the direction AD as needed to move from point a to point D, the motion planning unit 93 may obtain a series of motion plans for moving the boom tip 20 along the straight line AD by calculation, and finally ensure that the boom tip 20 moves to point D along a substantially straight track by the servo control and the synchronous control of the flow control unit 94.

The rectangular coordinate system determined by the centering method can better meet the control requirement of enabling the tail end of the arm support to perform linear motion, but has the defects. Therefore, the invention also establishes a method for determining the horizontal plane rectangular coordinate system in a teaching mode. The rectangular coordinate system is determined by the teaching mode based on the following reason that in actual concrete pouring construction, such as pouring of a beam or a flat plate, only two motion directions of the tail end of the arm support in a horizontal plane are required, one motion direction is parallel to the beam direction, and the other motion direction is perpendicular to the beam direction in the horizontal plane. As shown in fig. 6, assuming that a projection point N of the boom tail end in the horizontal plane moves to N ' which is a moving direction required by the boom tail end, where N and N ' are points at different positions of the beam to be poured, when the boom tail end is at the positions of N and N ', the control unit records the positions of the two points, and then determines a rectangular coordinate system of the boom movement by using a connection line of the two points, and the coordinate system is not changed any more during construction under this condition, so as to form a fixed rectangular coordinate system. The movement of the second main adjustment direction 87 of the proportional rocker 75 corresponds to a linear movement parallel to the line NN ', for example PP' in fig. 6, after the fixed rectangular coordinate system has been established. The first main adjustment direction 86 of the proportional lever 75 corresponds to a linear movement perpendicular to the line NN 'and this feature is implemented when the proportional lever moves after returning to the neutral position each time, i.e. the coordinate system is not changed by the change of the position of the arm support unless the coordinates of the two points N and N' are cleared.

To realize such a function, as shown in fig. 4, the remote controller 70 of the present embodiment is specifically provided with a teaching selection switch 76. The teaching selection switch 76 is preferably designed as an automatic reset switch having three positions, and is held at the intermediate position in the absence of external force; when the user pushes forwards, a teaching mode is defined at the forward position; when pushing backward, in the backward position, a "clear" mode is defined. The working mode selection switch 77 selects the rectangular coordinate mode, and the teaching selection switch 76 is used for sending a command for memorizing the coordinate value of a certain point and a command for clearing the coordinate value of the certain point, and then the command is transmitted to the control unit 90 by the CAN data bus system 85 and is implemented by the control unit 90. As shown in fig. 6, after two coordinates of N and N 'are memorized, the direction perpendicular to the extending direction of the boom and the straight line determined by NN' is the Y-axis forward direction, and after the Y-axis is determined, the X-axis is easily determined. The X and Y coordinates in the rectangular coordinate system can be realized by a two-point memory method and can be fixed.

After the rectangular coordinate system is determined by the teaching method, the control method of the control unit 90 in the coordinate system is the same as that when the rectangular coordinate system is determined by the centering method.

In order to better realize the new functions described above, as shown in fig. 4, the control unit 90 in this embodiment further has a remote controller feedback display unit 96, which transmits the information and status of the operator's interest to the receiver 82 fixed on the vehicle through the CAN data bus 85 connected to the control unit 90, and then transmits the information and status to the remote controller 70 held by the operator through the radio wave 84 with a certain frequency, and the remote controller 70 is provided with a liquid crystal display 81 for displaying the graphic and text information. By the mode, the operator can timely obtain feedback information about the current operation. The above functions are additional functions and are not necessary for realizing intelligent control.

Meanwhile, in order to conveniently establish one rectangular coordinate system and another rectangular coordinate system after establishing another rectangular coordinate system, a remote controller may be further provided on the remote controller 70 with a dedicated coordinate rotation switch (not shown), and when the rectangular coordinate system is established, the coordinate system may be rotated by a certain angle on a horizontal plane using the switch. The switch can conveniently establish a new rectangular coordinate system through the established rectangular coordinate system, and the establishment process of the rectangular coordinate system is simplified.

Compared with the prior art, the control device has the key points that the control device establishes an operation mode of a rectangular coordinate system, in the operation mode, the control components output by a proportional rocker or other control mechanisms are decomposed according to the X axis, the Y axis and the Z axis of the rectangular coordinate system, the information of the motion direction required by an operator is obtained, the motion planning and control are carried out according to the information, and finally the linear motion track in the required direction is obtained. Due to the arrangement of the rectangular coordinate system, the tail end 20 of the cantilever crane can be conveniently controlled to move along a straight track, and the construction requirements of cement pouring and the like are fully met. Some specific implementation manners in this embodiment may be implemented in other manners according to the prior art. For example, the remote controller 70 may also send control commands in a wired remote control manner; for example, the function of the proportional rocker 75 can be realized by directly inputting numbers representing the moving direction and speed; for example, the electro-proportional multi-way valve unit 52 may also be implemented in the form of a proportional servo valve, a servo proportional valve, or other types of electrically controlled hydraulic valves.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (23)

1. An intelligent arm support control device, wherein an arm support is fixed on a rotary table which can rotate around a vertical shaft on a fixed frame in a hinged mode and is provided with at least three rod sections which are mutually hinged through a horizontal hinged shaft, and each rod section can rotate around the hinged shaft which is parallel to each other in a limited way relative to the rotary table or other rod sections under the action of a driver; the intelligent arm support control device comprises:

the control unit is used for controlling each driver according to a control instruction so that the tail end of the arm support moves in a set coordinate system according to the control instruction;

an angle measuring unit including angle sensors for measuring angles between the respective pole segments and a rotation angle of the turntable, the unit being adapted to provide angle measurements to the control unit; the control unit calculates the position information of the arm support according to the angle measurement value and adjusts the control of each driver according to the position information;

the remote controller is used for sending a control instruction in a wireless remote control mode;

the remote controller can provide a motion control command for the rectangular coordinate system, wherein the motion control command comprises an X-axis component, a Y-axis component and a Z-axis component;

defining a rectangular coordinate system in space, wherein an X axis, a Y axis and a Z axis of the rectangular coordinate system respectively correspond to an X axis component, a Y axis component and a Z axis component in the motion control command of the remote controller; the plane of the rectangular plane coordinate system formed by the X axis and the Y axis is parallel to the horizontal plane; the Z axis always takes the upward direction vertical to the horizontal plane as the positive direction;

when the remote controller sends out a motion control command, the control unit determines the motion direction of the tail end of the arm support in a rectangular coordinate system on the plane according to the X-axis component and the Y-axis component of the received motion control command, and decomposes the motion into the motion of each rod section and the rod seat, so that the tail end of the arm support moves towards the direction indicated by the motion control command in the rectangular coordinate system.

2. The device of claim 1, wherein the remote control provides the motion control command using a proportional rocker having two primary adjustment directions, one primary adjustment direction corresponding to the X-axis and the other primary adjustment direction corresponding to the Y-axis; the projection of the inclination direction of the proportional rocker in the main adjusting direction corresponding to the X axis is the X-axis component, and the projection of the inclination direction of the proportional rocker in the main adjusting direction corresponding to the Y axis is the Y-axis component.

3. The device according to claim 2, wherein when the command for establishing the rectangular coordinate system is issued, the rectangular coordinate system where the X axis and the Y axis are located is determined by taking the rotating table as a starting point, taking the projection direction of the boom on the horizontal plane as the positive direction of the Y axis of the rectangular coordinate system, and taking the end point of the projection of the boom on the horizontal plane as an origin of coordinates.

4. The apparatus of claim 3, wherein the set-up rectangular coordinate system command is issued when the proportional rocker of the remote control returns to a neutral position.

5. The apparatus of claim 2, wherein the rectangular coordinate system is established by: firstly, recording the initial point position of the tail end of the arm support on a horizontal plane, moving the tail end of the arm support, recording the final point position of the tail end of the arm support on the horizontal plane, and determining the rectangular coordinate system by taking the connecting line direction from the initial point to the final point as the forward direction of an X axis; after the coordinate system is established, the movement of the remote controller proportion rocker in the main adjusting direction corresponding to the X axis corresponds to the movement of the tail end of the arm support parallel to the X axis of the plane rectangular coordinate system, and the movement of the remote controller proportion rocker in the main adjusting direction corresponding to the Y axis corresponds to the movement of the tail end of the arm support parallel to the Y axis of the plane rectangular coordinate system.

6. The apparatus of claim 5, wherein the remote control has a dedicated teaching selection switch which, when the teaching mode is selected, starts recording the horizontal position of the boom tip for use in determining the rectangular coordinate system.

7. The device as claimed in any one of claims 2 to 6, wherein a receiver is fixed on the vehicle on which the arm support is located, and the receiver is used for receiving the remote control command sent by the remote controller and converting the received remote control command into a control data stream for output.

8. The apparatus of claim 7 wherein the actuators are hydraulic rams and hydraulic motors controlled by electro proportional valves.

9. The apparatus of claim 8, wherein the control unit comprises:

the command parameter decomposition unit is used for receiving the control data stream output by the receiver and decomposing the control data stream into command codes corresponding to commands sent by a control mechanism on a remote controller;

the actual position calculation unit is used for receiving the angle measurement value data output by the angle measurement unit and calculating to obtain arm support position information according to the data;

the motion planning unit is used for receiving the instruction codes output by the instruction parameter decomposition unit and the arm support position information output by the actual position calculation unit, calculating motion amounts of all rod sections and the rotary table required by the movement of the tail end of the arm support to the target position and the maintenance of the tail end of the arm support in the same set straight line or plane, and taking the motion amounts as motion plans;

the flow control unit is used for receiving the motion plan output by the motion planning unit and outputting command voltage or command current for controlling each pole section and the rotary table according to the motion plan;

and the PWM voltage output unit is used for receiving the command voltage or the command current which is output by the flow control unit and corresponds to each rod section and the rotary table, generating a driving voltage with a corresponding numerical value according to the command voltage or the command current, controlling the opening and the direction of each electro-proportional valve, and further controlling the extension or the shortening of the hydraulic oil cylinder and the rotation of the hydraulic motor to reach the position determined by the motion planning.

10. The device according to claim 9, wherein the boom position information calculated by the actual position calculating unit includes the end of each boom segment and the position coordinates of the end of the boom.

11. The apparatus of claim 9, wherein the motion planning unit performs motion planning by first obtaining the target position by: calculating to obtain the motion direction of the tail end of the arm support according to the X-axis component and the Y-axis component of the motion control command in the received command code; and according to the movement direction, combining a preset step length parameter, adding the step length to the current position of the tail end of the arm support in the movement direction, and then obtaining the target position of the tail end of the arm support.

12. The device according to claim 9, wherein the flow control unit adjusts output command current or command voltage corresponding to each rod segment and the rotary table at any time according to the boom position information obtained in real time, so as to realize servo control of boom movement; the servo control ensures that the tail ends of the arm supports move in the same horizontal plane.

13. The device of claim 9, wherein the tilting angle of the proportional rocker of the remote controller corresponds to the movement speed of the end of the arm support; and the flow control unit adjusts the output of the command voltage or the command current according to the movement speed.

14. The device of claim 13, wherein the flow control unit calculates a difference between a boom end movement speed and a command movement speed according to the boom position information obtained in real time, and adjusts output command currents or command voltages corresponding to each rod segment and the rotary table according to the difference to realize synchronous control of the boom movement.

15. The device according to claim 9, wherein the flow control unit, after receiving the movement plan, firstly judges the reasonability of the movement plan, and if the movement plan is reasonable, generates the command voltage or the command current; and if the planning is not reasonable, the planning is required to be carried out again.

16. The apparatus of claim 15, wherein the flow control unit makes a rationality determination for the motion planning, including determining continuity of motion of each pole segment and the turret relative to a current position; if the movement is continuous, the movement plan is reasonable; if not, the movement plan is not reasonable.

17. The device of claim 9, wherein the smart boom control device provides a cylindrical coordinate control mode and a manual control mode in addition to the rectangular coordinate control mode; the various control modes are selected by a control mode selection switch specially arranged on the remote controller.

18. The device as claimed in claim 9, wherein the remote controller is further provided with a proportional rocker for controlling the lifting of the tail end of the arm support, and the proportional rocker is used for controlling the lifting movement of the tail end of the arm support in the Z-axis direction.

19. The apparatus according to claim 9, wherein the PWM voltage output unit obtains the driving voltage or current by a pulse width modulation method or a current method, and specifically, obtains the required driving voltage or current by controlling a pulse square wave width or controlling a current magnitude using the received command voltage or command current.

20. The apparatus of claim 9, wherein the control unit further comprises a remote controller feedback display unit which transmits information and status of interest to the operator to a receiver fixed to the vehicle and transmitted to the remote controller by radio waves from the receiver; the remote controller is provided with a liquid crystal display for displaying the received feedback information.

21. The apparatus of claim 9, wherein the remote control has a proportional rocker that controls movement of the individual pole segments and the turntable; and the proportional rocker controls the ascending and descending motion of the tail end of the arm support in the Z-axis direction.

22. The device of claim 7, wherein the receiver, the control unit and the angle measuring unit are in data communication via a CAN bus.

23. The device according to any one of claims 1-6, wherein the remote control has a dedicated coordinate rotation switch, which can be used to rotate the coordinate system in a horizontal plane by a certain angle after the rectangular coordinate system is established.