Title:
METHOD AND APPARATUS FOR COMPENSATING BOOM DEFLECTION, AND METHOD AND APPARATUS FOR CONTROLLING BOOM
Document Type and Number:
WIPO Patent Application WO/2022/199610
Kind Code:
A1
Abstract:
A method for compensating boom deflection, which comprises: determining a joint angle set of a boom if an end of the boom were to reach a predetermined target position when the boom is viewed as a rigid body, wherein the joint angle set comprises a joint angle of each joint of the boom; determining an actual position that the joint angle set causes the end to reach; determining the deviation between the actual position and the predetermined target position; and when the deviation does not satisfy a predetermined condition, adjusting the joint angle set, and when the deviation determined according to the adjusted joint angle set does not satisfy the predetermined condition, continuing to adjust the joint angle set until the deviation satisfies the predetermined condition. The end of the boom can consequently more accurately reach the predetermined target position. The present invention further relates to a method for controlling a boom, an apparatus for compensating boom deflection, an apparatus for controlling a boom, a construction machine, and a computer-readable storage medium.
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Inventors:
LIU YANBIN (CN)
YIN LI (CN)
TANG LYU (CN)
FU LING (CN)
PI HAOJIE (CN)
YIN LI (CN)
TANG LYU (CN)
FU LING (CN)
PI HAOJIE (CN)
Application Number:
PCT/CN2022/082483
Publication Date:
September 29, 2022
Filing Date:
March 23, 2022
Export Citation:
Assignee:
ZOOMLION HEAVY INDUSTRY SCIENCE AND TECH CO LTD (CN)
International Classes:
B25J18/00; B25J17/00; B25J17/02
Foreign References:
| CN112109084A | 2020-12-22 | |||
| CN113021408A | 2021-06-25 | |||
| CN109262659A | 2019-01-25 | |||
| CN109483529A | 2019-03-19 | |||
| CN110561419A | 2019-12-13 | |||
| CN108297101A | 2018-07-20 | |||
| CN103147577A | 2013-06-12 | |||
| JP2018099743A | 2018-06-28 | |||
| DE102019118261B3 | 2020-08-20 | |||
| JP2010058256A | 2010-03-18 |
Attorney, Agent or Firm:
RUNPING & PARTNERS (CN)
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