WO2013107124A1

WO2013107124A1 - System and method for operation and control of mechanical arm and engineering machinery

Info

Publication number: WO2013107124A1
Application number: PCT/CN2012/074323
Authority: WO
Inventors: 周翔; 邓侃; 周继辉
Original assignee: 湖南三一智能控制设备有限公司; 三一重工股份有限公司
Priority date: 2012-01-16
Filing date: 2012-04-19
Publication date: 2013-07-25
Also published as: CN102535852A; CN102535852B

Abstract

Disclosed are a method and a system for operation and control of a mechanical arm and engineering machinery having this system. In the system for operation and control of a mechanical arm, an acquisition apparatus is used for acquiring a positional relationship signal of an operational component in a first coordinate system and an end of the mechanical arm in a second coordinate system, a motion direction signal of the operational component, and an inclined angle parameter signal of a construction reference surface; and a controller issues control commands according to the signals so that a drive apparatus controls the end of the mechanical arm to move parallel to the working reference plane. The control system can achieve three-dimensional movement of the mechanical arm by simple operation and can not only improve the control efficiency of the mechanical arm but the control is also relatively visual and graphic, aiding the judgement of the operator with regard to control direction.

Description

Manipulator control system, method and engineering machine

This application claims priority to Chinese Patent Application No. 201210013058.0, entitled "A Manipulator Control System, Method, and Construction Machinery" on January 16, 2012, the entire contents of which are incorporated by reference. In this application.

Technical field

The invention relates to a construction machinery control technology, in particular to a mechanical arm control system, a method and a construction machine.

Background technique

Concrete pump trucks are one of the most widely used construction machinery. The pumping equipment mainly uses pumping power to pump concrete along a conveying pipe arranged on the boom to a designated working position.

Generally, in order to meet the needs of the concrete pumping position, the position of the duct can be varied as the arm is adjusted. In the prior art, the arm bracket is mainly adjusted in the following two ways.

The first method is mainly for ordinary concrete pump trucks. This adjustment method is used to individually adjust each boom of the concrete pump truck. The operator needs to use the first boom, the second boom, the third boom, and the fourth. The unfolding and folding operations of the boom and the like are separately controlled, and the operator needs to coordinate and control the operations of the first boom, the second boom, the third boom, and the fourth boom at the same time. The operation is not intuitive, the operation is very difficult, the operation skill is high, the operation is labor intensive, the fatigue is easy to occur, and the movement efficiency is low.

The second method is mainly for concrete pump trucks with intelligent boom technology. Under the condition that the hose speed and direction of the end of the pump arm are given, the pump truck plans the attitude of each boom according to the pre-stored control method. And speed of movement. That is to say, the operator only needs to give the movement speed command in the x, y, and z directions at the end of the boom through the remote controller, and the posture of each boom of the boom system is automatically adjusted to ensure that the end is in accordance with x, y, The speed of z goes to the movement, which greatly reduces the labor intensity of the operator.

At present, the control of the intelligent boom pump truck is generally controlled by a remote controller. The remote controller generally includes a handle, and the handle can generate an analog signal in the front, rear, left and right directions, respectively, and controls the movement of the end hose of the pump boom at a horizontal plane. Speed and direction.

Please refer to Figure 1 and Figure 2, set a coordinate system Ο, 0Χ, 0Υ, 0Ζ, 0 is fixed on the boom turret ,, when the turret is rotated relative to the chassis 2, the boom also rotates with the turret Ο, 0Υ, 0 rotation. Set another coordinate system ΟΧ'Υ'Ζ', coordinate origin 0, fixed at the end of the pump boom, ΟΧ, ΟΥ,, OZ, the three axes are always parallel to OX, 0, OY, 0, oz'o. The coordinate system on the remote controller is generally established with the rotation position of the handle as the coordinate origin. One direction is used to control the speed of the end moving in the 0X direction, and the other direction is used to control the rotation speed of the turntable, so that the end of the boom is at οχ'ζ. ' Move in the plane.

However, when the construction surface of the arm is a bevel, the control of the movement direction of the end of the boom is difficult, and it is necessary to control its movement in the horizontal plane and to control its movement in the height direction. The movement can move the boom to the desired position and the control efficiency is relatively low.

Therefore, how to provide a control system for the boom type robot arm is advantageous for improving the control efficiency of the robot arm, and the intuitive and image manipulation of the operator is a technical problem to be solved by those skilled in the art.

Summary of the invention

A first object of the present invention is to provide a robotic arm control system that is advantageous for improving the control efficiency of the mechanical arm and that is intuitive and visual for the operator. A second object of the present invention is to provide a robot arm control method and a construction machine.

In order to achieve the above first object, the present invention provides a robot arm steering system, a robot arm steering system comprising a robot arm having at least two arm sections, an initial end of the robot arm and manipulating the robot arm The remote control of the end movement also includes:

a acquiring device, configured to acquire a positional relationship signal of a first coordinate system where the operating component of the remote controller is located and a second coordinate system where the end of the mechanical arm is located, and a driving direction signal of the operating component and a construction reference plane Inclination parameter signal;

The controller includes a direction adjustment unit, configured to receive the position relationship signal, the tilt parameter signal, and the motion direction signal, and issue a direction control command for controlling an end action of the robot arm;

And a driving device, configured to receive the direction control command and control the movement of each of the arm joints to move the end of the mechanical arm parallel to the construction reference plane.

Preferably, the acquiring device includes a first acquiring device, a second obtaining device, and a third obtaining device. The first obtaining device is configured to acquire an angle between a specified coordinate axis of the first coordinate system and a reference plane in a horizontal plane. a second acquiring device, configured to acquire an angle signal of a corresponding coordinate axis of the second coordinate system with respect to the reference direction in a horizontal plane; Taking the inclination parameter signal; the direction adjustment unit of the controller receives the above signals, and controls the movement direction of the end of the robot arm to be parallel to the projection of the operation direction of the manipulation member in the horizontal plane.

Preferably, the reference direction is a direction of the earth magnetic field, and the first acquiring device and the second acquiring device are magnetic orientation sensors.

Preferably, the two magnetic orientation sensors are respectively mounted on the remote controller and the turntable. Preferably, the second obtaining means comprises an angle sensor disposed on the mechanical arm for detecting a rotation angle thereof in a horizontal plane, and a magnetic square position sensor disposed on a chassis supporting the turntable;

An angle signal of the corresponding coordinate axis of the second coordinate system in a horizontal plane with respect to the reference direction includes a detection signal of the angle sensor and a detection signal of the magnetic orientation sensor.

Preferably, the operating component on the remote controller is a universal handle.

Preferably, the third obtaining device is a three-axis tilt sensor disposed on the remote controller. Preferably, the acquiring device further includes a fourth acquiring device for detecting an action amplitude signal of the universal handle, the controller further comprising a speed adjusting module for receiving an action amplitude signal of the universal handle, the speed adjusting The module controls the speed of the end motion of the robot arm according to the handle motion amplitude signal.

In order to achieve the second object, the present invention also provides a construction machine including a chassis, a turntable disposed on the chassis, a boom device coupled to the turntable, and a control system for controlling the motion of the boom device. The steering system of the boom device is the control system of the robot arm described in any of the above.

In addition, the present invention also provides a method for manipulating a mechanical arm, including a mechanical arm, and a remote controller for controlling the end movement of the mechanical arm. The specific steps are as follows:

Step S101) acquiring a positional relationship signal of a first coordinate system in which the operating component of the remote controller is located and a second coordinate system in which the end of the robot arm is located, and a driving direction signal of the operating component and an inclination of the construction reference surface Parameter signal

Step S102): receiving the position relationship signal, the tilt parameter signal, and the motion direction signal, and issuing a direction control command for controlling an end action of the robot arm;

Step S103): receiving the direction control command and controlling the movement of each of the arm joints to move the end of the robot arm parallel to the construction reference plane. Preferably, the operating component is a universal handle, and the action amplitude signal of the universal handle is also acquired in the step S101); the action amplitude signal is further received in the step S102), and according to the action amplitude signal And the preset control strategy issues a speed control command; and the step S103) further controls the speed of movement of the end of the robot arm according to the speed control command.

The acquiring device in the robot arm control system provided by the present invention can not only acquire the positional relationship signals of the first coordinate system and the second coordinate system, but also control the movement direction of the end of the mechanical arm corresponding to the control direction of the control component, and Obtain the inclination parameter signal of the construction reference surface, and the end of the controlled arm is always parallel to the construction reference plane movement. The control system can realize the movement of the robot arm in three-dimensional space through the single operation, which can not only improve the control efficiency of the robot arm, but also control comparison. Intuitive, image, easy for the operator to judge the direction of control.

Similarly, the construction machine including the above-described robot arm control system and the robot arm control method also have corresponding technical effects to achieve the above-mentioned corresponding purposes.

DRAWINGS

1 is a schematic diagram of a coordinate system established on a concrete pump truck in the prior art;

2 is a schematic diagram of a coordinate system established on a remote controller in the prior art;

3 is a schematic diagram of a coordinate system established on a remote controller in the robot arm control system provided by the present invention;

Figure 4 is a top plan view of Figure 3;

Figure 5 is a schematic view showing a coordinate system established on a robot arm in the robot arm control system provided by the present invention;

6 is a top plan view of FIG. 5; FIG. 8 is a block diagram showing the structure of a first type of mechanical arm control system provided by the present invention; FIG. 9 is a flow chart of a first mechanical arm control method provided by the present invention;

10 is a schematic structural block diagram of a second type of mechanical arm control system provided by the present invention; FIG. 11 is a flow chart of a second mechanical arm control method provided by the present invention.

detailed description

Without losing the generality, the technical solution of the present invention is described by taking a smart concrete pump truck with a boom as an example. The boom of the intelligent concrete pump truck is equivalent to a robot arm. Of course, those skilled in the art should understand that the technology of the present invention The scheme is applied to other types of engineering machinery and is also a protection model in this paper. Inside.

Please refer to FIG. 3 and FIG. 4. FIG. 3 is a schematic diagram of a coordinate system established on a remote controller of the robot arm control system provided by the present invention; FIG. 4 is a schematic top view of FIG.

Taking a smart concrete pump truck with a five-section boom as an example, the so-called intelligent concrete pump truck refers to the concrete pump truck, when the concrete pumping is carried out, as long as the movement speed command of the end of the boom is given, other sections in the boom system The attitude of the boom is automatically adjusted to ensure that the end of the boom moves in the direction specified.

The boom system in the concrete pump truck generally includes a plurality of booms that are hinged in sequence, and is connected to the turntable 22 through the beginning of the basic arm. In this paper, the boom connected to the turntable 22 is a basic arm, wherein the pumping operation is satisfied. For multi-directional requirements, the turret 22 can drive the boom system to rotate relative to the chassis 23 of the concrete pump truck.

The present invention provides a robotic arm control system comprising a robotic arm having at least two articulated arms, the initial end of which is hinged to the turret 22, the robotic arm further comprising driving each of the arm segments relative to the turret 22 or other arm segments for rotation Driving device, generally, the driving device may be a telescopic cylinder, and the controller may adjust the deployment angle of different arm segments by controlling the flow rate of each cylinder; the robot arm control system further comprises a remote controller for controlling the end movement of the robot arm, in the concrete In the pump truck, the robot arm is equivalent to the boom system, and the robot arm control system further comprises an acquisition device, a controller and a driving device.

The acquiring device is configured to acquire a positional relationship signal of a first coordinate system where the operating component of the remote controller is located and a second coordinate system where the end of the mechanical arm is located, a driving direction signal of the operating component, and a construction reference plane Relative to the horizontal angle parameter signal, it should be noted that the construction reference plane in this paper is the operation plane of the remote control, it can also be the construction surface itself, or other planes that are virtually set by computer simulation; the remote control can be wired The control method can also be a wireless control method.

The controller includes a direction adjustment module for receiving the action direction signal, the position relationship signal, and the tilt parameter signal, and issuing a direction control command for controlling the end action of the arm according to the preset control strategy, and the direction adjustment module may be based on the tilt parameter The signal determines parameters such as the inclination angle of the construction reference plane and the orientation of the construction reference plane.

The driving device in the robot arm control system is configured to receive the direction control command to control the movement of the end of the mechanical arm to parallel the reference plane movement. In the concrete pump truck, the driving device is to control the telescopic cylinders of each section and the relative telescopic expansion cylinders, and adjust Flow regulating machine for hydraulic oil flowing through the telescopic cylinder The direction of motion of the end of the arm.

The acquiring device in the robot arm control system provided by the present invention can not only acquire the positional relationship signals of the first coordinate system and the second coordinate system, but also control the movement direction of the end of the mechanical arm corresponding to the control direction of the control component, and Obtain the inclination parameter signal of the construction reference surface, and the end of the controlled arm is always parallel to the direction of the construction reference plane. The control system can realize the movement of the arm in the three-dimensional space through the single operation, which can not only improve the control efficiency of the arm, but also control It is more intuitive and visual, which is convenient for the operator to judge the direction of control.

The positional relationship signal described herein may be a specific coordinate value or a deflection angle value between corresponding coordinate axes of the two coordinate systems.

There are various ways to determine the positional relationship between the first coordinate system and the second coordinate system. One of the coordinate systems can be used as a reference coordinate system to calculate the change of another coordinate system in real time, and the position of the two coordinate systems at a certain time is obtained. Relationship; it is also possible to calculate the positional relationship between the first coordinate system and the second coordinate system with respect to the third coordinate system by using a fixed third coordinate system, thereby obtaining a positional relationship between the first coordinate system and the second coordinate system. The preferred determination methods of the first coordinate system and the second coordinate system are given below, and the specific contents are as follows.

In a preferred embodiment, a certain direction is selected as a reference direction, and the reference direction may be a connection between two fixed objects on the ground, and the acquiring device includes a first acquiring device and a second acquiring device; And acquiring an angled signal of the specified coordinate axis of the first coordinate system with respect to the reference direction in a horizontal plane; and second acquiring means, configured to acquire a corresponding coordinate axis corresponding to the first coordinate system in the second coordinate system An angle-incident signal of the coordinate axis in the horizontal plane with respect to the reference direction; the obtaining device further includes a third acquiring device for acquiring the tilting parameter signal; and a fourth obtaining device, configured to acquire a motion direction signal of the operating component, the acquiring The device may be a sensor disposed on the remote controller, and the direction adjusting unit of the controller receives the above signals, and controls the moving direction of the end of the arm to be parallel to the projection of the operating direction of the operating member in the horizontal plane.

The third party is selected as the judgment of the positional relationship of the two coordinate systems, and the method compares the single tube, and the moving direction of the end of the control arm is parallel to the projection of the operating direction of the operating member in the horizontal plane, which is beneficial to the tube controller. Programming.

In a specific implementation, the reference direction may be the direction of the earth magnetic field, and the first acquiring device and the second acquiring device are both magnetic orientation sensors, and the two magnetic orientation sensors are respectively used for detecting Measuring an angle signal of a corresponding coordinate axis of the first coordinate system and the second coordinate system with respect to the direction of the earth magnetic field, for convenience of description, the two magnetic orientation sensors mounted on the remote controller and the robot arm respectively become the first magnetic orientation sensor 11 and a second magnetic orientation sensor 21, wherein the controller determines a positional relationship between the first coordinate system and the second coordinate system, detects an initial position of the manipulation member and a final position after the motion, and determines a motion direction thereof in the reference coordinate system, When the operator operates the control component to move, the first acquiring device may obtain a real-time detection direction of the movement of the control component in the reference coordinate system, and the remote controller sends the orientation signal to the controller, and the orientation signal may be a plurality of parameters, The parameters that can be processed, analyzed, and judged by the remote controller can be specifically judged and controlled as follows.

The coordinate system of the remote controller itself is as shown in FIG. 3 and FIG. 4 . In the present embodiment, the first coordinate system OXYZ is established by the rotation center of the operation handle of the remote controller, and in the case where the remote controller is placed horizontally, for the first coordinate system, The X direction is the front direction of the remote controller, the Z direction is the right direction of the remote controller, and the Y direction is the vertical direction. When the operator moves the operation part of the remote controller in the OF direction, the first acquiring device can also detect the first coordinate system. The relative coordinate relationship between the three coordinate axes and the reference coordinate system, that is, the deflection angle between the corresponding axes in the two coordinate systems, in the present embodiment, the Z direction in the first coordinate system is relative to the north pole of the earth magnetic field (below) The deflection angle of the cylinder is referred to as the N direction as an example. It is assumed that the Z direction in the first coordinate system is α with respect to the N direction, that is, the coordinate system of the remote controller is deflected by the α angle, which is the relative angle of the earth magnetic field coordinate system. Obtained by the first magnetic orientation sensor 11, the controller can determine the positional relationship between the remote control coordinate system and the earth magnetic field coordinate system by the angle signal, and then The third obtaining device acquires the deflection angle of the operating member in the first coordinate system relative to the x-direction, that is, the angle φ in FIG. 4, and the angle parameter can be obtained by the sensor of the universal handle provided on the remote controller, and the controller can be manipulated The direction of action of the component relative to the pole in the Earth's magnetic field coordinate system.

Please refer to FIG. 5 to FIG. 8. FIG. 5 is a schematic diagram of a coordinate system established on a mechanical arm in the mechanical arm control system according to the present invention; FIG. 6 is a top view of FIG. 5; A state diagram of the arm working above the construction surface; FIG. 8 is a block diagram showing the structure of the first type of robot arm control system provided by the present invention.

Similarly, as shown in FIG. 5 and FIG. 6, the second coordinate system 02Χ2Υ2Ζ2 is established. For the convenience of control, the coordinate system 转0Χ0Υ0Ζ0 of the turntable 22 can be established, and the corresponding axes of the two coordinate systems can be parallel, and the second acquiring device can detect the second coordinate at this time. The relative positional relationship between the coordinate axes of the system and the coordinate system of the reference coordinate system, which can detect the change of one coordinate axis with respect to the corresponding coordinate axis in another coordinate system, or In order to detect the change between the plurality of corresponding coordinate axes, that is, the deflection angle between the corresponding axes in the two coordinate systems, in the embodiment, the X2 direction is obtained as an example of the deflection angle of the north pole of the earth magnetic field (hereinafter referred to as the N direction). In an embodiment, obtaining a deflection angle of the X2 direction relative to the N direction is η, that is, obtaining a spatial position signal of the end of the boom relative to the reference direction, and combining the controller with the remote controller coordinate system and the earth The judgment of the position of the magnetic field coordinate system can realize the determination of the positional relationship between the first coordinate system of the remote controller and the second coordinate system of the boom.

Of course, it can also be the deflection angle of Ζ2 relative to the Ν direction, and the reference direction is not limited to the earth's magnetic field, but can also be an object on the earth or the ground, for example, a fixed position of a bracket or the like as a reference position, or Use as a reference for a particular object in space, such as a satellite or other star.

The inclination parameter signal of the construction reference surface can be manually input into the remote controller by the operator and sent to the controller. The detection sensor can also be used to detect the inclination parameter of the construction reference plane. For example, the triaxial inclination sensor 13 is provided. For the convenience of operation, the three axes The tilt sensor 13 can be disposed on the remote controller. Before the robot arm is operated, the remote controller is first placed on the construction surface to measure the inclination angle of the construction surface, please refer to FIG. 7.

In a specific implementation, the first acquiring device and the third acquiring device disposed on the remote controller can detect the position parameter of the steering plane in real time, so that the construction reference plane azimuth parameter and the tilt parameter in the controller can be updated in real time, and the The direction of motion of the end of the arm is always parallel to the construction reference plane, and the surface construction can be completed.

Please refer to FIG. 9. FIG. 9 is a flow chart of a first method for controlling a robot arm according to the present invention. The control method of the above-mentioned robot arm control system can be carried out as follows:

Step S101): acquiring a positional relationship signal of a first coordinate system in which the operating component of the remote controller is located and a second coordinate system in which the end of the robot arm is located, and a driving direction signal of the operating component, and a construction reference surface Inclination parameter signal;

Step S103): receiving the direction control command and controlling the movement of each of the arm joints to move the end of the robot arm parallel to the construction reference plane.

In a preferred embodiment, the first obtaining means and the second obtaining means may each comprise a magnetic orientation sensor, which is referred to as a first magnetic orientation sensor 11 and a second magnetic orientation, respectively, for convenience of description. The sensor 21 and the two-azimuth magnetic sensor are respectively configured to detect a positional relationship signal between the first coordinate system where the operating component of the remote controller is located and the second coordinate system of the end of the mechanical arm with respect to the earth magnetic field; The magnetic field coordinate system as a reference coordinate system is useful for detecting the accuracy of the data, and the control program compares the orders.

The following describes the installation methods of several magnetic orientation sensors. The details are as follows.

In a specific embodiment, the first magnetic orientation sensor n and the second magnetic orientation sensor

21 can be respectively installed on the remote controller and the boom. Since the boom can rotate synchronously with the turntable 22, the second magnetic orientation sensor 21 can also be disposed on the turntable 22, and the setting mode is relatively simple, which can further reduce the controller. The difficulty of programming.

In another embodiment, the second obtaining device comprises a magnetic orientation sensor disposed on the chassis of the robot arm or the turntable 22, and the positional relationship of the second coordinate system at which the end of the mechanical arm is located includes the detection signals of the two sensors. The controller determines a spatial position signal of the end of the mechanical arm relative to the reference direction according to the detection signal of the angle sensor and the detection signal of the magnetic orientation sensor; in this manner, the relative orientation direction of the turntable 22 and the mechanical arm can be calculated by the magnetic orientation sensor and the angle sensor Azimuth angle, the installation position of the two detection components in this mode is more flexible and convenient.

In a preferred embodiment, the control unit on the remote controller can be a universal handle 12, and the universal handle 12 is relatively flexible, and can freely control the movement of the end of the boom in multiple directions.

Please refer to FIG. 10 and FIG. 11. FIG. 10 is a schematic structural block diagram of a second mechanical arm control system according to the present invention; FIG. 11 is a flow chart of a second mechanical arm control method according to the present invention.

In another preferred embodiment, the fourth acquiring device further includes detecting an action amplitude signal of the universal handle 12, the controller may further include a speed adjusting module for receiving the motion amplitude signal, and the speed adjusting module controls the arm according to the motion amplitude signal. The speed of the end action, when the handle action amplitude is relatively small, the speed adjustment module controls the end of the arm to move slowly in a certain direction; when the handle action amplitude is relatively large, the speed adjustment module controls the end of the arm in a certain direction Fast movement; By increasing the speed adjustment module, the movement speed of the arm can be controlled according to the actual working conditions, which not only improves work efficiency, but also increases construction safety.

The control method of the above embodiment is as follows:

Step S201): acquiring a first coordinate system in which the operating component of the remote controller is located and the mechanical a positional relationship signal of the second coordinate system at the end of the arm, a motion direction signal of the manipulation member, an inclination parameter signal of the construction reference surface, and an operation direction signal of the universal handle 12;

Step S202): receiving a positional relationship signal, a tilting parameter signal, a handle motion amplitude signal, and an action direction signal, and issuing a control command according to each of the foregoing signals;

The motion direction signal and the position relationship signal are adjusted by the direction adjustment module, and the controller sends a direction control command; after the motion amplitude signal is analyzed, judged, and processed by the speed adjustment module of the controller, the controller issues a speed control command;

Step S203): according to the direction control command issued by the controller, the driving device adjusts the movement of the end of the arm parallel to the construction reference plane; according to the speed control command issued by the controller, the driving device can adjust the moving speed of the end of the arm.

When the universal handle moves relatively large, the controller controls the end of the arm to move rapidly; when the universal handle moves less, the controller controls the end of the arm to move slowly.

Based on the above control method of the robot arm control system and the robot arm, the present invention also provides a construction machine including the above-described robot arm control system, comprising a chassis 23, a turntable 22 disposed on the chassis 23, and an upper arm connected to the turntable 22 And a control system for controlling the operation of the boom device, wherein the control system of the boom device is the control system of the robot arm according to any of the above embodiments, wherein the robot arm control system has the above Technical effects, the mechanical arm control system of the engineering machine provided also has corresponding technical effects.

In a preferred embodiment, the construction machine described herein is a pump truck, and may also be an actuator for connecting the boom and the multi-section robot arm. For the information of other parts of the engineering machine, please refer to the prior art. This will not be repeated here.

The above description is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. It should be considered as the scope of protection of the present invention.

Claims

Rights request

What is claimed is: 1. A robotic arm control system comprising: a robotic arm having at least two articulated arm sections, the initial end of the mechanical arm being hinged to the turntable, and further comprising a drive for driving each of the armrests relative to the turntable or other arm section to rotate A remote controller for controlling end movement of the robot arm, further comprising:

The robot arm control system according to claim 1, wherein the acquiring device comprises a first acquiring device, a second obtaining device, and a third acquiring device;

a first acquiring device, configured to acquire an angle signal of a specified coordinate axis of the first coordinate system with respect to a reference direction in a horizontal plane;

a second acquiring device, configured to acquire an angle signal of a corresponding coordinate axis of the second coordinate system in a horizontal plane with respect to the reference direction;

a third obtaining device, configured to acquire the tilt parameter signal;

a fourth obtaining device, configured to acquire a motion direction signal of the operating component;

The direction adjusting unit of the controller receives the above signals and controls the direction of movement of the end of the manipulator parallel to the projection of the direction of action of the manipulating member in the horizontal plane.

The robot arm control system according to claim 2, wherein the reference direction is a direction of a magnetic field of the earth, and the first acquiring means and the second obtaining means are both magnetic orientation sensors.

A robot arm control system according to claim 3, wherein two of said magnetic square sensors are mounted on said remote controller and said turntable, respectively.

The robot arm control system according to claim 2, wherein: the second sensor, and a magnetic orientation sensor disposed on a chassis supporting the turntable; The angled signal of the corresponding coordinate axis of the second coordinate system in the horizontal plane with respect to the reference direction includes a detection signal of the angle sensor and a detection signal of the magnetic orientation sensor.

The robot arm control system according to any one of claims 1 to 5, characterized in that the control unit on the remote controller is a universal handle (12).

The robot arm control system according to any one of claims 1 to 5, wherein the third acquiring device is a three-axis tilt sensor provided on the remote controller.

The robot arm control system according to claim 5, wherein the fourth acquiring device further acquires an action amplitude signal of the universal handle, and the controller further comprises a speed of receiving the motion amplitude signal An adjustment module, the speed adjustment module controls a speed of movement of the end motion of the robot arm according to the motion amplitude signal.

9. A construction machine comprising a chassis (23), a turntable (22) disposed on the chassis, a boom assembly coupled to the turntable, and a control system for controlling the motion of the boom assembly, wherein The control system of the boom device is the control system of the robot arm according to any one of claims 1 to 8.

10. A method of controlling a robot arm, comprising: a robot arm, and a remote controller for controlling end motion of the robot arm, wherein the specific steps are as follows:

S101. Obtain a positional relationship signal between a first coordinate system where the operating component of the remote controller is located and a second coordinate system where the end of the mechanical arm is located, and a driving direction signal of the operating component, and an inclination of the construction reference surface. Parameter signal

S102. Receive the position relationship signal, the tilt parameter signal, and the motion direction signal, and issue a direction control command for controlling an end motion of the robot arm.

S103. Receive the direction control command and control the movement of each of the arm joints to move the end of the mechanical arm parallel to the construction reference plane.

11. The method of controlling a robot arm according to claim 10, wherein the operating member is a universal handle (12).

The action amplitude signal of the universal handle can also be obtained in the step S101;

The step S102 further receives the action amplitude signal, and issues a speed control command according to the action amplitude signal;

The moving speed of the end of the robot arm is also controlled in the step S103 according to the speed control command.