WO2013107123A1

WO2013107123A1 - Mechanical arm control system, method and engineering machinery

Info

Publication number: WO2013107123A1
Application number: PCT/CN2012/074320
Authority: WO
Inventors: 邓侃; 陈安涛; 向瑶
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: 2012-05-28
Publication date: 2013-07-25
Also published as: CN102561700A; CN102561700B

Abstract

Disclosed are a mechanical arm control system and method, and engineering machinery. The mechanical arm control system comprises an acquisition device, a controller and a driving device. The acquisition device is used for acquiring a position relation signal of a first coordinate system of a manipulating element of a remote controller and a second coordinate system of a tail end of a mechanical arm, and an action direction signal of the manipulating element. The controller is used for receiving the position relation signal and the action direction signal, and sending a direction control instruction for controlling the tail end of the mechanical arm to act. The driving device is used for receiving the direction control instruction and controlling arm joints to move, so as to drive the tail end of the mechanical arm and a control element of the remote controller to move in the same direction. Therefore, an operator can achieve more intuitive and vivid control of the mechanical arm, and it is convenient for the operator to judge the control direction, thereby improving the control efficiency of the mechanical arm.

Description

The invention relates to a mechanical arm control system, method and engineering machine. The application is submitted to the Chinese Patent Office on January 16, 2012, the application number is 201210012648.1, and the invention name is "a mechanical arm control system, method and engineering machinery" Chinese patent. Priority of the application, the entire contents of which are incorporated herein by reference.

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 conveying pipe can be changed according to the adjustment of the arm frame. In the prior art, the adjustment of the arm frame mainly has the following two modes.

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 Ο0Υ, 0 rotation. Set another coordinate system Ο'Χ'Υ'Ζ', coordinate origin 0, fixed at the end of the pump boom, οχ, ΟΥ, ΟΖ, three axes always with ΟΧ, 0, ΟΥ, 0, ΟΖΌ Keep parallel. The coordinate system on the remote controller is generally established with the rotational position of the handle as the coordinate origin. One direction is used to control the speed of the end moving in the ox direction, and the other direction is used to control the rotation speed of the turntable, so that the end of the boom is in the οχζ plane. mobile.

However, when the turntable 1 of the boom is rotated in a certain direction or the angle at which the operator stands is different, the moving direction of the universal handle of the remote controller is often inconsistent with the moving direction of the end of the boom, and the manipulation intuitiveness and image are also poor. The efficiency is relatively low, and the operator is labor intensive, easy to misuse, and has the potential to be dangerous.

Therefore, how to provide a control system for the boom type robot arm has high control precision, is advantageous for improving the control efficiency of the robot arm, and is intuitive and image-oriented for the operator, and is urgently needed to be solved by those skilled in the art. Technical problem.

Summary of the invention

SUMMARY OF THE INVENTION A first object of the present invention is to provide a mechanical arm control system which is advantageous for improving the control efficiency of the mechanical arm and for controlling the operator to be intuitive and visual. 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 control system, a robot arm control system including a robot arm having at least two arm sections, an initial end of the arm and controlling the 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 in which the operating component of the remote controller is located and a second coordinate system in which the end of the mechanical arm is located, and an action direction signal of the operating component;

The controller includes a direction adjustment unit, configured to receive the position relationship 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 segments to move the end of the robot arm in the same direction as the control component of the remote controller.

Preferably, the acquiring device includes a first acquiring device and a second acquiring device, and a first obtaining device, configured to acquire an angled signal of a specified coordinate axis of the first coordinate system with respect to a reference direction in a horizontal plane; a device, configured to acquire a corresponding coordinate axis of the second coordinate system The angle of the reference direction is in the horizontal plane; the controller determines the positional relationship between the two coordinate systems according to the acquisition signals of the first acquisition device and the second acquisition device.

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 control component on the remote controller is a universal handle.

Preferably, the controller further includes a speed adjustment module that receives an action amplitude signal of the universal handle, and the speed adjustment module controls a speed of movement of the end motion of the mechanical arm according to the handle motion amplitude signal.

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 control 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 control method of 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 the first coordinate system where the manipulation component of the remote controller is located and the second coordinate system where the end of the robot arm is located, and a motion direction signal of the manipulation component; Step S102): receiving station Deriving a positional relationship signal and the motion direction signal, and issuing a direction control command for controlling an end motion of the robot arm;

Step S103): controlling each of the arm joints according to the direction control command to move the end of the robot arm in the same direction as the control unit of the remote controller.

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 A speed control command is issued; and in step S103), the speed of movement of the end of the robot arm is also controlled according to the speed control command. The robot arm control system provided in the present invention is provided with a positional relationship signal for acquiring a second coordinate system in which the first coordinate system of the control member of the remote controller is located and a second coordinate system at the end of the robot arm, and a motion direction signal of the manipulation member The acquiring device, the controller obtains the positional relationship between the two coordinate systems by judging and analyzing the positional relationship signals of the first coordinate system and the second coordinate system, and according to the positional relationship, the operating component is in the first coordinate system. Converting the relative motion direction signal to obtain the action direction of the corresponding coordinate axis of the second coordinate system in which the arm is located, and issuing a direction control command to control the end of the arm to move in the direction, and realizing the end of the arm and the remote controller The control components move in the same direction, which makes the operator's control of the robot arm more intuitive and visual, which is convenient for the operator to judge the control direction, improve the control efficiency of the robot arm and reduce the labor intensity of the operator, avoid misoperation and increase the safety of operation. Sex.

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;

Figure 6 is a top plan view of Figure 5;

7 is a schematic structural block diagram of a first type of robot arm control system provided by the present invention; FIG. 8 is a flow chart of a first mechanical arm control method provided by the present invention;

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

detailed description

The present invention is described in detail below with reference to a robot arm control system, a control method, and a drawing. The description of the present invention is merely exemplary and explanatory, and should not be construed as limiting the scope of the present invention.

Without loss of generality, this paper introduces the invention by taking a smart concrete pump truck with a boom as an example. The technical solution, the boom of the intelligent concrete pump truck is equivalent to the robot arm. Of course, those skilled in the art should understand that the technical solutions of the present invention are applied to other types of engineering machinery within the protection scope of the present invention.

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 invention provides a mechanical arm control system, comprising a mechanical arm having at least two arm sections. The initial end of the mechanical arm is hinged on the turntable, and can be directly hinged to the turntable, or can be indirectly hinged to the turntable, such as a turntable. A turntable 22 is provided which is rotatable about a vertical axis. The turntable is hinged to the turntable 22. The mechanical arm further comprises a driving device for driving the respective arm joints relative to the turntable 22 or other arm joints. Generally, the driving device can be a telescopic cylinder, a controller. The deployment angle of different arm joints can be adjusted by controlling the flow rate of each cylinder; the robot arm control system further includes a remote controller for controlling the end movement of the mechanical arm, which is equivalent to the boom system in the concrete pump truck, the robot arm The control system also includes an acquisition device, a controller, and an execution 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, and a driving direction signal of the operating component; It can be wired or wireless.

a controller, comprising: a direction adjustment module for receiving a motion direction signal and a position relationship signal, and issuing and issuing a direction control instruction for controlling an end motion of the robot arm according to a preset control strategy,

The driving device in the robot arm control system is configured to receive the direction control command to control the end of the robot arm to move in the same direction as the control component of the remote controller. In the concrete pump truck, the executing device is to control the expansion and contraction of each arm frame. Cylinder, by regulating the flow of hydraulic oil flowing through the telescopic cylinder The direction of movement of the end of the adjustment arm is moved in the same direction as the manipulation member.

In the mechanical arm control system provided by the present invention, no matter how the operator is in position, the moving direction of the operating member on the remote controller and the moving direction of the end of the manipulating arm can be always in the same direction, so that the control is more intuitive, image, and easy to operate. The judgment of the control direction of the personnel improves the control efficiency of the robot arm, improves the control efficiency of the robot arm, and can reduce the labor intensity of the operator, avoid misoperation, and increase operational safety.

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 of the second coordinate system and the first coordinate system The third direction acquisition device is configured to acquire a motion direction signal of the operation component; the controller determines the two coordinate systems according to the acquisition signals of the first acquisition device and the second acquisition device The position between the two is turned off, and a direction control command is issued in conjunction with the acquisition signal of the third acquisition means.

The third party is selected as the judgment of the positional relationship of the two coordinate systems, which compares the single order, which is beneficial to the programming of the cylinder controller.

It should be noted that the position determination of the first coordinate system and the second coordinate system is not limited to judging the angle signal in the horizontal plane, and the angle angle signal in the vertical or other plane may also be determined, which will not be described herein.

In a specific implementation, the reference direction may be the direction of the earth magnetic field, the first acquiring device and the second acquiring device are magnetic orientation sensors, and the two magnetic orientation sensors are respectively used to detect the first coordinate system and the second coordinate system. The angle between the corresponding coordinate axis and the direction of the Earth's magnetic field, For convenience of description, the two magnetic orientation sensors mounted on the remote controller and the robot arm become the first magnetic orientation sensor 11 and the second azimuth magnetic sensor 21, respectively, so that the controller determines between the first coordinate system and the second coordinate system. Positional relationship, the third obtaining device may be a sensor mounted on the remote controller, configured to acquire an initial position signal of the operating component and a final position signal after the action, that is, obtain a motion direction signal of the operating component, and determine that it is in the reference coordinate system. The direction of motion, when the operator operates the control component to move, so that the direction of motion of the manipulation component in the reference coordinate system can be detected in real time, and the remote controller sends the orientation signal to the controller, and the orientation signal can be a plurality of parameters. It can also be a parameter that is processed, analyzed, and judged by the remote controller. The specific judgment and control are 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 third obtaining device can obtain the first coordinate of the operating part. The deflection angle relative to the Z direction in the system is φ, and the first acquiring device can also detect the relative positional relationship between the three coordinate axes of the first coordinate system and the reference coordinate system, that is, between the corresponding axes in the two coordinate systems. In the present embodiment, the yaw direction in the first coordinate system is compared with the yaw direction of the north pole of the earth magnetic field (hereinafter referred to as the Ν direction), and the Ζ direction in the first coordinate system is assumed to be relative to the Ν direction. α, the angle parameter is acquired by the first magnetic orientation sensor 11, and the controller can determine the position of the remote controller coordinate system and the earth magnetic field coordinate system by the angle signal Setting the relationship, and then obtaining the deflection angle of the manipulation component in the first coordinate system relative to the Ζ direction, that is, the angle φ in FIG. 4, the angle parameter can be obtained by the sensor of the universal handle provided on the remote controller. The two angles of the controllers φ and α can obtain the direction of movement of the operating member relative to the pole in the earth's magnetic field coordinate system.

Please refer to FIG. 5 to FIG. 7. FIG. 5 is a schematic diagram of a coordinate system established on a mechanical arm in a mechanical arm control system according to the present invention; FIG. 6 is a top view of FIG. 5; A schematic block diagram of a mechanical arm control system.

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0Χ0Υ0 Ζ0 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 time. The relative positional relationship between the coordinate axes of the coordinate 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 the other coordinate system. The variation between the plurality of corresponding coordinate axes, that is, the deflection angle between the corresponding axes in the two coordinate systems can be detected. In this embodiment, the deflection angle of the north pole (hereinafter referred to as the N direction) of the earth magnetic field is taken as an example. In one embodiment, the deflection angle of the X2 direction relative to the N direction is obtained as η, that is, the spatial position signal of the end of the boom relative to the reference direction is obtained. 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.

Please refer to FIG. 8, FIG. 8 is a flow chart of a first mechanical arm control method 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 mechanical arm is located, and a driving direction signal of the operating component;

Step S102): receiving a motion direction signal and the position signal, and issuing a direction control command according to each of the foregoing signals;

Step S103): controlling the end of the robot arm to move in the same direction as the operating member according to the direction control command.

In a preferred embodiment, the first acquiring device and the second obtaining device may both be magnetic orientation sensors, which are respectively referred to as a first magnetic orientation sensor 11 and a second magnetic orientation sensor 21 for convenience of description, and the two azimuth magnetic sensors respectively a positional relationship signal for detecting a first coordinate system in which the operating component of the remote controller is located and a second coordinate system of the end of the mechanical arm with respect to the earth's magnetic field; the setting mode directly uses the earth magnetic field coordinate system as a reference coordinate system Conducive to the accuracy of the test data, the control program compares the order.

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 11 and the second magnetic orientation sensor

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

In another specific embodiment, the second obtaining device comprises a mechanical arm or a turntable 22 The magnetic orientation sensor on the chassis, the positional relationship signal of the second coordinate system at the end of the robot arm includes the detection signals of the two sensors, and the controller determines the end of the robot arm based on the detection signal of the angle sensor and the detection signal of the magnetic orientation sensor. Position signal relative to the reference direction; in this manner, the positional relationship between the second coordinate system of the turntable 22 and the end of the robot arm relative to the reference direction can be calculated by the magnetic orientation sensor and the angle sensor, and the installation positions of the two detection components are compared in this manner 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. 9 and FIG. 10. FIG. 9 is a schematic structural block diagram of a second mechanical arm control system according to the present invention; FIG. 10 is a flow chart of a second mechanical arm control method according to the present invention.

In another preferred embodiment, the third obtaining device may further obtain an action amplitude signal of the universal handle 12, and the controller may further include a speed adjusting module that receives the action amplitude signal, and the speed adjusting module controls the arm according to the action 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 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 universal handle 12;

Step S202): receiving a position relationship signal, a handle action amplitude signal, and an action direction signal, and issuing a control command according to each of the above 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 to coincide with the moving direction of the universal handle; 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. For details of other parts of the pump truck, please refer to the prior art, and details are not described herein.

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 robot arm control system comprising: a robot arm having at least two arm sections, the initial end of the arm being hinged to the turntable, and further comprising driving means for driving each of the arm sections relative to the turntable or other arm sections and 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 and a second 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;

And a third obtaining device, configured to acquire a motion direction signal of the operating component.

The controller determines a positional relationship between the two coordinate systems according to the acquisition signals of the first acquisition device and the second acquisition device, and issues a direction control instruction in conjunction with the acquisition signal of the third acquisition device.

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;

An angled letter of the corresponding coordinate axis of the second coordinate system in the horizontal plane with respect to the reference direction The number 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 mechanical arm control system according to claim 6, wherein the third obtaining means further acquires an action amplitude signal of the universal handle, and the controller further comprises a speed of receiving the action 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.

8. 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 7.

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

S101: Obtain a positional relationship signal of a first coordinate system where the control component of the remote controller is located and a second coordinate system where the end of the robot arm is located, and a motion direction signal of the manipulation component; S102, receive the a direction signal and the position signal, and issuing a direction control command according to each of the signals;

S103. Control an end of the robot arm to move in the same direction as the manipulation component according to the direction control instruction.

10. The method of controlling a robot arm according to claim 9, wherein the operating component 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.