Camera follow-up system, super-vision assisted driving device and operating machinery

Abstract

The present invention provides a camera following system, an over-the-horizon assisted driving device and an operating machine, which relate to the technical field of operating machines. The camera following system includes: a cutting arm; a first rotary cylinder, used to drive the cutting arm to swing left and right relative to a machine body; a first lifting cylinder, used to drive the cutting arm to pitch up and down relative to the machine body; a first displacement sensor, used to detect a first extension and contraction amount of the first rotary cylinder; a second displacement sensor, used to detect a second extension and contraction amount of the first lifting cylinder; a camera; a second rotary cylinder, used to drive the camera to swing left and right relative to a cab; a second lifting cylinder, used to drive the camera to pitch up and down relative to the cab; a third displacement sensor, used to detect a third extension and contraction amount of the second rotary cylinder; a fourth displacement sensor, used to detect a fourth extension and contraction amount of the second lifting cylinder; a controller, which determines a data correspondence table according to the extension and contraction amount, and the controller controls the camera to swing left and right and pitch up and down along with the cutting arm according to the data correspondence table.

Description

Technical Field

[0001] The present invention relates to the technical field of operating machinery, and in particular to a camera follow-up system, an over-the-horizon assisted driving device and an operating machinery. Background Art

[0002] At present, mining machines are widely used in the mining of metal ores and non-metallic ores. Their main advantages are: first, through mechanical mining, we have bid farewell to the traditional blasting mining method and realized remote control and automatic cutting; second, the mining efficiency is high. When the hardness of the ore rock f<8, the efficiency of mechanical mining is about twice that of blasting mining; third, the safety performance is high, the rock disturbance is small, the cross-section is regular and the surrounding rock is stable.

[0003] In the related art, some working machines are equipped with cameras, and a remote control device is used to control a motor to drive the camera to rotate and achieve image acquisition. This design method requires manual remote control of the camera to obtain auxiliary images, which is cumbersome and time-consuming.

[0004] Some machines are also equipped with multiple fixed cameras to simultaneously capture images and eliminate blind spots. This design approach, often used for remote control and unmanned driving, involves vision systems and their extensions. These systems are costly, complex, and require significant memory for image or data processing. Summary of the Invention

[0005] In order to solve or improve at least one of the above technical problems, an object of the present invention is to provide a camera tracking system.

[0006] Another object of the present invention is to provide an beyond-visual-range assisted driving device having the above-mentioned camera follow-up system.

[0007] Another object of the present invention is to provide a working machine having the above-mentioned beyond-visual-range assisted driving device.

[0008] To achieve the above-mentioned objectives, the first aspect of the present invention provides a camera following system, comprising: a cutting arm for connecting to a fuselage; a first rotary cylinder connected to the cutting arm, the first rotary cylinder for connecting to the fuselage, and the first rotary cylinder for driving the cutting arm to swing left and right relative to the fuselage; a first lifting cylinder connected to the cutting arm, the first lifting cylinder for connecting to the fuselage, and the first lifting cylinder for driving the cutting arm to pitch up and down relative to the fuselage; a first displacement sensor provided on the first rotary cylinder, the first displacement sensor for detecting a first extension and contraction amount of the first rotary cylinder; a second displacement sensor provided on the first lifting cylinder, the second displacement sensor for detecting a second extension and contraction amount of the first lifting cylinder; a camera for connecting to a cab; a second rotary cylinder connected to the camera, the second rotary cylinder for connecting to the cab, and the second rotary cylinder for driving the camera to swing left and right relative to the cab; a second lifting cylinder connected to the camera, the second lifting cylinder for connecting to the cab The first and second lifting cylinders are connected to the cab, and the second lifting cylinder is used to drive the camera to pitch up and down relative to the cab; the third displacement sensor is provided on the second rotary cylinder, and the third displacement sensor is used to detect the third telescopic amount of the second rotary cylinder; the fourth displacement sensor is provided on the second lifting cylinder, and the fourth displacement sensor is used to detect the fourth telescopic amount of the second lifting cylinder; the controller is used to be connected to the fuselage or the cab, the controller is electrically connected to the first displacement sensor, the controller is electrically connected to the second displacement sensor, the controller is electrically connected to the third displacement sensor, and the controller is electrically connected to the fourth displacement sensor. The controller determines a first data correspondence table according to the first telescopic amount and the third telescopic amount, and the controller controls the camera to swing left and right with the cutting arm according to the first data correspondence table; the controller determines a second data correspondence table according to the second telescopic amount and the fourth telescopic amount, and the controller controls the camera to pitch up and down with the cutting arm according to the second data correspondence table.

[0009] The camera tracking system provided by the present invention enables the camera to swing left and right and / or pitch up and down along with the cutting arm, achieving visual tracking. This provides high timeliness and eliminates the need for manual remote control of the camera, effectively assisting the driver in operating the system even when out of the driver's field of view. Furthermore, a controller controls the camera's movement along with the cutting arm based on a data mapping table, and the control algorithm utilizes discrete numerical values, resulting in low memory usage and high data processing speed.

[0010] Specifically, the camera tracking system includes a cutting arm, a first rotary cylinder, a first lifting cylinder, a first displacement sensor, a second displacement sensor, a camera, a second rotary cylinder, a second lifting cylinder, a third displacement sensor, a fourth displacement sensor, and a controller. The cutting arm is connected to the machine body. Optionally, one end of the cutting arm is rotatably connected to the machine body, and the other end of the cutting arm has a cutting head. The cutting head is used to fracture and cut the rock mass at the tunnel face. Furthermore, the first rotary cylinder is connected to the cutting arm, and the first rotary cylinder is connected to the machine body. Optionally, one end of the first rotary cylinder is connected to the cutting arm, and the other end of the first rotary cylinder is connected to the machine body. The first rotary cylinder is capable of retracting and extending to change its length. The first rotary cylinder is used to drive the cutting arm to swing left and right relative to the machine body. Optionally, when the cutting arm is horizontally centered, the cutting arm's first swing angle θ is 0; when the cutting arm swings to the right, θ is positive; when the cutting arm swings to the left, θ is negative. Optionally, the number of the first rotary cylinders is at least two, at least one first rotary cylinder is arranged on the left side of the cutting arm, and at least one first rotary cylinder is arranged on the right side of the cutting arm.

[0011] Furthermore, a first displacement sensor is provided on the first rotary cylinder. The first displacement sensor is used to detect a first extension and contraction amount of the first rotary cylinder. Optionally, when the cutting arm is horizontally centered, the first extension and contraction amount of the first rotary cylinder is set to ΔL1; when the cutting arm swings to the right, ΔL1 is positive; when the cutting arm swings to the left, ΔL1 is negative.

[0012] Furthermore, a first lifting cylinder is connected to the cutting arm and is used to connect to the fuselage. Optionally, one end of the first lifting cylinder is connected to the cutting arm, and the other end of the first lifting cylinder is connected to the fuselage. The first lifting cylinder is capable of extending and retracting to change its length. The first lifting cylinder is used to drive the cutting arm to pitch up and down relative to the fuselage. Optionally, when the cutting arm is centered in the vertical direction, the cutting arm's first pitch angle α is 0; when the cutting arm swings upward, α is positive; when the cutting arm swings downward, α is negative.

[0013] Furthermore, a second displacement sensor is provided on the first lifting cylinder. The second displacement sensor is used to detect the second extension and contraction amount of the first lifting cylinder. Optionally, when the cutting arm is vertically centered, the second extension and contraction amount of the first lifting cylinder is set to ΔL2; when the cutting arm swings upward, ΔL2 is positive; when the cutting arm swings downward, ΔL2 is negative.

[0014] Furthermore, the camera is used to be connected to the cab. The camera is used for image acquisition. It is worth noting that the camera can be arranged at any position on the top or side of the cab. Furthermore, the second rotary cylinder is connected to the camera, and the second rotary cylinder is used to be connected to the cab. Optionally, one end of the second rotary cylinder is connected to the camera, and the other end of the second rotary cylinder is connected to the cab. The second rotary cylinder can be extended and retracted to change its own length. The second rotary cylinder is used to drive the camera to swing left and right relative to the cab. Optionally, when the camera is centered horizontally, the second swing angle β of the camera is 0; when the camera swings to the right, β is a positive value; when the camera swings to the left, β is a negative value. Optionally, the number of second rotary cylinders is at least two, at least one second rotary cylinder is arranged on the left side of the camera, and at least one second rotary cylinder is arranged on the right side of the camera.

[0015] Furthermore, a third displacement sensor is provided on the second rotary cylinder. The third displacement sensor is used to detect a third extension and contraction amount of the second rotary cylinder. Optionally, when the camera is horizontally centered, the third extension and contraction amount of the second rotary cylinder is set to ΔL3; when the camera is swung to the right, ΔL3 is positive; when the camera is swung to the left, ΔL3 is negative.

[0016] Furthermore, a second lifting cylinder is connected to the camera and is used to connect to the cab. Optionally, one end of the second lifting cylinder is connected to the camera, and the other end is connected to the cab. The second lifting cylinder is capable of extending and retracting to change its length. The second lifting cylinder is used to drive the camera to pitch up and down relative to the cab. Optionally, when the camera is centered vertically, the camera's second pitch angle ε is 0; when the camera is swung upward, ε is positive; when the camera is swung downward, ε is negative.

[0017] Furthermore, a fourth displacement sensor is provided on the second lift cylinder. The fourth displacement sensor is used to detect a fourth extension and contraction amount of the second lift cylinder. Optionally, when the camera is vertically centered, the fourth extension and contraction amount of the second lift cylinder is set to ΔL4; when the camera is swung upward, ΔL4 is positive; when the camera is swung downward, ΔL4 is negative.

[0018] Furthermore, the controller is used to connect to the fuselage or the cab. It is worth noting that the controller can be set at any position of the fuselage or the cab. Furthermore, the controller is electrically connected to the first displacement sensor. The controller obtains the first telescopic amount information of the first rotary cylinder through the first displacement sensor, and the controller determines the first telescopic amount of the first rotary cylinder based on the first telescopic amount information. Further, the controller is electrically connected to the second displacement sensor. The controller obtains the second telescopic amount information of the first lifting cylinder through the second displacement sensor, and the controller determines the second telescopic amount of the first lifting cylinder based on the second telescopic amount information. Further, the controller is electrically connected to the third displacement sensor. The controller obtains the third telescopic amount information of the second rotary cylinder through the third displacement sensor, and the controller determines the third telescopic amount of the second rotary cylinder based on the third telescopic amount information. Further, the controller is electrically connected to the fourth displacement sensor. The controller obtains the fourth telescopic amount information of the second lifting cylinder through the fourth displacement sensor, and the controller determines the fourth telescopic amount based on the fourth telescopic amount information.

[0019] Furthermore, the controller determines a first data correspondence table based on the first and third telescopic amounts, and the controller controls the camera to swing left and right with the cutting arm based on the first data correspondence table. Optionally, the controller can determine the first telescopic range of the first rotary cylinder based on the first telescopic amount. The controller can determine the third telescopic range of the second rotary cylinder based on the third telescopic amount. The first telescopic range is divided equally into a number equal to the first numerical value (if the first telescopic range is divided into n equal parts, the first numerical value is n) to obtain a plurality of first telescopic values; the third telescopic range is divided equally into a number equal to the first numerical value to obtain a plurality of third telescopic values. Further, a first data correspondence table is determined based on the plurality of first telescopic values, the plurality of third telescopic values, the first swing angle of the cutting arm, and the second swing angle of the camera. In the first data correspondence table, when the first swing angle of the cutting arm is equal to the second swing angle of the camera, there is one and only one third telescopic value that corresponds to one of the first telescopic values. The controller controls the camera to swing left and right with the cutting arm based on the first data correspondence table.

[0020] Optionally, the maximum extension and contraction of the first rotary cylinder is ΔL 1max , the maximum swing angle of the cutting arm is θ max The maximum extension and contraction of the second rotary cylinder is ΔL 3max , the maximum swing angle of the camera is β max . Set ΔL 1max ,θ max , ΔL 3max and β maxDivide the data into 100 equal parts (any number is acceptable; the more parts, the more accurate it is). Under the condition that θ and β are equal, the corresponding ΔL1 and ΔL3 are measured in real time to determine the first data correspondence table. When the cutting arm is at a certain swing angle, the first displacement sensor detects the first extension and contraction of the first rotary cylinder as ΔL1. The controller determines the third extension and contraction of the second rotary cylinder based on the first data correspondence table, ΔL3, and controls the second rotary cylinder to extend and contract based on the third extension and contraction value obtained from the lookup table, achieving real-time tracking of the camera and cutting arm in the horizontal direction.

[0021] Furthermore, the controller determines a second data correspondence table based on the second and fourth telescopic amounts, and controls the camera's pitch along with the cutting arm based on the second data correspondence table. Optionally, the controller can determine a second telescopic range of the first lift cylinder based on the second telescopic amount. The controller can determine a fourth telescopic range of the second lift cylinder based on the fourth telescopic amount. Furthermore, the second telescopic range is divided equally into portions equal to the second numerical value (if the second telescopic range is divided into n equal portions, the second numerical value is n), resulting in a plurality of second telescopic values; and the fourth telescopic range is divided equally into portions equal to the second numerical value, resulting in a plurality of fourth telescopic values. Furthermore, a second data correspondence table is determined based on the plurality of second telescopic values, the plurality of fourth telescopic values, the first pitch angle of the first lift cylinder, and the second pitch angle of the camera. In the second data correspondence table, when the first pitch angle of the first lift cylinder and the second pitch angle of the camera are equal, there is one and only one fourth telescopic value that corresponds to one of the second telescopic values. The controller controls the camera's pitch along with the cutting arm based on the second data correspondence table.

[0022] Optionally, the maximum extension and contraction of the first lifting cylinder is ΔL 2max , the maximum pitch angle of the cutting arm is α max The maximum extension and contraction of the second lifting cylinder is ΔL 4max , the maximum pitch angle of the camera is ε max . Set ΔL 2max , α max , ΔL 4max and ε max Divide the data into 100 equal parts (any number is acceptable; the more parts, the more accurate it is). Under the condition that α and ε are equal, the corresponding ΔL2 and ΔL4 are measured in real time to determine the second data correspondence table. When the cutting arm is at a certain pitch angle, the second displacement sensor detects the second extension and contraction of the first lift cylinder as ΔL2. The controller determines the fourth extension and contraction of the second lift cylinder based on the second data correspondence table, ΔL4, and controls the second lift cylinder to extend and contract based on the fourth extension and contraction value obtained from the lookup table, achieving real-time tracking of the camera and cutting arm in the vertical direction.

[0023] Optionally, a display screen is provided in the cab. The display screen is electrically connected to the controller, and the display screen is electrically connected to a camera. The camera tracking system can assist the driver in operating the vehicle beyond the driver's field of view.

[0024] By collecting the extension and contraction values ​​of the cylinder, the calculation is fed back to the camera swing cylinder to achieve synchronous swing of the camera and the cutting head, so that the operator or driver can view the actual working condition of the cutting head in real time through the display screen when necessary, making up for the visual blind spots and viewing distance limitations of the naked eye.

[0025] In the technical solution defined in the present invention, the camera can swing left and right and / or pitch up and down along with the cutting arm to achieve visual tracking. This is highly timely and does not require manual remote control of the camera, which helps assist the driver in operating beyond their field of view. In addition, the controller controls the camera's movement along with the cutting arm according to a data correspondence table. The control algorithm uses discontinuous numerical values, and the data processing process occupies a small amount of memory and has a high processing speed. In the present invention, the camera tracking system uses multiple cylinders, which facilitates the acquisition of displacement data through displacement sensors to determine the amount of expansion and contraction.

[0026] In addition, the above technical solution provided by the present invention may also have the following additional technical features:

[0027] Optionally, the controller determines the first telescopic range of the first rotary cylinder based on the first telescopic amount, and the controller determines the third telescopic range of the second rotary cylinder based on the third telescopic amount. The first telescopic range is divided into equal parts in the form of a first numerical value and a plurality of first telescopic values ​​are obtained. The third telescopic range is divided into equal parts in the form of a first numerical value and a plurality of third telescopic values ​​are obtained. A first data correspondence table is determined based on the plurality of first telescopic values, the plurality of third telescopic values, the first swing angle of the cutting arm and the second swing angle of the camera. In the first data correspondence table, when the first swing angle is equal to the second swing angle, there is only one third telescopic value corresponding to one of the first telescopic values, and the controller controls the camera to swing left and right with the cutting arm according to the first data correspondence table. ; The controller determines the second telescopic range of the first lifting cylinder according to the second telescopic amount, and determines the fourth telescopic range of the second lifting cylinder according to the fourth telescopic amount. The second telescopic range is divided into equal parts in the form of the second numerical value and multiple second telescopic values ​​are obtained. The fourth telescopic range is divided into equal parts in the form of the second numerical value and multiple fourth telescopic values ​​are obtained. A second data correspondence table is determined according to the multiple second telescopic values, the multiple fourth telescopic values, the first pitch angle of the first lifting cylinder and the second pitch angle of the camera. In the second data correspondence table, when the first pitch angle is equal to the second pitch angle, there is only one fourth telescopic value corresponding to one of the second telescopic values. The controller controls the camera to pitch up and down with the cutting arm according to the second data correspondence table.

[0028] In this technical solution, a controller determines the amount of expansion and contraction based on expansion and contraction information, determines the expansion range based on the amount of expansion and contraction, divides the expansion and contraction range into n equal parts, and defines a data correspondence table. Based on this data correspondence table, the controller controls the camera to swing left and right and pitch up and down along with the cutting arm. The control algorithm of this invention uses discontinuous numerical values, resulting in low memory usage and high processing speed during data processing.

[0029] Optionally, the camera following system also includes: a first transmission component, a second rotary cylinder drives the camera to swing left and right relative to the cab through the first transmission component; a second transmission component, a second lifting cylinder drives the camera to pitch up and down relative to the cab through the second transmission component.

[0030] In this technical solution, the camera tracking system also includes a first transmission assembly. Specifically, the first transmission assembly is connected to the second rotary cylinder, which is in turn connected to the camera. By providing the first transmission assembly, the second rotary cylinder can drive the camera to swing left and right relative to the cab, allowing the camera to swing left and right along with the cutting arm.

[0031] Furthermore, the camera tracking system also includes a second transmission assembly. Specifically, the second transmission assembly is connected to the second lifting cylinder, which is in turn connected to the camera. By providing the second transmission assembly, the second lifting cylinder can drive the camera to pitch up and down relative to the cab, so that the camera pitches up and down with the cutting arm.

[0032] Optionally, the first transmission assembly includes: a swing base, connected to the camera; a first gear, connected to the swing base, the first gear and the swing base are relatively fixed; a first rack, connected to the second rotary cylinder, the first rack is engaged with the first gear, so that the second rotary cylinder drives the camera to swing left and right relative to the cab.

[0033] In this technical solution, the first transmission assembly includes a swing base, a first gear, and a first rack. Specifically, the swing base is connected to the camera. Optionally, the camera is rotatably mounted on the swing base. Optionally, the camera is horizontally fixed relative to the swing base; the camera is vertically rotatable relative to the swing base.

[0034] Furthermore, the first gear is connected to the swing base. The first gear and the swing base are relatively fixed. Optionally, the swing base has a shaft, and the first gear is sleeved on the shaft of the swing base. Furthermore, the first rack is connected to the second rotary cylinder. The first rack meshes with the first gear so that the second rotary cylinder drives the camera to swing left and right relative to the cab. By providing the first transmission assembly, the linear displacement (axial extension) of the second rotary cylinder can be converted into left and right swing of the camera.

[0035] Optionally, the camera is rotatably arranged on the swing base.

[0036] In this technical solution, the camera can rotate relative to the swing base, so that the second lifting cylinder drives the camera to pitch up and down through the second transmission assembly.

[0037] Optionally, the second transmission assembly includes: a cam structure, including: a first lifting base, connected to the camera, the first lifting base and the camera are relatively fixed; a cam, provided on the first lifting base; a second lifting base, rotatably provided on the swing base, the second lifting base is provided with a cam track, the cam track and the cam cooperate with each other, and the second lifting cylinder is used to drive the second lifting base to rotate so that the camera can pitch up and down relative to the cab.

[0038] In this technical solution, the second transmission assembly includes a cam structure. The cam structure comprises a first elevating base, a cam, and a second elevating base. Specifically, the first elevating base is connected to the camera and is relatively fixed to the camera. The first elevating base primarily serves as a mounting support for the camera. Optionally, the camera and the first elevating base are detachably connected, facilitating disassembly and assembly by personnel, and facilitating maintenance or replacement.

[0039] Furthermore, the cam is provided on the first lifting base. Optionally, the cam is rotatably connected to the first lifting base. Optionally, the camera is provided on one side of the first lifting base, and the cam is provided on the other side of the first lifting base.

[0040] Furthermore, the second lifting base is rotatably mounted on the swing base, and the second lifting base is capable of rotating relative to the swing base. Furthermore, the second lifting base is provided with a cam track. The cam track cooperates with the cam. The second lifting cylinder is used to drive the second lifting base to rotate, thereby tilting the camera up and down relative to the cab. As the second lifting cylinder drives the second lifting base to rotate, the cam track also rotates, and the contact position between the cam and the cam track continuously changes, thereby enabling the camera to tilt up and down along with the cutting arm.

[0041] Optionally, the second transmission assembly also includes: a drive shaft connected to the second lifting base, the drive shaft and the second lifting base are relatively fixed, and the drive shaft is passed through the swing base; a second gear is sleeved on the drive shaft, and the second gear and the drive shaft are relatively fixed; a second rack is connected to the second lifting cylinder, and the second rack is engaged with the second gear, so that the second lifting cylinder drives the second lifting base to rotate.

[0042] In this technical solution, the second transmission assembly further includes a drive shaft, a second gear, and a second rack. Specifically, the drive shaft is connected to the second elevating base and fixed relative to the second elevating base. The drive shaft passes through the swing base. Optionally, the swing base has a hollow shaft, and the drive shaft passes through the hollow shaft of the swing base, so that the drive shaft and the hollow shaft can rotate simultaneously and independently.

[0043] Furthermore, a second gear is sleeved on the drive shaft, and the second gear and the drive shaft are relatively fixed. Furthermore, a second rack is connected to the second lifting cylinder. The second rack meshes with the second gear, so that the second lifting cylinder drives the second lifting base to rotate.

[0044] The second lifting cylinder converts the linear displacement of the cylinder into circumferential rotation of the second lifting base through the gear rack structure of the second transmission assembly, and converts the circumferential rotation of the second lifting base into up and down pitch of the camera through the cam structure of the second transmission assembly.

[0045] The second aspect of the present invention provides an beyond-visual-field assisted driving device, comprising: a fuselage; a cab, arranged on the fuselage; a camera following system in any of the above technical solutions, wherein the cutting arm, the first rotary cylinder and the first lifting cylinder of the camera following system are all connected to the fuselage, the camera, the second rotary cylinder and the second lifting cylinder of the camera following system are all connected to the cab, and the controller of the camera following system is connected to the fuselage or the cab.

[0046] According to the technical solution of the beyond-visual-field assisted driving device of the present invention, the beyond-visual-field assisted driving device comprises a fuselage, a cab, and the camera tracking system of any of the above-mentioned technical solutions. The cab is mounted on the fuselage. The cutting arm of the camera tracking system is connected to the fuselage; the first rotary cylinder of the camera tracking system is connected to the fuselage; and the first lifting cylinder of the camera tracking system is connected to the fuselage. Furthermore, the camera of the camera tracking system is connected to the cab; the second rotary cylinder of the camera tracking system is connected to the cab; and the second lifting cylinder of the camera tracking system is connected to the cab.

[0047] Furthermore, the controller of the camera follow-up system is connected to the fuselage or the cab. It is worth noting that the controller can be set at any position of the fuselage or the cab.

[0048] By setting up a camera tracking system, visual tracking can be achieved, which is helpful for assisting drivers to operate beyond their field of vision and makes up for the blind spots and viewing distance limitations of the naked eye.

[0049] Among them, since the beyond-viewing-field assisted driving device includes any camera follow-up system in the above-mentioned first aspect, it has the beneficial effects of any of the above-mentioned technical solutions, which will not be repeated here.

[0050] Optionally, it also includes: a display screen, which is arranged in the cab, and the display screen is electrically connected to the controller of the camera follow-up system.

[0051] In this technical solution, the beyond-visual-field assisted driving system also includes a display screen. Specifically, the display screen is located within the cab and is electrically connected to the controller of the camera tracking system. When needed, the operator or driver can view the actual operating conditions of the cutting head in real time through the display screen, overcoming the visual blind spots and visual range limitations of the naked eye. Optionally, the display screen is located in the central control area of ​​the cab.

[0052] A third aspect of the present invention provides an operating machine, comprising: the beyond-visual-range assisted driving device of any of the above technical solutions; and a walking part connected to the body of the beyond-visual-range assisted driving device.

[0053] According to the technical solution of the working machine of the present invention, the working machine includes the beyond-visual-field assisted driving device of any of the above-mentioned technical solutions and a walking unit. The walking unit is connected to the body of the beyond-visual-field assisted driving device. By providing the walking unit, the walking function of the working machine can be realized.

[0054] It is worth noting that the operating machinery may be equipment such as a mining machine or a tunnel boring machine.

[0055] Additional aspects and advantages of the technical solutions of the present invention will become apparent in the following description or will be understood through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A first schematic diagram of a work machine according to an embodiment of the present invention is shown;

[0057] Figure 2 A second schematic diagram of a work machine according to an embodiment of the present invention is shown;

[0058] Figure 3 A schematic diagram of a cab according to an embodiment of the present invention is shown;

[0059] Figure 4 A first schematic diagram of a camera following system according to an embodiment of the present invention is shown;

[0060] Figure 5 A second schematic diagram of a camera tracking system according to an embodiment of the present invention is shown;

[0061] Figure 6 A third schematic diagram of a camera tracking system according to an embodiment of the present invention is shown;

[0062] Figure 7 A fourth schematic diagram of a camera tracking system according to an embodiment of the present invention is shown;

[0063] Figure 8 Shown Figure 7 Schematic diagram of the cross-sectional structure of the AA surface;

[0064] Figure 9 Shown Figure 7 Schematic diagram of the cross-sectional structure of the middle BB surface.

[0065] in, Figures 1 to 9 The corresponding relationship between the reference numerals and component names is as follows:

[0066] 100: Camera follow-up system; 110: Cutting arm; 121: First rotary cylinder; 122: First lifting cylinder; 123: Second rotary cylinder; 124: Second lifting cylinder; 131: First displacement sensor; 132: Second displacement sensor; 133: Third displacement sensor; 134: Fourth displacement sensor; 140: Camera; 150: Controller; 160: First transmission assembly; 161: Swing base; 162: First gear; 163: First rack; 170: Second transmission assembly; 171: Cam structure; 1711: First lifting base; 1712: Cam; 1713: Second lifting base; 1714: Cam track; 172: Drive shaft; 173: Second gear; 174: Second rack; 200: Beyond-the-horizon assisted driving device; 210: Fuselage; 220: Cab; 230: Display screen; 300: Operating machinery; 310: Traveling unit. DETAILED DESCRIPTION

[0067] In order to more clearly understand the above-mentioned purposes, features and advantages of the embodiments of the present invention, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features therein can be combined with each other in the absence of conflict.

[0068] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the embodiments of the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0069] Refer to the following Figures 1 to 9 The following describes a camera tracking system 100, a beyond-visual-range driving assistance device 200, and a working machine 300 provided according to some embodiments of the present invention.

[0070] In one embodiment according to the present invention, Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7As shown, the camera tracking system 100 includes a cutting arm 110, a first rotary cylinder 121, a first lifting cylinder 122, a first displacement sensor 131, a second displacement sensor 132, a camera 140, a second rotary cylinder 123, a second lifting cylinder 124, a third displacement sensor 133, a fourth displacement sensor 134 and a controller 150. The cutting arm 110 is used to be connected to the fuselage 210. Optionally, one end of the cutting arm 110 is rotatably connected to the fuselage 210, and the other end of the cutting arm 110 has a cutting head. The cutting head is used to fracture and cut the rock mass at the tunnel face. Further, as Figure 4 As shown, the first rotary cylinder 121 is connected to the cutting arm 110 and is used to connect to the machine body 210. Optionally, one end of the first rotary cylinder 121 is connected to the cutting arm 110, and the other end is connected to the machine body 210. The first rotary cylinder 121 can be extended and retracted to change its length. The first rotary cylinder 121 is used to drive the cutting arm 110 to swing left and right relative to the machine body 210. Optionally, when the cutting arm 110 is horizontally centered, the first swing angle θ of the cutting arm 110 is 0; when the cutting arm 110 swings to the right, θ is positive; when the cutting arm 110 swings to the left, θ is negative. Optionally, there are at least two first rotary cylinders 121, with at least one first rotary cylinder 121 located on the left side of the cutting arm 110 and at least one first rotary cylinder 121 located on the right side of the cutting arm 110.

[0071] Furthermore, if Figure 4 As shown, the first displacement sensor 131 is provided on the first rotary cylinder 121. The first displacement sensor 131 is used to detect the first extension and contraction amount of the first rotary cylinder 121. Optionally, when the cutting arm 110 is horizontally centered, the first extension and contraction amount of the first rotary cylinder 121 is set to ΔL1. When the cutting arm 110 swings to the right, ΔL1 is positive; when the cutting arm 110 swings to the left, ΔL1 is negative.

[0072] Furthermore, if Figure 4 As shown, the first lifting cylinder 122 is connected to the cutting arm 110 and is used to connect to the fuselage 210. Optionally, one end of the first lifting cylinder 122 is connected to the cutting arm 110, and the other end of the first lifting cylinder 122 is connected to the fuselage 210. The first lifting cylinder 122 can be extended and retracted to change its length. The first lifting cylinder 122 is used to drive the cutting arm 110 to pitch up and down relative to the fuselage 210. Optionally, when the cutting arm 110 is centered in the vertical direction, the first pitch angle α of the cutting arm 110 is 0; when the cutting arm 110 swings upward, α is a positive value; when the cutting arm 110 swings downward, α is a negative value.

[0073] Furthermore, if Figure 4As shown, the second displacement sensor 132 is provided on the first lift cylinder 122. The second displacement sensor 132 is used to detect the second extension and contraction amount of the first lift cylinder 122. Optionally, when the cutting arm 110 is vertically centered, the second extension and contraction amount of the first lift cylinder 122 is set to ΔL2. When the cutting arm 110 swings upward, ΔL2 is positive; when the cutting arm 110 swings downward, ΔL2 is negative.

[0074] Furthermore, if Figure 1 and Figure 2 As shown, the camera 140 is used to connect to the cab 220. The camera 140 is used for image acquisition. It is worth noting that the camera 140 can be set at any position on the top or side of the cab 220. Figure 4 、 Figure 5 、 Figure 6 and Figure 7 As shown, the second rotary cylinder 123 is connected to the camera 140 and is used to connect to the cab 220. Optionally, one end of the second rotary cylinder 123 is connected to the camera 140, and the other end is connected to the cab 220. The second rotary cylinder 123 can be extended and retracted to change its length. The second rotary cylinder 123 is used to drive the camera 140 to swing left and right relative to the cab 220. Optionally, when the camera 140 is horizontally centered, the second swing angle β of the camera 140 is 0; when the camera 140 swings to the right, β is a positive value; when the camera 140 swings to the left, β is a negative value. Optionally, there are at least two second rotary cylinders 123, with at least one second rotary cylinder 123 located on the left side of the camera 140 and at least one second rotary cylinder 123 located on the right side of the camera 140.

[0075] Furthermore, if Figure 4 As shown, the third displacement sensor 133 is disposed on the second rotary cylinder 123. The third displacement sensor 133 is used to detect the third extension and contraction amount of the second rotary cylinder 123. Optionally, when the camera 140 is horizontally centered, the third extension and contraction amount of the second rotary cylinder 123 is set to ΔL3. When the camera 140 is swung to the right, ΔL3 is positive; when the camera 140 is swung to the left, ΔL3 is negative.

[0076] Furthermore, if Figure 4 、 Figure 5 、 Figure 6 and Figure 7As shown, the second lifting cylinder 124 is connected to the camera 140, and the second lifting cylinder 124 is used to connect to the cab 220. Optionally, one end of the second lifting cylinder 124 is connected to the camera 140, and the other end of the second lifting cylinder 124 is connected to the cab 220. The second lifting cylinder 124 can be extended and retracted to change its length. The second lifting cylinder 124 is used to drive the camera 140 to pitch up and down relative to the cab 220. Optionally, when the camera 140 is centered in the vertical direction, the second pitch angle ε of the camera 140 is 0; when the camera 140 swings upward, ε is a positive value; when the camera 140 swings downward, ε is a negative value.

[0077] Furthermore, if Figure 4 As shown, fourth displacement sensor 134 is disposed on second lift cylinder 124. Fourth displacement sensor 134 is used to detect a fourth extension and contraction amount of second lift cylinder 124. Optionally, when camera 140 is vertically centered, the fourth extension and contraction amount of second lift cylinder 124 is set to ΔL4. ΔL4 is positive when camera 140 is swinging upward, and negative when camera 140 is swinging downward.

[0078] Furthermore, the controller 150 is used to connect to the fuselage 210 or the cab 220. It is worth noting that the controller 150 can be set at any position of the fuselage 210 or the cab 220. Furthermore, the controller 150 is electrically connected to the first displacement sensor 131. The controller 150 obtains the first extension and extension amount information of the first rotary cylinder 121 through the first displacement sensor 131, and the controller 150 determines the first extension and extension amount of the first rotary cylinder 121 based on the first extension and extension amount information. Further, the controller 150 is electrically connected to the second displacement sensor 132. The controller 150 obtains the second extension and extension amount information of the first lifting cylinder 122 through the second displacement sensor 132, and the controller 150 determines the second extension and extension amount of the first lifting cylinder 122 based on the second extension and extension amount information. Further, the controller 150 is electrically connected to the third displacement sensor 133. The controller 150 obtains information about the third extension and contraction amount of the second rotary cylinder 123 via the third displacement sensor 133 and determines the third extension and contraction amount of the second rotary cylinder 123 based on the third extension and contraction amount information. Furthermore, the controller 150 is electrically connected to the fourth displacement sensor 134. The controller 150 obtains information about the fourth extension and contraction amount of the second lift cylinder 124 via the fourth displacement sensor 134 and determines the fourth extension and contraction amount based on the fourth extension and contraction amount information.

[0079] Furthermore, the controller 150 determines a first data correspondence table based on the first and third telescopic amounts, and controls the camera 140 to swing left and right with the cutting arm 110 based on the first data correspondence table. Optionally, the controller 150 can determine a first telescopic range of the first rotary cylinder 121 based on the first telescopic amount. The controller 150 can determine a third telescopic range of the second rotary cylinder 123 based on the third telescopic amount. The first telescopic range is divided equally into a number equal to the first numerical value (if the first telescopic range is divided into n equal parts, the first numerical value is n), and a plurality of first telescopic values ​​are obtained; the third telescopic range is divided equally into a number equal to the first numerical value, and a plurality of third telescopic values ​​are obtained. Furthermore, a first data correspondence table is determined based on the plurality of first telescopic values, the plurality of third telescopic values, the first swing angle of the cutting arm 110, and the second swing angle of the camera 140. In the first data correspondence table, when the first swing angle of the cutting arm 110 is equal to the second swing angle of the camera 140, there is one and only one third telescopic value that corresponds to one of the first telescopic values. The controller 150 controls the camera 140 to swing left and right along with the cutting arm 110 according to the first data correspondence table.

[0080] Optionally, the maximum extension and contraction amount of the first rotary cylinder 121 is ΔL 1max , the maximum swing angle of the cutting arm 110 is θ max The maximum extension and contraction of the second rotary cylinder 123 is ΔL 3max , the maximum swing angle of the camera 140 is β max . Set ΔL 1max ,θ max , ΔL 3max and β max Divide the data into 100 equal parts (any number is acceptable; the more parts, the more accurate it is). Under the condition that θ and β are equal, the corresponding ΔL1 and ΔL3 are measured in real time to determine the first data correspondence table. When the cutting arm 110 is at a certain swing angle, the first displacement sensor 131 detects the first extension and contraction amount of the first rotary cylinder 121 as ΔL1. The controller 150 determines the third extension and contraction amount ΔL3 of the second rotary cylinder 123 based on the first data correspondence table and controls the second rotary cylinder 123 to extend and contract based on the third extension and contraction amount obtained from the lookup table, thereby achieving real-time tracking of the camera 140 and the cutting arm 110 in the horizontal direction.

[0081] Furthermore, the controller 150 determines a second data correspondence table based on the second and fourth telescopic amounts, and controls the camera 140 to pitch up and down along with the cutting arm 110 based on the second data correspondence table. Optionally, the controller 150 can determine a second telescopic range of the first lift cylinder 122 based on the second telescopic amount. The controller 150 can determine a fourth telescopic range of the second lift cylinder 124 based on the fourth telescopic amount. Furthermore, the second telescopic range is divided equally into portions equal to the second numerical value (if the second telescopic range is divided into n equal portions, the second numerical value is n) to obtain a plurality of second telescopic values; and the fourth telescopic range is divided equally into portions equal to the second numerical value to obtain a plurality of fourth telescopic values. Furthermore, a second data correspondence table is determined based on the plurality of second telescopic values, the plurality of fourth telescopic values, the first pitch angle of the first lift cylinder 122, and the second pitch angle of the camera 140. In the second data correspondence table, when the first pitch angle of the first lift cylinder 122 is equal to the second pitch angle of the camera 140, there is only one fourth telescopic value that corresponds to one of the second telescopic values. The controller 150 controls the camera 140 to pitch up and down along with the cutting arm 110 according to the second data correspondence table.

[0082] Optionally, the maximum extension and contraction amount of the first lifting cylinder 122 is ΔL 2max , the maximum pitch angle of the cutting arm 110 is α max The maximum extension and contraction of the second lifting cylinder 124 is ΔL 4max , the maximum pitch angle of camera 140 is ε max . Set ΔL 2max , α max , ΔL 4max and ε max Divide the data into 100 equal parts (any number is acceptable; the greater the number, the more accurate it is). Under the condition that α and ε are equal, the corresponding ΔL2 and ΔL4 are measured in real time to determine the second data correspondence table. When the cutting arm 110 is at a certain pitch angle, the second displacement sensor 132 detects the second extension and contraction amount of the first lift cylinder 122 as ΔL2. The controller 150 determines the fourth extension and contraction amount ΔL4 of the second lift cylinder 124 based on the second data correspondence table and controls the extension and contraction of the second lift cylinder 124 based on the fourth extension and contraction amount obtained from the lookup table, achieving real-time tracking of the camera 140 and the cutting arm 110 in the vertical direction.

[0083] Alternatively, as Figure 3 As shown, a display screen 230 is provided in the cab 220. The display screen 230 is electrically connected to the controller 150, and the display screen 230 is electrically connected to the camera 140. The camera tracking system 100 can assist the driver in operating when the driver is out of the field of view.

[0084] By collecting the extension and contraction values ​​of the cylinder, calculating and feeding back to the camera 140, the swing cylinder realizes the synchronous swing of the camera 140 and the cutting head, so that the operator or driver can view the actual working condition of the cutting head in real time through the display screen 230 when necessary, making up for the visual blind spots and viewing distance limitations of the naked eye.

[0085] In the technical solution defined in the present invention, the camera 140 can swing left and right and / or pitch up and down along with the cutting arm 110 to achieve visual tracking. This is highly time-efficient and does not require manual remote control of the camera 140, which helps assist the driver in operating beyond their field of view. In addition, the controller 150 controls the camera 140 to move along with the cutting arm 110 according to a data correspondence table. The control algorithm uses discontinuous numerical values, and the data processing process occupies less memory and has a high processing speed. In the present invention, the camera tracking system 100 uses multiple cylinders, which facilitates the acquisition of displacement data through displacement sensors to determine the amount of expansion and contraction.

[0086] In some embodiments, optionally, the controller 150 determines the first telescopic range of the first rotary cylinder 121 based on the first telescopic amount, and the controller 150 determines the third telescopic range of the second rotary cylinder 123 based on the third telescopic amount. The first telescopic range is divided equally in the form of a first numerical value and a plurality of first telescopic values ​​are obtained. The third telescopic range is divided equally in the form of a first numerical value and a plurality of third telescopic values ​​are obtained. A first data correspondence table is determined based on the plurality of first telescopic values, the plurality of third telescopic values, the first swing angle of the cutting arm 110, and the second swing angle of the camera 140. In the first data correspondence table, when the first swing angle is equal to the second swing angle, there is only one third telescopic value corresponding to one of the first telescopic values. The controller 150 controls the camera 140 to swing left and right with the cutting arm 110 according to the first data correspondence table. Furthermore, the controller 150 determines the second telescopic range of the first lifting cylinder 122 based on the second telescopic amount, and the controller 150 determines the fourth telescopic range of the second lifting cylinder 124 based on the fourth telescopic amount. The second telescopic range is divided equally in the form of a second numerical value and a plurality of second telescopic values ​​are obtained. The fourth telescopic range is divided equally in the form of a second numerical value and a plurality of fourth telescopic values ​​are obtained. A second data correspondence table is determined based on the plurality of second telescopic values, the plurality of fourth telescopic values, the first pitch angle of the first lifting cylinder 122 and the second pitch angle of the camera 140. In the second data correspondence table, when the first pitch angle is equal to the second pitch angle, there is only one fourth telescopic value corresponding to one of the second telescopic values. The controller 150 controls the camera 140 to pitch up and down with the cutting arm 110 according to the second data correspondence table.

[0087] Based on the telescopic amount information, the controller 150 determines the telescopic amount, determines the telescopic range based on the telescopic amount, divides the telescopic range into n equal parts, and determines a data correspondence table. Based on the data correspondence table, the controller 150 controls the camera 140 to swing left and right and pitch up and down along with the cutting arm 110. The control algorithm of the present invention utilizes discontinuous numerical values, resulting in low memory usage and high processing speed during data processing.

[0088] In some embodiments, optionally, as Figure 5 、 Figure 8 and Figure 9 As shown, the camera tracking system 100 further includes a first transmission assembly 160. Specifically, the first transmission assembly 160 is connected to the second rotary cylinder 123, which is in turn connected to the camera 140. By providing the first transmission assembly 160, the second rotary cylinder 123 can drive the camera 140 to swing left and right relative to the cab 220, causing the camera 140 to swing left and right along with the cutting arm 110.

[0089] Furthermore, if Figure 5 、 Figure 8 and Figure 9 As shown, the camera tracking system 100 further includes a second transmission assembly 170. Specifically, the second transmission assembly 170 is connected to the second lifting cylinder 124, which is in turn connected to the camera 140. By providing the second transmission assembly 170, the second lifting cylinder 124 can drive the camera 140 to pitch up and down relative to the cab 220, so that the camera 140 pitches up and down along with the cutting arm 110.

[0090] In some embodiments, optionally, as Figure 5 、 Figure 8 and Figure 9 As shown, the first transmission assembly 160 includes a swing base 161, a first gear 162, and a first rack 163. Specifically, the swing base 161 is connected to the camera 140. Optionally, the camera 140 is rotatably mounted on the swing base 161. Optionally, the camera 140 is horizontally fixed relative to the swing base 161; the camera 140 can rotate vertically relative to the swing base 161.

[0091] Furthermore, the first gear 162 is connected to the swing base 161. The first gear 162 is relatively fixed to the swing base 161. Optionally, the swing base 161 has a shaft, and the first gear 162 is sleeved on the shaft of the swing base 161. Further, the first rack 163 is connected to the second rotary cylinder 123. The first rack 163 is engaged with the first gear 162 so that the second rotary cylinder 123 drives the camera 140 to swing left and right relative to the cab 220. By providing the first transmission assembly 160, the linear displacement (axial extension) of the second rotary cylinder 123 can be converted into the left and right swing of the camera 140.

[0092] In some embodiments, the camera 140 is optionally rotatably mounted on the swing base 161. The camera 140 can rotate relative to the swing base 161, so that the second lifting cylinder 124 drives the camera 140 to pitch up and down through the second transmission assembly 170.

[0093] In some embodiments, optionally, as Figure 5 、 Figure 8 and Figure 9 As shown, the second transmission assembly 170 includes a cam structure 171. The cam structure 171 comprises a first elevating base 1711, a cam 1712, and a second elevating base 1713. Specifically, the first elevating base 1711 is connected to the camera 140 and is fixed relative to the camera 140. The first elevating base 1711 primarily serves as a mounting support for the camera 140. Optionally, the camera 140 and the first elevating base 1711 are detachably connected, facilitating disassembly and assembly by personnel, and facilitating maintenance or replacement.

[0094] Furthermore, the cam 1712 is provided on the first elevating base 1711. Optionally, the cam 1712 is rotatably connected to the first elevating base 1711. Optionally, the camera 140 is provided on one side of the first elevating base 1711, and the cam 1712 is provided on the other side of the first elevating base 1711.

[0095] Furthermore, if Figure 5 、 Figure 8 and Figure 9As shown, the second lifting base 1713 is rotatably mounted on the swing base 161, and the second lifting base 1713 is capable of rotating relative to the swing base 161. Furthermore, the second lifting base 1713 is provided with a cam track 1714. The cam track 1714 cooperates with the cam 1712. The second lifting cylinder 124 is used to drive the second lifting base 1713 to rotate, thereby tilting the camera 140 up and down relative to the cab 220. As the second lifting cylinder 124 drives the second lifting base 1713 to rotate, the cam track 1714 also rotates, and the contact position between the cam 1712 and the cam track 1714 continuously changes, thereby enabling the camera 140 to tilt up and down along with the cutting arm 110.

[0096] In some embodiments, the second transmission assembly 170 optionally further includes a drive shaft 172, a second gear 173, and a second rack 174. Specifically, the drive shaft 172 is connected to the second elevating base 1713 and fixed relative to the second elevating base 1713. The drive shaft 172 passes through the swing base 161. Optionally, the shaft of the swing base 161 is a hollow shaft, and the drive shaft 172 passes through the hollow shaft of the swing base 161, so that the drive shaft 172 and the hollow shaft can rotate simultaneously and independently.

[0097] Furthermore, the second gear 173 is sleeved on the drive shaft 172, and the second gear 173 and the drive shaft 172 are fixed relative to each other. Furthermore, the second rack 174 is connected to the second lifting cylinder 124. The second rack 174 meshes with the second gear 173, so that the second lifting cylinder 124 drives the second lifting base 1713 to rotate.

[0098] The second lifting cylinder 124 converts the linear displacement of the cylinder into the circumferential rotation of the second lifting base 1713 through the gear rack structure of the second transmission assembly 170, and converts the circumferential rotation of the second lifting base 1713 into the up and down pitch of the camera 140 through the cam structure 171 of the second transmission assembly 170.

[0099] In some embodiments, the first value is optionally 100. By setting the first value to 100, the first telescopic range is divided into 100 equal parts, resulting in a plurality of first telescopic values, and the third telescopic range is divided into 100 equal parts, resulting in a plurality of third telescopic values. A first data correspondence table is determined based on the plurality of first telescopic values, the plurality of third telescopic values, the first swing angle of the cutting arm 110, and the second swing angle of the camera 140. The first value of 100 ensures that the first data correspondence table contains sufficient reference data, allowing the controller 150 to more accurately control the camera 140 to swing left and right with the cutting arm 110.

[0100] In some embodiments, the second value is optionally 100. By setting the second value to 100, the second telescopic range is divided into 100 equal parts, resulting in multiple second telescopic values, and the fourth telescopic range is divided into 100 equal parts, resulting in multiple fourth telescopic values. A second data correspondence table is determined based on the multiple second telescopic values, the multiple fourth telescopic values, the first pitch angle of the first lifting cylinder 122, and the second pitch angle of the camera 140. The second value of 100 ensures that the second data correspondence table contains sufficient reference data, allowing the controller 150 to more accurately control the pitch of the camera 140 along with the cutting arm 110.

[0101] In one embodiment according to the present invention, Figure 1 and Figure 2 As shown, the beyond-visual-field assisted driving device 200 includes a body 210, a cab 220, and the camera tracking system 100 of any of the above-described embodiments. The cab 220 is disposed on the body 210. The cutting arm 110 of the camera tracking system 100 is connected to the body 210; the first rotary cylinder 121 of the camera tracking system 100 is connected to the body 210; and the first lifting cylinder 122 of the camera tracking system 100 is connected to the body 210. Furthermore, the camera 140 of the camera tracking system 100 is connected to the cab 220; the second rotary cylinder 123 of the camera tracking system 100 is connected to the cab 220; and the second lifting cylinder 124 of the camera tracking system 100 is connected to the cab 220.

[0102] Furthermore, the controller 150 of the camera tracking system 100 is connected to the fuselage 210 or the cab 220. It is worth noting that the controller 150 can be set at any position of the fuselage 210 or the cab 220.

[0103] By setting up the camera tracking system 100, visual tracking can be achieved, which is helpful for assisting the driver to operate beyond the field of vision and makes up for the visual blind spots and viewing distance limitations of the naked eye.

[0104] In some embodiments, optionally, the beyond-visual-field-assisted driving device 200 further includes a display screen 230. Specifically, the display screen 230 is provided in the cab 220. Figure 3 As shown, display screen 230 is electrically connected to controller 150 of camera tracking system 100. When needed, the operator or driver can view the actual operating conditions of the cutting head in real time through display screen 230, thereby overcoming the visual blind spots and viewing distance limitations of the naked eye. Optionally, display screen 230 is located in the central control area of ​​cab 220.

[0105] In one embodiment according to the present invention, Figure 1 and Figure 2As shown, the working machine 300 includes the beyond-visual-range driving assistance device 200 in any of the above embodiments and a walking unit 310. The walking unit 310 is connected to the body 210 of the beyond-visual-range driving assistance device 200. By providing the walking unit 310, the walking function of the working machine 300 can be realized.

[0106] It is worth noting that the working machine 300 may be a mining machine, a tunnel boring machine or other equipment.

[0107] In the present invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless expressly limited otherwise. Terms such as "installed," "connected," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; "connected" can mean a direct connection or an indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0108] In the description of the present invention, it should be understood that the directions or positional relationships indicated by terms such as "up", "down", "left", "right", "front" and "back" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0109] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0110] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A camera tracking system, characterized in that: include: A cutting arm (110) for connecting to the fuselage (210); a first rotary oil cylinder (121) connected to the cutting arm (110), the first rotary oil cylinder (121) being used to connect to the machine body (210), and the first rotary oil cylinder (121) being used to drive the cutting arm (110) to swing left and right relative to the machine body (210); a first lifting cylinder (122) connected to the cutting arm (110), the first lifting cylinder (122) being used to connect to the fuselage (210), and the first lifting cylinder (122) being used to drive the cutting arm (110) to pitch up and down relative to the fuselage (210); A first displacement sensor (131) is provided on the first rotary oil cylinder (121), and the first displacement sensor (131) is used to detect a first extension and contraction amount of the first rotary oil cylinder (121); a second displacement sensor (132) provided on the first lifting cylinder (122), the second displacement sensor (132) being used to detect a second extension and contraction amount of the first lifting cylinder (122); A camera (140) is used to connect to the cab (220); a second rotary oil cylinder (123) connected to the camera (140), the second rotary oil cylinder (123) being used to connect to the cab (220), and the second rotary oil cylinder (123) being used to drive the camera (140) to swing left and right relative to the cab (220); a second lifting cylinder (124) connected to the camera (140), the second lifting cylinder (124) being used to connect to the cab (220), and the second lifting cylinder (124) being used to drive the camera (140) to pitch up and down relative to the cab (220); a third displacement sensor (133) provided on the second rotary oil cylinder (123), the third displacement sensor (133) being used to detect a third extension and contraction amount of the second rotary oil cylinder (123); a fourth displacement sensor (134), provided on the second lifting cylinder (124), the fourth displacement sensor (134) being used to detect a fourth extension and contraction amount of the second lifting cylinder (124); A controller (150) is used to be connected to the fuselage (210) or the cab (220), the controller (150) being electrically connected to the first displacement sensor (131), the controller (150) being electrically connected to the second displacement sensor (132), the controller (150) being electrically connected to the third displacement sensor (133), and the controller (150) being electrically connected to the fourth displacement sensor (134). The controller (150) determines a first data correspondence table according to the first telescopic amount and the third telescopic amount, and the controller (150) controls the camera (140) to swing left and right along with the cutting arm (110) according to the first data correspondence table; the controller (150) determines a second data correspondence table according to the second telescopic amount and the fourth telescopic amount, and the controller (150) controls the camera (140) to pitch up and down along with the cutting arm (110) according to the second data correspondence table. The controller (150) determines a first telescopic range of the first rotary cylinder (121) according to the first telescopic amount, and determines a third telescopic range of the second rotary cylinder (123) according to the third telescopic amount. The first telescopic range is divided equally in the form of a first numerical value and a plurality of first telescopic values ​​are obtained. The third telescopic range is divided equally in the form of a first numerical value and a plurality of third telescopic values ​​are obtained. A first data correspondence table is determined based on the plurality of first telescopic values, the plurality of third telescopic values, the first swing angle of the cutting arm (110), and the second swing angle of the camera (140). In the first data correspondence table, when the first swing angle is equal to the second swing angle, there is only one third telescopic value corresponding to one of the first telescopic values. The controller (150) controls the camera (140) to swing left and right along with the cutting arm (110) according to the first data correspondence table. The controller (150) determines the second telescopic range of the first lifting cylinder (122) according to the second telescopic amount, and determines the fourth telescopic range of the second lifting cylinder (124) according to the fourth telescopic amount. The second telescopic range is divided equally in the form of a second numerical value and a plurality of second telescopic values ​​are obtained. The fourth telescopic range is divided equally in the form of a second numerical value and a plurality of fourth telescopic values ​​are obtained. A second data correspondence table is determined based on the plurality of second telescopic values, the plurality of fourth telescopic values, the first pitch angle of the first lifting cylinder (122), and the second pitch angle of the camera (140). In the second data correspondence table, when the first pitch angle is equal to the second pitch angle, there is only one fourth telescopic value corresponding to one of the second telescopic values. The controller (150) controls the camera (140) to pitch up and down along with the cutting arm (110) according to the second data correspondence table.

2. The camera tracking system according to claim 1, wherein: The camera follow-up system also includes: A first transmission assembly (160), wherein the second rotary cylinder (123) drives the camera (140) to swing left and right relative to the cab (220) through the first transmission assembly (160); A second transmission assembly (170), wherein the second lifting cylinder (124) drives the camera (140) to pitch up and down relative to the cab (220) via the second transmission assembly (170).

3. The camera tracking system according to claim 2, wherein: The first transmission assembly (160) comprises: A swing base (161) connected to the camera (140); A first gear (162) is connected to the swing base (161), and the first gear (162) and the swing base (161) are relatively fixed; The first rack (163) is connected to the second rotary cylinder (123), and the first rack (163) is engaged with the first gear (162), so that the second rotary cylinder (123) drives the camera (140) to swing left and right relative to the cab (220).

4. The camera tracking system according to claim 3, wherein: The camera (140) is rotatably arranged on the swing base (161).

5. The camera tracking system according to claim 4, wherein: The second transmission assembly (170) comprises: The cam structure (171) comprises: A first lifting base (1711) is connected to the camera (140), and the first lifting base (1711) and the camera (140) are relatively fixed; A cam (1712), provided on the first lifting base (1711); The second lifting base (1713) is rotatably arranged on the swing base (161). The second lifting base (1713) is provided with a cam track (1714). The cam track (1714) cooperates with the cam (1712). The second lifting cylinder (124) is used to drive the second lifting base (1713) to rotate so that the camera (140) can be tilted up and down relative to the cab (220).

6. The camera tracking system according to claim 5, characterized in that: The second transmission assembly (170) further includes: A drive shaft (172) is connected to the second lifting base (1713), the drive shaft (172) and the second lifting base (1713) are relatively fixed, and the drive shaft (172) is inserted into the swing base (161); a second gear (173) sleeved on the drive shaft (172), wherein the second gear (173) and the drive shaft (172) are relatively fixed; The second rack (174) is connected to the second lifting cylinder (124), and the second rack (174) is engaged with the second gear (173) so that the second lifting cylinder (124) drives the second lifting base (1713) to rotate.

7. A super-visual field assist driving device, characterized in that: include: fuselage (210); A cab (220) is provided on the fuselage (210); The camera follow-up system according to any one of claims 1 to 6, wherein the cutting arm (110), the first rotary cylinder (121), and the first lifting cylinder (122) of the camera follow-up system are all connected to the fuselage (210), the camera (140), the second rotary cylinder (123), and the second lifting cylinder (124) of the camera follow-up system are all connected to the cab (220), and the controller (150) of the camera follow-up system is connected to the fuselage (210) or the cab (220).

8. The beyond-visual-field-of-view driving assistance device according to claim 7, characterized in that: Also includes: A display screen (230) is provided in the cab (220), and the display screen (230) is electrically connected to the controller (150) of the camera follow-up system.

9. A working machine, characterized in that: include: The beyond-visual-range driving assistance device according to claim 7 or 8; The walking part (310) is connected to the body (210) of the beyond-visual-field-assisted driving device.

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