Excavator accessory dynamic tracking monitoring system and excavator

Abstract

The application relates to the field of excavators and discloses an excavator accessory dynamic tracking monitoring system and an excavator. The accessory dynamic tracking monitoring system comprises an image acquisition assembly, a first inclination sensor, a second inclination sensor, a third inclination sensor and a controller. The image acquisition assembly comprises a camera, a mounting bracket and a driving piece. The camera is fixed to one end of the mounting bracket, and the driving end of the driving piece is hinged to the other end of the mounting bracket. The first inclination sensor is adapted to be arranged on a movable arm of the excavator. The second inclination sensor is adapted to be arranged on a bucket rod of the excavator. The third inclination sensor is adapted to be arranged on a vehicle body of the excavator. The controller is electrically connected with the first inclination sensor, the second inclination sensor, the third inclination sensor and the driving piece, and is used for controlling the driving piece to drive the camera to rotate by a corresponding angle and always face the direction of the accessory according to the inclination information fed back by the three inclination sensors. The angle of the movable arm and the bucket rod relative to the vehicle body is calculated, so that the posture information of the accessory is obtained, and the rotating position of the camera is provided with a basis.

Description

Technical Field

[0001] This invention relates to the field of excavator technology, specifically to a dynamic tracking and monitoring system for excavator attachments and an excavator. Background Technology

[0002] Excavators have a wide range of applications. Besides routine tasks like loading and unloading, leveling, and slope repair, they are also frequently used for high-altitude demolition and deep pit excavation. Furthermore, ordinary excavators are often modified into specialized models such as extended-arm excavators, pile drivers, and material handlers. These specialized operating scenarios require a wider field of vision, which traditional cabs cannot meet. Currently, these specialized models often use tilting / lifting cabs to improve visibility, but these still suffer from limitations such as only being able to raise the cab upwards, limited improvement in visibility, and high cost. Summary of the Invention

[0003] In view of this, the present invention provides a dynamic tracking and monitoring system for excavator attachments and an excavator, in order to solve the problems of limited improvement in the field of vision and high cost of current excavators.

[0004] In a first aspect, the present invention provides a dynamic tracking and monitoring system for excavator attachments, comprising:

[0005] An image acquisition component includes a camera, a mounting bracket, and a drive unit. The camera is fixed to one end of the mounting bracket and is adapted to face the direction of the excavator attachment. The drive end of the drive unit is hinged to the other end of the mounting bracket, and the mounting end of the drive unit is adapted to be hinged to the underside of the excavator boom.

[0006] The first tilt sensor is suitable for installation on the boom of an excavator and is used to measure the tilt angle between the boom and the horizontal plane.

[0007] The second tilt sensor is suitable for installation on the stick of an excavator and is used to measure the tilt angle between the stick and the horizontal plane;

[0008] The third tilt sensor is suitable for installation on the excavator body and is used to measure the tilt angle between the body and the horizontal plane.

[0009] The controller is electrically connected to the first tilt sensor, the second tilt sensor, the third tilt sensor, and the drive unit. It is used to control the drive unit to drive the camera to rotate by a corresponding angle and always face the direction of the attachment based on the tilt information fed back by the first tilt sensor, the second tilt sensor, and the third tilt sensor.

[0010] Beneficial effects: By calculating the tilt information transmitted back to the controller from the first, second, and third tilt sensors, the angles of the boom and stick relative to the vehicle body can be calculated, thereby obtaining the attitude information of the attachments. This provides a basis for the rotation position of the camera. The controller sends a drive signal, and the drive component drives the camera to rotate to the corresponding angle, always facing the attachments, so as to monitor the attachment status in real time. There are no blind spots, which greatly expands the operator's field of vision.

[0011] Furthermore, by installing a tilt sensor located on the vehicle body, the accuracy of inclined plane measurement is improved, thereby further ensuring the accuracy of camera-monitored attachment position. In addition, the image acquisition component is installed on the underside of the boom, without occupying extra space or damaging the original boom structure, and is easy to install and remove.

[0012] Secondly, the present invention provides a dynamic tracking and monitoring system for excavator attachments, comprising:

[0013] An image acquisition component includes a camera, a mounting bracket, and a drive unit. The camera is fixed to one end of the mounting bracket and is adapted to face the direction of the excavator attachment. The drive end of the drive unit is hinged to the other end of the mounting bracket, and the mounting end of the drive unit is adapted to be hinged to the underside of the excavator boom.

[0014] The first displacement sensor is suitable for installation on the boom cylinder of an excavator to measure the piston displacement of the boom cylinder.

[0015] The second displacement sensor is suitable for installation on the stick cylinder of the excavator to measure the piston displacement of the stick cylinder;

[0016] The controller is electrically connected to the first displacement sensor, the second displacement sensor, and the drive unit. It is used to control the drive unit to drive the camera to rotate by a corresponding angle and always face the direction of the attachment based on the displacement information fed back by the first displacement sensor and the second displacement sensor.

[0017] Beneficial effects: By calculating the displacement information transmitted back to the controller from the first and second displacement sensors, the angles of the boom and stick relative to the vehicle body can be calculated, thereby obtaining the attitude information of the attachments. This provides a basis for the rotation position of the camera. The controller sends a drive signal to drive the drive component to rotate the camera to the corresponding angle, always facing the attachments, so as to monitor the attachment status in real time. There are no blind spots, which greatly expands the operator's field of vision.

[0018] Moreover, the image acquisition component is installed on the underside of the boom, which does not take up extra space and does not damage the original structure of the boom, making it easy to install and remove.

[0019] In one alternative embodiment, the mounting bracket includes a first bracket and a second bracket connected at an angle, the first bracket and the second bracket being integrally formed, the end of the first bracket being hinged to the drive member, and the camera being mounted to the end of the second bracket by fasteners.

[0020] Beneficial effects: By setting the first and second brackets at an angle, it is beneficial to expand the adjustable angle of the mounting bracket, and by mounting the camera at the end of the second bracket, it is convenient to install the camera.

[0021] In one alternative embodiment, the system further includes a first base and a second base, wherein the mounting end of the drive member is hinged to the first base, the connection between the first bracket and the second bracket is hinged to the second base, and the first base and the second base are adapted to be fixedly connected to the underside of the excavator's boom.

[0022] Beneficial effects: By setting up the first base and the second base, it is convenient to install the first bracket and the second bracket, which is beneficial to the angle adjustment of the camera, and also facilitates the hinged installation of the first bracket and the second bracket.

[0023] In one alternative embodiment, the first base is hinged to the mounting end of the drive member via a first pin, and the connection between the first bracket and the second bracket is hinged to the second base via a second pin. The first base and the second base are adapted to be welded to the underside of the boom of the excavator.

[0024] Beneficial effects: The first and second bases are welded to the underside of the excavator boom, which does not affect the boom's structure. There is no need to set holes, slots, or other structures on the boom, and the structural strength of the boom is not affected.

[0025] In one alternative implementation, a display screen adapted to be installed in the excavator cab is also included, the display screen being electrically connected to the controller and adapted to display various parameter information.

[0026] Beneficial effects: The real-time image information captured by the camera can be converted and transmitted to the display screen through the controller, which makes it easy for the operator to monitor the status of the attachments in real time from the cab, especially suitable for deep pit excavation.

[0027] In one alternative embodiment, the driving component is any one of a hydraulic cylinder, a pneumatic cylinder, and an electric cylinder equipped with a displacement sensor, or a swing cylinder equipped with a tilt sensor.

[0028] Beneficial effects: There are multiple options for the drive components, allowing for flexible selection based on specific needs.

[0029] In one optional embodiment, the first tilt sensor is installed in a position parallel to the line connecting the hinge points at both ends of the boom, the second tilt sensor is installed in a position parallel to the line connecting the hinge points at both ends of the stick, and the third tilt sensor is installed in a position flush with the horizontal plane.

[0030] Beneficial effect: The above settings help simplify calculations.

[0031] Thirdly, the present invention also provides an excavator, comprising:

[0032] body;

[0033] The boom is hinged to the machine body;

[0034] The stick is hinged to the boom;

[0035] The attachment is hinged to the boom;

[0036] The aforementioned excavator attachment dynamic tracking and monitoring system is electrically connected to the boom and the stick, and is used to adjust the position of the camera according to the position of the boom and the stick, so that the camera is always facing the attachment.

[0037] Beneficial effects: By utilizing the attitude information of the boom and stick relative to the vehicle body, the position of the attachments is calculated, and then the swing angle of the camera is controlled to achieve dynamic monitoring of the attachments. There are no blind spots, which greatly expands the operator's field of vision.

[0038] In one alternative implementation, the excavator is electrically controlled, semi-electrically controlled, or hydraulically controlled, and the attachments are a bucket, a breaker hammer, or a piling drill bit.

[0039] Beneficial effects: The above-mentioned excavators are equipped with dynamic tracking and monitoring systems that are not limited to any type of excavator and have a wide range of applications. They are also well-suited for excavators that have been modified into special models such as extended boom excavators, pile drivers, and material grabbers. Attached Figure Description

[0040] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the overall structure of an excavator attachment dynamic tracking and monitoring system installed on an excavator according to an embodiment of the present invention;

[0042] Figure 2 for Figure 1A magnified schematic diagram of a portion of the image acquisition component;

[0043] Figure 3 for Figure 1 Exploded view of the image acquisition component;

[0044] Figure 4 This is a schematic diagram of the control principle of a dynamic tracking and monitoring system for excavator attachments according to an embodiment of the present invention;

[0045] Figure 5 This is a schematic diagram of the control principle of another excavator attachment dynamic tracking and monitoring system according to an embodiment of the present invention;

[0046] Figure 6 This is a schematic diagram of the parameters of the excavator attachment dynamic tracking and monitoring system installed on the excavator and placed in a plane coordinate system according to an embodiment of the present invention.

[0047] Figure 7 for Figure 6 A simplified diagram illustrating the parameters;

[0048] Figure 8 This is a schematic diagram illustrating the state of an excavator performing deep pit excavation according to an embodiment of the present invention;

[0049] Figure 9 This is a schematic diagram illustrating the state of an excavator performing high-altitude demolition according to an embodiment of the present invention;

[0050] Figure 10 This is a schematic diagram of an excavator used on a pile driver according to an embodiment of the present invention.

[0051] Explanation of reference numerals in the attached figures:

[0052] 1. Image acquisition component; 101. Camera; 102. Driver; 103. Mounting bracket; 1031. First bracket; 1032. Second bracket; 104. First base; 105. Second base; 106. First pin; 107. Second pin; 108. Third pin; 109. Screw; 2. First tilt sensor; 3. Second tilt sensor; 4. Third tilt sensor; 5. Controller; 6. Display screen; 7. Body; 8. Boom; 9. Stick; 10. Attachments. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] For ordinary excavators that are often modified into specialized models such as extended-arm excavators, pile drivers, and material handlers, these special operating scenarios all require a wider field of vision, which traditional cabs cannot meet. The following section combines... Figures 1 to 10 The following describes embodiments of the present invention.

[0055] On the one hand, such as Figures 1 to 4 As shown, the present invention provides a dynamic tracking and monitoring system for excavator attachments, which mainly includes an image acquisition component 1, a first tilt sensor 2, a second tilt sensor 3, a third tilt sensor 4, and a controller 5.

[0056] The image acquisition component 1 specifically includes a camera 101, a mounting bracket 103, and a drive component 102. The camera 101 is fixed to one end of the mounting bracket 103 and is adapted to face the direction of the excavator attachment 10. The drive end of the drive component 102 is hinged to the other end of the mounting bracket 103, and the mounting end of the drive component 102 is adapted to be hinged to the underside of the excavator boom 8.

[0057] It is understandable that the excavator has a boom 8 and a stick 9, and the lower side of the boom 8 refers to the side of the boom 8 facing the attachment 10.

[0058] The first tilt sensor 2 is adapted to be installed on the boom 8 of the excavator to measure the tilt angle between the boom 8 and the horizontal plane.

[0059] The second tilt sensor 3 is adapted to be installed on the boom 9 of the excavator to measure the tilt angle between the boom 9 and the horizontal plane.

[0060] The third tilt sensor 4 is suitable for installation on the excavator body and is used to measure the tilt angle between the body and the horizontal plane.

[0061] The controller 5 is electrically connected to the first tilt sensor 2, the second tilt sensor 3, the third tilt sensor 4, and the drive unit 102. It is used to control the drive unit 102 to drive the camera 101 to rotate by a corresponding angle and always face the direction of the attachment 10 based on the tilt information fed back by the first tilt sensor 2, the second tilt sensor 3, and the third tilt sensor 4.

[0062] In this embodiment, by calculating the tilt information transmitted back to the controller 5 from the first tilt sensor 2, the second tilt sensor 3, and the third tilt sensor 4, the angles of the boom 8 and stick 9 relative to the vehicle body can be calculated, thereby obtaining the attitude information of the attachment 10. This provides a basis for the rotation position of the camera 101. The controller 5 sends a drive signal to drive the drive component 102 to drive the camera 101 to rotate to the corresponding angle, always facing the attachment 10, so as to monitor the status of the attachment 10 in real time. There are no blind spots, which greatly expands the operator's field of vision.

[0063] Furthermore, excavators often operate on slopes, creating an angle between the excavator body 7 and the horizontal plane. This angle is often overlooked, leading to inaccurate calculations. This embodiment improves the accuracy of slope measurements by installing an angle sensor located on the excavator body, thereby further ensuring the accuracy of the camera-monitored attachment 10's position. In addition, the image acquisition component 1 is installed on the underside of the boom 8, occupying no extra space and without damaging the original structure of the boom 8, making disassembly and assembly convenient.

[0064] Specifically, the middle area of ​​the mounting bracket 103 can be hinged to the underside of the boom 8 of the excavator. By adding a hinge point, the stability and accuracy of the rotation of the mounting bracket can be effectively improved.

[0065] In another parallel scheme, such as Figure 5 As shown, the present invention provides a dynamic tracking and monitoring system for excavator attachments, the difference being that the first tilt sensor 2, the second tilt sensor 3, and the third tilt sensor 4 are replaced with the first displacement sensor and the second displacement sensor.

[0066] This embodiment specifically includes an image acquisition component 1, a first displacement sensor, a second displacement sensor, and a controller 5.

[0067] The image acquisition component 1 includes a camera 101, a mounting bracket 103, and a drive component 102. The camera 101 is fixed to one end of the mounting bracket 103 and is adapted to face the direction of the excavator attachment 10. The drive end of the drive component 102 is hinged to the other end of the mounting bracket 103, and the mounting end of the drive component 102 is adapted to be hinged to the underside of the excavator boom 8.

[0068] The first displacement sensor is suitable for being installed on the boom cylinder 8 of the excavator to measure the piston displacement of the boom cylinder 8. Specifically, whether the first displacement sensor is installed inside or outside the boom cylinder 8 can be set as needed, as long as it can accurately sense the piston movement displacement of the boom cylinder 8.

[0069] The second displacement sensor is suitable for being installed on the boom cylinder 9 of the excavator to measure the piston displacement of the boom cylinder 9. Similarly, whether the second displacement sensor is installed inside or outside the boom cylinder 9 can be set as needed, as long as it can accurately sense the piston movement displacement of the boom cylinder 9.

[0070] The controller 5 is electrically connected to the first displacement sensor, the second displacement sensor, and the drive unit 102. It is used to control the drive unit 102 to drive the camera 101 to rotate by a corresponding angle and always face the direction of the attachment 10 based on the displacement information fed back by the first displacement sensor and the second displacement sensor.

[0071] In this embodiment, by calculating the displacement information transmitted back to the controller 5 from the first and second displacement sensors, the angles of the boom 8 and stick 9 relative to the vehicle body can be calculated. At this time, the tilt sensor on the vehicle body is not necessary, simplifying the installation. Thus, the attitude information of the attachment 10 is obtained, which provides a basis for the rotation position of the camera 101. The controller 5 sends a drive signal to drive the drive component 102 to drive the camera 101 to rotate to the corresponding angle, always facing the attachment 10, so as to monitor the status of the attachment 10 in real time. There are no blind spots, which greatly expands the operator's field of vision.

[0072] Moreover, the image acquisition component 1 is installed on the underside of the boom 8, which does not occupy extra space and does not damage the original structure of the boom 8, making disassembly and assembly relatively convenient.

[0073] Specifically, the middle area of ​​the mounting bracket 103 can be hinged to the underside of the boom 8 of the excavator. By adding a hinge point, the stability and accuracy of the rotation of the mounting bracket can be effectively improved.

[0074] In a specific embodiment, such as Figure 2 and Figure 3 As shown, the mounting bracket 103 includes a first bracket 1031 and a second bracket 1032 connected at an angle. The specific included angle between the first bracket 1031 and the second bracket 1032 is set as needed. The first bracket 1031 and the second bracket 1032 are integrally formed. The end of the first bracket 1031 is hinged to the drive member 102. The camera 101 is mounted on the end of the second bracket 1032 by fasteners.

[0075] In this embodiment, by setting the first bracket 1031 and the second bracket 1032 at an angle, it is beneficial to expand the adjustable angle of the mounting bracket 103. Figure 2 As shown in the installation orientation, the distance between the second bracket 1032 and the boom 8 increases, thereby increasing the rotatable angle of the mounting bracket 103.

[0076] Furthermore, a mounting groove is formed at the end of the second bracket 1032, and the camera 101 is mounted in the mounting groove. For example, both sides of the camera 101 are tightened to the side wall of the mounting groove by screws 109. By providing the mounting groove, it is convenient to install and fix the camera 101, and it also contributes to a compact structure.

[0077] In one specific embodiment, the system further includes a first base 104 and a second base 105. The mounting end of the drive member 102 is hinged to the first base 104, and the connection between the first bracket 1031 and the second bracket 1032 is hinged to the second base 105. The first base 104 and the second base 105 are adapted to be fixedly connected to the lower side of the excavator's boom 8. By providing the first base 104 and the second base 105, the installation of the first bracket 1031 and the second bracket 1032 is facilitated, the angle adjustment of the camera 101 is advantageous, and the hinged installation of the first bracket 1031 and the second bracket 1032 is also convenient.

[0078] In one specific embodiment, the first base 104 is hinged to the mounting end of the drive member 102 via a first pin 106, and the connection between the first bracket 1031 and the second bracket 1032 is hinged to the second base 105 via a second pin 107. The first base 104 and the second base 105 are suitable for welding to the underside of the excavator's boom 8. Welding the first base 104 and the second base 105 to the underside of the excavator's boom 8 does not affect the structure of the boom 8, eliminates the need for holes, slots, or other structures on the boom 8, and does not affect the structural strength of the boom 8.

[0079] Furthermore, both the first base 104 and the second base 105 are provided with shaft holes. The mounting end of the drive member 102, the hinge end of the drive member 102, the end of the first bracket 1031, and the connection point of the first bracket 1031 and the second bracket 1032 are all provided with shaft holes. A first pin 106 passes through the shaft holes of the first base 104 and the mounting end of the drive member 102 to achieve hinged connection. A second pin 107 passes through the shaft hole of the second base 105 and the connection point of the first bracket 1031 and the second bracket 1032 to achieve hinged connection. A third pin 108 passes through the shaft holes of the hinge end of the drive member 102 and the end of the first bracket 1031 to achieve hinged connection. In addition, to ensure the reliability of the connection, the first pin 106, the second pin... Both pins 107 and 108 have end caps at one end. The end caps have screw holes on the side opposite to the shaft body. Pins 106, 107, and 108 are fixed to the ends of the first base 104, the second base 105, and the first bracket 1031 in sequence by screws 109. This means that pin 106 is fixed to the first base 104. The shaft hole at the mounting end of the drive member 102 is rotatable relative to pin 106. Pin 107 is fixed to the second base 105. The shaft hole at the connection between the first bracket 1031 and the second bracket 1032 is rotatable relative to pin 107. Pin 108 is fixed to the first bracket 1031. The hinge end of the drive member 102 is rotatable relative to pin 108.

[0080] In one specific embodiment, a display screen 6 is also included, which is suitable for being installed in the excavator cab. The display screen 6 is electrically connected to the controller 5 and is suitable for displaying various parameter information.

[0081] In this embodiment, the real-time image information captured by the camera 101 can be converted and transmitted to the display screen 6 by the controller 5, so that the operator can monitor the status of the attachment 10 in real time in the cab.

[0082] In one specific embodiment, the drive unit 102 can be any one of a hydraulic cylinder, pneumatic cylinder, and electric cylinder equipped with a displacement sensor, or a swing cylinder equipped with a tilt sensor.

[0083] In this embodiment, the drive component 102 has multiple options, which can be flexibly selected according to needs. For example, the drive component 102 can be a hydraulic cylinder, which can share the hydraulic system of the excavator, making oil supply more convenient, and the hydraulic drive is more stable and reliable. By setting a displacement sensor on the hydraulic cylinder, the displacement of the hydraulic cylinder can be sensed in real time. By sending this displacement to the controller 5, the controller 5 can determine whether the camera 101 has rotated to the correct position.

[0084] In one specific embodiment, the first tilt sensor 2 is installed parallel to the line connecting the hinge points at both ends of the boom 8, the second tilt sensor 3 is installed parallel to the line connecting the hinge points at both ends of the stick 9, and the third tilt sensor 4 is installed flush with the horizontal plane. This simplifies calculations. Alternatively, no limitation may be imposed; simply adding conversion relationships will suffice.

[0085] To give a specific example, such as Figures 6 to 7 As shown, in the planar coordinate system, the x-axis is parallel to the excavator body 7, and the y-axis is perpendicular to the excavator body 7. The first tilt sensor 2 is mounted on the boom 8 and can measure the tilt angle γ between the boom 8 and the horizontal plane in real time; the second tilt sensor 3 is mounted on the stick 9 and can measure the tilt angle β between the stick 9 and the horizontal plane in real time; the third tilt sensor 4 is mounted on the vehicle body and can measure the tilt angle α between the vehicle body and the horizontal plane in real time. After the data from these three sensors are transmitted to the controller 5, the angles of the boom 8 and stick 9 relative to the vehicle body can be calculated. Wherein:

[0086] The angle of boom 8 relative to the vehicle body is β1: β1 = β - α;

[0087] The angle of boom 9 relative to the vehicle body is γ1: γ1=γ-α;

[0088] By combining the existing structural dimensions of boom 8 and stick 9, the positional information parameters of the end of stick 9 (top of attachment 10) can be calculated. Among these, the following settings are provided:

[0089] The hinge point between the boom 9 and the attachment 10 is A;

[0090] The hinge point between the stick 9 and the boom 8 is B;

[0091] The hinge point between boom 8 and the vehicle body is C, which serves as the origin of the coordinate axis;

[0092] The hinge point between the second base 105 and the mounting bracket 103 is D;

[0093] The hinge point between the first base 104 and the driving member 102 is E;

[0094] The hinge point between the drive unit 102 and the mounting bracket 103 is F.

[0095] x-axis: passing through point C, parallel to the vehicle body, with the 10th side of the attachment being positive;

[0096] y-axis: passes through point C, is perpendicular to the vehicle body, and is positive upwards;

[0097] Based on the initial design, L can be obtained. AB L BC L CD L CE L DF The length dimension can also be used to derive the angle values ​​such as ∠DCB, ∠ECB, and the deflection angle θ2 involved in the mounting bracket 103.

[0098] The coordinates (x, y) of point A can then be calculated. A y A The coordinates of point B (x) B y B ), the coordinates of point D (x D y D The coordinates of point E (x) E y E ):

[0099] x A =L AB *cosγ1+L BC *cosβ1;

[0100] y A =L AB *sinγ1+L BC *sinβ1;

[0101] x B =L BC *cosβ1;

[0102] y B =L BC *sinβ1;

[0103] x D =L CD *cos(β1+∠DCB);

[0104] y D =L CD *sin(β1+∠DCB);

[0105] x E =L CE *cos(β1+∠ECB);

[0106] y E =L CE *sin(β1+∠ECB);

[0107] Combined with the original structural parameters and tilt angle parameters, the vehicle slope and the angle of the boom 8 and stick 9 relative to the vehicle can be displayed on the display screen 6.

[0108] Furthermore, such as Figure 2 As shown, the rotation angle parameter of camera 101 is determined by the extension length s of the cylinder rod end. Based on the calculated change in the top position A of attachment 10, the required extension length s1 of the cylinder rod end can be calculated, and this value is compared with the extension length s returned by the cylinder. When the required extension length is greater than the actual extension length, the cylinder rod end is extended; when the required extension length is less than the actual extension length, the cylinder rod end is retracted; when the required extension length is equal to the actual extension length, no adjustment is made. This ensures that attachment 10 is always within the field of view of camera 101. Specifically, when camera 101 is directly facing point A:

[0109] The angle θ1 between segment AD and the x-axis: θ1 = arctan[(y A -y D ) / (x A -x D )];

[0110] The angle θ between segment DF and the x-axis is: θ = θ1 + θ2;

[0111] The coordinates (x, y) of point F can be obtained by calculation. F y F ):

[0112] x F =x D +L DF *cosθ=L CD *cos(β1+∠DCB)+L DF *cosθ;

[0113] y F =y D +L DF *sinθ=L CD *sin(β1+∠DCB)+LDF *sinθ;

[0114] At this point, the required extension length s1 of the cylinder rod end is:

[0115]

[0116] Where L0 is the initial fully retracted length of the driving component 102, i.e., the hydraulic cylinder;

[0117] Actual extension length: s1 > s, retract; s1 < s, extend; s1 = s, remain unchanged. Furthermore, the real-time image information captured by camera 101 can be converted and transmitted to display screen 6 via controller 5, allowing the operator to monitor the status of attachment 10 in real time from the cab, which is especially suitable for deep pit excavation.

[0118] On the other hand, such as Figures 8 to 10 The present invention also provides an excavator, specifically comprising:

[0119] Fuselage 7;

[0120] The boom 8 is hinged to the fuselage 7;

[0121] The boom 9 is hinged to the arm 8;

[0122] Attachment 10 is hinged to stick 9;

[0123] The aforementioned excavator attachment dynamic tracking and monitoring system is electrically connected to the boom 8 and stick 9. It is used to adjust the position of the camera 101 based on the positions of the boom 8 and stick 9, ensuring that the camera 101 always faces the attachment 10. This embodiment utilizes the attitude information of the boom 8 and stick 9 relative to the excavator vehicle to calculate the position of the attachment 10, thereby controlling the swing angle of the camera 101 to achieve dynamic monitoring of the attachment 10. This eliminates blind spots and greatly expands the operator's field of vision.

[0124] In one specific embodiment, the excavator is in electronic, semi-electronic, or hydraulic control mode, and the attachment 10 is a bucket, breaker, or piling drill bit. The excavator attachment dynamic tracking and monitoring system of this embodiment is not limited to the type of excavator; it can be in electronic, semi-electronic, or hydraulic control mode, and has a wide range of applications. It is also well-suited for excavators that have been modified into special models such as extended boom excavators, piling machines, and material grabbers.

[0125] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A dynamic tracking and monitoring system for excavator attachments, characterized in that, include: An image acquisition component includes a camera, a mounting bracket, a drive unit, a first base, and a second base. The camera is fixed to one end of the mounting bracket and is adapted to face the direction of the excavator attachment. The mounting bracket includes a first bracket and a second bracket connected at an angle. The first bracket and the second bracket are integrally formed. The end of the first bracket is hinged to the drive end of the drive unit. The connection between the first bracket and the second bracket is hinged to the second base. The mounting end of the drive unit is hinged to the first base. The first base and the second base are adapted to be fixed to the underside of the excavator boom. The first tilt sensor is suitable for installation on the boom of an excavator and is used to measure the tilt angle between the boom and the horizontal plane. The second tilt sensor is suitable for installation on the stick of an excavator and is used to measure the tilt angle between the stick and the horizontal plane; The third tilt sensor is suitable for installation on the excavator body and is used to measure the tilt angle between the body and the horizontal plane. The controller is electrically connected to the first tilt sensor, the second tilt sensor, the third tilt sensor, and the drive component. It is used to calculate the position information parameters of the attachment based on the tilt information fed back by the first tilt sensor, the second tilt sensor, and the third tilt sensor; and to calculate the target position parameters of the drive component that cause the camera to face the direction of the attachment based on preset geometric dimension parameters of the first base, the second base, the mounting bracket, and the drive component, as well as the position information parameters of the attachment. The controller then controls the drive component to move to the target position parameters, so that the camera rotates by a corresponding angle and always faces the direction of the attachment.

2. A dynamic tracking and monitoring system for excavator attachments, characterized in that, include: An image acquisition component includes a camera, a mounting bracket, a drive unit, a first base, and a second base. The camera is fixed to one end of the mounting bracket and is adapted to face the direction of the excavator attachment. The mounting bracket includes a first bracket and a second bracket connected at an angle. The first bracket and the second bracket are integrally formed. The end of the first bracket is hinged to the drive end of the drive unit. The connection between the first bracket and the second bracket is hinged to the second base. The mounting end of the drive unit is hinged to the first base. The first base and the second base are adapted to be fixed to the underside of the excavator boom. The first displacement sensor is suitable for installation on the boom cylinder of an excavator to measure the piston displacement of the boom cylinder. The second displacement sensor is suitable for installation on the stick cylinder of the excavator to measure the piston displacement of the stick cylinder; The controller is electrically connected to the first displacement sensor, the second displacement sensor, and the drive component. It is used to calculate the position information parameters of the attachment based on the displacement information fed back by the first displacement sensor and the second displacement sensor; and to calculate the target position parameters of the drive component that make the camera face the direction of the attachment based on the preset geometric dimension parameters of the first base, the second base, the mounting bracket, and the drive component, as well as the position information parameters of the attachment. The controller then controls the drive component to move to the target position parameters so that the camera rotates by a corresponding angle and always faces the direction of the attachment.

3. The excavator attachment dynamic tracking and monitoring system according to claim 1 or 2, characterized in that, The camera is mounted to the end of the second bracket by fasteners.

4. The excavator attachment dynamic tracking and monitoring system according to claim 1 or 2, characterized in that, The first base is hinged to the mounting end of the drive unit via a first pin, and the connection between the first bracket and the second bracket is hinged to the second base via a second pin (107). The first base and the second base are adapted to be welded to the underside of the boom of the excavator.

5. The excavator attachment dynamic tracking and monitoring system according to claim 1 or 2, characterized in that, It also includes a display screen suitable for installation in the excavator cab, the display screen being electrically connected to the controller and suitable for displaying various parameter information.

6. The excavator attachment dynamic tracking and monitoring system according to claim 1 or 2, characterized in that, The driving component is any one of a hydraulic cylinder, a pneumatic cylinder, and an electric cylinder equipped with a displacement sensor, or a swing cylinder equipped with a tilt sensor.

7. The excavator attachment dynamic tracking and monitoring system according to claim 1, characterized in that, The first tilt sensor is installed in a position parallel to the line connecting the hinge points at both ends of the boom, the second tilt sensor is installed in a position parallel to the line connecting the hinge points at both ends of the stick, and the third tilt sensor is installed in a position flush with the horizontal plane.

8. An excavator, characterized in that, include: body; The boom is hinged to the machine body; The stick is hinged to the boom; The attachment is hinged to the boom; The excavator attachment dynamic tracking and monitoring system according to any one of claims 1 to 7 is electrically connected to the boom and the stick, and is used to adjust the position of the camera according to the position of the boom and the stick, so that the camera is always facing the attachment.

9. The excavator according to claim 8, characterized in that, The excavator is electrically controlled, semi-electrically controlled, or hydraulically controlled, and the attachments are a bucket, a breaker hammer, or a piling drill bit.

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