Loader sensor automatic configuration method based on angle identification

Abstract

The invention relates to a loader sensor automatic configuration method based on angle identification, which is used for realizing automatic position identification and parameter configuration of a plurality of same sensors on a loader, and comprises the following steps: 1) setting a special CAN ID for configuration, and sending a CAN message of a configuration command to all the sensors by a configuration host; 2) the sensor enters a configuration mode after receiving verification; and 3) sensor position identification based on the attitude angle, wherein parameter configuration is automatically performed after position identification is completed. Compared with the prior art, the method has the advantages that the configuration efficiency is improved, the configuration and maintenance time is shortened, rework and loss caused by configuration errors are avoided, and the expansibility is high.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent engineering machinery, and in particular to an automatic configuration method of loader sensors based on angle recognition. Background Art

[0002] Loaders typically require multiple inclination sensors installed on various parts of the vehicle, such as the vehicle body, boom, and bucket, to monitor the posture of each component. Because these sensors appear identical, installation errors are prone to occur during mass production and installation, resulting in the system being unable to correctly identify the position of each sensor.

[0003] Currently, manual configuration and identification are used, but technicians are required to configure sensor parameters one by one, which is time-consuming, labor-intensive, and prone to errors. The installation location is difficult to identify, and sensors of the same model in different locations cannot automatically identify their installation locations. There is a high risk of configuration errors, as manual configuration can easily lead to CAN ID conflicts or parameter errors. Maintenance costs are high, as sensors need to be reconfigured after replacement, increasing maintenance difficulty. There are also high safety risks, as configuration errors can also lead to misoperation, posing a safety hazard.

[0004] Therefore, a method is needed that can automatically identify the sensor installation location and complete parameter configuration, and has automatic location recognition capability, one-click configuration function, anti-misconfiguration mechanism and simplified maintenance process. Summary of the Invention

[0005] In order to solve the technical problems in the background technology, the present invention provides a loader sensor automatic configuration method based on angle recognition, which is used to solve the identity recognition and parameter configuration problems when multiple identical sensors are installed in different parts of the loader.

[0006] A method for automatically configuring loader sensors based on angle recognition is used to automatically identify the positions and configure parameters of multiple identical sensors on a loader, comprising the following steps:

[0007] 1) Set the configuration-specific CAN ID and configure the host to send CAN messages of configuration commands to all sensors;

[0008] 2) The sensor enters configuration mode after receiving verification;

[0009] 3) Sensor position recognition based on attitude angle, and automatic parameter configuration after position recognition is completed.

[0010] Furthermore, step 1) is specifically as follows:

[0011] To prevent conflicts with normal communications, a dedicated CAN ID is set as the message header. When starting automatic configuration, the configuration host combines the configuration frame with the dedicated CAN ID into a CAN message and sends it to all sensors.

[0012] Furthermore, in step 2), each sensor performs reception verification through multiple security verifications after receiving the CAN message, including verification of the correctness of the content format of the configuration frame, verification of the number of frames, and verification of the validity of product parameters.

[0013] Furthermore, the multi-factor security verification specifically includes the following steps:

[0014] The configuration host continuously sends 5 CAN message frames with a dedicated CAN ID as the message header to all sensors within 1 second. Each sensor monitors the configuration frame in real time and first verifies the correctness of the content format of the configuration frame. The content format of the current configuration frame is compared byte by byte with that of the previous configuration frame. If they are not exactly the same, the correctness verification fails, the counter is reset, and the process returns to step 1); if they are exactly the same, the correctness verification passes, and the number of consecutive identical frames is recorded; then the frame number verification is performed. If the number of consecutive identical frames does not reach 5 within 1 second, the frame number verification fails, the counter is reset, and the process returns to step 1); if the number of consecutive identical frames reaches 5 within 1 second, the frame number verification succeeds, and the product parameter validity verification is performed; if the product parameters are consistent with the actual operation of the sensor, the product parameter validity verification passes, and the configuration mode is entered; otherwise, the configuration is rejected and an error message is returned.

[0015] Furthermore, step 3) specifically includes the following steps:

[0016] 31) Configure the host to read the attitude angle values ​​of all current sensors when the loader is stationary, and perform range matching in order of priority;

[0017] 32) Determine the sensor location based on the matching results and assign the corresponding CAN ID to each sensor;

[0018] 33) Automatically configure the product parameters of each sensor based on the configuration frame content.

[0019] Furthermore, step 31) specifically includes the following steps:

[0020] First, the vehicle body range is checked. When the attitude angle value of the sensor is within a pre-set first angle range, it is determined that the sensor is located on the vehicle body.

[0021] Secondly, the arm range is checked. When the attitude angle value of the sensor is within the pre-set second angle range, it is determined that the sensor is located on the arm;

[0022] Finally, the bucket range is checked. When the attitude angle value of the sensor is within a preset third angle range, it is determined that the sensor is located in the bucket.

[0023] When the attitude angle values ​​of the sensor are not within the first angle range, the second angle range, and the third angle range, that is, outside the preset angle range, the configuration fails and an error message is returned to the configuration host.

[0024] Furthermore, step 33) is specifically as follows:

[0025] Product parameters are assigned based on the configuration frame and sensor location, and the corresponding product parameters are saved. The sensor then sends a confirmation frame to the configuration host within a set time period and applies the new product parameter configuration. If the configuration host does not receive the confirmation frame within the set time period, it is judged that the configuration has failed.

[0026] Furthermore, after the product parameters are successfully configured, the sensor rejects new configuration request CAN messages from the configuration host within a set time period.

[0027] Furthermore, the configuration frame contains 8 bits of data, including the maximum and minimum values ​​of the sensor's working angle range and a sending period, and its frame type is a standard data frame.

[0028] Furthermore, when a sensor configuration failure occurs, the original settings are restored to continue operation.

[0029] Compared with the prior art, the present invention has the following advantages:

[0030] The present invention provides a method for automatic configuration of loader sensors based on angle recognition. By collecting the posture angle output of each sensor in a stationary state and combining it with a pre-set angle range to perform position identity judgment, automatic parameter configuration is achieved without manual intervention, which greatly improves configuration efficiency, reduces the manual time for configuration and maintenance, avoids rework and losses caused by configuration errors, adopts multiple verification mechanisms to ensure the correctness of the configuration, avoids safety risks caused by manual configuration errors, and can automatically reconfigure after the sensor is replaced. The present invention is suitable for intelligent systems that require multi-sensor collaboration. The sensor network provides an automatic configuration solution and can also be extended to other engineering machinery (such as excavators, bulldozers, etc.) and a wider range of industrial automation fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a system architecture diagram of the present invention;

[0032] Figure 2 A flowchart of the steps of an automatic configuration method provided by the present invention;

[0033] Figure 3 A logical flow chart for configuring the protocol;

[0034] Figure 4 This is the execution sequence diagram of the security verification mechanism;

[0035] Figure 5 Logic flow chart for angle recognition. DETAILED DESCRIPTION

[0036] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0037] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0038] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0039] The terms “first”, “second”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0040] In the description of this embodiment, it should be noted that, unless otherwise specified or limited, the terms "disposed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this embodiment based on specific circumstances.

[0041] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0042] Example

[0043] The present invention provides a loader sensor automatic configuration method based on angle recognition, which is used to realize automatic position recognition and parameter configuration of multiple identical tilt sensors on the loader. The system architecture of the present invention is as follows: Figure 1 As shown, a configuration host is provided in the loader control room, which is connected to the tilt sensors installed at various locations through connectors and communicates through the CAN bus protocol, as shown in FIG. Figure 2 As shown, the method specifically includes the following steps:

[0044] 1. Configure the dedicated CAN ID for CAN messages

[0045] In the present invention, the configuration host sends configuration commands to multiple identical tilt sensors on the loader via CAN messages. To prevent conflicts with normal communications, the CAN ID (message header) of the CAN message is configured as a dedicated ID (0x631 in this example). The CAN ID + configuration frame constitutes a CAN message. When starting automatic configuration, the configuration host sends the configuration frame to the CAN ID to form a CAN message.

[0046] 2. Sensor reception verification

[0047] After receiving CAN messages through the CAN bus, multiple sensors perform a multiple security verification mechanism. The core of the multiple security verification mechanism is to use five-fold continuous verification to prevent misconfiguration, such as Figure 3 and 4 As shown, specifically:

[0048] (1) Specific CAN ID: Use the configured dedicated CAN ID to avoid conflicts with normal communications;

[0049] (2) Continuous frame verification: The sensor is required to receive a set number of configuration frames (5 in this example) with exactly the same content within a set time (1 second in this example);

[0050] (3) Content consistency check: verify the integrity and consistency of each frame of data;

[0051] (4) Timeout protection: If the sensor does not receive enough frames within the set time (1 second in this example), the counter is reset and the CAN message is resent;

[0052] (5) Parameter validity verification: The sensor verifies the rationality of parameters such as the angle range in the configuration frame.

[0053] 3. After passing multiple security verification mechanisms, the sensor enters configuration mode, stops data broadcasting, and performs sensor position recognition based on attitude angles, such as Figure 5 As shown, the specific steps include:

[0054] 31) Angle sampling: collect the angle values ​​measured by the sensor when the loader is stationary;

[0055] 32) Range Matching: Match the measured angle value with the preset range corresponding to each sensor at different positions. Since each sensor is installed at a different position on the loader, the measured angle of the sensor at each position is different when the loader is stationary. In this example:

[0056] For sensors installed on the vehicle body: when the loader is stationary, the preset angle range is [-3°, 3°], while during normal operation, the angle range is [-7°, 8°] (close to horizontal);

[0057] For sensors installed on booms: When the loader is stationary, the preset angle range is [-85°, -75°], while during normal operation, the angle range is [-125°, 130°] (large-angle swing);

[0058] For sensors installed on buckets: When the loader is stationary, the preset angle range is [-50°, -40°], while during normal operation, the angle range is [-125°, 130°] (large-angle swing);

[0059] When the loader is stationary, if the sensor's measured angle values ​​are within the corresponding angle ranges of the vehicle body, boom, and bucket, the matching is successful; if at least one sensor's measured angle is not within the corresponding preset angle range, the matching fails, the sensor reports an error message, exits configuration mode, and resumes normal operation.

[0060] It should be noted that for different models of loaders and even other engineering vehicles (such as excavators, bulldozers, aerial work platforms) that need to be monitored, the static angle and working angle range at each position are different, and they need to be set according to specific circumstances in actual application.

[0061] 33) Identity confirmation: When the match is successful, the installation location of the sensor is determined based on the matching result;

[0062] 34) Parameter assignment: Automatically assign the corresponding CAN ID and operating parameters to the sensor after the installation position is determined, then:

[0063] In this example, CAN IDs are automatically assigned to sensors in different locations, such as 0x585 for the body sensor, 0x586 for the boom sensor, and 0x587 for the bucket sensor. The baud rate (supporting 250kbps and 500kbps) and the transmission cycle configuration (supporting a configurable transmission frequency of 5Hz-500Hz) can also be uniformly set. The parameter mapping table is shown in Table 1.

[0064] Table 1 Parameter mapping table

[0065] Sensor Type Angle range CANID Default terminal resistance Sending cycle Remark Body sensors -7°～+8° 0x585 Enable / disable Configurable Horizontal installation Boom sensor -125°～+130° 0x586 Enable / disable Configurable Vertical installation Bucket sensor -125°～+130° 0x587 Enable / disable Configurable Vertical installation

[0066] The configuration frame contains 8 bits of data, which are the operating parameters that the sensor needs to configure. The protocol structure of the configuration frame is as follows:

[0067] Byte 0: [AutoConfig_ID][AutoConfig_BPS][CycleTime_Carself] (sensor transmission cycle of the vehicle body);

[0068] Byte 1: [CycleTime_Boom][CycleTime_Bucket] (sensor transmission cycle of boom and bucket);

[0069] Byte 2: BoomConfig_Min (minimum boom working angle, offset -125°);

[0070] Byte 3: BoomConfig_Max (maximum boom working angle, offset +130°);

[0071] Byte 4: BucketConfig_Min (minimum bucket working angle, offset -125°);

[0072] Byte 5: BucketConfig_Max (maximum bucket working angle, offset +130°);

[0073] Byte 6: [CarSelfConfig_Min][CarSelfConfig_Max] (body working angle range, offset -7°);

[0074] Byte 7:[CarSelf_Resistor][Boom_Resistor][Bucket_Resistor][Reserved].

[0075] After completing the assignment of sensor parameters at each location, each sensor sends a confirmation frame to the configuration host and resumes data broadcasting after restarting.

[0076] Furthermore, during the automatic parameter configuration process, the present invention also designs an anti-misoperation mechanism, specifically:

[0077] (1) Configuration lock period: The sensor rejects new configuration requests within a set time (5 seconds in this example) after configuration is completed;

[0078] (2) Static state requirement: The configuration process requires the loader to be in a static state;

[0079] (3) Parameter rationality check: Verify the logical rationality of the angle range. If the product parameters in the configuration frame obviously exceed its actual operating angle, the product parameter verification fails, the sensor refuses to configure and returns an error message to the configuration host;

[0080] (4) Response confirmation mechanism: After successful configuration, a confirmation frame is returned within the set time (5 seconds in this example).

[0081] Example

[0082] In this example, the loader CAN communication network consists of an on-board configuration host, connectors, and multiple dynamic tilt sensors installed on the vehicle body, boom, bucket, etc. It uses the CAN bus protocol for communication, the communication interface is CAN 2.0, the operating voltage is 9-36V DC, and the connector is a waterproof and sealed integrated connector. Figure 1 The steps shown are to identify the position of each dynamic tilt sensor and configure the product parameters.

[0083] 1) Configure the protocol specification of CAN message

[0084] In this example, the CAN message header is configured as a dedicated CAN ID: 0x631; the frame data length is configured to 8 bytes; and the frame type is a standard data frame.

[0085] The configuration parameter encoding rules are shown in Table 2.

[0086] Table 2 Parameter encoding rules

[0087]

[0088] 2) Automatic parameter configuration (such as Figure 3 shown)

[0089] 21) Configuring frame reception verification, specifically including the following steps:

[0090] The configuration host sends five configuration frames with the CAN ID of 0x63 to all dynamic tilt sensors within one second. Each dynamic tilt sensor monitors the configuration frames in real time and verifies the correctness of the content format of the configuration frames. It compares the content of the current frame with the previous frame. If they are identical, the number of consecutive identical frames is recorded. If they are different, the verification fails. If the number of consecutive identical frames reaches five within the one-second time window and the product parameters in the configuration frame are consistent with the actual sensor operation, the sensor enters configuration mode and stops data broadcasting.

[0091] 22) Confirming the sensor identity based on angle recognition, specifically including the following steps:

[0092] Configure the host to read the attitude angles (stable values ​​after filtering) of all current dynamic tilt sensors in a stationary state and perform range matching in order of priority:

[0093] First, the vehicle body range is checked. If the attitude angle value of one or more dynamic tilt sensors is within a preset first angle range of [-3°, 3°], it is determined that the dynamic tilt sensor or sensors are located on the vehicle body.

[0094] Secondly, the boom range is checked. When the attitude angle value of one or more dynamic tilt sensors is within a preset second angle range of [-85°, -75°], it is determined that the dynamic tilt sensor or sensors are located in the boom.

[0095] Finally, the bucket range is checked. When the attitude angle value of one or more dynamic tilt sensors is within a preset third angle range of [-50°, -40°], it is determined that the dynamic tilt sensor or sensors are located in the bucket.

[0096] If at least one dynamic tilt sensor attitude angle value is not within the first angle range, the second angle range, and the third angle range (outside the preset angle range), the configuration fails and an error message is returned to the configuration host;

[0097] Determine the identity of the dynamic tilt sensor based on the matching result and assign a corresponding CANID to each dynamic tilt sensor;

[0098] 3) Parameter configuration, specifically including the following steps:

[0099] After allocating product parameters according to the determined dynamic tilt sensor identity based on the configuration frame and saving the corresponding product parameters into the non-volatile memory of the dynamic tilt sensor, the dynamic tilt sensor sends a confirmation frame to the configuration host, restarts the application of the new product parameter configuration, and resumes data broadcasting to complete the automatic configuration of the product parameters.

[0100] Based on the above automatic configuration steps, the present invention also sets up multiple safety protection mechanisms, specifically including anti-false triggering protection, configuration conflict avoidance and communication reliability guarantee.

[0101] For the protection against false triggering, the specific features are:

[0102] (1) Time window limit: strictly control the time window requirement of 1 second;

[0103] (2) Continuous frame verification: 5 frames must have exactly the same content;

[0104] (3) Content verification: Verify consistency by comparing frame contents byte by byte;

[0105] (4) Timeout reset: The counter is automatically cleared when the timeout occurs.

[0106] Configuration conflict avoidance:

[0107] (1) Configuration lock: New configuration commands are rejected for a short period of time after the current sensor configuration is completed;

[0108] (2) Status check: The sensor is required to be in a static state;

[0109] (3) Parameter verification: Check the logical rationality of the angle range in the product parameters;

[0110] (4) Rollback mechanism: restore the original settings when sensor configuration fails.

[0111] For communication reliability assurance, specifically:

[0112] (1) Response confirmation: The sensor must return a confirmation frame after successful configuration;

[0113] (2) Timeout processing: If no confirmation frame is received within 5 seconds, the configuration is considered failed;

[0114] (3) Retransmission mechanism: supports retransmission of configuration commands;

[0115] (4) Status monitoring: real-time monitoring of the configuration process status.

[0116] In summary, the present invention provides a method for automatic configuration of loader sensors based on angle recognition, which collects the posture angle output of each sensor in a stationary state and combines it with a pre-set angle range to perform position identity judgment, thereby realizing automatic parameter configuration without manual intervention, greatly improving configuration efficiency, reducing the manual time for configuration and maintenance, avoiding rework and losses caused by configuration errors, and adopting multiple verification mechanisms to ensure the correctness of the configuration, avoiding safety risks caused by manual configuration errors, and being able to automatically reconfigure after the sensor is replaced. The present invention is suitable for intelligent systems that require multi-sensor collaboration. The sensor network provides an automatic configuration solution and can also be extended to other engineering machinery (such as excavators, bulldozers, aerial work platforms, etc.) and a wider range of industrial automation fields.

[0117] The above describes in detail the preferred embodiments of the present invention. It should be understood that those skilled in the art can make numerous modifications and variations based on the concepts of the present invention without inventive effort. Therefore, any technical solutions that can be derived by those skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. A method for automatic configuration of loader sensors based on angle recognition, for realizing automatic position recognition and parameter configuration of multiple identical sensors on a loader, characterized in that: The following steps are involved: 1) Set the configuration-specific CAN ID and configure the host to send CAN messages of configuration commands to all sensors; 2) The sensor enters configuration mode after receiving verification; 3) Sensor position recognition based on attitude angle, and automatic parameter configuration after position recognition is completed.

2. The method for automatic configuration of loader sensors based on angle recognition according to claim 1, characterized in that: Step 1) is specifically as follows: To prevent conflicts with normal communications, a dedicated CAN ID is set as the message header. When starting automatic configuration, the configuration host combines the configuration frame with the dedicated CAN ID into a CAN message and sends it to all sensors.

3. The method for automatic configuration of loader sensors based on angle recognition according to claim 2, characterized in that: In step 2), each sensor performs reception verification through multiple security verifications after receiving the CAN message, including verification of the correctness of the content format of the configuration frame, verification of the number of frames, and verification of the validity of product parameters.

4. The method for automatic configuration of loader sensors based on angle recognition according to claim 3, characterized in that: Multi-factor security verification specifically includes the following steps: The configuration host continuously sends 5 CAN message frames with a dedicated CAN ID as the message header to all sensors within 1 second. Each sensor monitors the configuration frame in real time and first verifies the correctness of the content format of the configuration frame. The content format of the current configuration frame is compared byte by byte with that of the previous configuration frame. If they are not exactly the same, the correctness verification fails, the counter is reset, and the process returns to step 1); if they are exactly the same, the correctness verification passes, and the number of consecutive identical frames is recorded; then the frame number verification is performed. If the number of consecutive identical frames does not reach 5 within 1 second, the frame number verification fails, the counter is reset, and the process returns to step 1); if the number of consecutive identical frames reaches 5 within 1 second, the frame number verification succeeds, and the product parameter validity verification is performed; if the product parameters are consistent with the actual operation of the sensor, the product parameter validity verification passes, and the configuration mode is entered; otherwise, the configuration is rejected and an error message is returned.

5. The method for automatic configuration of loader sensors based on angle recognition according to claim 1, characterized in that: Step 3) specifically includes the following steps: 31) Configure the host to read the attitude angle values ​​of all current sensors when the loader is stationary, and perform range matching in order of priority; 32) Determine the sensor location based on the matching results and assign the corresponding CAN ID to each sensor; 33) Automatically configure the product parameters of each sensor based on the configuration frame content.

6. The method for automatic configuration of loader sensors based on angle recognition according to claim 5, characterized in that: Step 31) specifically includes the following steps: First, the vehicle body range is checked. When the attitude angle value of the sensor is within a pre-set first angle range, it is determined that the sensor is located on the vehicle body. Secondly, the arm range is checked. When the attitude angle value of the sensor is within the pre-set second angle range, it is determined that the sensor is located on the arm; Finally, the bucket range is checked. When the attitude angle value of the sensor is within a preset third angle range, it is determined that the sensor is located in the bucket. When the attitude angle values ​​of the sensor are not within the first angle range, the second angle range, and the third angle range, that is, outside the preset angle range, the configuration fails and an error message is returned to the configuration host.

7. The method for automatic configuration of loader sensors based on angle recognition according to claim 5, characterized in that: Step 33) is specifically as follows: Product parameters are assigned based on the configuration frame and sensor location, and the corresponding product parameters are saved. The sensor then sends a confirmation frame to the configuration host within a set time period and applies the new product parameter configuration. If the configuration host does not receive the confirmation frame within the set time period, it is judged that the configuration has failed.

8. The method for automatic configuration of loader sensors based on angle recognition according to claim 7, characterized in that: After the product parameters are successfully configured, the sensor rejects new configuration request CAN messages from the configuration host within a set time period.

9. The method for automatic configuration of loader sensors based on angle recognition according to claim 2, characterized in that: The configuration frame contains 8 bits of data, including the maximum and minimum values ​​of the sensor's working angle range and a sending period, and its frame type is a standard data frame.

10. The automatic configuration method of loader sensors based on angle recognition according to claim 6 or 7, characterized in that: When a sensor configuration fails, the original settings are restored to continue operation.

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