Airdrop excavator loader operation field of vision real-time control method and control system thereof

Abstract

The application discloses an air-drop excavating loader operation field of view real-time control method, which comprises the following steps: determining fixed parameters and initial setting parameters of the air-drop excavating loader in advance, collecting an included angle signal between an operation device and a vehicle body in real time, combining the preset fixed parameters and personalized initial parameters of a driver, and accurately calculating a required seat height through a specific formula to realize real-time dynamic adjustment of the seat height, ensure that the operation device is always within the field of view of the driver, effectively eliminate the operation blind area, improve the accuracy of the operation judgment of the driver, and further improve the operation safety and the operation efficiency.

Description

Technical Field

[0001] This invention relates to a real-time control method and control system for the working field of view of an airdrop excavator loader. Background Technology

[0002] As specialized operational equipment, airdrop excavators and loaders must meet stringent requirements for effective bulletproof, impact-resistant, and explosion-proof protection. Therefore, they typically use bulletproof glass with a narrow field of vision. During actual operation, the position of the external working devices changes constantly, while the driver's field of vision remains relatively fixed. This makes it difficult to adapt to the dynamic changes in the working device's position, resulting in large blind spots that severely affect the driver's judgment, reducing operational efficiency and posing significant safety hazards.

[0003] Existing technologies for addressing the visibility problem in excavator loaders primarily focus on optimizing the cab structure or adding auxiliary observation equipment, such as cameras. However, these solutions either fail to achieve real-time dynamic adjustment of the field of vision or increase the complexity and cost of the equipment. Furthermore, in airdrop scenarios, additional auxiliary equipment may suffer from insufficient impact resistance. Therefore, there is an urgent need for a control method and system that can adjust the driver's field of vision in real time according to changes in the position of the working device, and that is simple in structure and highly reliable, to solve the problems of large blind spots, low operational safety, and low efficiency in existing technologies. Summary of the Invention

[0004] The technical solution of the present invention: A method for real-time control of the working field of view of an airdrop excavator loader includes the following steps: S1. Predetermine the fixed parameters and initial setting parameters of the airdrop excavator loader. The fixed parameters include the boom length L of the working device, the horizontal distance Lh2 between the center of the viewing window and the point where the working device rotates around the vehicle body, the vertical distance Lv3 between the center of the viewing window and the bottom of the cab, and the vertical distance Lv4 between the point where the working device rotates around the vehicle body and the bottom of the cab. The initial setting parameters include the horizontal distance Lh1 from the driver's eyes to the center of the viewing window and the vertical distance Lv2 from the driver's eyes to the seat plane, set according to the driver's own situation. S2. The angle signal θ between the working device and the vehicle body is collected in real time by the angle sensor; S3. Based on the collected angle signal θ and the fixed parameters, calculate the horizontal distance Lh3 between the observation point of the working device and the center of the viewing window and the vertical distance Lv5 between the observation point of the working device and the bottom of the cab according to the following formula: Lh3 = Lh2 + L×cos(θ - 90°), Lv5 = Lv4 + L×sin(θ - 90°), S4. Introduce the intermediate variable coefficient K. Based on the calculated Lh3 and Lv5, and Lv3, calculate the value of K according to the following formula: K = Lh3 / (Lv5 - Lv3), S5. Based on the calculated K value, Lv3, Lv2, and Lh1, calculate the required seat height dimension Lv1 according to the following formula: Lv1 = Lv3 - Lv2 - K×Lh1, S6. Adjust the automatically height-adjustable seat to the position corresponding to the seat height dimension Lv1 through the seat adjustment actuator, so that the working device is always within the driver's field of vision.

[0005] Step S5 also includes a feedback verification step: the actual height of the seat is collected in real time by the seat position sensor, and the actual height is compared with the calculated seat height dimension Lv1. If the deviation exceeds a preset threshold, the seat adjustment actuator is controlled to make a secondary adjustment.

[0006] It also includes a fault alarm step: when the signal collected by the angle sensor is abnormal, the seat adjustment actuator malfunctions, or the deviation of the feedback verification continues to exceed a preset threshold, an audible and visual alarm signal is issued.

[0007] include: Parameter storage module: used to store the fixed parameters and initial setting parameters; Signal acquisition module: includes an angle sensor, which is installed at the rotation point of the working device around the vehicle body and is used to acquire the angle signal θ between the working device and the vehicle body in real time; Data processing module: electrically connected to the parameter storage module and the signal acquisition module, used to receive the parameters stored in the parameter storage module and the included angle signal θ acquired by the signal acquisition module, and calculate Lh3, Lv5, K value and seat height dimension Lv1 in sequence according to the formulas in steps S3 to S5; Execution module: includes an automatically height-adjustable seat and a seat adjustment actuator. The seat adjustment actuator is electrically connected to the data processing module and is used to receive the seat height dimension Lv1 control signal sent by the data processing module and drive the automatically height-adjustable seat to adjust to the corresponding height position. Feedback verification module: includes a seat position sensor, which is installed on the automatically height-adjustable seat to collect the actual height of the seat in real time and feed the actual height signal back to the data processing module; Fault alarm module: electrically connected to the data processing module, used to issue an alarm signal when the signal acquisition module, execution module or feedback verification module malfunctions.

[0008] The angle sensor has a measurement accuracy of ±0.1°, and the seat adjustment actuator has an adjustment accuracy of ±1mm.

[0009] The data processing module has a response time of ≤0.2 seconds to ensure the real-time nature of seat height adjustment.

[0010] The parameter storage module uses an EEPROM memory and supports updating the fixed parameters through the device interface to adapt to different models of airdrop excavators and loaders.

[0011] The beneficial effects of this invention are as follows: By collecting the angle signal between the working device and the vehicle body in real time, and combining it with preset fixed parameters and the driver's personalized initial parameters, the required seat height is accurately calculated through a specific formula, thereby realizing real-time dynamic adjustment of the seat height. This ensures that the working device is always within the driver's field of vision, effectively eliminating blind spots, improving the accuracy of the driver's judgment, and thus improving work safety and efficiency. Attached Figure Description

[0012] Figure 1 This is a diagram showing the parameters of an excavator.

[0013] Figure 2 This is a diagram illustrating the seat height adjustment process.

[0014] Figure 3 This is a schematic diagram of an excavator structure. Detailed Implementation

[0015] Example 1: This embodiment provides a method for real-time control of the working field of view of an airdrop excavator loader, the specific steps of which are as follows: Parameter determination: The fixed parameters of a certain model of airdrop excavator loader are set as follows: boom length of the working device L=5m, horizontal distance between the center of the viewing window and the point where the working device rotates around the vehicle body Lh2=2m, vertical distance between the center of the viewing window and the bottom of the cab Lv3=1.5m, and vertical distance between the point where the working device rotates around the vehicle body and the bottom of the cab Lv4=0.8m; Driver A sets the initial parameters according to his own situation: horizontal distance from his eyes to the center of the viewing window Lh1=0.6m, and vertical distance from his eyes to the seat plane Lv2=0.4m; Angle signal acquisition: During operation, the angle sensor acquires the angle signal θ between the working device and the vehicle body in real time. When the working device rotates to a certain position, θ=120° is acquired. Real-time parameter calculation: Calculate Lh3 and Lv5 according to the above formula: Lh3 = 2 + 5×cos(120° - 90°) = 2 + 5×cos30° ≈ 2 + 5×0.866 = 6.33m Lv5 = 0.8 + 5×sin(120° - 90°) = 0.8 + 5×sin30° = 0.8 + 5×0.5 =3.3m Calculation of intermediate variable coefficients: Calculation of K value: K = 6.33 / (3.3 - 1.5) ≈ 6.33 / 1.8 ≈ 3.517 Seat Height Calculation and Adjustment: Calculate Lv1 and adjust seat height: Lv1 = 1.5 - 0.4 - 3.517×0.6 ≈ 1.1 - 2.1102 ≈ -1.0102m (The negative sign here indicates that the seat height is adjusted downward relative to the reference position at the bottom of the cab. In actual application, a reasonable height reference needs to be set in combination with the mechanical structure of the equipment to ensure that the adjustment direction and range meet safety requirements.) The seat adjustment actuator receives the control signal and adjusts the automatically height-adjustable seat to the corresponding Lv1 position, at which point the driver A's field of vision can fully cover the working device.

[0016] Example 2: This embodiment provides a control system for implementing the above method, and the specific configuration of its modules is as follows: Parameter storage module: It adopts an EEPROM memory to store the fixed parameters and initial setting parameters in Example 1, and supports parameter updates through the device interface; Signal acquisition module: The angle sensor is a high-precision photoelectric angle sensor, model WDD35D4, with a measurement range of 0-360° and an accuracy of ±0.1°, which is installed on the rotation shaft of the working device around the vehicle body rotation point; Data processing module: It adopts an STM32F407 microcontroller with a main frequency of 168MHz, which has high-speed data processing capabilities and can complete the calculation of Lh3, Lv5, K value and Lv1 in 0.2 seconds; Execution module: The height-adjustable seat is an electric lifting seat. The seat adjustment actuator uses a DC geared motor, model GM20-370, with a rated voltage of 12V, an output torque of 5N·m, and an adjustment accuracy of ±1mm. Feedback verification module: The seat position sensor is a linear displacement sensor, model KTC-800, with a measurement range of 0-800mm and an accuracy of ±0.5mm. It is installed on the guide rail of the seat lifting mechanism to collect the actual height of the seat in real time and feed it back to the STM32F407 microcontroller. The preset deviation threshold is ±2mm. When the deviation between the actual height and the calculated Lv1 exceeds 2mm, the microcontroller controls the DC geared motor to make a secondary adjustment. Fault alarm module: The audible and visual alarm, model LTE-1101, is used. When the angle sensor has no signal output, the DC geared motor is stuck, or the seat position sensor feedback deviation exceeds 2mm for 5 seconds, the STM32F407 microcontroller controls the audible and visual alarm to emit a red light and a buzzer alarm signal.

[0017] In actual operation, the control system can operate stably and adjust the seat height in real time to ensure that the working device is always within the driver's field of vision, effectively improving the safety and efficiency of the operation.

Claims

1. A method for real-time control of the working field of view of an airdrop excavator loader, comprising the following steps: S1. Predetermine the fixed parameters and initial settings of the airdrop excavator loader. The fixed parameters include the boom length L of the working device, the horizontal distance Lh2 between the center of the viewing window and the point where the working device rotates around the vehicle body, the vertical distance Lv3 between the center of the viewing window and the bottom of the cab, and the vertical distance Lv4 between the point where the working device rotates around the vehicle body and the bottom of the cab. The initial settings include the horizontal distance Lh1 between the driver's eyes and the center of the viewing window, and the vertical distance Lv2 between the driver's eyes and the seat plane, set according to the driver's own situation. S2. The angle signal θ between the working device and the vehicle body is collected in real time by the angle sensor; S3. Based on the collected angle signal θ and the fixed parameters, calculate the horizontal distance Lh3 between the observation point of the working device and the center of the viewing window and the vertical distance Lv5 between the observation point of the working device and the bottom of the cab according to the following formula: Lh3 = Lh2 + L×cos(θ - 90°), Lv5 = Lv4 + L×sin(θ - 90°), S4. Introduce the intermediate variable coefficient K. Based on the calculated Lh3 and Lv5, and Lv3, calculate the value of K according to the following formula: K = Lh3 / (Lv5 - Lv3), S5. Based on the calculated K value, Lv3, Lv2, and Lh1, calculate the required seat height dimension Lv1 according to the following formula: Lv1 = Lv3 - Lv2 - K×Lh1, S6. Adjust the automatically height-adjustable seat to the position corresponding to the seat height dimension Lv1 through the seat adjustment actuator, so that the working device is always within the driver's field of vision.

2. The real-time control method for the working field of view of an airdrop excavator loader according to claim 1, characterized in that, Step S5 also includes a feedback verification step: the actual height of the seat is collected in real time by the seat position sensor, and the actual height is compared with the calculated seat height dimension Lv1. If the deviation exceeds a preset threshold, the seat adjustment actuator is controlled to make a secondary adjustment.

3. The real-time control method for the working field of view of an airdrop excavator loader according to claim 1, characterized in that, It also includes a fault alarm step: when the signal collected by the angle sensor is abnormal, the seat adjustment actuator malfunctions, or the deviation of the feedback verification continues to exceed a preset threshold, an audible and visual alarm signal is issued.

4. A system for implementing the real-time control method for the working field of view of an airdrop excavator loader as described in any one of claims 1-3, characterized in that, include: Parameter storage module: used to store the fixed parameters and initial setting parameters; Signal acquisition module: includes an angle sensor, which is installed at the rotation point of the working device around the vehicle body and is used to acquire the angle signal θ between the working device and the vehicle body in real time; Data processing module: electrically connected to the parameter storage module and the signal acquisition module, used to receive the parameters stored in the parameter storage module and the included angle signal θ acquired by the signal acquisition module, and calculate Lh3, Lv5, K value and seat height dimension Lv1 in sequence; Execution module: includes an automatically height-adjustable seat and a seat adjustment actuator. The seat adjustment actuator is electrically connected to the data processing module and is used to receive the seat height dimension Lv1 control signal sent by the data processing module and drive the automatically height-adjustable seat to adjust to the corresponding height position. Feedback verification module: includes a seat position sensor, which is installed on the automatically height-adjustable seat to collect the actual height of the seat in real time and feed the actual height signal back to the data processing module; Fault alarm module: electrically connected to the data processing module, used to issue an alarm signal when the signal acquisition module, execution module or feedback verification module malfunctions.

5. The system according to claim 4, characterized in that, The angle sensor has a measurement accuracy of ±0.1°, and the seat adjustment actuator has an adjustment accuracy of ±1mm.

6. The system according to claim 4, characterized in that, The data processing module has a response time of ≤0.2 seconds to ensure the real-time nature of seat height adjustment.

7. The system according to claim 4, characterized in that, The parameter storage module uses an EEPROM memory and supports updating the fixed parameters through the device interface to adapt to different models of airdrop excavators and loaders.

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