Loader anti-roll alarm system based on inertial measurement unit

Abstract

The utility model relates to the technical field of loader anti-roll, in particular to a loader anti-roll alarm system based on an inertial measurement unit, which comprises a vehicle body controller. And the vehicle body controller is electrically connected with a movable arm inertial measurement unit, a bucket inertial measurement unit and a vehicle body inertial measurement unit which are respectively arranged at the hinged part of the vehicle body, the movable arm and the bucket. The vehicle body controller is further electrically connected with a left laser radar, a right laser radar and a rear laser radar, and the left laser radar, the right laser radar and the rear laser radar are arranged on the left side, the right side and the rear side of the vehicle body respectively. The inertial measurement unit can measure and calculate the real-time gravity center position of the loader under different working conditions, the three laser radars can obtain the distances to the ground and the road conditions of the left side, the right side and the rear side of the loader body, and the rolling probability of the loader can be accurately measured and calculated in combination with the real-time gravity center position measured by the inertial measurement unit. The measurement and calculation accuracy of the system and the driving safety of the loader are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of loader anti-rollover, in particular to a loader anti-rollover alarm system based on an inertial measurement unit. Background Art

[0002] Loaders are a commonly used engineering vehicle. Due to their complex operating conditions, they often operate on uneven ground, especially in mines, steep slopes, trenches, hills and other places with steep slopes. It is difficult for drivers to grasp the degree of rollover danger, so vehicle rollover often occurs, causing damage to the loader at the least and personal injury to the driver at the worst. Based on this, it is urgent to develop an alarm system that can accurately calculate the probability of loader rollover and provide timely feedback to the driver. Summary of the invention

[0003] The purpose of the utility model is to provide a loader anti-roll alarm system based on an inertial measurement unit to solve the above problems, which can accurately calculate the loader roll probability and provide timely feedback to the driver to ensure driving safety.

[0004] In order to achieve the above-mentioned purpose, the utility model discloses a loader anti-rollover alarm system based on an inertial measurement unit, including a body controller. The body controller is electrically connected to an arm inertial measurement unit, a bucket inertial measurement unit and a body inertial measurement unit, respectively, and the body inertial measurement unit, the arm inertial measurement unit and the bucket inertial measurement unit are respectively arranged at the body hinge, the arm and the bucket. Since the load, the working device and the body hinge rotation position of the loader will directly affect the force point of the center of gravity position of the loader, and thus affect the roll of the loader, therefore, three inertial measurement units are respectively arranged at the body hinge, the arm and the bucket, so that the real-time center of gravity position of the loader under different working conditions can be more accurately calculated, and then the roll probability of the loader can be conveniently calculated, thereby improving the driving safety of the loader.

[0005] Preferably, the body controller is also electrically connected to the left laser radar, the right laser radar and the rear laser radar, and the left laser radar, the right laser radar and the rear laser radar are respectively arranged on the left side, the right side and the rear side of the body. By respectively arranging three laser radars on the left side, the right side and the rear side of the loader body, the ground distance and road conditions of the left, right and rear sides of the body can be obtained, and combined with the real-time center of gravity position measured by the inertial measurement unit, the roll probability of the loader can be more accurately calculated, which further improves the calculation accuracy of the system and further improves the driving safety of the loader.

[0006] Preferably, it also includes a display electrically connected to the vehicle body controller via a CAN bus. The display can facilitate the driver to grasp the roll probability of the loader in the current state in real time, further improving driving safety.

[0007] Preferably, the vehicle body controller is electrically connected to the vehicle body inertial measurement unit, the boom inertial measurement unit, the bucket inertial measurement unit, the left laser radar, the right laser radar and the rear laser radar through a CAN bus.

[0008] Preferably, the positive poles of the vehicle body inertial measurement unit, the boom inertial measurement unit, the bucket inertial measurement unit, the left laser radar, the right laser radar, the rear laser radar, and the display are all connected to the power supply, and the negative poles are all grounded.

[0009] Preferably, the body controller is electrically connected to an alarm unit, and a control switch electrically connected to the body controller is provided on the circuit connecting the body controller and the alarm unit. The setting of the alarm unit can timely know that the loader currently has a high probability of rolling when the driver is concentrating on driving operations and cannot observe the display content in time, so that timely countermeasures can be taken, further improving driving safety; at the same time, it can also achieve the roll warning effect of the loader's operating range, reducing the risk of secondary personal injury within the working range.

[0010] Preferably, the alarm unit comprises an alarm and a warning light connected in parallel, and the structural design is simple and reasonable.

[0011] Preferably, the control switch is a normally open relay, the positive pole of the alarm unit is connected to the power supply through the normally open relay contacts, and the negative pole is grounded, and the input end of the normally open relay coil is connected to the output end of the vehicle body controller and the output end is grounded.

[0012] Preferably, the vehicle body hinge is a hinge between a front frame and a rear frame, which ensures the measurement stability of the vehicle body inertial measurement unit.

[0013] Preferably, the boom inertial measurement unit is arranged at the bottom of the boom, and the bucket inertial measurement unit is arranged at the bottom of the connecting rod of the bucket, so that the boom inertial measurement unit and the bucket inertial measurement unit are not hit by falling rocks during the operation of the loader, thereby effectively ensuring the stability of use of the boom inertial measurement unit and the bucket inertial measurement unit, and thus ensuring the stability of use of the alarm system.

[0014] To sum up, the beneficial effects of the present invention are as follows: in the present invention, three inertial measurement units are respectively arranged at the hinge of the vehicle body, the boom and the bucket, which can measure the real-time center of gravity position of the loader under different working conditions; three laser radars are respectively arranged on the left side, right side and rear side of the loader body, which can obtain the ground distance and road conditions of the left, right and rear sides of the vehicle body, and combined with the real-time center of gravity position measured by the inertial measurement unit, the roll probability of the loader can be accurately calculated, thereby improving the measurement accuracy of the system and the driving safety of the loader. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a circuit diagram of a loader anti-rollover alarm system based on an inertial measurement unit in the utility model;

[0016] In the figure: 1. Vehicle body controller, 2. Boom inertial measurement unit, 3. Bucket inertial measurement unit, 4. Vehicle body inertial measurement unit, 5. Left laser radar, 6. Right laser radar, 7. Rear laser radar, 8. Display, 9. Alarm, 10. Warning light, 11. Normally open relay, 12. Insurance, 13. CAN bus. DETAILED DESCRIPTION

[0017] The following is a further detailed description of the specific implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0018] like Figure 1 As shown, the utility model discloses a loader anti-rollover alarm system based on an inertial measurement unit, including a body controller 1 (the body controller 1 in this embodiment is Rexroth RC 10-10, of course, it can also be other models that can achieve its role in this embodiment, and no specific restrictions are made here). Three inertial measurement units (IMUs) electrically connected to the body controller 1 are respectively arranged on the body hinge of the loader, the boom (not shown in the figure) and the bucket (not shown in the figure), which are used to monitor the posture movement of the vehicle in real time and grasp and analyze the rollover risk probability in real time, specifically, the body inertial measurement unit 4, the boom inertial measurement unit 2, and the bucket inertial measurement unit 3. Further, the body hinge is the hinge of the front frame (not shown in the figure) and the rear frame (not shown in the figure); the boom inertial measurement unit 2 is arranged at the bottom of the boom, and the bucket inertial measurement unit 3 is arranged at the bottom of the connecting rod of the bucket.

[0019] In this embodiment, the vehicle body controller 1 is also electrically connected to the left laser radar 5, the right laser radar 6 and the rear laser radar 7, and the left laser radar 5, the right laser radar 6 and the rear laser radar 7 are respectively arranged on the left side, the right side and the rear side of the vehicle body. The left laser radar 5, the right laser radar 6 and the rear laser radar 7 are used to measure the real-time road conditions and the distance to the ground.

[0020] Specifically, the body controller 1 is electrically connected to the body inertial measurement unit 4, the boom inertial measurement unit 2, the bucket inertial measurement unit 3, the left laser radar 5, the right laser radar 6 and the rear laser radar 7 through the CAN bus 13. In addition, the body controller 1 is also electrically connected to the display 8 through the CAN bus 13, and a buzzer is provided inside the display 8. The positive poles of the body inertial measurement unit 4, the boom inertial measurement unit 2, the bucket inertial measurement unit 3, the left laser radar 5, the right laser radar 6, the rear laser radar 7 and the display 8 are all connected to the power supply, and the negative poles are all grounded. Specifically, the positive poles of the body inertial measurement unit 4, the boom inertial measurement unit 2, the bucket inertial measurement unit 3, the left laser radar 5, the right laser radar 6 and the rear laser radar 7 are connected in parallel to the power supply, and the lines close to the power supply are all provided with fuses 12 to ensure the stability of the use of each component.

[0021] like Figure 1 As shown, the body controller 1 is electrically connected to the alarm unit, and a control switch electrically connected to the body controller 1 is provided on the circuit connecting the body controller 1 and the alarm unit. Specifically, the alarm unit includes an alarm 9 and a warning light 10 connected in parallel. The control switch is a normally open relay 11, the positive pole of the alarm unit is connected to the power supply through the contacts of the normally open relay 11, and the negative pole is grounded. The input end of the coil of the normally open relay 11 is connected to the output end of the body controller 1, and the output end is grounded.

[0022] In this embodiment, the body controller 1 calculates the real-time working condition center of gravity position of the loader by analyzing the acceleration displacement and other information of the body, boom and bucket transmitted by the body inertial measurement unit 4, the boom inertial measurement unit 2 and the bucket inertial measurement unit 3 via the CAN bus 13; based on this center of gravity position and the ground distance, road conditions and other information obtained by the laser radar (left laser radar 5, right laser radar 6 and rear laser radar 7) data, the roll probability of the loader under the current working condition is calculated, and the roll probability value and the laser radar data are synchronously displayed on the display 8. When the calculated theoretical roll probability value is higher than the set threshold, the display 8 will drive the internal buzzer to alarm, and at the same time, the body controller 1 energizes the coil of the normally open relay 11, so that the contacts of the normally open relay 11 are attracted, the alarm unit is energized, the alarm 9 alarms, and the warning light 10 lights up, which is convenient for reminding the driver to pay attention to driving safety. At the same time, it can also achieve the roll warning effect of the loader's operating range and reduce the risk of secondary personnel injury within the working range.

[0023] It is worth noting that the inertial measurement unit and laser radar in this embodiment are both commonly used in the prior art, and their specific models are not specifically limited here.

[0024] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principle of the present invention. These improvements and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. A loader anti-rollover alarm system based on an inertial measurement unit, comprising a vehicle body controller (1), characterized in that: The vehicle body controller (1) is electrically connected to the boom inertial measurement unit (2), the bucket inertial measurement unit (3) and the vehicle body inertial measurement unit (4), and the vehicle body inertial measurement unit (4), the boom inertial measurement unit (2) and the bucket inertial measurement unit (3) are respectively arranged at the vehicle body hinge, the boom and the bucket.

2. The loader anti-rollover alarm system based on inertial measurement unit according to claim 1, characterized in that: The vehicle body controller (1) is also electrically connected to a left laser radar (5), a right laser radar (6) and a rear laser radar (7), respectively, and the left laser radar (5), the right laser radar (6) and the rear laser radar (7) are respectively arranged on the left side, the right side and the rear side of the vehicle body.

3. The loader anti-rollover alarm system based on inertial measurement unit according to claim 2 is characterized in that: It also includes a display (8) electrically connected to the vehicle body controller (1) via a CAN bus (13).

4. The loader anti-rollover alarm system based on inertial measurement unit according to claim 3 is characterized in that: The vehicle body controller (1) is electrically connected to a vehicle body inertial measurement unit (4), a boom inertial measurement unit (2), a bucket inertial measurement unit (3), a left laser radar (5), a right laser radar (6) and a rear laser radar (7) via a CAN bus (13).

5. The loader anti-rollover alarm system based on inertial measurement unit according to claim 3 is characterized in that: The vehicle body inertial measurement unit (4), the boom inertial measurement unit (2), the bucket inertial measurement unit (3), the left laser radar (5), the right laser radar (6), the rear laser radar (7), and the display (8) have their positive electrodes all connected to a power source and their negative electrodes all grounded.

6. The loader anti-rollover alarm system based on inertial measurement unit according to claim 1, characterized in that: The body controller (1) is electrically connected to an alarm unit, and a control switch electrically connected to the body controller (1) is provided on a circuit connecting the body controller (1) and the alarm unit.

7. The loader anti-rollover alarm system based on inertial measurement unit according to claim 6, characterized in that: The alarm unit comprises an alarm (9) and a warning light (10) connected in parallel.

8. The loader anti-rollover alarm system based on inertial measurement unit according to claim 6, characterized in that: The control switch is a normally open relay (11); the positive electrode of the alarm unit is connected to a power source through the contacts of the normally open relay (11), and the negative electrode is grounded; the coil input end of the normally open relay (11) is connected to the output end of the vehicle body controller (1), and the output end is grounded.

9. The loader anti-rollover alarm system based on inertial measurement unit according to claim 1, characterized in that: The vehicle body hinge is a hinge between a front frame and a rear frame.

10. The loader anti-rollover alarm system based on inertial measurement unit according to claim 1, characterized in that: The boom inertia measurement unit (2) is arranged at the bottom of the boom, and the bucket inertia measurement unit (3) is arranged at the bottom of the connecting rod of the bucket.

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