Intelligent anti-overturning monitoring device based on RT-Thread insulated boom truck

Abstract

The utility model belongs to the technical field of anti-overturning monitoring equipment, and discloses an intelligent anti-overturning monitoring device based on an RT-Thread insulated boom truck. The device is based on a real-time operating system RT-Thread, an intelligent anti-overturning function is set for the bucket arm vehicle through an STM32 main control chip, and the bucket arm vehicle intelligent anti-overturning monitoring device comprises a chassis anti-overturning monitoring device and a working bucket anti-overturning monitoring device and is provided with a main control module based on the RT-Thread real-time operating system; and a high real-time mechanism of the operating system is utilized to ensure the stable real-time performance of the whole system. Double modules are linked, cooperative monitoring is achieved between the undercarriage and the working bucket, various sensors are combined with the high-precision positioning technology, the inclination angle and speed of the undercarriage and the working bucket are detected in a combined mode, the monitoring precision is greatly improved, meanwhile, accurate overturning-preventing monitoring is achieved, and therefore the safety of the bucket arm vehicle and operators is guaranteed.

Description

Technical Field

[0001] The utility model belongs to the technical field of anti-overturning monitoring equipment, and specifically relates to an intelligent anti-overturning monitoring device for an RT-Thread insulated bucket truck. Background Art

[0002] The insulated boom truck is a special vehicle designed for high-altitude operations. It is widely used in high-altitude operation scenarios such as electricity and communications. The insulated boom truck is made of highly insulating materials, which can effectively isolate the conduction of electricity and ensure the safety of workers. It is particularly suitable for maintenance and construction work in high-voltage power environments. The vehicle arm adopts a hydraulic or electric system, which can be flexibly raised and lowered and rotated to meet the needs of operations at different heights and angles. The vehicle is equipped with a variety of safety devices, such as anti-rollover monitoring system, emergency brake device, overload alarm, etc., to ensure the safety of high-altitude operations. The insulated boom truck mainly consists of a working bucket, boom system, chassis, power system and safety system. Among them, the tilt and movement speed of the working bucket are crucial to operational safety.

[0003] However, there are currently accidents such as the bucket truck's undercarriage tilting too much or the working bucket moving too fast, causing overturning or people falling, so bucket trucks pose a major safety hazard. Utility Model Content

[0004] The purpose of the invention of the utility model is: to address the above-mentioned problems, to provide an intelligent anti-overturning monitoring device for an insulated boom truck based on RT-Thread, hoping to improve the problem that the existing boom truck is unable to monitor whether the wheelbase and the working bucket have overturned, thereby causing safety hazards to the operators.

[0005] The technical solutions adopted in this utility model are as follows:

[0006] The invention discloses an intelligent anti-rollover monitoring device for an insulated bucket truck based on RT-Thread. The device is based on the real-time operating system RT-Thread and provides an intelligent anti-rollover function for the bucket truck through an STM32 main control chip. The intelligent anti-rollover monitoring device for the bucket truck includes a vehicle disc anti-rollover monitoring device and a working bucket anti-rollover monitoring device, and is configured with a main control module based on the RT-Thread real-time operating system; wherein the vehicle disc anti-rollover monitoring device: is integrated with an IMU inertial measurement module for real-time detection of the tilt angle of the vehicle disc; is configured with an RTK module for high-precision positioning; is provided with a wireless communication module for two-way interactive communication with the working bucket anti-rollover monitoring device; is configured with an alarm module, including an LED warning light and a buzzer, and is provided with multiple alarm modes; wherein the working bucket anti-rollover monitoring device: is integrated with an IMU inertial measurement module for real-time detection of the tilt angle of the working bucket; is configured with a sensor for monitoring the movement speed of the working bucket; is provided with a wireless communication module for two-way interactive communication with the vehicle disc anti-rollover monitoring device.

[0007] Due to the above-mentioned structural setting, the RTK module is used to ensure the real-time and accuracy of the data, and the sensor that detects the movement speed of the working bucket can prevent the speed of the working bucket from exceeding the safe range, thereby ensuring the safety of device operation and the personal safety of the operator.

[0008] Furthermore, the main control module uses an STM32 microcontroller as a core processing unit for data acquisition, real-time computing, control logic execution, and scheduling of communication tasks; and the main control module runs through the RT-Thread real-time operating system.

[0009] The microcontroller configuration described above provides the anti-rollover monitoring device with multiple advantages, including high-performance processing capabilities, strong real-time performance, low power consumption, rich interfaces, development convenience, and high reliability, ensuring the efficient, safe, and stable operation of the system in complex industrial applications.

[0010] Furthermore, the IMU inertial measurement module collects data through the IMU sensor, wherein the collected data includes acceleration and angular velocity; and is used to determine the overturning risk of the undercarriage and the work bucket.

[0011] Furthermore, the RTK module is integrated with an RTK communication interface, wherein the wheelbase anti-overturning monitoring device is provided with an RTK base station, and the working bucket anti-overturning monitoring device is provided with an RTK mobile station. The RTK base station is signal-connected to the RTK mobile station, and the RTK base station provides the RTK mobile station with benchmark reference information, and the RTK mobile station uses the benchmark reference information to estimate the movement speed of the working bucket.

[0012] Furthermore, in order to display the working status of the device in real time, the alarm module includes a buzzer and red, yellow and green LED lights; the red light indicates a serious alarm, the yellow light indicates a warning, and the green light indicates normal operation of the system; the alarm module controls the flashing frequency and state of the LED light through the PWM signal of the STM32 microcontroller to distinguish different alarm levels, including constant light and flashing states.

[0013] Furthermore, in order to facilitate the staff to operate the device in a timely and more convenient manner, a physical button is provided on the device, and the vehicle disc anti-rollover monitoring device is also configured with a function button module, which includes: a start button, used to start the system and light up the green light of the alarm module; a reset button, used to clear the alarm information and reset the device; an information configuration key, which is paired and communicated with the work bucket anti-rollover monitoring device through the RS485 interface and lights up the yellow light of the alarm module; an alarm button, connected to the alarm module, for quick alarm in an emergency.

[0014] Furthermore, the onboard anti-rollover monitoring device and the work bucket anti-rollover monitoring device are both equipped with a serial port configuration interface module; the serial port configuration interface module is externally connected to a computer to automatically read or change the configuration information through the MODBUS protocol; the serial port configuration interface module of the onboard anti-rollover monitoring device is connected to the serial port configuration interface module of the work bucket anti-rollover monitoring device, and is used to transmit information to the work bucket anti-rollover monitoring device for automatic pairing.

[0015] Furthermore, when the device system is in standby mode, the red light of the LED status display unit is on; when the device system is in working mode, the green light of the LED status display unit is on; when the device system is in configuration mode, the yellow light of the LED status display unit is on, and after the configuration is successful, it will flash continuously for 30 seconds. Among them, the configuration mode is to pair information between the vehicle disc anti-overturning monitoring device and the work bucket anti-overturning monitoring device.

[0016] Furthermore, in order to realize remote monitoring of the device, the wireless communication module is configured with a Bluetooth interface, and the undercarriage anti-overturning monitoring device and the working bucket anti-overturning monitoring device are connected through the wireless communication module for remote configuration and monitoring.

[0017] Furthermore, the intelligent anti-overturning monitoring device for the boom truck also includes a power supply module, which supplies power to each module, and a 12V to 5V power supply circuit is integrated inside the power supply module.

[0018] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0019] 1. An intelligent anti-rollover monitoring device for insulated boom trucks is set up based on the RT-Thread real-time operating system. The undercarriage and working bucket are monitored separately. The dual modules are linked to achieve coordinated monitoring between the undercarriage and the working bucket. Multiple sensors are combined with high-precision positioning technology to jointly detect the inclination angle and speed of the undercarriage and working bucket. While greatly improving monitoring accuracy, accurate anti-rollover monitoring is achieved, thereby ensuring the safety of the boom truck and operators.

[0020] 2. The onboard anti-overturning monitoring device and the working bucket anti-overturning monitoring device realize remote data transmission, alarm and two-way communication of data through the wireless communication module, avoiding the problem of untimely instructions caused by poor interface contact, enhancing the linkage between the onboard and the working bucket, and further improving the safety and convenience of the device.

[0021] 3. Both the undercarriage anti-overturning monitoring device and the work bucket anti-overturning monitoring device are equipped with alarm modules, which have simple functions and can effectively remind operators to pay attention to potential risks, thereby improving the safety of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 This is a structural diagram of the device of the present utility model;

[0024] Figure 2 This is the overall circuit schematic diagram of the utility model;

[0025] Figure 3 This is the circuit diagram of the STM32 microcontroller of the utility model;

[0026] Figure 4 This is the circuit diagram of the IMU inertial measurement module of this utility model;

[0027] Figure 5 This is the circuit diagram of the RTK module of this utility model;

[0028] Figure 6 This is the circuit diagram of the key function module of this utility model. DETAILED DESCRIPTION

[0029] The present invention will be described in detail below with reference to the accompanying drawings.

[0030] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0031] like Figure 1 As shown, an intelligent anti-overturning monitoring device for an insulated bucket truck based on RT-Thread is designed based on RT-Thread and an ARM Cortex-M4 microprocessor. The intelligent anti-overturning monitoring device for an insulated bucket truck is divided into two parts: an insulated bucket truck disc anti-overturning monitoring device and an insulated working bucket anti-overturning monitoring device.

[0032] The anti-overturning monitoring device of the insulated bucket truck includes a main control module 、 IMU inertial measurement module, RTK module, wireless communication module, alarm module, key function module, serial port configuration interface module and status display module; the insulated work bucket monitoring device includes a main control module 、 IMU inertial measurement module, RTK module, wireless communication module and serial port configuration interface module.

[0033] like Figure 2-6 As shown, in the vehicle wheel anti-rollover monitoring device, the main control chip of the main control module is Arm Cortex-M4, and the main control module adopts STM32 microcontroller as the core processing unit for data acquisition, real-time calculation, control logic execution and scheduling of communication tasks; and the main control module runs through the RT-Thread real-time operating system, with high real-time performance and reliability.

[0034] The system is based on the RT-Thread kernel and implements multi-task scheduling, including: sensor data acquisition tasks, overturning risk judgment algorithm tasks, communication and alarm tasks,

[0035] The IMU inertial measurement module collects data through IMU sensors, including acceleration and angular velocity, which are used to determine the risk of overturning of the undercarriage and work bucket. The IMU inertial measurement module uses known methods to obtain changes in the attitude angle RPY (Roll, Pitch, Yaw) of the object being measured through the IMU sensor. Using the relationship between the RPY angle and the rotation matrix, the coordinate representation of the normal vector of plane B of the object being measured in the XY plane coordinate system with fixed plane A can be obtained. Finally, the angle θ between plane B and plane A is calculated using the angle formula between the two planes. The size of the angle θ is used to mathematically describe the degree of inclination of the undercarriage and work bucket.

[0036] If the inclination angle exceeds the set threshold or the working bucket movement speed exceeds the safe range, the IMU inertial measurement module will transmit the signal to the alarm module to immediately trigger the alarm. The RTK module is integrated with an RTK communication interface, wherein the vehicle disc anti-overturning monitoring device is provided with an RTK base station, and the working bucket anti-overturning monitoring device is provided with an RTK mobile station. The RTK base station is signal-connected to the RTK mobile station, and the RTK mobile station uses the benchmark reference information to estimate the movement speed of the working bucket. The RTK base station provides the benchmark reference information to the RTK mobile station. The system determines whether the center of gravity position of the vehicle is within the safe range through the joint monitoring of the IMU and RTK modules. At the same time, data synchronization is achieved between the vehicle disc and the working bucket through the RS485 interface to ensure that the insulated boom truck vehicle disc anti-overturning monitoring device and the insulated working bucket anti-overturning monitoring device are bidirectionally linked to monitor the entire device. The Bluetooth interface supports remote viewing of vehicle status and configuration operations.

[0037] The alarm module includes a buzzer and red, yellow, and green LED lights; a red light indicates a serious alarm, a yellow light indicates a warning, and a green light indicates normal system operation. The LED warning light and buzzer in the alarm module illuminate green when the device is started; when the device is in configuration mode, the yellow light of the LED status display unit illuminates and, after successful configuration, flashes continuously for 30 seconds. The configuration mode pairs the undercarriage anti-rollover monitoring device and the work bucket anti-rollover monitoring device; pressing the zero button and the alarm button simultaneously for 3 seconds automatically configures the undercarriage anti-rollover monitoring device and the work bucket anti-rollover monitoring device. During the configuration process, the yellow indicator flashes continuously, and after successful configuration, the indicator lights permanently on.

[0038] The vehicle undercarriage anti-overturning monitoring device is further configured with a function button module, which includes:

[0039] A start button, used to start the system and light up the green light of the alarm module;

[0040] Reset button, used to clear alarm information and reset the device;

[0041] An information configuration key is used to pair and communicate with the working bucket anti-overturning monitoring device via the RS485 interface and light up the yellow light of the alarm module;

[0042] An alarm button is connected to the alarm module and is used for quickly giving an alarm in an emergency.

[0043] The undercarriage anti-overturning monitoring device and the working bucket anti-overturning monitoring device are both equipped with a serial port configuration interface module;

[0044] The serial port configuration interface module is connected to an external computer to automatically read or modify the configuration information through the MODBUS protocol;

[0045] The serial port configuration interface module of the undercarriage anti-overturning monitoring device is connected to the serial port configuration interface module of the working bucket anti-overturning monitoring device, and is used to transmit information to the working bucket anti-overturning monitoring device for automatic pairing.

[0046] The wireless communication module is equipped with a Bluetooth interface, and the undercarriage anti-overturning monitoring device and the working bucket anti-overturning monitoring device are connected via the wireless communication module for remote configuration and monitoring.

[0047] The intelligent anti-overturning monitoring device for the boom truck also includes a power supply module, which supplies power to each module, and a 12V to 5V power supply circuit is integrated inside the power supply module.

[0048] The specific workflow is:

[0049] System startup: Press the start button, the main control chip loads the RT-Thread system, each module is initialized, and the green light is on.

[0050] Rollover monitoring: The IMU inertial measurement module collects real-time tilt data of the undercarriage and work bucket; the RTK module provides accurate attitude information; and the STM32 processor integrates various data to calculate and determine whether the insulated bucket truck is at risk of rollover.

[0051] Risk alarm: If an abnormality is detected, the system lights up the corresponding indicator light and activates the buzzer alarm.

[0052] User response: The alarm information can be cleared by pressing the reset button, and the pairing communication with the working bucket monitoring device can be completed by pressing the information configuration button.

[0053] Data storage and remote communication: Important tilt angle and alarm data can be uploaded remotely via the Bluetooth module.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent anti-rollover monitoring device for an insulated boom truck based on RT-Thread, which is based on the real-time operating system RT-Thread and uses the STM32 main control chip to set an intelligent anti-rollover function for the boom truck, characterized in that: The intelligent anti-overturning monitoring device for the boom truck includes a vehicle disc anti-overturning monitoring device and a working bucket anti-overturning monitoring device, and is equipped with a main control module based on the RT-Thread real-time operating system; Wherein, the undercarriage anti-overturning monitoring device: Integrated IMU inertial measurement module for real-time detection of the vehicle's tilt angle; Equipped with RTK module for high-precision positioning; A wireless communication module is provided for two-way interactive communication with the working bucket anti-overturning monitoring device; Equipped with an alarm module, including LED warning lights and buzzers, and with multiple alarm modes; Wherein, the working bucket anti-overturning monitoring device: Integrated IMU inertial measurement module for real-time detection of the tilt angle of the working bucket; Equipped with a sensor to monitor the movement speed of the working bucket; A wireless communication module is provided for two-way interactive communication with the undercarriage anti-overturning monitoring device.

2. The intelligent anti-overturning monitoring device for an insulated bucket truck based on RT-Thread according to claim 1 is characterized in that: The main control module uses an STM32 microcontroller as the core processing unit for data acquisition, real-time computing, control logic execution, and scheduling of communication tasks; and the main control module runs through the RT-Thread real-time operating system.

3. The intelligent anti-overturning monitoring device for an insulated bucket truck based on RT-Thread according to claim 1 is characterized in that: The IMU inertial measurement module collects data through the IMU sensor, wherein the collected data includes acceleration and angular velocity; Used to determine the overturning risk of the undercarriage and work bucket.

4. The intelligent anti-overturning monitoring device for an insulated bucket truck based on RT-Thread according to claim 1 is characterized in that: The RTK module is integrated with an RTK communication interface, wherein the wheelbase anti-rollover monitoring device is provided with an RTK base station, and the work bucket anti-rollover monitoring device is provided with an RTK mobile station. The RTK base station is signal-connected to the RTK mobile station, and the RTK base station provides benchmark reference information for the RTK mobile station.

5. The intelligent anti-overturning monitoring device for an insulated boom truck based on RT-Thread according to claim 1 is characterized in that: The alarm module includes a buzzer and red, yellow and green LED lights; A red light indicates a serious alarm, a yellow light indicates a warning, and a green light indicates that the system is operating normally; The alarm module controls the flashing frequency and state of the LED light through the PWM signal of the STM32 microcontroller to distinguish different alarm levels.

6. The intelligent anti-overturning monitoring device for an insulated boom truck based on RT-Thread according to claim 1 is characterized in that: The vehicle undercarriage anti-overturning monitoring device is further configured with a function button module, which includes: A start button, used to start the system and light up the green light of the alarm module; Reset button, used to clear alarm information and reset the device; An information configuration key is used to pair and communicate with the working bucket anti-overturning monitoring device via the RS485 interface and light up the yellow light of the alarm module; An alarm button is connected to the alarm module and is used for quickly giving an alarm in an emergency.

7. The intelligent anti-overturning monitoring device for an insulated boom truck based on RT-Thread according to claim 1 is characterized in that: The undercarriage anti-overturning monitoring device and the working bucket anti-overturning monitoring device are both equipped with a serial port configuration interface module; The serial port configuration interface module is connected to an external computer to automatically read or modify the configuration information through the MODBUS protocol; The serial port configuration interface module of the undercarriage anti-overturning monitoring device is connected to the serial port configuration interface module of the working bucket anti-overturning monitoring device, and is used to transmit information to the working bucket anti-overturning monitoring device for automatic pairing.

8. The intelligent anti-overturning monitoring device for an insulated boom truck based on RT-Thread according to claim 5 is characterized in that: When the device system is in standby mode, the red light of the LED status display unit is on; when the device system is in working mode, the green light of the LED status display unit is on; when the device system is in configuration mode, the yellow light of the LED status display unit is on, and after the configuration is successful, it will flash continuously for 30 seconds. The configuration mode is to pair the information of the undercarriage anti-overturning monitoring device and the work bucket anti-overturning monitoring device.

9. The intelligent anti-overturning monitoring device for an insulated boom truck based on RT-Thread according to claim 1 is characterized in that: The wireless communication module is equipped with a Bluetooth interface, and the undercarriage anti-overturning monitoring device and the working bucket anti-overturning monitoring device are connected via the wireless communication module for remote configuration and monitoring.

10. The intelligent anti-overturning monitoring device for an insulated boom truck based on RT-Thread according to claim 1 is characterized in that: The intelligent anti-overturning monitoring device for the bucket truck also includes a power supply module, which supplies power to each module, and the power supply module has an integrated 12V to 5V power supply circuit.

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