Mechanical remote positioning driving device and excavator

Abstract

The utility model relates to the technical field of engineering machinery, and provides a mechanical remote positioning driving device and an excavator, and remote communication between an excavator main body and a remote control end is realized by utilizing signal interaction of a first communication module and a second communication module; a mechanical remote positioning mechanism composed of a sensing positioning module, an environment sensing module, a first communication module and a central control module is arranged on an excavator main body, and the sensing positioning module and the environment sensing module are combined with the posture change and the environment change of the excavator main body, so that the field depth information of a field video is effectively supplemented, the requirements of accessory positioning and drop point indication are met, and the safety of the excavator is improved. The problem of inaccurate positioning caused by algorithms, environments and the like is solved, and the remote control operation efficiency of engineering mechanical equipment is improved.

Description

Technical Field

[0001] This utility model relates to the field of engineering machinery technology, and in particular to a mechanical remote positioning drive device and an excavator. Background Technology

[0002] With the development of technologies such as the Internet of Things, artificial intelligence, and big data analytics, future remote-controlled excavators will be more intelligent, possess greater autonomous decision-making capabilities, and drive the transformation of the entire construction machinery industry.

[0003] In the use of remote-controlled and intelligent equipment for construction machinery, operation or assessment of dangerous situations relies on video feedback from the site. When performing more delicate tasks, the lack of depth information or the poor depth information in the on-site video feedback often leads to inaccurate distance judgments, making it difficult to locate the attachment's landing point, which in turn reduces work efficiency or causes danger.

[0004] Existing vision-assisted methods for construction machinery mainly utilize information from binocular cameras or radar for image recognition, neural network algorithms to obtain depth information, and then mark the pixel areas of the front view image matched with the depth information to form the projection of the excavator bucket onto the ground in a real-time image. Because this type of assistance technology relies heavily on algorithmic processing of camera and radar data to obtain position information, it involves a large computational load. The accuracy of this computation depends heavily on the quality of the algorithm and is significantly affected by the environment; severe weather conditions such as smoke, dust, rain, and snow can severely impact the detection accuracy of cameras and radar, leading to inaccurate positioning. Utility Model Content

[0005] This invention provides a mechanical remote positioning drive device and excavator, which solves the technical problem that existing intelligent engineering machinery has a large amount of positioning calculation and is easily affected by environmental interference, and cannot accurately obtain positioning information, thus failing to meet the requirements of high-precision work.

[0006] To solve the above technical problems, this utility model provides a mechanical remote positioning drive device, comprising:

[0007] The excavator body is equipped with a sensing and positioning module, an environmental sensing module, a first communication module, and a central control module, wherein the sensing and positioning module, the environmental sensing module, and the first communication module are electrically connected to the central control module.

[0008] The system also includes an interactive module and a second communication module located on the remote control terminal. The second communication module is signal-connected to the first communication module, and the interactive module is data-connected to the second communication module.

[0009] This basic solution utilizes the signal interaction between the first and second communication modules to achieve remote communication between the excavator body and the remote control terminal. A mechanical remote positioning mechanism, consisting of a sensing and positioning module, an environmental sensing module, the first communication module, and a central control module, is installed on the excavator body. By combining the sensing and positioning module and the environmental sensing module with changes in the excavator body's posture and the environment, the depth information of the on-site video is effectively supplemented, meeting the needs for attachment positioning and landing point indication. This solves the problem of inaccurate positioning caused by algorithmic and environmental factors, and improves the efficiency of remote control operation of construction machinery.

[0010] In a further embodiment, the sensing and positioning module includes a first attitude sensor. One set of the first attitude sensors is fitted onto the boom of the excavator body, and another set of the first attitude sensors is fitted onto the stick of the excavator body. The signal output terminals of both sets of the first attitude sensors are electrically connected to the central control module via wires.

[0011] The first attitude sensor is an IMU sensor.

[0012] This solution places a set of first attitude sensors on the boom and stick of the excavator body. Since the IMU sensor does not depend on the external environment, it can work stably in various complex environments and provide key motion data in real time. This helps the device to accurately determine the direction, position and motion state, and achieve precise positioning in a dynamically changing environment.

[0013] In a further embodiment, the sensing and positioning module includes a second attitude sensor, which is fixedly installed on the central rotary joint of the rotary center at the bottom of the excavator body, and its signal output terminal is electrically connected to the central control module through a wire.

[0014] The second attitude sensor is a rotation angle sensor.

[0015] Based on the complex and variable operating environment of excavators, this solution directly fixes a slewing angle sensor on the central slewing joint at the bottom of the excavator body as a second attitude sensor to further provide attitude perception information of the excavator. Through slewing positioning, the digging direction can be positioned and controlled more accurately and intuitively, effectively reducing the amount of calculation required for the excavator's posture in the later stages.

[0016] In a further embodiment, the sensing and positioning module includes at least one set of third attitude sensors, which are fixedly installed on the outside of the bucket cylinder, close to the cylinder body of the bucket cylinder, and their signal output terminals are electrically connected to the central control module through wires.

[0017] The third attitude sensor is a hydraulic cylinder displacement sensor.

[0018] In a further embodiment, the cylinder displacement sensor is one of a magnetostrictive displacement sensor, a magnetic effect sensor, or a linear variable differential transformer.

[0019] This solution uses a hydraulic cylinder displacement sensor for further detection of the excavator's body posture. Employing advanced measurement technology and high-precision sensor elements, it can achieve high-precision displacement measurement and resist electromagnetic interference and vibration interference, ensuring the stability and reliability of the measurement results. It can adapt to harsh environments and ensure the stability of remote control.

[0020] In a further embodiment, the environmental perception module includes an image acquisition module and a radar detection module; the image acquisition module includes at least one set of cameras, and both the cameras and the radar detection module are installed on the protective netting on the front of the cab of the excavator body, and their signal output terminals are electrically connected to the central control module via wires.

[0021] In a further embodiment, the radar detection module includes one or more of lidar and 4D millimeter-wave radar;

[0022] The radar detection module includes a transmitter, a transmitting antenna, a receiver, a receiving antenna, and a signal processor. The signal processor is connected to the transmitter and the receiver. The transmitter is connected to the transmitting antenna, and the receiver is connected to the receiving antenna.

[0023] This solution is equipped with complementary image acquisition modules and radar detection modules to meet the environmental data collection needs of the work site. The combination of cameras and radar can maintain highly accurate operation performance in complex terrain. In the process of collecting video and depth information of the environment around the machine, it is easier to predict the landing point of the attachments on the excavator body, so that the staff can have a better grasp of the on-site environment and make accurate feedback to assist in high-precision remote control.

[0024] In a further embodiment, the interaction module includes a display screen and input buttons connected to the display screen; or, the interaction module includes a touch screen.

[0025] This solution includes an interactive module that uses a display screen or touch screen to help remote control personnel intuitively understand the work site and provide a control medium through input buttons or touch screen to achieve remote control.

[0026] In a further embodiment, the first communication module includes a switch and a communication module connected thereto, wherein the switch is electrically connected to the central control module;

[0027] The communication module includes a microprocessor, a filter, an amplifier, a demodulator, a modulator, and an antenna, wherein the microprocessor, modulator, amplifier, and antenna are connected in sequence, and the microprocessor, demodulator, filter, and antenna are connected in sequence.

[0028] The first communication module and the second communication module have the same structure.

[0029] This solution sets up a first communication module and a second communication module that communicate with each other between the excavator body and the remote control terminal, realizing remote control and significantly improving construction safety. It can not only avoid personnel safety hazards, but also achieve efficient construction.

[0030] This utility model also provides an excavator, including an excavator body and a mechanical remote positioning drive device as described above. Attached Figure Description

[0031] Figure 1 This is a system framework diagram of a mechanical remote positioning drive device provided in an embodiment of the present utility model;

[0032] Figure 2 This is a schematic diagram of the module installation of a mechanical remote positioning drive device provided in an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the overall coordinate system and landing point provided in this embodiment of the utility model;

[0034] Figure 4 This is a schematic diagram of the coordinate parameters of the attachment landing point provided in this embodiment of the utility model;

[0035] Figure 5 This is a schematic diagram of the coordinate parameters of the attachment landing point provided in this embodiment of the utility model;

[0036] The system includes: a first attitude sensor 1, a second attitude sensor 2, a third attitude sensor 3, an image acquisition module 4, a radar detection module 5, a transmitter 51, a transmitting antenna 52, a receiver 53, a receiving antenna 54, and a signal processor 55; a central control module 6, a first communication module 7; an interaction module 8; a second communication module 9; an excavator body 10; a switch a, a microprocessor b, a filter c, an amplifier d, a demodulator e, a modulator f, and an antenna g. Detailed Implementation

[0037] The embodiments of this utility model are described in detail below with reference to the accompanying drawings. The embodiments are given for illustrative purposes only and should not be construed as limiting the utility model. The accompanying drawings are for reference and illustration only and do not constitute a limitation on the scope of patent protection of this utility model, because many changes can be made to this utility model without departing from the spirit and scope of this utility model.

[0038] Example 1

[0039] This utility model provides a mechanical remote positioning drive device, such as... Figure 1 , Figure 2 As shown, in this embodiment, it includes:

[0040] The sensing and positioning module, the environmental sensing module, the first communication module 7, and the central control module 6 are installed on the excavator body 10. The sensing and positioning module, the environmental sensing module, and the first communication module 7 are electrically connected to the central control module 6.

[0041] The system also includes an interactive module 8 and a second communication module 9 located on the remote control terminal. The second communication module 9 is signal-connected to the first communication module 7, and the interactive module 8 is data-connected to the second communication module 9.

[0042] Among them, the central control module 6 is a module with data processing functions, including but not limited to domain controllers, CPUs, edge computing platforms, AI chips, etc. It is installed inside the driver's cab or control box and is used to process data, analyze and calculate, and perform image processing. Its main functions are to receive attitude (attitude positioning information output by the perception and positioning module), environmental information (obtained by the environmental perception module), and perform information processing and image overlay fusion.

[0043] In this embodiment, the sensing and positioning module includes a first attitude sensor 1. One set of the first attitude sensor 1 is fitted onto the boom of the excavator body 10, and the other set of the first attitude sensor 1 is fitted onto the stick of the excavator body 10. The signal output terminals of both sets of the first attitude sensor 1 are electrically connected to the central control module 6 via wires.

[0044] The first attitude sensor 1 is an IMU sensor.

[0045] In this embodiment, a set of first attitude sensors 1 are respectively arranged on the boom and stick of the excavator body 10. Since the IMU sensor does not depend on the external environment, it can work stably in various complex environments and provide key motion data in real time, thereby helping the device to accurately determine the direction, position and motion state, and achieve precise positioning in a dynamically changing environment.

[0046] In this embodiment, the sensing and positioning module includes a second attitude sensor 2, which is fixedly installed on the central rotary joint of the rotary center at the bottom of the excavator body 10, and its signal output terminal is electrically connected to the central control module 6 through a wire.

[0047] The second attitude sensor 2 is a rotation angle sensor.

[0048] Based on the complex and variable operating environment of excavators, this embodiment directly fixes and installs a slewing angle sensor on the central slewing joint at the bottom of the excavator body 10 as a second attitude sensor 2 to further provide attitude perception information of the excavator. Through slewing positioning, the digging direction can be positioned and controlled more accurately and intuitively, effectively reducing the amount of calculation required for the excavator's posture in the later stages.

[0049] In this embodiment, the sensing and positioning module includes at least one set of third attitude sensors 3. The third attitude sensors 3 are fixedly installed on the outside of the bucket cylinder, close to the cylinder body of the bucket cylinder, and their signal output terminals are electrically connected to the central control module 6 through wires.

[0050] The third attitude sensor 3 is a hydraulic cylinder displacement sensor.

[0051] In this embodiment, the cylinder displacement sensor is one of a magnetostrictive displacement sensor, a magnetic effect sensor, or a linear variable differential transformer.

[0052] This embodiment uses a hydraulic cylinder displacement sensor for further detection of the excavator's body posture. By employing advanced measurement technology and high-precision sensor elements, it can achieve high-precision displacement measurement and resist electromagnetic interference and vibration interference, ensuring the stability and reliability of the measurement results. It can adapt to harsh environments and ensure the stability of remote control.

[0053] In this embodiment, the environmental perception module includes an image acquisition module 4 and a radar detection module 5; the image acquisition module 4 includes at least one set of cameras, and both the cameras and the radar detection module 5 are installed on the protective netting on the front of the cab of the excavator body 10, and their signal output terminals are electrically connected to the central control module 6 via wires.

[0054] In this embodiment, the radar detection module 5 includes one or more of lidar and 4D millimeter-wave radar;

[0055] The radar detection module 5 includes a transmitter 51, a transmitting antenna g52, a receiver 53, a receiving antenna g54, and a signal processor 55. The signal processor 55 is connected to the transmitter 51 and the receiver 53. The transmitter 51 is connected to the transmitting antenna g52, and the receiver 53 is connected to the receiving antenna g54.

[0056] In this embodiment, to meet the environmental data collection needs of the work site, a complementary image acquisition module 4 and a radar detection module 5 are configured. The combination of camera and radar can maintain highly accurate operation performance in complex terrain. In the process of collecting video and depth information of the environment around the machine, it is easier to predict the landing point of the attachments on the excavator body, so that the staff can have a better grasp of the on-site environment and make accurate feedback, thus assisting in high-precision remote control.

[0057] In this embodiment, the interaction module 8 includes a display screen and input buttons connected to the display screen; or, the interaction module 8 includes a touch screen.

[0058] This embodiment includes an interactive module that uses a display screen or touch screen to help remote control operators intuitively understand the work site and provide a control medium through input buttons or touch screen to achieve remote control.

[0059] In this embodiment, the first communication module 7 includes a switch a and a communication module connected thereto, and the switch a is electrically connected to the central control module 6;

[0060] The communication module includes a microprocessor b, a filter c, an amplifier d, a demodulator e, a modulator f, and an antenna g. The microprocessor b, modulator f, amplifier d, and antenna g are connected in sequence.

[0061] The first communication module 7 and the second communication module 9 have the same structure.

[0062] In this embodiment, a first communication module 7 and a second communication module 9 are set up between the excavator body and the remote control terminal to achieve remote control, which significantly improves the safety of construction. It can not only avoid personnel safety hazards, but also achieve efficient construction.

[0063] This embodiment of the utility model utilizes the signal interaction between the first communication module 7 and the second communication module 9 to achieve remote communication between the excavator body 10 and the remote control terminal. A mechanical remote positioning mechanism composed of a sensing and positioning module, an environmental sensing module, the first communication module 7, and a central control module 6 is set on the excavator body 10. By combining the sensing and positioning module and the environmental sensing module with the changes in the position and posture of the excavator body 10 and the changes in the environment, the depth information of the on-site video is effectively supplemented, meeting the needs of attachment positioning and landing point indication, solving the problem of inaccurate positioning caused by algorithm, environment and other reasons, and improving the remote control operation efficiency of construction machinery equipment.

[0064] Example 2

[0065] This utility model embodiment also provides an excavator, including an excavator body 10, and a mechanical remote positioning drive device as described in Embodiment 1 above.

[0066] In this embodiment, see Figure 3 , Figure 4 , Figure 5 The principle of excavator landing point prediction based on mechanical remote positioning drive device is as follows:

[0067] The first step is for the central control module 6 to periodically acquire the data collected by the first attitude sensor 1, the second attitude sensor 2, and the third attitude sensor 3 to obtain the body attitude of the excavator body 10 and the attitude information of the mechanical arm.

[0068] The system periodically acquires environmental information collected by the image acquisition module 4 and the radar detection module 5, including 3D point cloud information of obstacles and real-time video.

[0069] The attitude information, point cloud information, and real-time video information are transmitted to the central control module 6 (e.g., a domain controller) via video cable / CAN cable / network cable, etc., to perform image information processing.

[0070] The second step, in image information processing, is to calculate the position coordinates (x, y, z) of the excavator's attachment end based on the overall machine coordinate system, using the attitude sensor and the overall machine hardware size information.

[0071] The third step is to convert the point cloud information to the whole machine coordinate system. At this time, the point cloud coordinates (xn, yn, zn) of the attachment end perpendicular to the x and z planes are the attachment landing point.

[0072] Step 4: To make the landing point easier to identify, expand the landing point range (xn, yn, zn), where xn = (xa / 2, z+a / 2), yn = [ymin, y), zn = (zb / 2, z+b / 2), a = thickness of the attachment end, ymin = lowest point of the attachment end stroke, and b = width of the attachment.

[0073] Step 5: Convert the image coordinate system of the camera to the camera coordinate system, and then to the overall coordinate system.

[0074] Step 6: Overlay the radar point cloud, which is in the same coordinate system as the whole machine, onto the main camera image and align the coordinate systems of the point cloud and the camera image.

[0075] Step 7: The central control module 6 outputs an image with superimposed point cloud to switch a, and the communication module transmits the processed image information to the remote control terminal.

[0076] Step 8: The decoder on the remote control parses and restores the video data, and transmits the decoded video image to the display screen / touchscreen.

[0077] The displayed video is a composite video that merges the point cloud of the bucket's landing point with real-time video footage. Because it supplements the depth information missing in the original video, it makes it easier to predict the attachment's landing point, helping operators better understand the on-site environment and significantly improving the equipment's operability and the driver's efficiency.

[0078] The coordinate point calculation, coordinate system transformation, and image overlay processing in steps two through eight above are all conventional techniques in this field, and will not be described in detail in this embodiment.

[0079] The excavator of this invention utilizes a first attitude sensor 1, a second attitude sensor 2, and a third attitude sensor 3 to replace conventional positioning sensors such as radar and cameras to obtain the positioning of the end effector of the construction machinery attachment. The positioning algorithm is more concise and the effect is more accurate. The radar point cloud image to be displayed is selected through positioning information, and effective and useful point cloud data is accurately locked. The point cloud and camera image are aligned and merged through coordinate transformation and image fusion. Depth information is superimposed and displayed on the image information and transmitted to the remote control terminal for display, which makes up for the missing depth information in the video image and improves the remote control operability of the construction machinery equipment.

[0080] The above embodiments are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present utility model shall be considered equivalent substitutions and shall be included within the protection scope of the present utility model.

Claims

1. A mechanical remote positioning drive device, characterized in that, include: The excavator body is equipped with a sensing and positioning module, an environmental sensing module, a first communication module, and a central control module, wherein the sensing and positioning module, the environmental sensing module, and the first communication module are electrically connected to the central control module. The system also includes an interactive module and a second communication module located on the remote control terminal. The second communication module is signal-connected to the first communication module, and the interactive module is data-connected to the second communication module.

2. The mechanical remote positioning drive device as described in claim 1, characterized in that: The sensing and positioning module includes a first attitude sensor. One set of the first attitude sensors is embedded in the boom of the excavator body, and the other set of the first attitude sensors is embedded in the stick of the excavator body. The signal output terminals of both sets of the first attitude sensors are electrically connected to the central control module through wires. The first attitude sensor is an IMU sensor.

3. The mechanical remote positioning drive device as described in claim 2, characterized in that: The sensing and positioning module includes a second attitude sensor, which is fixedly installed on the central rotary joint of the slewing center at the bottom of the excavator body, and its signal output terminal is electrically connected to the central control module through a wire. The second attitude sensor is a rotation angle sensor.

4. The mechanical remote positioning drive device as described in claim 2, characterized in that: The sensing and positioning module includes at least one set of third attitude sensors. The third attitude sensors are fixedly installed on the outside of the bucket cylinder, close to the cylinder body of the bucket cylinder, and their signal output terminals are electrically connected to the central control module through wires. The third attitude sensor is a hydraulic cylinder displacement sensor.

5. The mechanical remote positioning drive device as described in claim 4, characterized in that: The cylinder displacement sensor is one of a magnetostrictive displacement sensor, a magnetic effect sensor, or a linear variable differential transformer.

6. The mechanical remote positioning drive device as described in claim 1, characterized in that: The environmental perception module includes an image acquisition module and a radar detection module; the image acquisition module includes at least one set of cameras, and both the cameras and the radar detection module are installed on the protective netting on the front of the cab of the excavator body, and their signal output terminals are electrically connected to the central control module through wires.

7. A mechanical remote positioning drive device as described in claim 6, characterized in that: The radar detection module includes one or more of lidar and 4D millimeter-wave radar; The radar detection module includes a transmitter, a transmitting antenna, a receiver, a receiving antenna, and a signal processor. The signal processor is connected to the transmitter and the receiver. The transmitter is connected to the transmitting antenna, and the receiver is connected to the receiving antenna.

8. The mechanical remote positioning drive device as described in claim 1, characterized in that: The interactive module includes a display screen and input buttons connected to the display screen; Alternatively, the interaction module may include a touchscreen.

9. A mechanical remote positioning drive device as described in claim 1, characterized in that: The first communication module includes a switch and a communication module connected thereto, wherein the switch is electrically connected to the central control module; The communication module includes a microprocessor, a filter, an amplifier, a demodulator, a modulator, and an antenna, wherein the microprocessor, modulator, amplifier, and antenna are connected in sequence, and the microprocessor, demodulator, filter, and antenna are connected in sequence. The first communication module and the second communication module have the same structure.

10. An excavator, characterized in that: It includes the excavator body and a mechanical remote positioning drive device as described in any one of claims 1 to 9.

Images