CN118124377A - Intelligent display system applied to engineering machinery and display method thereof - Google Patents
Intelligent display system applied to engineering machinery and display method thereof Download PDFInfo
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Abstract
The invention discloses an intelligent display system applied to engineering machinery and a display method thereof. By means of a transparent display technology, the front windshield of the cab of the engineering machinery vehicle can display images, and the AR technology is utilized to superimpose some necessary auxiliary construction information with the actual environment, so that a driver is helped to carry out efficient and safe construction in a direct-view state. Meanwhile, the system can automatically adjust the light transmittance of the front windshield according to the environmental light intensity based on the color-changing glass technology, so that the image of the front windshield can still be clearly displayed under the external strong light, and the protection effect of shading light and preventing dazzling is achieved for a driver. And the eyeball tracking technology is integrated, so that the sight line of a driver is monitored in real time, and the key information is ensured to be always in the sight line range. The driver can operate the display information through gestures to select the focused content and the display mode. By the system and the method, real-time convenient operation guidance can be provided for a driver of the engineering machinery vehicle, the operation error rate is reduced, the control level of the driver is enhanced, and the intelligent operation construction of the power-assisted engineering machinery is realized.
Description
Technical Field
The invention relates to an intelligent display system and a display method applied to engineering machinery, and belongs to the technical field of engineering machinery.
Background
The display system of the traditional engineering machinery vehicle is generally a cabin instrument or a liquid crystal display screen, and the problems of complex operation, non-visual information, poor usability and the like generally exist, and a driver often needs to turn the head down or turn the head to see the display information, so that great inconvenience is brought to the driver when the driver drives and controls the engineering machinery vehicle, and safety problems are easily generated. In addition, the conventional display system is easy to generate the problem that the displayed image is not obvious when the ambient light is too strong.
Disclosure of Invention
The invention provides an intelligent display system applied to engineering machinery and a display method thereof, which solve the problems disclosed in the background technology.
In order to solve the technical problems, the invention adopts the following technical scheme:
An intelligent display system applied to engineering machinery:
The device comprises a power supply unit, a sensing unit, an operation control unit and a display unit;
The power supply unit is used for providing power for the whole system;
the sensing unit is used for acquiring the physical parameters of a driver, the engineering machinery vehicle and the external environment parameters, converting the physical parameters into corresponding electric signals and transmitting the corresponding electric signals to the operation control unit;
the operation control unit is used for performing processing operation according to the physical parameters of the driver and the parameters of the engineering machinery vehicle and the external environment, generating auxiliary information and transmitting the auxiliary information to the display unit;
The display unit displays the auxiliary information on the front windshield of the construction machine vehicle.
Further, the driver posture parameters include the pose and pupil orientation of the driver; the engineering machine vehicle itself and the external environment parameters include the position, orientation, speed, load weight and surrounding illumination intensity of the machine vehicle, the relative distance and angle of each object and the vehicle, and the class of the object.
Further, the display unit comprises a transparent display module and a color-changing glass module; the transparent display module adopts a high-transparency and high-resolution OLED screen or a projector-based transparent reflecting film; the electrochromic glass module is embedded with electrochromic materials in the front windshield, so that the front windshield changes color after being electrified, and the transparency of the front windshield is adjusted.
Further, the operation control unit senses and obtains the relative position and orientation of the head and the eyeball pupil of the driver by taking the known position of the sensing unit as an origin, and calculates the face orientation of the driver; according to the offset of the pupil of the driver relative to the eye socket, the eye projection direction and focus of the driver are calculated, and then the driver is matched with the corresponding area of the front windshield, so that the positioning and the size of the display content are determined, and the auxiliary information is always in the range of the driver's sight.
Further, the operation unit classifies the parameter information transmitted by the sensing unit into 3 types: class 1 is driver setting information; class 2 is information that can be combined with an external scene at the current driver's view angle; class 3 is information other than class 1 and class 2.
Further, the posture parameter of the driver further comprises a gesture of the driver, and the operation control unit identifies the operation intention of the driver according to the gesture of the driver, so that the driver drags, clicks or zooms the auxiliary information on the front windshield.
Correspondingly, a display method of the intelligent display system applied to the engineering machinery comprises the following steps:
Step 1: the sensing unit acquires the speed, the position and the heading of the front vehicle body of the loader, the distance and the position of a material pile M in front of the loader through various sensing devices arranged on the engineering machinery, and transmits the parameter information to the operation control unit;
step 2: the operation control unit generates corresponding auxiliary information according to the parameter information transmitted by the sensing unit;
step 3: the eyeball tracking module calculates and determines the visual field orientation of the driver at the moment t in real time, matches and calculates a front windshield area S corresponding to the visual field, and judges whether the material pile M is also positioned in the visual field range of the driver;
Step 4: if the stockpile M is located in the field of view of the driver, displaying an optimal shoveling area, an un-suggested working area and a bucket edge in the form of AR on a front windshield area S, and simultaneously displaying angle and distance information between the current bucket position and the target shoveling position; as the loader approaches, only part P of the pile M is in the driver' S view, and it is displayed on the front windshield area S in the form of AR whether the part P has an optimal shoveling area, an area where work is not recommended, and a bucket edge; otherwise, other information is not displayed except for the loader speed information.
Further, when only part P of the pile M is located in the driver's field of view, an arrow is displayed to identify the center position thereof, and the driver observes whether the median line of the loader bucket is aligned with the position pointed by the arrow according to the arrow; and observing whether the current bucket edge is in an optimal shovel region; and simultaneously, the weight of materials in the bucket and the running speed of the vehicle are displayed.
Further, the operation control unit generates navigation guidance according to the operation path requirement of the loader.
Further, the front windshield displays the optimal digging point position, clearly marks the excavator bucket, and gives the angle between the large arm of the excavator bucket and the target digging position and the center distance between the bucket tooth and the target position.
Further, when the slope works, the sensing unit senses the current gradient of the slope, and the front windshield displays the current gradient information.
The invention has the beneficial effects that:
1. The intelligent transparent display system can display images on the front windshield, so that a driver of the engineering machinery vehicle can see the image information in a direct-view state without lowering or twisting the head to view an instrument panel or a display, thereby providing convenience for the driver and improving the driving safety;
2. The method has the advantages that the on-site real-time working condition is combined, the necessary information such as the speed, the load, the angle and the like is displayed in the form of AR, a driver is helped to better know the running state and the environment condition of equipment, and the engineering machinery vehicle is scientifically and reasonably controlled according to information suggestions, so that the working efficiency is improved;
3. integrating an eyeball tracking technology, automatically adjusting the position and the size of display content, and ensuring that key information is always in the sight range of a driver;
4. The color-changing glass technology can automatically adjust the light transmittance according to the ambient light, can still ensure the definition and the gorgeous color of the front windshield image even under the external strong light, and can also play the protection effects of dazzling prevention, sun shading and sun screening for the driver;
5. the device has a gesture recognition function, can adjust and process the AR image on the front windshield at intervals, and obtains a favorite information display mode of an individual;
6. The invention can be widely applied to various engineering machinery vehicles, such as excavators, loaders, cranes, rotary drills, mine trucks, mixer trucks and the like, and has wide market potential.
Drawings
FIG. 1 is a schematic diagram of an intelligent display system according to the present invention;
FIG. 2 is a schematic illustration of the shoveling offset of the intelligent loader-based display system of the present invention;
FIG. 3 is a schematic illustration of a shovel of the intelligent loader-based display system of the present invention;
FIG. 4 is a schematic diagram of navigation guidance for a loader-based intelligent display system of the present invention;
FIG. 5 is a schematic diagram of an excavator-based intelligent display system of the present invention;
FIG. 6 is a schematic view of a slope repair of the intelligent excavator-based display system of the present invention;
FIG. 7 is a schematic diagram of the color-changing glass function of the intelligent display system of the invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
As shown in fig. 1, the present invention is applied to an intelligent display system of a construction machine, comprising:
a power supply unit: an electronic component for providing power to the whole system comprises a power converter, a power management unit, a connecting wire and the like.
Sensing unit: the device is used for sensing and sensing a driver, the engineering machinery vehicle and the external environment, converting the sensing and sensing signals into corresponding electric signals and transmitting the corresponding electric signals to the operation control unit.
An operation control unit: and the intelligent processing operation is performed according to the collected perception information, and the display unit is controlled to work normally.
And a display unit: the method is used for realizing AR display on the front windshield of the engineering machinery vehicle, so that a driver can easily acquire necessary auxiliary information through vision in a direct-view state, and power assistance is provided for safe and efficient construction of the engineering machinery vehicle.
The power supply unit provides stable power supply for the sensing unit, the operation control unit and the display unit, and the efficient power management technology ensures the energy efficiency and heating control of the system and supports the normal operation of the system.
The sensing unit comprises sensing equipment such as a laser radar, a millimeter wave radar, a high-definition camera, an inertial navigation system, a light intensity sensor, an angle sensor, weighing equipment and the like. The position, the orientation, the speed, the load weight and other states of the engineering machinery vehicle can be known in detail, and meanwhile, the illumination intensity around the vehicle, the relative distance and angle between each object and the vehicle, the type of the object and the like can be accurately perceived.
The operation control unit is provided with a signal filtering processing module, an analog-to-digital conversion module, a storage module, a central processing unit and a digital-to-analog conversion module. The signal filtering processing module is responsible for filtering the received electric signals, removing interference signals and enhancing effective signals; the analog-to-digital conversion module is responsible for converting an analog electric signal into a digital electric signal, and the digital-to-analog conversion module is opposite; the storage module is responsible for storing the data information; the central processing unit is responsible for carrying out operation processing on the received digital signals.
The display unit comprises a transparent display part and a color-changing glass part. The transparent display selects an OLED screen with high transparency and high resolution or a form based on projection and transparent reflection film, so that an image with higher color and definition quality is formed on a front windshield of the engineering machinery vehicle; the color-changing glass is formed by embedding special electrochromic materials into a front windshield, so that the color of the front windshield can be changed after the front windshield is electrified, and the transparency is adjusted.
The central processing unit mainly processes 3 tasks:
1) Eye tracking: the dynamic characteristic change of the head and the eyeball pupil of the driver is identified by adopting a high-precision low-delay sensor. Firstly, using the known position of a sensor as an origin, sensing and obtaining the relative position and orientation of the head and the eyeball pupil of the driver, and calculating which direction of the face of the driver; then, according to the offset of the eyeball pupil relative to the eye socket, calculating the eye projection direction and focus of the eyeball pupil, and further matching with the corresponding area of the front windshield; then, the central processing unit automatically optimizes the positioning and the size of the display content according to the positioning and the size, and ensures that the key information is always in the sight of the driver.
2) AR generation: and generating necessary Augmented Reality (AR) auxiliary information and accurately displaying the AR auxiliary information on the front windshield by combining the actual working condition scene outside the front windshield, all perception information of the vehicle and the current view angle of a driver.
The data information transmitted from the sensing unit can be classified into 3 types: the 1 st type is important information (the information can be set by a driver according to the requirements and preference) to be displayed to the driver at any time, namely, the information can be displayed at a position corresponding to the front windshield as long as the driver has a position where the viewing angle direction of the driver coincides with the front windshield, so that the driver can see the information certainly; the 2 nd type is information which can be combined with an external scene under the current driver visual angle, namely, the front windshield is arranged along the driver visual angle direction, and the external object is also arranged, and the information about the object is displayed on the position corresponding to the front windshield in the data obtained by the sensing unit; the 3 rd class is other information, and is not displayed.
For example, the cpu knows that at a certain time t along the viewing angle of the driver through data transmitted from the sensing unit and eye tracking, and the driver passes through the front windshield area S, and if an obstacle B is located in front of the front windshield area S, information such as the type 1 information, the type 2 information of the obstacle B, the contour, the estimated size and quality of the obstacle B, the distance and angle between the obstacle and the vehicle, and the like, at the time t, is displayed on the front windshield area S in the form of an AR image.
The driver can combine the AR image of the site working condition as the auxiliary guide information of the operation. For example, for a loader operation, the loader may display the optimal shoveling point position or dump point position of the front material in the form of AR on the front windshield of the driver's view, thereby helping the driver to perform the shoveling, loading and dump operation in a more scientific and efficient manner, enabling AR-based construction. In addition, the AR can also support navigation guidance, environment detection and traffic information display, and by combining virtual information such as navigation instructions and road information with the real world, a driver can quickly make correct judgment according to the information in the driving process, so that the operation efficiency and the safety are improved.
3) Gesture recognition: the gesture actions of the driver are captured through the camera, the infrared sensor and other devices and accurately recognized, the control intentions of the driver such as dragging, clicking, zooming and the like are confirmed, and the convenience and the safety of driving are improved.
The transparent display comprises a display device, a control unit and a sensor, and display contents can be presented on a front windshield in a form of not interfering the sight of a driver mainly based on optical technology and information processing technology.
The display device for transparent display can be made of an OLED screen and made of organic materials, has self-luminous characteristics, achieves a high-image-quality display effect, and has the characteristics of high transparency, low power consumption, quick response, wide viewing angle, flexibility and the like, the organic semiconductor materials and the luminescent materials emit light and display under the drive of current, and electric energy is converted into light energy through the photoelectric effect.
The display device for transparent display can also adopt a specially treated transparent reflecting film to selectively treat light from different angles, only regulate and control the light in the direction of the projector, and retain the characteristics of a transparent medium while generating images.
If the OLED screen is adopted in the transparent display device, the display area is adjusted according to the visual field of a driver; if a projector and a transparent reflective film are used, the projection angle of the projector is adjusted according to the driver's field of view.
The anti-vibration and anti-shake device for the transparent display device adopts a hybrid anti-shake technology, namely the combination of optical anti-shake and electronic anti-shake, integrates a special optical component in an OLED screen or a projector to counteract shake, and when the optical anti-shake component cannot work, the electronic anti-shake analyzes the picture content through a digital signal processing technology, detects shake and generates a corresponding compensation signal, and corrects the picture in real time, so that shake is eliminated.
The transparent display can display various state information of the vehicle in the form of AR, such as information of vehicle speed, mileage, oil consumption, vehicle body weight, shoveling material weight and the like.
The color-changing glass unit consists of two layers of glass and an electrochromic material in the middle, and the transparency and the color of the front windshield of the vehicle are automatically adjusted according to the change of external light and temperature sensed by the photosensitive equipment, so that the front windshield still has a good image display effect under the condition of external strong light of the display device; meanwhile, the sun-shading and sun-screening effects are also achieved for drivers.
As shown in fig. 2, for a loader shovel operation, the overall system operation is as follows:
Step 1: the sensing unit acquires information such as the speed of the loader, the position and heading of the front vehicle body, the distance and position of the material pile M in front of the loader and the like through various sensing devices arranged on the loader.
Step 2: the arithmetic control unit automatically classifies the acquired information into three categories (category 1 is set by the driver according to personal needs and preferences, in this example the speed of the loader is category 1 information).
Step 3: the eyeball tracking module calculates and determines the visual field orientation of the driver at the time t in real time, matches and calculates a front windshield area S corresponding to the visual field, and judges whether the material pile M is also positioned in the visual field range of the driver (an object can be judged to be an effective visual field range only when being positioned in a certain distance from the loader).
Step 4: if the material pile M is located in the field of view of the driver, displaying an optimal shoveling area (green block mark), an un-suggested working area (red block mark) and a bucket edge (yellow dotted line mark) on the front windshield area S in the form of AR, and simultaneously intuitively displaying the angle and distance information between the current bucket position and the target shoveling position, so that the driver can conveniently and rapidly adjust the driving direction; as the loader approaches, only part P of the pile M is in the driver' S view, and then it is displayed on the front windshield area S in the form of AR whether the part P has an optimal shoveling area (green block mark), an un-recommended work area (red block mark), and a bucket edge (yellow dashed mark); otherwise, other information is not displayed except for the loader speed information.
As shown in fig. 3, only a portion P of the pile M is located in the driver's view. The driver of the loader can accurately dig the position of the optimal shoveling area (green block mark) with the aid of the intelligent display system, the center position of the shovel is marked by a yellow arrow, and the driver can observe whether the median line of the shovel bucket of the loader is aligned with the position pointed by the arrow according to the arrow; and observing whether the current bucket (yellow dotted line) is in the optimal shovel region; meanwhile, the weight of materials in the bucket and the running speed of the vehicle are displayed, so that a driver is helped to intuitively acquire necessary information during all shoveling, and AR-based auxiliary construction is realized.
As shown in fig. 4, the loader generates navigation directions (blue marks) according to the job path requirements, and the driver can control the loader movement and the job according to the path planning information.
As shown in fig. 5, for the excavator, the front windshield displays the optimal digging point position (green mark), while the bucket is clearly marked with a yellow dotted line, and the angle of the bucket boom and the target digging position is given, the bucket tooth and the target position center distance. The driver can intuitively realize accurate construction according to the information;
As shown in fig. 6, the excavator trims the slope, acquires slope image information according to sensing equipment of the intelligent display system, displays current slope information on the front windshield, and is convenient for a driver to adjust;
As shown in fig. 7, the color-changing glass automatically adjusts the transparency and color of the front windshield of the vehicle according to the change of the external light and temperature sensed by the photosensitive device, so that the front windshield still has a better image display effect under the condition of external strong light; meanwhile, the sun-shading and sun-screening effects are also achieved for drivers;
the foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is illustrative of the present invention and is not to be construed as limiting thereof, but rather as providing for the use of additional embodiments and advantages of all such modifications, equivalents, improvements and similar to the present invention are intended to be included within the scope of the present invention as defined by the appended claims.
Claims (11)
1. An intelligent display system applied to engineering machinery, which is characterized in that:
The device comprises a power supply unit, a sensing unit, an operation control unit and a display unit;
The power supply unit is used for providing power for the whole system;
the sensing unit is used for acquiring the physical parameters of a driver, the engineering machinery vehicle and the external environment parameters, converting the physical parameters into corresponding electric signals and transmitting the corresponding electric signals to the operation control unit;
the operation control unit is used for performing processing operation according to the physical parameters of the driver and the parameters of the engineering machinery vehicle and the external environment, generating auxiliary information and transmitting the auxiliary information to the display unit;
The display unit displays the auxiliary information on the front windshield of the construction machine vehicle.
2. The intelligent display system for construction machinery according to claim 1, wherein:
The driver posture parameters comprise the pose and pupil orientation of the driver; the engineering machine vehicle itself and the external environment parameters include the position, orientation, speed, load weight and surrounding illumination intensity of the machine vehicle, the relative distance and angle of each object and the vehicle, and the class of the object.
3. The intelligent display system for construction machinery according to claim 1, wherein:
The display unit comprises a transparent display module and a color-changing glass module; the transparent display module adopts a high-transparency and high-resolution OLED screen or a projector-based transparent reflecting film; the electrochromic glass module is embedded with electrochromic materials in the front windshield, so that the front windshield changes color after being electrified, and the transparency of the front windshield is adjusted.
4. The intelligent display system for construction machinery according to claim 1, wherein:
The operation control unit takes the known position of the sensing unit as an origin, senses and obtains the relative position and orientation of the head and the eyeball pupil of the driver, and calculates the face orientation of the driver; according to the offset of the pupil of the driver relative to the eye socket, the eye projection direction and focus of the driver are calculated, and then the driver is matched with the corresponding area of the front windshield, so that the positioning and the size of the display content are determined, and the auxiliary information is always in the range of the driver's sight.
5. The intelligent display system for construction machinery according to claim 1, wherein:
The operation unit classifies the parameter information transmitted by the sensing unit into 3 types: class 1 is driver setting information; class 2 is information that can be combined with an external scene at the current driver's view angle; class 3 is information other than class 1 and class 2.
6. The intelligent display system for construction machinery according to claim 1, wherein:
the operation control unit identifies the operation intention of the driver according to the gesture of the driver, so that the driver drags, clicks or zooms the auxiliary information on the front windshield.
7. A display method of an intelligent display system applied to engineering machinery is characterized in that:
Step 1: the sensing unit acquires the speed, the position and the heading of the front vehicle body of the loader, the distance and the position of a material pile M in front of the loader through various sensing devices arranged on the engineering machinery, and transmits the parameter information to the operation control unit;
step 2: the operation control unit generates corresponding auxiliary information according to the parameter information transmitted by the sensing unit;
step 3: the eyeball tracking module calculates and determines the visual field orientation of the driver at the moment t in real time, matches and calculates a front windshield area S corresponding to the visual field, and judges whether the material pile M is also positioned in the visual field range of the driver;
Step 4: if the stockpile M is located in the field of view of the driver, displaying an optimal shoveling area, an un-suggested working area and a bucket edge in the form of AR on a front windshield area S, and simultaneously displaying angle and distance information between the current bucket position and the target shoveling position; as the loader approaches, only part P of the pile M is in the driver' S view, and it is displayed on the front windshield area S in the form of AR whether the part P has an optimal shoveling area, an area where work is not recommended, and a bucket edge; otherwise, other information is not displayed except for the loader speed information.
8. The display method of the intelligent display system applied to the construction machine according to claim 7, wherein:
when only part P of the material pile M is positioned in the visual field of a driver, displaying an arrow to mark the center position of the material pile M, and observing whether the median line of the loader bucket is aligned with the position pointed by the arrow by the driver according to the arrow; and observing whether the current bucket edge is in an optimal shovel region; and simultaneously, the weight of materials in the bucket and the running speed of the vehicle are displayed.
9. The display method of the intelligent display system applied to the construction machine according to claim 7, wherein: the operation control unit generates navigation guidance according to the operation path requirement of the loader.
10. The display method of the intelligent display system applied to the construction machine according to claim 7, wherein:
The front windshield displays the optimal digging point position, clearly marks the excavator bucket, and gives the angle between the large arm of the excavator bucket and the target digging position and the center distance between the bucket tooth and the target position.
11. The control method for the intelligent display system applied to the construction machine according to claim 7, wherein:
When the slope works, the sensing unit senses the current gradient of the slope, and the front windshield displays the current gradient information.
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| CN202410426491.XA CN118124377A (en) | 2024-04-10 | 2024-04-10 | Intelligent display system applied to engineering machinery and display method thereof |
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| CN202410426491.XA CN118124377A (en) | 2024-04-10 | 2024-04-10 | Intelligent display system applied to engineering machinery and display method thereof |
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