Anti-crushing safety system, anti-crushing control method and tractor

Abstract

The invention relates to the technical field of tractors, and discloses an anti-crashing safety system, an anti-crashing control method and a tractor, the tractor comprises a lifting device assembly and a lifting driving system, the lifting device assembly is used for hanging a machine tool, and the lifting driving system is used for driving the lifting device assembly to act to drive the machine tool to ascend and descend; the anti-crushing safety system comprises an image acquisition unit and an image processing unit, wherein the image processing unit is configured to acquire image information in a working range of the tractor in real time through the image acquisition unit; the distance between the movement coverage area of the machine tool and the obstacle is obtained through the image information and the structural parameters and the movement parameters of the lifting device assembly; and confirming that the distance between the movement coverage area of the machine tool and the obstacle is in a dangerous distance range, and sending an instruction for locking the lifting driving system. According to the anti-crushing safety system, the anti-crushing control method and the tractor, the situations of casualties and property loss can be effectively reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of tractors, and specifically relates to an anti-smashing safety system, an anti-smashing control method and a tractor. Background Art

[0002] As the degree of agricultural mechanization continues to deepen, the uses and usage scenarios of tractors are also constantly expanding, and users' demand for tractor safety configuration is also continuously upgrading; due to the continuous upgrading of tractor configuration, users' maintenance and repair frequency of tractors will also gradually increase.

[0003] When the tractor is operated in the field or undergoing maintenance with the implements mounted on the back, the rear suspension and the implements will inevitably fall down and the implements will be buried in the ground or close to the ground. During this process, there are often people near the implements to direct the operation or to perform maintenance on the implements. During the operation, sometimes due to the driver's misoperation or the commander near the implements not evacuating to a safe area before the implements fall, the implements may hit people, causing casualties and property losses. Summary of the invention

[0004] The purpose of the present application is to provide an anti-smashing safety system, an anti-smashing control method and a tractor, which can effectively reduce casualties and property losses.

[0005] In order to achieve the above-mentioned purpose, the present application provides an anti-smashing safety system on one hand, wherein the tractor comprises a lifting device assembly and a lifting drive system, wherein the lifting device assembly is used to mount the implement, and the lifting drive system is used to drive the lifting device assembly to move so as to drive the implement to rise and fall, and the anti-smashing safety system comprises an image acquisition unit and an image processing unit, wherein the image processing unit is configured as follows:

[0006] Acquiring image information within the working range of the tractor in real time by the image acquisition unit;

[0007] Obtaining the distance between the movement coverage area of ​​the machine and the obstacle through the image information and the structural parameters and movement parameters of the lifting device assembly;

[0008] It is confirmed that the distance between the movement coverage area of ​​the machine and the obstacle is within a dangerous distance range, and an instruction to lock the lifting drive system is issued.

[0009] In some specific embodiments, the image acquisition unit includes a plurality of cameras disposed on an upper portion of a cab of the tractor, and a combined field of view of the plurality of cameras covers a working range of the tractor.

[0010] In some specific implementations, obtaining the distance between the movement coverage area of ​​the machine and the obstacle through the image information and the structural parameters and movement parameters of the lifting device assembly includes:

[0011] Establishing a coordinate system of the working range of the tractor according to the image information;

[0012] Extracting contour features of the tool, and acquiring a first spatial region of the tool in the coordinate system through the contour features of the tool;

[0013] Acquire the motion path of the first spatial area according to the structural parameters and motion parameters of the lifting device assembly, and acquire the motion coverage area of ​​the machine through the motion path of the first spatial area and the first spatial area;

[0014] Extracting contour features of the obstacle, and acquiring a second spatial region of the obstacle in the coordinate system according to the contour features of the obstacle;

[0015] The distance between the movement coverage of the machine and the obstacle is obtained through the positional relationship between the movement coverage area of ​​the machine and the second space area.

[0016] In some specific implementations, obtaining the distance between the machine and the obstacle through the positional relationship between the movement coverage area of ​​the machine and the second spatial area includes:

[0017] Acquire a first boundary point coordinate set of a boundary of a motion coverage area of ​​the machine;

[0018] Acquire a second boundary point coordinate set of a boundary of the second spatial region;

[0019] The distance between the movement coverage of the machine and the obstacle is obtained by calculating the distance between the points in the first boundary point coordinate set and the points in the second boundary point coordinate set.

[0020] In some specific implementations, confirming that the distance between the movement coverage of the machine and the obstacle is within a dangerous distance range includes:

[0021] Determining that a minimum distance between a point in the first boundary point coordinate set and a point in the second boundary point coordinate set is less than a first threshold;

[0022] It is determined that the distance between the movement coverage of the machine and the obstacle is within a dangerous distance range.

[0023] In some specific implementations, the image processing unit is further configured to:

[0024] Confirm that the distance between the movement coverage of the machine and the obstacle is within a second safety distance range, and issue a risk warning instruction.

[0025] In some specific implementations, confirming that the distance between the movement coverage of the machine and the obstacle is within a second safety distance range includes:

[0026] Determine that the minimum distance between a point in the first boundary point coordinate set and a point in the second boundary point coordinate set is greater than or equal to a first threshold and less than or equal to a second threshold;

[0027] It is determined that the distance between the movement coverage of the machine and the obstacle is within a second safety distance range.

[0028] In some specific implementations, the image processing unit is further configured to:

[0029] When a command to lock the lifting drive system is issued, a warning command is issued.

[0030] A second aspect of the present application provides a tractor, which includes the above-mentioned anti-smashing safety system.

[0031] A third aspect of the present application provides an anti-smashing control method, the anti-smashing control method comprising:

[0032] Acquire image information within the working range of the tractor;

[0033] Obtaining the distance between the movement coverage area of ​​the implement of the tractor and the obstacle through the image information and the structural parameters and movement parameters of the lifting device assembly;

[0034] It is confirmed that the distance between the movement coverage area of ​​the implement and the obstacle is within a dangerous distance range, and the lifting drive system for driving the lifting device assembly of the tractor is controlled to be locked.

[0035] Through the above technical scheme, the anti-smashing safety system includes an image acquisition unit and an image processing unit. The image acquisition unit can acquire image information within the working range of the tractor. The image processing unit can identify possible interference and collision between obstacles and the machine according to the image information and the structural parameters and motion parameters of the lifting device assembly, and issue an instruction to lock the lifting drive system of the machine, thereby avoiding the situation where the machine hits people and effectively reducing casualties and property losses.

[0036] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0038] Figure 1 A schematic structural diagram of a tractor according to a specific embodiment of the present application is shown;

[0039] Figure 2 for Figure 1 A schematic diagram of the structure of the lifting device assembly;

[0040] Figure 3 for Figure 1 A schematic diagram of the structure of the lifting drive system in FIG.

[0041] Figure 4 A flow chart of an anti-smashing control method according to a specific implementation of the present application is shown.

[0042] Description of Reference Numerals

[0043] 1Anti-smashing safety system 2Lifting drive system

[0044] 21 variable pump 22 electronically controlled lifting multi-way valve

[0045] 23 lifting cylinder 24 angle sensor

[0046] 3Electrical control system 4Lifting device assembly

[0047] 41 lifting rocker arm 42 suspension device DETAILED DESCRIPTION

[0048] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0049] In order to meet users' higher safety configuration requirements for tractor operations, the first aspect of the present application provides a new type of anti-smashing safety system for tractors.

[0050] like Figure 1 , Figure 2 and Figure 3As shown, the tractor includes a lifting device assembly 4 and a lifting drive system 2. The lifting device assembly 4 is used to mount the implement, and the lifting drive system 2 is used to drive the lifting device assembly 4 to move the implement. The anti-smashing safety system 1 includes an image acquisition unit and an image processing unit. The image acquisition unit is used to acquire image information within the working range of the tractor in real time. The image processing unit is connected to the image acquisition unit in communication and can acquire image information of the image acquisition unit. The image processing unit is configured as follows:

[0051] Acquire image information within the working range of the tractor in real time through an image acquisition unit;

[0052] Obtaining the distance between the movement coverage area of ​​the machine and the obstacle through the image information and the structural parameters and movement parameters of the lifting device assembly 4;

[0053] It is confirmed that the distance between the movement coverage area of ​​the machine and the obstacle is within the dangerous distance range, and an instruction to lock the lifting drive system 2 is issued.

[0054] It can be seen that since the image processing unit can obtain the distance between the movement coverage area of ​​the machine and the obstacle through image information and the structural parameters and motion parameters of the lifting device assembly 4, and can identify the possible interference and collision between the obstacle and the machine by confirming that the distance is within the dangerous distance range, it can automatically and timely issue an instruction to lock the lifting drive system of the machine, so that the lifting drive system 2 of the machine can be automatically and timely locked to avoid the situation where the machine hits people, thereby effectively reducing casualties and property losses, and meeting users' higher safety configuration requirements for tractor operations.

[0055] It should be noted that the lifting drive system 2, the lifting device assembly 4, the machine and the image acquisition unit can have various structural forms. For example, the lifting drive system 2 can be a hydraulic drive system or an electric drive system; the machine can be designed according to the actual operation needs, and the structural form of the lifting device assembly 4 can be designed according to the specific type of the machine and pre-input into the image processing unit. Different structural forms of the lifting device assembly 4 correspond to different structural parameters, and the motion parameters of the lifting device assembly 4 can be set according to the actual operation needs or input into the image processing unit in real time by the operator. The structural parameters of the lifting device assembly 4 may include, for example, the length of the lifting rocker arm, the position of the rotation center point, etc. The motion parameters may include, for example, the rotation angle of the lifting rocker arm, etc. The motion parameters may be detected and acquired in real time by an angle sensor connected to the image processing unit in communication. The image acquisition unit may include several cameras or cameras, etc. Among them, the obstacles may include people or other objects, etc. The distance between the movement coverage area of ​​the machine and the obstacle may be a distance with a ratio of 1:1 to the real scene, or a distance reduced in proportion to the real scene, and the corresponding danger distance range may be matched and set according to the corresponding ratio. The distance between the movement coverage area of ​​the machine and the obstacle is obtained by calculation or recognition measurement in the image processing unit, that is, it can be obtained in the coordinate system established in the image processing unit according to the image information.

[0056] In some specific embodiments, the motion parameters may include, for example, the rotation angle of the lifting rocker arm. In this case, the anti-smashing safety system may also include an angle sensor that is communicatively connected to the image processing unit, and the angle sensor is used to detect the rotation angle of the lifting rocker arm of the lifting device assembly 4.

[0057] In some specific embodiments, the anti-smashing safety system may further include an electrical control system 3, which is respectively connected to the image processing unit and the lifting drive system 2 in communication. The electrical control system 3 may be configured as follows:

[0058] Obtaining instructions for locking and lifting the drive system 2 from the image processing unit;

[0059] Control the lifting drive system 2 to lock.

[0060] In this way, after the electrical control system 3 obtains the instruction of the image processing unit to lock the lifting drive system 2, it can switch the working position of the electronically controlled lifting multi-way valve 22 of the lifting drive system 2 from the lowering position to the middle locking position, thereby automatically and timely stopping the descent of the equipment to avoid the situation where the equipment hits people.

[0061] In some specific embodiments, the image acquisition unit may include a plurality of cameras arranged on the upper part of the cab of the tractor, and the combined field of view of the plurality of cameras covers the working range of the tractor. When the implement is mounted on the rear of the tractor body, the working range of the tractor at least includes the working range of the rear of the tractor; when the implement is mounted on the front of the tractor body, the working range of the tractor at least includes the working range of the front of the tractor. Alternatively, the tractor may be provided with a driving monitoring system, and the driving monitoring system is also provided with an image acquisition unit. In this case, the anti-smashing safety system and the driving monitoring system may share the image acquisition unit to reduce the manufacturing cost of the tractor and make the structure of the tractor more reasonable.

[0062] Optionally, the number of cameras may be at least two, and the two cameras are respectively installed on the left and right sides of the top rear side of the cab. Alternatively, the number of cameras may be six, of which four cameras are respectively installed at the four corners of the top outside the cab, and the other two cameras are respectively installed on the left and right sides of the cab, so as to obtain more comprehensive image information of the working environment of the tractor.

[0063] Optionally, the image processing unit can be integrated into the vehicle driving computer of the tractor, and can generate the position information of the tractor, the implement and the obstacle and process the environmental information. The image acquisition unit and the image processing unit can be connected via a data cable.

[0064] In some specific embodiments, Figure 2 and Figure 4 As shown, the lifting device assembly 4 may include a lifting rocker arm 41 and a suspension device 42, the suspension device 42 is used to mount the machine, and the lifting rocker arm 41 can drive the suspension device 42 to rise and fall. The lifting drive system 2 may include a variable pump 21, an electronically controlled lifting multi-way valve 22, a lifting cylinder 23, and an angle sensor 24. The variable pump 21 is connected to the gearbox through a power take-off device and is used to provide a power source for the hydraulic system. The electronically controlled lifting multi-way valve 22 is fixed to the top of the rear axle through a bracket and is used to control the lifting and lowering of the lifting cylinder. The lifting cylinder 23 is hinged to the lifting rocker arm 41 and the suspension device 42 through a pin shaft, and is used to drive the lifting rocker arm 41 to rotate. The angle sensor 24 is installed at the rotating shaft of the lifting rocker arm and is used to monitor the lifting position state of the suspension device 42 in real time. The image processing unit is connected to the angle sensor 24 in communication and can obtain the rotation angle of the lifting rocker arm detected by the angle sensor 24.

[0065] In some specific embodiments, the step of obtaining the distance between the movement coverage area of ​​the machine and the obstacle through the image information and the structural parameters and movement parameters of the lifting device assembly 4 may specifically include:

[0066] Establishing a coordinate system of the working range of the tractor based on the image information;

[0067] Extracting contour features of the tool, and obtaining a first spatial region of the tool in the coordinate system through the contour features of the tool;

[0068] Acquire a motion path of the first spatial region according to the structural parameters and motion parameters of the lifting device assembly 4, and acquire a motion coverage area of ​​the first spatial region through the motion path of the first spatial region and the first spatial region;

[0069] Extract the contour features of the obstacle, and obtain the second space area of ​​the obstacle in the coordinate system through the contour features of the obstacle;

[0070] The distance between the movement coverage area of ​​the machine and the obstacle is obtained through the positional relationship between the movement coverage area of ​​the machine and the second spatial area.

[0071] Among them, the image processing unit can use a large amount of image information of different machines and obstacles for recognition training in advance, improve the accuracy of the image processing unit in recognizing machine image information and obstacle image information, and accurately recognize and classify the image information. For example, the image information can be specifically divided into machine image information and person image information. The image processing unit can also correct and pre-process the graphic information obtained by the image acquisition unit to obtain more accurate image information.

[0072] When obtaining the distance between the motion coverage area of ​​the machine and the obstacle through the image information and the structural parameters and motion parameters of the lifting device assembly 4, the ratio of the actual size of the machine to the size of the machine in the image information can be calculated, and the first spatial area, the second spatial area and the motion coverage area of ​​the machine can be reduced according to the ratio and calibrated in the image information, so that the relative position relationship between the motion coverage area of ​​the machine and the obstacle can be obtained, and then the distance between the machine and the obstacle can be obtained in the coordinate system established according to the image information. Among them, the motion path of the first spatial area can be calculated and predicted according to the structural parameters and motion parameters of the lifting device assembly 4, and then the motion coverage area of ​​the first spatial area is obtained through the motion path of the first spatial area and the first spatial area. It should be noted that the specific methods of the operation steps such as establishing a coordinate system, image recognition and motion path calculation are well known to those skilled in the art, and do not belong to the core improvement part of this application, so they will not be repeated here.

[0073] In some specific embodiments, the step of obtaining the distance between the machine and the obstacle based on the positional relationship between the movement coverage area of ​​the machine and the second spatial area may specifically include:

[0074] Acquire a first boundary point coordinate set of a boundary of a motion coverage area of ​​the machine;

[0075] Obtain a second boundary point coordinate set of a boundary of a second spatial region;

[0076] The distance between the movement coverage area of ​​the machine and the obstacle is obtained according to the distance between the points in the first boundary point coordinate set and the points in the second boundary point coordinate set.

[0077] The points in the first boundary point coordinate set can be recorded as A1(X1, Y1, Z1), A2(X2, Y2, Z2), A3(X3, Y3, Z3), ...A n (X n ,Y n ,Z n ), the points of the second boundary point coordinate set can be recorded as B1(X1,Y1,Z1), B2(X2,Y2,Z2), B3(X3,Y3,Z3), ...B n (X n ,Y n ,Z n ). When the motion coverage area of ​​the machine and the second spatial area are independent of each other and there is no overlapping area, that is, there is no intersection between the first boundary point coordinate set and the second boundary point coordinate set, the minimum distance between the points in the first boundary point coordinate set and the points in the second boundary point coordinate set is greater than 0; conversely, when the motion coverage area of ​​the machine and the second spatial area have an overlapping area, that is, there is an intersection between the first boundary point coordinate set and the second boundary point coordinate set, at this time, the minimum distance between the points in the first boundary point coordinate set and the points in the second boundary point coordinate set is equal to 0. In this way, the positional relationship and distance between the motion coverage area of ​​the machine and the obstacle can be obtained by calculating the minimum distance between the points in the first boundary point coordinate set and the points in the second boundary point coordinate set.

[0078] In some specific implementations, the step of confirming that the distance between the movement coverage area of ​​the machine and the obstacle is within the dangerous distance range may specifically include:

[0079] Determining that a minimum distance between a point in the first boundary point coordinate set and a point in the second boundary point coordinate set is less than a first threshold;

[0080] It is determined that the distance between the movement coverage area of ​​the machine and the obstacle is within the dangerous distance range.

[0081] The first threshold value can be set according to actual safety requirements and the recognition accuracy of the image processing unit, for example, the first threshold value can be set to 30CM, 40CM or 50CM, etc. When it is determined that the distance between the movement coverage area of ​​the machine and the obstacle is within the dangerous distance range, it is considered that the machine will collide with a person or other obstacle when it falls.

[0082] In some specific embodiments, the image processing unit may be further configured as:

[0083] When the command to lock the lifting drive system 2 is issued, an alarm command is issued.

[0084] If it is determined that the minimum distance between the points in the first boundary point coordinate set and the points in the second boundary point coordinate set is less than the first threshold value, it can be determined that the distance between the movement coverage area of ​​the machine and the obstacle is in the dangerous distance range, so the image processing unit can issue an alarm instruction while issuing an instruction to lock the lifting drive system 2. After receiving the alarm instruction from the image processing unit, the electrical control system 3 can control the corresponding alarm device to perform a corresponding alarm action, such as prompting on the display of the electrical control system 3 that continuing to descend will cause harm to personnel, and / or issuing a sound alarm to remind the operator that the descending action of the machine has been automatically locked, and the locking state must be manually unlocked before continuing the descending operation. Among them, the sound alarm prompt can be issued through a speaker or sound.

[0085] In some specific embodiments, the image processing unit may be further configured as:

[0086] Confirm that the distance between the movement coverage area of ​​the machine and the obstacle is within the second safety distance range, and issue a risk warning instruction.

[0087] When the distance between the movement coverage area of ​​the implement and the obstacle is within the second safety distance range, it can be considered that the distance between the tractor and the mounted implement and the obstacle is too close, but there is no risk of collision, and the image processing unit only issues a risk warning instruction at this time. The risk warning instruction may, for example, indicate on the display of the electrical control system 3 that there is a risk of hitting someone if the tractor continues to descend, and / or may also issue a sound risk warning to the operator and others.

[0088] Specifically, the step of confirming that the distance between the movement coverage area of ​​the machine and the obstacle is within the second safety distance range may specifically include:

[0089] Determine that the minimum distance between a point in the first boundary point coordinate set and a point in the second boundary point coordinate set is greater than or equal to a first threshold and less than or equal to a second threshold;

[0090] It is determined that the distance between the movement coverage area of ​​the machine and the obstacle is within a second safety distance range.

[0091] The second threshold is greater than the first threshold, and the second threshold can be set according to actual safety requirements and the recognition accuracy of the image processing unit. For example, the second threshold can be set to 70, 80CM or 90CM, etc. When it is determined that the distance between the movement coverage area of ​​the machine and the obstacle is within the second safety distance range, it is considered that there may be a certain risk of collision with personnel or other obstacles when the machine falls.

[0092] In addition, when it is confirmed that the distance between the movement coverage area of ​​the machine and the obstacle is within the third safety distance range, the electrical control system 3 can control the lifting drive system 2 to operate according to the preset operation. When it is determined that the distance between the movement coverage area of ​​the machine and the obstacle is within the third safety distance range, it is considered that the machine will not collide with a person or other obstacles when falling.

[0093] Specifically, confirming that the distance between the movement coverage area of ​​the machine and the obstacle is within the third safety distance range may specifically include:

[0094] Determine that the minimum distance between a point in the first boundary point coordinate set and a point in the second boundary point coordinate set is greater than or equal to a second threshold;

[0095] It is determined that the distance between the movement coverage area of ​​the machine and the obstacle is within a third safety distance range.

[0096] The second aspect of the present application provides a tractor, which includes the above-mentioned anti-smashing safety system. Since the tractor includes the above-mentioned anti-smashing safety system, it also has all the technical effects brought by the anti-smashing safety system, so it will not be repeated. The anti-smashing safety system of the present application is highly compatible with tractor hosts of various horsepower segments and can be installed on tractor hosts of different horsepower segments.

[0097] It should be noted that the structural principles of components such as the lifting drive system 2, the variable pump 21, the electronically controlled lifting multi-way valve 22, the lifting cylinder 23, the angle sensor 24, the lifting device assembly 4, the lifting rocker arm 41 and the suspension device 42 are well known to technical personnel in this field and do not belong to the core improvement part of this application, so they will not be repeated here.

[0098] Accordingly, the third aspect of the present application provides an anti-smashing control method, which includes:

[0099] Acquire image information within the working range of the tractor;

[0100] Obtaining the distance between the movement coverage area of ​​the tractor's implement and the obstacle through the image information and the structural parameters and movement parameters of the tractor's lifting device assembly 4;

[0101] It is confirmed that the distance between the movement coverage area of ​​the implement and the obstacle is within the dangerous distance range, and the lifting drive system 2 for driving the lifting device assembly 4 of the tractor is locked.

[0102] In this way, the distance between the movement coverage area of ​​the tractor's implement and the obstacle is obtained based on the image information and the structural parameters and motion parameters of the tractor's lifting device assembly 4, and the possible interference and collision between the obstacle and the implement can be identified to automatically and timely control the lifting drive system 2 to lock, thereby avoiding the situation where the implement hits people and effectively reducing casualties and property losses.

[0103] Furthermore, the step of obtaining the distance between the movement coverage area of ​​the implement and the obstacle through the image information and the structural parameters and movement parameters of the lifting device assembly 4 of the tractor may specifically include:

[0104] Establishing a coordinate system of the working range of the tractor based on the image information;

[0105] Extracting contour features of the tool, and obtaining a first spatial region of the tool in the coordinate system through the contour features of the tool;

[0106] Acquire a motion path of the machine tool according to the structural parameters and motion parameters of the lifting device assembly 4, and acquire a motion coverage area of ​​the machine tool through the motion path of the machine tool and the first spatial area;

[0107] Extracting contour features of the obstacle, and acquiring a second spatial region of the obstacle in the coordinate system through the contour features of the obstacle;

[0108] The distance between the movement coverage area of ​​the machine and the obstacle is obtained through the positional relationship between the movement coverage area of ​​the machine and the second spatial area.

[0109] Furthermore, the step of obtaining the distance between the movement coverage area of ​​the machine and the obstacle according to the positional relationship between the movement coverage area of ​​the machine and the second spatial area may specifically include:

[0110] Acquire a first boundary point coordinate set of a boundary of a motion coverage area of ​​the machine;

[0111] Obtain a second boundary point coordinate set of a boundary of a second spatial region;

[0112] The distance between the movement coverage area of ​​the machine and the obstacle is obtained according to the distance between the points in the first boundary point coordinate set and the points in the second boundary point coordinate set.

[0113] Optionally, the step of confirming that the distance between the movement coverage area of ​​the implement and the obstacle is within the dangerous distance range may specifically include:

[0114] Determining that a minimum distance between a point in the first boundary point coordinate set and a point in the second boundary point coordinate set is less than a first threshold;

[0115] It is determined that the distance between the movement coverage area of ​​the machine and the obstacle is within the dangerous distance range.

[0116] Optionally, the anti-smashing control method may further include:

[0117] When the command to lock the lifting drive system 2 is issued, an alarm command is issued.

[0118] Optionally, the anti-smashing control method may further include:

[0119] Confirm that the distance between the movement coverage area of ​​the machine and the obstacle is within the second safety distance range, and issue a risk warning instruction.

[0120] Specifically, the step of confirming that the distance between the movement coverage area of ​​the machine and the obstacle is within the second safety distance range may specifically include:

[0121] Determine that the minimum distance between a point in the first boundary point coordinate set and a point in the second boundary point coordinate set is greater than or equal to a first threshold and less than or equal to a second threshold;

[0122] It is determined that the distance between the movement coverage area of ​​the machine and the obstacle is within a second safety distance range.

[0123] In summary, the present application provides an anti-smashing safety system, an anti-smashing control method and a tractor. The anti-smashing safety system can determine whether there is a risk of collision with the human body during the descent of the mounted implement by setting an image acquisition unit and an image processing unit. When the tractor and the mounted implement are too close to other human bodies but there is no risk of collision, the image processing unit only issues a risk warning instruction; when it is calculated that there is a risk of collision interference, the image processing unit will automatically lock the operation of the electrical control system to control the descent of the implement. If it is necessary to continue to descend, the locked state must be manually unlocked to achieve the purpose of protecting the human body from being smashed and meet the user's higher safety configuration requirements.

[0124] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0125] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0126] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0127] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A safety system to prevent injury from falling, characterized in that: Used in a tractor, the tractor comprises a lifting device assembly (4) and a lifting drive system (2), the lifting device assembly (4) is used to mount a machine tool, the lifting drive system (2) is used to drive the lifting device assembly (4) to move so as to drive the machine tool to rise and fall, the anti-smashing safety system (1) comprises an image acquisition unit and an image processing unit, and the image processing unit is configured as follows: Acquiring image information within the working range of the tractor in real time by the image acquisition unit; Obtaining the distance between the movement coverage area of ​​the machine and the obstacle through the image information and the structural parameters and movement parameters of the lifting device assembly (4); Confirming that the distance between the movement coverage area of ​​the machine and the obstacle is within a dangerous distance range, a command to lock the lifting drive system (2) is issued.

2. The anti-smashing safety system according to claim 1, characterized in that: The image acquisition unit includes a plurality of cameras arranged on the upper part of the cab of the tractor, and the combined field of view of the plurality of cameras covers the working range of the tractor.

3. The anti-smashing safety system according to claim 1, characterized in that: The step of obtaining the distance between the movement coverage area of ​​the machine and the obstacle through the image information and the structural parameters and movement parameters of the lifting device assembly (4) comprises: Establishing a coordinate system of the working range of the tractor according to the image information; Extracting contour features of the tool, and acquiring a first spatial region of the tool in the coordinate system through the contour features of the tool; Acquire the motion path of the first spatial area according to the structural parameters and motion parameters of the lifting device assembly (4), and acquire the motion coverage area of ​​the machine through the motion path of the first spatial area and the first spatial area; Extracting contour features of the obstacle, and acquiring a second spatial region of the obstacle in the coordinate system according to the contour features of the obstacle; The distance between the movement coverage area of ​​the machine and the obstacle is obtained through the positional relationship between the movement coverage area of ​​the machine and the second spatial area.

4. The anti-smashing safety system according to claim 3, characterized in that: The obtaining the distance between the machine and the obstacle through the positional relationship between the movement coverage area of ​​the machine and the second space area comprises: Acquire a first boundary point coordinate set of a boundary of a motion coverage area of ​​the machine; Acquire a second boundary point coordinate set of a boundary of the second spatial region; The distance between the movement coverage area of ​​the machine and the obstacle is obtained according to the distance between the points in the first boundary point coordinate set and the points in the second boundary point coordinate set.

5. The anti-smashing safety system according to claim 4, characterized in that: The step of confirming that the distance between the movement coverage area of ​​the machine and the obstacle is within a dangerous distance range includes: Determining that a minimum distance between a point in the first boundary point coordinate set and a point in the second boundary point coordinate set is less than a first threshold; It is determined that the distance between the movement coverage area of ​​the machine and the obstacle is within a dangerous distance range.

6. The anti-smashing safety system according to claim 4, characterized in that: The image processing unit is further configured to: Confirm that the distance between the movement coverage area of ​​the machine and the obstacle is within a second safety distance range, and issue a risk warning instruction.

7. The anti-smashing safety system according to claim 6, characterized in that: The step of confirming that the distance between the movement coverage area of ​​the machine and the obstacle is within a second safety distance range comprises: Determine that the minimum distance between a point in the first boundary point coordinate set and a point in the second boundary point coordinate set is greater than or equal to a first threshold and less than or equal to a second threshold; It is determined that the distance between the movement coverage area of ​​the machine and the obstacle is within a second safety distance range.

8. The anti-smashing safety system according to claim 1, characterized in that: The image processing unit is further configured to: When a command to lock the lifting drive system (2) is issued, an alarm command is issued.

9. A tractor, characterized in that: The invention comprises an anti-smashing safety system according to any one of claims 1 to 8.

10. A method for preventing crushing injuries, characterized in that: For a tractor, the anti-smashing control method comprises: Acquire image information within the working range of the tractor; Obtaining the distance between the movement coverage area of ​​the implement of the tractor and the obstacle through the image information and the structural parameters and movement parameters of the lifting device assembly (4) of the tractor; It is confirmed that the distance between the movement coverage area of ​​the implement and the obstacle is within the dangerous distance range, and the lifting drive system (2) used to drive the lifting device assembly (4) of the tractor is controlled to be locked.

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