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

Abstract

The invention relates to the field of tractors, and discloses an anti-collision safety system, an anti-collision control method and a tractor, the anti-collision safety system comprises an image acquisition unit and an image processing unit, and 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; according to the image information and the driving parameters of the tractor, the distance between the movement coverage area of a machine tool or a trailer mounted on the tractor and the obstacle is obtained; and determining that the distance between the movement coverage area of the machine tool or the trailer mounted on the tractor and the obstacle is within the dangerous distance range, and sending an instruction for controlling the running of the tractor. According to the anti-collision safety system, the anti-collision control method and the tractor, the operation safety can be effectively improved.

Description

Technical Field

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

[0002] As the degree of agricultural mechanization continues to deepen, the purpose and use scenarios of tractors are also constantly expanding, and users' demand for tractor safety configuration is also continuously upgrading. At present, there are two typical working conditions of tractors: the tractor is mounted with machinery and works alone in the field or carries machinery for transfer and transportation; the tractor is used as a traction device to mount a trailer and work together with a harvester. When the tractor is mounted with agricultural machinery for transfer and transportation or mounted with a trailer for joint operation, if the driver is not careful, it is easy for the machinery and trailer to collide with obstacles or other working equipment, which may affect the service life of the equipment at the least, or directly cause equipment damage, delay the progress of the operation, and cause property losses. Summary of the invention

[0003] The purpose of this application is to provide an anti-collision safety system, an anti-collision control method and a tractor, which can effectively improve operation safety.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides an anti-collision safety system for a tractor, wherein the tractor can be mounted with implements or trailers, and the anti-collision safety system includes an image acquisition unit and an image processing unit, wherein the image processing unit is configured as follows:

[0005] Acquiring image information within the working range of the tractor in real time by the image acquisition unit;

[0006] Obtaining the distance between the movement coverage area of ​​the implement or trailer mounted on the tractor and the obstacle through the image information and the driving parameters of the tractor;

[0007] It is confirmed that the distance between the movement coverage area of ​​the implement or trailer mounted on the tractor and the obstacle is within the dangerous distance range, and an instruction to control the travel of the tractor is issued.

[0008] In some specific embodiments, the instruction for controlling the travel of the tractor includes at least one of a braking and deceleration instruction and a steering instruction, wherein the braking and deceleration instruction is used to control the tractor to decelerate and brake and stop, and the steering instruction is used to control the steering of the tractor;

[0009] And / or, the driving parameters include driving speed and steering angle information, and the anti-collision safety system also includes a wheel speed sensor and a steering angle sensor respectively connected to the image processing unit for communication, the wheel speed sensor is used to obtain the driving speed of the tractor, and the steering angle sensor is used to obtain the steering angle information of the tractor.

[0010] In some specific embodiments, the anti-collision safety system may further include:

[0011] A brake pump, used for driving the brake of the tractor to perform a braking action;

[0012] A steering assembly, used for driving the tractor to steer;

[0013] The electrical control system is respectively connected to the brake pump and the steering assembly for communication, and is configured to control the brake pump and / or the steering assembly to perform corresponding actions according to the instruction for controlling the travel of the tractor issued by the image processing unit.

[0014] In some specific embodiments, the image acquisition unit may include 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.

[0015] In some specific implementations, obtaining the distance between the movement coverage area of ​​the implement or trailer mounted on the tractor and the obstacle through the image information and the driving parameters of the tractor includes:

[0016] Establishing a coordinate system of the working range of the tractor according to the image information;

[0017] Extracting contour features of the implement or the trailer, and acquiring a first spatial region of the implement or the trailer in the coordinate system through the contour features of the implement or the trailer;

[0018] Acquire a predicted motion path of the first spatial area according to the driving parameters of the tractor, and acquire a motion coverage area of ​​the implement or the trailer through the predicted motion path of the first spatial area and the first spatial area;

[0019] 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;

[0020] The distance between the movement coverage area of ​​the machine or the trailer and the obstacle is acquired through the positional relationship between the movement coverage area of ​​the machine or the trailer and the second spatial area.

[0021] In some specific embodiments, obtaining the distance between the movement coverage area of ​​the machine or the trailer and the obstacle through the positional relationship between the movement coverage area of ​​the machine or the trailer and the second spatial area includes:

[0022] Acquire a first boundary point coordinate set of a boundary of a movement coverage area of ​​the implement or the trailer;

[0023] Acquire a second boundary point coordinate set of a boundary of the second spatial region;

[0024] The distance between the movement coverage area of ​​the implement or the trailer 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.

[0025] In some specific embodiments, confirming that the distance between the movement coverage area of ​​the implement or trailer mounted on the tractor and the obstacle is within the dangerous distance range includes:

[0026] 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;

[0027] It is determined that the distance between the movement coverage area of ​​the implement or the trailer and the obstacle is within a dangerous distance range.

[0028] In some specific embodiments, the anti-collision safety system further includes a display, and the image processing unit is further configured to:

[0029] Confirm that the distance between the movement coverage area of ​​the machine or the trailer and the obstacle is within a second safety distance range, and issue a risk warning instruction to display an alarm message on the display.

[0030] In some specific embodiments, confirming that the distance between the movement coverage area of ​​the implement or the trailer and the obstacle is within a second safety distance range includes:

[0031] 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;

[0032] It is determined that the distance between the movement coverage area of ​​the implement or the trailer and the obstacle is within a second safety distance range.

[0033] In some specific implementations, the image processing unit is further configured to:

[0034] When a command to control the travel of the tractor is issued, an alarm command is issued.

[0035] A second aspect of the present application provides a tractor comprising the above-mentioned anti-collision safety system.

[0036] A third aspect of the present application provides an anti-collision control method for a tractor, the anti-collision control method comprising:

[0037] Acquire image information within the working range of the tractor;

[0038] Obtaining the distance between the movement coverage area of ​​the implement or trailer of the tractor and the obstacle through the image information and the driving parameters of the tractor;

[0039] It is confirmed that the distance between the movement coverage area of ​​the implement or the trailer and the obstacle is within a dangerous distance range, and the tractor is controlled to brake, decelerate and / or turn.

[0040] Through the above technical scheme, the anti-collision 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 collisions between obstacles and implements or trailers based on the image information and the driving parameters of the tractor, and issue instructions to control the driving of the tractor, so that the tractor can drive according to the active avoidance path, thereby effectively assisting the driver to avoid collisions between the implement or trailer and other objects, reducing the driver's driving pressure, and effectively reducing the direct and indirect economic losses caused by collisions during the operation of the tractor, thereby ensuring the safety of the operation.

[0041] 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

[0042] 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:

[0043] Figure 1 A schematic structural diagram of a tractor according to a specific embodiment of the present application is shown;

[0044] Figure 2 for Figure 1 A schematic diagram of the structure of the steering assembly;

[0045] Figure 3 for Figure 1 A schematic diagram of the structure of the brake assembly;

[0046] Figure 4 A flowchart of an anti-collision control method according to a specific implementation of the present application is shown.

[0047] Description of Reference Numerals

[0048] 1 Anti-collision safety system 2 Steering assembly

[0049] 21 Electric steering wheel 22 Steering column

[0050] 23 Hydraulic steering gear 24 Steering wheel angle sensor

[0051] 25 wheel speed sensor 26 steering angle sensor

[0052] 27 Steering cylinder 28 Front drive axle

[0053] 3 Brake assembly 31 brake pump

[0054] 32 Brake 4 Electrical control system DETAILED DESCRIPTION

[0055] 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.

[0056] In order to meet users' higher safety configuration requirements and comfortable driving configuration requirements for tractor operations, the first aspect of the present application provides a new type of anti-collision safety system for a tractor.

[0057] like Figure 1 and Figure 4 As shown, an anti-collision safety system of the present application is used for a tractor, and the tractor can mount an implement or a trailer. The anti-collision safety system 1 includes an image acquisition unit and an image processing unit, and the image processing unit is configured as follows:

[0058] Acquire image information within the working range of the tractor in real time through an image acquisition unit;

[0059] The distance between the movement coverage area of ​​the implement or trailer mounted on the tractor and the obstacle is obtained through image information and the driving parameters of the tractor;

[0060] Confirm that the distance between the movement coverage area of ​​the implement or trailer mounted on the tractor and the obstacle is within the dangerous distance range, and issue a command to control the movement of the tractor.

[0061] It can be seen that since the image processing unit can obtain the distance between the movement coverage area of ​​the implement or trailer and the obstacle through image information and the driving parameters of the tractor, and can identify the possible interference and collision between the obstacle and the implement or trailer by confirming that the distance is within the dangerous distance range, it can automatically and timely issue corresponding instructions to control the tractor to perform emergency avoidance driving, so that the tractor can drive according to the active avoidance path under the instruction, and automatically and timely make corresponding avoidance driving actions to avoid the collision between the implement or trailer and other objects, thereby effectively reducing casualties and property losses, and meeting users' higher safety configuration requirements for tractor operations.

[0062] It should be noted that the structural forms of the tractor, implement, trailer and image acquisition unit can be varied. For example, the implement and trailer can be designed according to the actual operation needs, and the structural form of the tractor can be designed according to the specific type of the implement. Different structural forms of the tractor correspond to different driving parameters, and the driving parameters of the tractor can be obtained through corresponding sensors. The sensor is connected to the image processing unit for communication and inputs the detected driving parameters into the image processing unit in real time. The image acquisition unit may include a plurality of cameras or cameras. Among them, the obstacle may include a combined operation machine, a person or other objects. The distance between the movement coverage area of ​​the implement or trailer and the obstacle can 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 can be matched and set according to the corresponding ratio. The distance between the movement coverage area of ​​the implement or trailer 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.

[0063] Optionally, the instruction for controlling the travel of the tractor includes at least one of a braking and deceleration instruction and a steering instruction, that is, the instruction for controlling the travel of the tractor may include only a braking and deceleration instruction, may include only a steering instruction, or may include both a braking and deceleration instruction and a steering instruction. The braking and deceleration instruction is used to control the tractor to decelerate, brake and stop, and the steering instruction is used to control the tractor to steer.

[0064] Optionally, the driving parameters include driving speed and steering angle information, and the anti-collision safety system also includes a wheel speed sensor 25 and a steering angle sensor 26 respectively connected to the image processing unit for communication, the wheel speed sensor 25 is used to obtain the driving speed of the tractor, and the steering angle sensor 26 is used to obtain the steering angle information of the tractor.

[0065] Optionally, since the mounting structure between the tractor and the implement or trailer can be varied, when the mounting structure between the tractor and the implement or trailer is a fixed mounting structure, the distance between the movement coverage area of ​​the implement or trailer and the obstacle can be obtained through image information and the driving parameters of the tractor. When the mounting structure between the tractor and the implement or trailer is a movable mounting structure, the distance between the movement coverage area of ​​the implement or trailer and the obstacle can be obtained through image information, the driving parameters of the tractor and the structural parameters of the movable mounting structure. Among them, the structural parameters of the movable mounting structure can be set according to the actual mounting structure and pre-input into the image processing unit. For example, when the tractor is provided with a mounting part that can be rotatably mounted with the implement or trailer, the structural parameters may include the maximum rotation angle between the implement or trailer and the mounting part, etc. In this way, a more accurate movement coverage area of ​​the implement or trailer can be obtained, and the safety and reliability are higher.

[0066] The second aspect of the present application provides a tractor, which includes the above-mentioned anti-collision safety system 1. Since the tractor includes the above-mentioned anti-collision safety system, it also has all the technical effects brought by the anti-collision safety system, so it will not be repeated. The anti-collision 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.

[0067] In some specific embodiments, Figure 2 As shown, the steering assembly 2 may include an electric steering wheel 21, a steering column 22, a hydraulic steering gear 23, a steering wheel angle sensor 24, a steering cylinder 27 and a front drive axle 28. The electric steering wheel 21 is mounted on the steering column 22 and can automatically rotate to a specified angle according to the instructions issued by the driving computer; the steering column 22 is mounted on the hydraulic steering gear 23, which is used to transmit the action of the electric steering wheel 21 to the hydraulic steering gear 23. The hydraulic steering gear 23 is fixed to the cab by bolts, and the steering wheel angle sensor 24 is mounted on the steering column 22, which is used to detect the steering angle of the electric steering wheel 21 in real time. The wheel speed sensor 25 is respectively mounted on the drive shaft of the front drive axle 28 and the drive shaft of the rear axle of the tractor, which is used to detect the rotation speed of the four tires of the tractor. The steering angle sensor 26 is mounted on the upper part of the steering knuckle of the front drive axle 28, which is used to detect the actual steering angle of the tractor; the steering cylinder 27 is mounted on the front drive axle 28, and is connected to the steering knuckle in the front drive axle 28 through the steering knuckle arm, which is used to drive the steering knuckle to rotate and then drive the front wheel to make a steering action.

[0068] Alternatively, if Figure 3As shown, the anti-collision safety system 1 may also include a brake assembly 3, a steering assembly 2 and an electrical control system 4. The steering assembly 2 is used to drive the tractor to steer, and the brake assembly 3 includes a brake pump 31 and a brake 32, etc. The brake pump 31 is a motor-assisted type, and the brake pump 31 can be installed in the cab. The brake pump 31 is used to drive the brake 32 of the tractor to perform a braking and deceleration action according to the control instruction, or to provide assistance when the brake pedal is manually operated. The electrical control system 4 is respectively connected to the brake pump and the steering assembly 2 for communication, and the electrical control system 4 can execute the instructions issued by the image processing unit to enable the tractor to perform corresponding avoidance actions in the event of a possible collision. The electrical control system 4 can be configured to control the brake pump 31 and / or the steering assembly 2 to perform corresponding actions according to the instructions issued by the image processing unit to control the driving of the tractor. That is, the electrical control system 4 can control the brake pump 31 to perform corresponding actions according to the braking and deceleration instructions issued by the image processing unit, and the electrical control system 4 can control the steering assembly 2 to perform corresponding actions according to the steering instructions issued by the image processing unit.

[0069] 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, the combined field of view of the plurality of cameras covers the working range of the tractor, and the implement or trailer mounted on the tractor is within the working range of the tractor. When the implement or trailer 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.

[0070] 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.

[0071] 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.

[0072] In some specific embodiments, the step of obtaining the distance between the movement coverage area of ​​the implement or trailer mounted on the tractor and the obstacle through the image information and the driving parameters of the tractor includes:

[0073] Establishing a coordinate system of the working range of the tractor based on the image information;

[0074] Extracting contour features of the implement or trailer, and obtaining a first spatial region of the implement or trailer in the coordinate system through the contour features of the implement or trailer;

[0075] Acquire a predicted motion path of the first spatial region according to the driving parameters of the tractor, and acquire a motion coverage area of ​​the implement or trailer through the predicted motion path of the first spatial region and the first spatial region;

[0076] 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;

[0077] The distance between the movement coverage area of ​​the implement or trailer and the obstacle is obtained through the positional relationship between the movement coverage area of ​​the implement or trailer and the second spatial area.

[0078] Among them, the image processing unit can use a large amount of image information of different machines, trailers 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, trailer image information, combined operation 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.

[0079] When obtaining the distance between the movement coverage area of ​​the implement and the obstacle through the image information and the driving parameters of the tractor and the structural parameters of the active mounting structure, the ratio of the actual size of the implement or trailer to the size of the implement or trailer in the image information can be calculated, and the first spatial area, the second spatial area and the movement coverage area of ​​the implement or trailer can be reduced according to the ratio and marked in the image information, so that the relative position relationship between the movement coverage area of ​​the implement or trailer and the obstacle can be obtained, and then the distance between the implement and the obstacle can be obtained in the coordinate system established according to the image information, and the distance between the trailer and the obstacle can be obtained. Among them, the predicted movement path of the first spatial area can be calculated and predicted based on the real-time detection of the driving parameters of the tractor and the structural parameters of the active mounting structure, and then the movement coverage area of ​​the first spatial area is obtained through the predicted movement 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 predicted movement 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 are not repeated here.

[0080] In some specific embodiments, the step of obtaining the distance between the movement coverage area of ​​the implement or trailer and the obstacle based on the positional relationship between the movement coverage area of ​​the implement or trailer and the second spatial area may specifically include:

[0081] Obtain a first boundary point coordinate set of a boundary of a movement coverage area of ​​the implement or trailer;

[0082] Obtain a second boundary point coordinate set of a boundary of a second spatial region;

[0083] The distance between the movement coverage area of ​​the implement or trailer 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.

[0084] 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 movement coverage area of ​​the machine or trailer is independent of the second spatial area 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 movement coverage area of ​​the machine or trailer has an overlapping area with the second spatial 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 movement 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.

[0085] In some specific embodiments, the step of confirming that the distance between the movement coverage area of ​​the implement or trailer mounted on the tractor and the obstacle is within the dangerous distance range may specifically include:

[0086] 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;

[0087] It is determined that the distance between the movement coverage area of ​​the implement or trailer and the obstacle is within the dangerous distance range.

[0088] The first threshold value may be set according to actual safety requirements and the recognition accuracy of the image processing unit, for example, the first threshold value may be set to 30CM, 40CM or 50CM, etc. When it is determined that the distance between the movement coverage area of ​​the implement or trailer and the obstacle is within the dangerous distance range, it is considered that the implement or trailer will collide with a person or other obstacle.

[0089] In some specific embodiments, the image processing unit may be further configured as:

[0090] When a command to control the travel of the tractor is issued, an alarm command is issued.

[0091] 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 or trailer and the obstacle is in the dangerous distance range, so the image processing unit can issue an alarm instruction while issuing an emergency avoidance driving instruction. After receiving the alarm instruction from the image processing unit, the electrical control system 4 can control the corresponding alarm device to perform a corresponding alarm action, such as prompting an alarm message on the display of the electrical control system 4 that the machine or trailer will have a collision accident, and / or it can also issue a sound alarm to remind the operator that the tractor's brakes have been locked or the tractor automatically controls the steering and driving, and the locked state must be manually unlocked before the driver can continue to fully control the driving. Among them, the sound alarm prompt can be issued through a speaker or sound.

[0092] In addition, after determining that the distance between the moving coverage area of ​​the implement or trailer and the obstacle is within the dangerous distance range, the anti-collision safety system will actively intervene in the electrical control system 4, and can make active braking and active steering actions according to the calculated active avoidance path and environmental changes. The specific process is: according to the calculated active avoidance path data, the angle and driving speed of the tractor required to turn in the current state are analyzed, and the data is transmitted to the electrical control system 4. The electrical control system 4 corrects the driving state of the tractor by controlling the rotation angle of the automatic electric steering wheel 21 and the braking force of the brake pump 31 to avoid collision interference.

[0093] In some specific embodiments, the anti-collision safety system may further include a display, and the image processing unit may be further configured to:

[0094] Confirm that the distance between the movement coverage area of ​​the machine or trailer and the obstacle is within the second safety distance range, and issue a risk warning instruction to display an alarm message on the display.

[0095] When the distance between the movement coverage area of ​​the implement or trailer and the obstacle is within the second safety distance range, it can be considered that the distance between the implement or trailer and the obstacle is too close, but there is no risk of collision, and the image processing unit only makes a risk warning instruction at this time. The risk warning instruction may, for example, prompt an alarm message on the display of the electrical control system 4 that there is a risk of hitting people if the implement or trailer continues to descend, and / or may also issue a sound risk warning to the operator and others.

[0096] Specifically, the step of confirming that the distance between the movement coverage area of ​​the implement or the trailer and the obstacle is within the second safety distance range may specifically include:

[0097] 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;

[0098] It is determined that the distance between the movement coverage area of ​​the implement or trailer and the obstacle is within a second safety distance range.

[0099] 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 or trailer and the obstacle is within the second safety distance range, it is considered that the machine or trailer may have a certain risk of collision with a person or other obstacles.

[0100] In addition, when it is confirmed that the distance between the movement coverage area of ​​the implement or trailer and the obstacle is within the third safety distance range, the driver can fully control the tractor to drive normally. When it is determined that the distance between the movement coverage area of ​​the implement or trailer and the obstacle is within the third safety distance range, it is considered that the implement or trailer will not collide with a person or other obstacles.

[0101] Specifically, confirming that the distance between the movement coverage area of ​​the implement or trailer and the obstacle is within the third safety distance range may specifically include:

[0102] 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;

[0103] It is determined that the distance between the movement coverage area of ​​the implement or trailer and the obstacle is within a third safety distance range.

[0104] It should be noted that the structural principles of components such as the steering assembly 2, the electric steering wheel 21, the steering column 22, the hydraulic steering gear 23, the steering wheel angle sensor 24, the wheel speed sensor 25, the steering angle sensor 26, the steering cylinder 27, the front drive axle 28, the brake assembly 3, the brake pump 31, the brake 32 and the electrical control system 4 are well known to those skilled in the art and do not belong to the core improvement part of the present application, so they will not be repeated here.

[0105] Accordingly, the third aspect of the present application provides an anti-collision control method, which is used for a tractor. Figure 4 As shown, the anti-collision control method includes:

[0106] Acquire image information within the working range of the tractor;

[0107] Obtaining the distance between the movement coverage area of ​​the tractor's implement or trailer and the obstacle through the image information and the tractor's driving parameters;

[0108] Confirm that the distance between the movement coverage area of ​​the implement or trailer and the obstacle is within the dangerous distance range, and control the tractor to brake, slow down and / or turn.

[0109] In this way, the distance between the movement coverage area of ​​the implement or trailer and the obstacle is obtained based on the image information and the driving parameters of the tractor, and the possible interference and collision between the obstacle and the implement or trailer can be identified to automatically and timely control the tractor's braking, deceleration or steering, thereby avoiding the situation where the implement hits people and effectively reducing casualties and property losses.

[0110] Furthermore, the step of obtaining the distance between the movement coverage area of ​​the implement or trailer mounted on the tractor and the obstacle through the image information and the driving parameters of the tractor includes:

[0111] Establishing a coordinate system of the working range of the tractor based on the image information;

[0112] Extracting contour features of the implement or trailer, and obtaining a first spatial region of the implement or trailer in the coordinate system through the contour features of the implement or trailer;

[0113] Acquire a predicted motion path of the first spatial region according to the driving parameters of the tractor, and acquire a motion coverage area of ​​the implement or trailer through the predicted motion path of the first spatial region and the first spatial region;

[0114] 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;

[0115] The distance between the movement coverage area of ​​the implement or trailer and the obstacle is obtained through the positional relationship between the movement coverage area of ​​the implement or trailer and the second spatial area.

[0116] Furthermore, the step of obtaining the distance between the movement coverage area of ​​the implement or trailer and the obstacle according to the positional relationship between the movement coverage area of ​​the implement or trailer and the second spatial area may specifically include:

[0117] Obtain a first boundary point coordinate set of a boundary of a movement coverage area of ​​the implement or trailer;

[0118] Obtain a second boundary point coordinate set of a boundary of a second spatial region;

[0119] The distance between the movement coverage area of ​​the implement or trailer 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.

[0120] Optionally, the step of confirming that the distance between the movement coverage area of ​​the implement or trailer mounted on the tractor and the obstacle is within the dangerous distance range may specifically include:

[0121] 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;

[0122] It is determined that the distance between the movement coverage area of ​​the implement or trailer and the obstacle is within the dangerous distance range.

[0123] Optionally, the anti-collision control method may further include:

[0124] Confirm that the distance between the movement coverage area of ​​the machine or trailer and the obstacle is within the second safety distance range, and issue a risk warning instruction to display an alarm message on the display.

[0125] Specifically, the step of confirming that the distance between the movement coverage area of ​​the implement or the trailer and the obstacle is within the second safety distance range may specifically include:

[0126] 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;

[0127] It is determined that the distance between the movement coverage area of ​​the implement or trailer and the obstacle is within a second safety distance range.

[0128] In summary, by being equipped with an anti-collision safety system, the anti-collision control method and tractor of the present application can meet the user's higher safety configuration requirements and comfort configuration requirements, can greatly reduce the driver's driving pressure, and can also greatly reduce the direct economic losses and indirect economic losses caused by collisions during tractor operation. In addition, the anti-collision safety system of the present application adopts a visual solution to obtain environmental information, has high recognition accuracy and reliable stability, and calculates whether there is interference and the processing solution after interference, and transmits the parsed data to the electrical control system, which controls the steering assembly and the brake assembly to adjust the driving state of the tractor, thereby avoiding collision interference.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] 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. An anti-collision safety system, characterized in that: For a tractor capable of mounting an implement or a trailer, the anti-collision safety system (1) comprises an image acquisition unit and an image processing unit, wherein the image processing unit is configured to: 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 implement or trailer mounted on the tractor and the obstacle through the image information and the driving parameters of the tractor; It is confirmed that the distance between the movement coverage area of ​​the implement or trailer mounted on the tractor and the obstacle is within the dangerous distance range, and an instruction to control the travel of the tractor is issued.

2. The anti-collision safety system according to claim 1, characterized in that: The instruction for controlling the travel of the tractor comprises at least one of a braking and deceleration instruction and a steering instruction, wherein the braking and deceleration instruction is used to control the tractor to decelerate and brake and stop, and the steering instruction is used to control the tractor to turn; And / or, the driving parameters include driving speed and steering angle information, the anti-collision safety system further includes a wheel speed sensor (25) and a steering angle sensor (26) respectively connected to the image processing unit for communication, the wheel speed sensor (25) is used to obtain the driving speed of the tractor, and the steering angle sensor (26) is used to obtain the steering angle information of the tractor.

3. The anti-collision safety system according to claim 1, characterized in that: The anti-collision safety system (1) further comprises: A brake pump (31) for driving a brake (32) of the tractor to perform a braking action; A steering assembly (2), used for driving the tractor to steer; The electrical control system (4) is respectively connected to the brake pump and the steering assembly (2) for communication, and is configured to control the brake pump (31) and / or the steering assembly (2) to perform corresponding actions according to the instruction for controlling the travel of the tractor issued by the image processing unit.

4. The anti-collision 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.

5. The anti-collision safety system according to claim 1, characterized in that: The obtaining of the distance between the movement coverage area of ​​the implement or trailer mounted on the tractor and the obstacle by using the image information and the driving parameters of the tractor includes: Establishing a coordinate system of the working range of the tractor according to the image information; Extracting contour features of the implement or the trailer, and acquiring a first spatial region of the implement or the trailer in the coordinate system through the contour features of the implement or the trailer; Acquire a predicted motion path of the first spatial area according to the driving parameters of the tractor, and acquire a motion coverage area of ​​the implement or the trailer through the predicted 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 or the trailer and the obstacle is acquired through the positional relationship between the movement coverage area of ​​the machine or the trailer and the second spatial area.

6. The anti-collision safety system according to claim 5, characterized in that: The obtaining of the distance between the movement coverage area of ​​the implement or the trailer and the obstacle through the positional relationship between the movement coverage area of ​​the implement or the trailer and the second spatial area comprises: Acquire a first boundary point coordinate set of a boundary of a movement coverage area of ​​the implement or the trailer; Acquire a second boundary point coordinate set of a boundary of the second spatial region; The distance between the movement coverage area of ​​the implement or the trailer 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.

7. The anti-collision safety system according to claim 6, characterized in that: The step of confirming that the distance between the movement coverage area of ​​the implement or trailer mounted on the tractor and the obstacle is within the 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 implement or the trailer and the obstacle is within a dangerous distance range.

8. The anti-collision safety system according to claim 6, characterized in that: The anti-collision safety system further includes a display, and the image processing unit is further configured to: Confirm that the distance between the movement coverage area of ​​the machine or the trailer and the obstacle is within a second safety distance range, and issue a risk warning instruction to display an alarm message on the display.

9. The anti-collision safety system according to claim 8, characterized in that: The step of confirming that the distance between the movement coverage area of ​​the implement or the trailer 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 implement or the trailer and the obstacle is within a second safety distance range.

10. The anti-collision safety system according to claim 1, characterized in that: The image processing unit is further configured to: When a command to control the travel of the tractor is issued, an alarm command is issued.

11. A tractor, characterized in that: The invention comprises an anti-collision safety system (1) according to any one of claims 1 to 10.

12. An anti-collision control method, characterized in that: For a tractor, the anti-collision control method comprises: Acquire image information within the working range of the tractor; Acquire the distance between the movement coverage area of ​​the implement or trailer of the tractor and the obstacle through the image information and the driving parameters of the tractor; It is confirmed that the distance between the movement coverage area of ​​the implement or the trailer and the obstacle is within a dangerous distance range, and the tractor is controlled to brake, decelerate and / or turn.

Images