Unmanned tractor emergency danger avoiding system

Abstract

An urgent danger avoiding system of an unmanned tractor relates to the technical field of agricultural machinery danger avoiding and comprises two lifting frames, the two lifting frames are respectively mounted on two sides of a head of the unmanned tractor, danger avoiding devices are arranged on the lifting frames, and the danger avoiding devices are arranged on extension lines in the running direction of front wheels of the unmanned tractor. After the trigger end of the danger avoiding device falls into a pit hole in the driving direction of the unmanned tractor, the danger avoiding device transmits a signal to the control end of the unmanned tractor, and the unmanned tractor stops advancing; the device is reasonable and practical in structure and easy to operate, the balance weight of the head of the unmanned tractor can be conveniently increased, the interior of a ground collapse cave covered by plants in a criss-cross mode can be conveniently explored, the situation that wheels of the unmanned tractor fall into the collapse cave and cannot work normally is prevented, and the safety of the unmanned tractor during working is improved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery risk avoidance, in particular to an emergency risk avoidance system for an unmanned tractor. Background Art

[0002] As is known, when an unmanned wheeled tractor is used for land preparation, the land preparation tool is dragged by the unmanned wheeled tractor for land preparation. However, the land to be prepared is mostly wasteland, and the surface of the wasteland is covered with plants in a criss-cross pattern. The unmanned wheeled tractor can only observe the surface of the land. Due to the obstruction of the plants, the visual equipment on the unmanned wheeled tractor cannot observe the situation under the surface of the land. There will be caves of animals such as rabbits and voles under the surface of the land. After being washed by rain, the entrances of these caves become larger or collapse. When the unmanned wheeled tractor passes over the collapsed cave, it is easy for the wheels of the unmanned wheeled tractor to fall into the collapsed cave and cannot work normally. For this reason, we have proposed an unmanned tractor emergency avoidance system. Summary of the invention

[0003] In order to overcome the shortcomings of the background technology, the present invention discloses an emergency avoidance system for an unmanned tractor. When in use, a lifting frame is installed at the front position of the unmanned tractor, and a avoidance device is installed on the lifting frame. The avoidance device detects whether there are collapsed caves, hole openings or pits on the ground under the criss-cross coverage of plants, thereby preventing the wheels of the unmanned tractor from sinking into the depressions on the surface, thereby achieving the purpose of emergency avoidance of the unmanned tractor.

[0004] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical scheme: The unmanned tractor emergency avoidance system includes two lifting frames, which are respectively installed on both sides of the front of the unmanned tractor. The lifting frames are provided with avoidance devices, which are arranged on the extension line of the driving direction of the front wheels of the unmanned tractor. When the trigger end of the avoidance device falls into a pothole in the driving direction of the unmanned tractor, the avoidance device transmits a signal to the control end of the unmanned tractor, and the unmanned tractor stops moving forward.

[0005] The risk avoidance device is composed of a telescopic column, a second fixed block, a detection wheel and a limit switch. The telescopic column is connected to the lifting frame, the telescopic column is provided with a second fixed block, and the second fixed block is provided with a detection wheel and a limit switch.

[0006] The lifting frame consists of a first fixed block and a limit device. The first fixed block is an "L"-shaped structure. A first through hole is provided on the upper surface of one end of the first fixed block. A telescopic column is provided in the first through hole on the first fixed block. A second through hole is provided on the upper surface of the first fixed block on the right side of the first through hole. A limit switch is provided in the second through hole. A limit device is provided on the other end of the first fixed block.

[0007] The limiting device is composed of an electric telescopic rod, a first fixing plate and a second fixing plate. First fixing holes are respectively arranged at the four corners of the upper surface of the second fixing plate, and a third through hole is arranged in the middle of the upper surface of the second fixing plate. There are two third through holes, and the electric telescopic rod is arranged in the third through hole. The fixed end of the electric telescopic rod is fixed in the third through hole. The first fixing plate is arranged on the movable end of the electric telescopic rod, and the rear surface of the first fixing plate is connected to the first fixing block.

[0008] The fixed end of the telescopic column is located in the first through hole on the first fixed block and is fixedly connected. A second fixed block is provided on the telescopic end of the telescopic column. A spring is provided between the first fixed block and the second fixed block of the telescopic column, and the spring is sleeved with the telescopic column. The second fixed block is movably connected to the first fixed block through the telescopic column. A detection wheel is provided on one side of the second fixed block, and a limit switch is provided on the other side of the second fixed block.

[0009] A second fixing hole is provided in the middle position of the side wall of the detection wheel, a bearing is provided in the second fixing hole, a first fixing column is provided in the bearing, one end of the first fixing column is movably connected to the detection wheel through the bearing, and the other end of the first fixing column is connected to the second fixing block. The position of the detection wheel corresponds to the position of the wheel of the unmanned tractor.

[0010] The limit switch is composed of a fourth fixed block, a second fixed column, a fixed sleeve and a third fixed block. The fourth fixed block is fixed on the second fixed block. A second fixed column is provided on the upper surface of the fourth fixed block. The position of the second fixed column on the fourth fixed block corresponds to the position of the second through hole on the first fixed block. The second fixed column is located in the fixed sleeve and is slidably connected. A third fixed block is provided on one end of the second fixed column passing through the fixed sleeve. The third fixed block is movably connected to the second fixed column through a thread.

[0011] The fixed sleeve is fixed to the second through hole on the first fixed block. A first wireless transmission module is provided on one end of the fixed sleeve located outside the first through hole. The first wireless transmission module is an existing device and is widely used. The signal transmitted by the first touch switch is transmitted to the internal control device of the unmanned tractor through the first wireless transmission module. The upper surface of the fixed sleeve is provided with a first touch switch. The fixed sleeve is movably connected to the second fixed column, and the first touch switch is triggered by the third fixed block.

[0012] The risk avoidance device is composed of a fifth fixed block, a counterweight, a detection column, a second touch switch and a second wireless transmission module. The fifth fixed block is an "L"-shaped structure. One end of the fifth fixed block is connected to the first fixed plate. A through groove is provided on the other end of the fifth fixed block. A detection column is provided in the through groove. The detection column is a triangular prism-shaped structure. One end of the detection column is an arc structure. A second touch switch and a second wireless transmission module are provided on one side of the through groove on the upper surface of the fifth fixed block. The signal output end of the second touch switch is electrically connected to the signal receiving end of the second wireless transmission module. The detection column is movably connected to the fifth fixed block. A counterweight is provided on the other end of the detection column.

[0013] The trigger end of the risk avoidance device is a detection wheel or a detection column. When the falling depth of the trigger end of the risk avoidance device is greater than one-third of the diameter of the front wheel of the unmanned tractor, the risk avoidance device transmits a signal to the control end of the unmanned tractor, and the unmanned tractor stops moving forward.

[0014] Due to the adoption of the above technical solution, the present invention has the following beneficial effects: The unmanned tractor emergency avoidance system of the present invention is characterized in that when in use, a lifting frame is installed at the front position of the unmanned tractor, and a avoidance device is installed on the lifting frame. The avoidance device is used to detect whether there are collapsed caves, hole openings or pits on the ground under the criss-cross coverage of plants, so as to prevent the wheels of the unmanned tractor from sinking into the depressions on the ground surface, thereby achieving the purpose of emergency avoidance of the unmanned tractor. The present invention has a reasonable and practical structure and is easy to operate. It is not only convenient to increase the counterweight of the unmanned tractor head, but also convenient to detect collapsed caves on the ground under the criss-cross coverage of plants, so as to prevent the wheels of the unmanned tractor from falling into the collapsed caves and failing to work normally, thereby improving the safety of the unmanned tractor when working. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the lifting frame structure of the present invention; Figure 3 It is a schematic structural diagram of the first fixing block of the present invention; Figure 4 It is a schematic diagram of the structure of the limiting device of the present invention; Figure 5 This is a schematic structural diagram of a risk avoidance device according to embodiment 1 of the present invention; Figure 6 It is a schematic diagram of the limit switch structure of the present invention; Figure 7 This is a schematic diagram of the structure of the risk avoidance device of Example 2 of the present invention; Figure 8 It is a schematic diagram of the lifting structure of the limit device of the present invention; 1. Lifting frame; 2. Risk avoidance device; 3. First fixed block; 4. Limit device; 5. First through hole; 6. First touch switch; 7. Second through hole; 8. Electric telescopic rod; 9. First fixed hole; 10. Third through hole; 11. First fixed plate; 12. Second fixed plate; 13. Limit switch; 14. First wireless transmission module; 15. First fixed column; 16. Spring; 17. Second fixed hole; 18. Bearing; 19. Detection wheel; 20. Telescopic column; 21. Fixed sleeve; 22. Second fixed block; 23. Third fixed block; 24. Second fixed column; 25. Fourth fixed block; 26. Counterweight; 27. Through slot; 28. Fifth fixed block; 29. ​​Second wireless transmission module; 30. Detection column; 31. Second touch switch. DETAILED DESCRIPTION

[0016] The present invention can be explained in detail by the following examples, and the purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0017] Combined with Figures 1 to 8 The unmanned tractor emergency avoidance system comprises a lifting frame 1, wherein the lifting frames 1 are two and are respectively installed on both sides of the front of the unmanned tractor. The lifting frames 1 are provided with avoidance devices 2, which are arranged on the extension line of the driving direction of the front wheels of the unmanned tractor. When the trigger end of the avoidance device 2 falls into a pothole in the driving direction of the unmanned tractor, the avoidance device 2 transmits a signal to the control end of the unmanned tractor, and the unmanned tractor stops moving forward.

[0018] The avoidance device 2 is composed of a telescopic column 20, a second fixed block 22, a detection wheel 19 and a limit switch 13. The telescopic column 20 is connected to the lifting frame 1, and a second fixed block 22 is provided on the telescopic column 20. The second fixed block 22 is provided with a detection wheel 19 and a limit switch 13.

[0019] The lifting frame 1 consists of a first fixed block 3 and a limit device 4. The first fixed block 3 is an "L"-shaped structure. A first through hole 5 is provided on the upper surface of one end of the first fixed block 3. A telescopic column 20 is provided in the first through hole 5 on the first fixed block 3. A second through hole 7 is provided on the upper surface of the first fixed block 3 on the right side of the first through hole 5. A limit switch 13 is provided in the second through hole 7. A limit device 4 is provided on the other end of the first fixed block 3.

[0020] The limiting device 4 is composed of an electric telescopic rod 8, a first fixing plate 11 and a second fixing plate 12. First fixing holes 9 are respectively provided at the four corners of the upper surface of the second fixing plate 12, and a third through hole 10 is provided at the middle position of the upper surface of the second fixing plate 12. There are two third through holes 10, and an electric telescopic rod 8 is provided in the third through hole 10. The fixed end of the electric telescopic rod 8 is fixed in the third through hole 10. A first fixing plate 11 is provided on the movable end of the electric telescopic rod 8. The rear surface of the first fixing plate 11 is connected to the first fixed block 3. When the risk avoidance device 2 detects a pothole or cave in front that affects the normal driving of the unmanned tractor, the unmanned tractor stops moving forward, and the risk avoidance device 2 is raised from the pothole or cave by extending the electric telescopic rod 8. After the unmanned tractor avoids the pothole or cave, the risk avoidance device 2 is driven back to its position by contracting the electric telescopic rod 8, and the unmanned tractor continues to move forward and detects the ground in front again through the risk avoidance device 2.

[0021] The fixed end of the telescopic column 20 is located in the first through hole 5 on the first fixed block 3 and fixedly connected. A second fixed block 22 is provided on the telescopic end of the telescopic column 20. A spring 16 is provided between the first fixed block 3 and the second fixed block 22 of the telescopic column 20, and the spring 16 is sleeved with the telescopic column 20. The second fixed block 22 is movably connected to the first fixed block 3 through the telescopic column 20. A detection wheel 19 is provided on one side of the second fixed block 22, and a limit switch 13 is provided on the other side of the second fixed block 22. When the detection wheel 19 contacts the ground, the spring 16 is in a contracted state, and the detection wheel 19 is pushed by the spring 16 so that the detection wheel 19 is always in contact with the ground.

[0022] A second fixing hole 17 is provided in the middle position of the side wall of the detection wheel 19, a bearing 18 is provided in the second fixing hole 17, a first fixing column 15 is provided in the bearing 18, one end of the first fixing column 15 is movably connected to the detection wheel 19 through the bearing 18, and the other end of the first fixing column 15 is connected to the second fixing block 22. The position of the detection wheel 19 corresponds to the position of the wheel of the unmanned tractor.

[0023] The limit switch 13 is composed of a fourth fixed block 25, a second fixed column 24, a fixed sleeve 21 and a third fixed block 23. The fourth fixed block 25 is fixed on the second fixed block 22. The second fixed column 24 is provided on the upper surface of the fourth fixed block 25. The position of the second fixed column 24 on the fourth fixed block 25 corresponds to the position of the second through hole 7 on the first fixed block 3. The second fixed column 24 is located in the fixed sleeve 21 and is slidably connected. The third fixed block 23 is provided on one end of the second fixed column 24 passing through the fixed sleeve 21. The third fixed block 23 is movably connected to the second fixed column 24 through threads.

[0024] The fixed sleeve 21 is fixed to the second through hole 7 on the first fixed block 3. A first wireless transmission module 14 is provided on one end of the fixed sleeve 21 located outside the first through hole 5. The first wireless transmission module 14 is an existing device and is widely used. The signal transmitted by the first wireless transmission module 14 to the first touch switch 6 is transmitted to the internal control device of the unmanned tractor. The upper surface of the fixed sleeve 21 is provided with the first touch switch 6. The fixed sleeve 21 is movably connected to the second fixed column 24, and the first touch switch 6 is triggered by the third fixed block 23.

[0025] The risk avoidance device 2 is composed of a fifth fixed block 28, a counterweight 26, a detection column 30, a second touch switch 31 and a second wireless transmission module 29. The fifth fixed block 28 is an "L"-shaped structure. One end of the fifth fixed block 28 is connected to the first fixed plate 11. A through groove 27 is provided on the other end of the fifth fixed block 28. A detection column 30 is provided in the through groove 27. The detection column 30 is a triangular prism-shaped structure. The end of the detection column 30 close to the ground is an arc-shaped structure. The end of the detection column 30 located on the fifth fixed block 28 is a straight rod, and the top of the straight rod of the detection column 30 is fixedly connected to the counterweight 26. The direction of the pointed end of the detection column 30 is the same as the direction of travel of the unmanned tractor. The upper surface of the fifth fixed block 28 is provided with a second touch switch 31 and a second wireless transmission module 29 on one side of the through groove 27. The signal output end of the second touch switch 31 is electrically connected to the signal receiving end of the second wireless transmission module 29, and the detection column 30 is movably connected to the fifth fixed block 28.

[0026] The trigger end of the risk avoidance device 2 is a detection wheel or a detection column. When the falling depth of the trigger end of the risk avoidance device 2 is greater than one-third of the diameter of the front wheel of the unmanned tractor, the risk avoidance device 2 transmits a signal to the control end of the unmanned tractor, and the unmanned tractor stops moving forward. During the movement of the unmanned tractor, if the ground pothole is small, the pothole cannot hinder the normal driving of the unmanned tractor. When the ground pothole is larger than one-third of the diameter of the front wheel of the unmanned tractor, the ground pothole will cause the front wheel of the unmanned tractor to sink into the ground pothole. Therefore, the optimal solution is that the trigger end of the risk avoidance device 2 detects that the depth of the ground pothole is greater than one-third of the diameter of the front wheel of the unmanned tractor.

[0027] Embodiment 1, the unmanned tractor emergency avoidance system, when in use, two first fixing blocks 3 are respectively installed on both sides of the front of the unmanned tractor through two limiting devices 4, and the first fixing plate 11 is fixed to the position where the counterweight block is installed on the front of the unmanned tractor through the cooperation of the threaded column and the nut, and the avoidance device 2 is installed on the first fixing block 3. When the unmanned tractor is driving normally, the avoidance device 2 is raised by extending the electric telescopic rod 8. When working, the electric telescopic rod 8 is contracted to lower the avoidance device 2 and press it on the ground. The spring 10 is extended to drive the detection wheel 19 to move downward and press it on the ground. When the unmanned tractor is driving, the detection wheel 19 is located in front of it and moves. When the detection wheel 19 passes through a cave or a pothole, the detection wheel 19 is positioned downward. The spring 16 of the telescopic column 20 between the first fixed block 3 and the second fixed block 22 accelerates the speed of the detection wheel 19 moving downward, and the detection wheel 19 moves downward to drive the second fixed column 24 to move downward. When the second fixed column 24 moves downward to a certain position, the third fixed block 23 presses on the first touch switch 6 on the fixed sleeve 21, and the first touch switch 6 turns on the first wireless transmission module 14 to work. The first wireless transmission module 14 sends an electrical signal to the control end of the unmanned tractor. The unmanned tractor that receives the signal avoids the cave or pothole in front. The third fixed block 23 is movably connected to the second fixed column 24 through a threaded connection, and the triggering state of the first touch switch 6 is controlled by adjusting the position of the third fixed block 23 on the second fixed column 24.

[0028] Embodiment 2, the unmanned tractor emergency avoidance system, when in use, two first fixing blocks 3 are respectively installed on both sides of the front of the unmanned tractor through two limiting devices 4, and the first fixing plate 11 is fixed to the position where the counterweight block is installed on the front of the unmanned tractor through the cooperation of the threaded column and the nut, and the fifth fixing block 28 is fixed on the first fixing plate 11. When the unmanned tractor is driving normally, the avoidance device 2 is raised by extending the electric telescopic rod 8. When working, the electric telescopic rod 8 is retracted to lower the avoidance device 2 and press it on the ground. The detection column 30 is an arc-shaped structure with one end against the ground. The counterweight of the detection column 30 is increased by the counterweight block 26. When the detection column 3 When passing through a cave or a pothole, the detection column 30 moves downward, and the counterweight block 26 on the detection column 30 presses the control end on the second touch switch 31. The second touch switch 31 turns on the second wireless transmission module 29 to work, and the second wireless transmission module 29 sends an electrical signal to the control end of the unmanned tractor. The unmanned tractor that receives the signal avoids the cave or pothole in front. The present invention has a reasonable and practical structure and is easy to operate. It is not only convenient to increase the counterweight of the head of the unmanned tractor, but also convenient to explore the collapsed caves on the ground covered by criss-cross plants, so as to prevent the wheels of the unmanned tractor from falling into the collapsed caves and failing to work normally, thereby improving the safety of the unmanned tractor when working.

[0029] The parts of the present invention that are not described in detail are prior art. Although the present invention is specifically demonstrated and introduced in conjunction with the preferred implementation scheme, there are many methods and approaches to specifically implement the technical solution. The above is only a preferred implementation scheme of the present invention, but technical personnel in the relevant field should understand that various changes can be made to the present invention in form and details without departing from the spirit and scope of the present invention defined by the attached claims, which are all within the scope of protection of the present invention.

Claims

1. An unmanned tractor emergency avoidance system includes two lifting frames, which are respectively installed on both sides of the front of the unmanned tractor, and are characterized by: A risk avoidance device is provided on the lifting frame, and the risk avoidance device is set on the extension line of the driving direction of the front wheels of the unmanned tractor. When the trigger end of the risk avoidance device falls into a pothole in the driving direction of the unmanned tractor, the risk avoidance device transmits a signal to the control end of the unmanned tractor, and the unmanned tractor stops moving forward.

2. The unmanned tractor emergency avoidance system according to claim 1 is characterized in that: The risk avoidance device is composed of a telescopic column, a second fixed block, a detection wheel and a limit switch. The telescopic column is connected to the lifting frame, the telescopic column is provided with a second fixed block, and the second fixed block is provided with a detection wheel and a limit switch.

3. The unmanned tractor emergency avoidance system according to claim 2 is characterized in that: The lifting frame consists of a first fixed block and a limit device. The first fixed block is an "L"-shaped structure. A first through hole is provided on the upper surface of one end of the first fixed block. A telescopic column is provided in the first through hole on the first fixed block. A second through hole is provided on the upper surface of the first fixed block on the right side of the first through hole. A limit switch is provided in the second through hole. A limit device is provided on the other end of the first fixed block.

4. The unmanned tractor emergency avoidance system according to claim 3 is characterized in that: The limiting device is composed of an electric telescopic rod, a first fixing plate and a second fixing plate. First fixing holes are respectively arranged at the four corners of the upper surface of the second fixing plate, and a third through hole is arranged in the middle of the upper surface of the second fixing plate. There are two third through holes, and the electric telescopic rod is arranged in the third through hole. The fixed end of the electric telescopic rod is fixed in the third through hole. The first fixing plate is arranged on the movable end of the electric telescopic rod, and the rear surface of the first fixing plate is connected to the first fixing block.

5. The unmanned tractor emergency avoidance system according to claim 4 is characterized in that: The fixed end of the telescopic column is located in the first through hole on the first fixed block and is fixedly connected. A second fixed block is provided on the telescopic end of the telescopic column. A spring is provided between the first fixed block and the second fixed block of the telescopic column, and the spring is sleeved with the telescopic column. The second fixed block is movably connected to the first fixed block through the telescopic column. A detection wheel is provided on one side of the second fixed block, and a limit switch is provided on the other side of the second fixed block.

6. The unmanned tractor emergency avoidance system according to claim 5 is characterized in that: A second fixing hole is provided in the middle position of the side wall of the detection wheel, a bearing is provided in the second fixing hole, a first fixing column is provided in the bearing, one end of the first fixing column is movably connected to the detection wheel through the bearing, and the other end of the first fixing column is connected to the second fixing block. The position of the detection wheel corresponds to the position of the wheel of the unmanned tractor.

7. The unmanned tractor emergency avoidance system according to claim 6 is characterized in that: The limit switch is composed of a fourth fixed block, a second fixed column, a fixed sleeve and a third fixed block. The fourth fixed block is fixed on the second fixed block. A second fixed column is provided on the upper surface of the fourth fixed block. The position of the second fixed column on the fourth fixed block corresponds to the position of the second through hole on the first fixed block. The second fixed column is located in the fixed sleeve and is slidably connected. A third fixed block is provided on one end of the second fixed column passing through the fixed sleeve. The third fixed block is movably connected to the second fixed column through a thread.

8. The unmanned tractor emergency avoidance system according to claim 7 is characterized in that: The fixed sleeve is fixed to the second through hole on the first fixed block. A first wireless transmission module is provided on one end of the fixed sleeve located outside the first through hole. The first wireless transmission module is an existing device and is widely used. The signal transmitted by the first touch switch is transmitted to the internal control device of the unmanned tractor through the first wireless transmission module. The upper surface of the fixed sleeve is provided with a first touch switch. The fixed sleeve is movably connected to the second fixed column, and the first touch switch is triggered by the third fixed block.

9. The unmanned tractor emergency avoidance system according to claim 4 is characterized in that: The risk avoidance device is composed of a fifth fixed block, a counterweight, a detection column, a second touch switch and a second wireless transmission module. The fifth fixed block is an "L"-shaped structure. One end of the fifth fixed block is connected to the first fixed plate. A through groove is provided on the other end of the fifth fixed block. A detection column is provided in the through groove. The detection column is a triangular prism-shaped structure. One end of the detection column is an arc-shaped structure. A second touch switch and a second wireless transmission module are provided on one side of the through groove on the upper surface of the fifth fixed block. The signal output end of the second touch switch is electrically connected to the signal receiving end of the second wireless transmission module. The detection column is movably connected to the fifth fixed block. A counterweight is provided on the other end of the detection column.

10. The unmanned tractor emergency avoidance system according to any one of claims 1 to 9, characterized in that: The trigger end of the risk avoidance device is a detection wheel or a detection column. When the falling depth of the trigger end of the risk avoidance device is greater than one-third of the diameter of the front wheel of the unmanned tractor, the risk avoidance device transmits a signal to the control end of the unmanned tractor, and the unmanned tractor stops moving forward.

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