Tractor obstacle avoidance device based on laser ranging

Abstract

The utility model relates to the technical field of intelligent agricultural machinery, in particular to a tractor obstacle avoidance device based on laser ranging, which comprises tractor front protective plates and a grid plate, the tractor front protective plates on two sides are fixedly connected with two ends of the grid plate respectively, a protective device is arranged on the outer wall of the grid plate, and a box body is fixedly connected with the inner wall of the grid plate. The inner wall of the box body is attached to the laser ranging module. According to the tractor obstacle avoidance device based on laser ranging, through cooperation of a protection device and a grid plate, an operator inserts two first bolts into a frame body and rotates the first bolts, so that one ends of the first bolts are connected with grooves in the surfaces of straight plates in an inserted mode, and the positions of the straight plates on the two sides are fixed; and meanwhile, an operator installs a protection frame on the surfaces of the straight plates on the two sides through four second bolts, the protection effect on the laser ranging module is achieved, the laser ranging module can be rapidly disassembled, the protection effect can be achieved, and the device is more convenient to use.

Description

Technical Field

[0001] This utility model relates to the field of smart agricultural machinery technology, specifically to an obstacle avoidance device for tractors based on laser ranging. Background Technology

[0002] A self-propelled power unit used to tow and drive mobile machinery to complete various mobile tasks. It can also be used as a power source for stationary operations. It consists of an engine, transmission, walking mechanism, steering system, hydraulic suspension, power output, electrical instruments, driving controls, and towing systems or devices. During use, it is prone to issues such as delayed braking, which can lead to collisions with obstacles or people.

[0003] For example, a tractor obstacle avoidance device based on laser ranging, with authorization announcement number "CN219201927U", uses a data comparator to set a safe distance threshold. If the distance between the detected obstacle and the tractor is less than the safe distance threshold, an audible and visual alarm sounds, reminding the operator to control the tractor to avoid the obstacle, greatly improving the obstacle avoidance effect. However, this device is not convenient for quick disassembly and protection of the ranging equipment. When the tractor is in use, the tractor's front guard plate may be bumped or damaged, and the tractor needs to be disassembled and repaired if damaged. The device is not convenient for quick disassembly and protection, making its use inconvenient. Utility Model Content

[0004] The purpose of this invention is to solve the problem of inconvenience in using the device, and to propose an obstacle avoidance device for tractors based on laser ranging.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] Design a tractor obstacle avoidance device based on laser ranging, including a tractor front guard plate and a grille. The two sides of the tractor front guard plate are fixedly connected to the two ends of the grille. The outer wall of the grille is provided with a protective device. The inner wall of the grille is fixedly connected to a box. The inner wall of the box is in contact with a laser ranging module. The outer wall of the laser ranging module is electrically connected to a power line. One end of the power line passes through the box.

[0007] Preferably, the protective device includes through-hole blocks and straight plates. One end of each through-hole block on both sides is fixedly connected to the grid plate. Each through-hole block is slidably connected to two straight plates through through-holes on its surface. A block is fixedly connected to the lower end of each straight plate. The upper end of the block is in contact with the through-hole block. The upper end of each straight plate is inserted into two frames. One end of each frame on both sides is fixedly connected to the grid plate.

[0008] Preferably, the outer walls of both straight plates are provided with grooves, and the outer walls of both straight plates are provided with two threaded holes.

[0009] Preferably, a laser rangefinder is fixedly connected to the front end of the laser ranging module, and a circular groove is formed at the front end of the laser ranging module.

[0010] Preferably, the frame is threadedly connected to the first bolt through a threaded hole on its surface, and one end of the first bolt is inserted into a groove on the surface of the straight plate.

[0011] Preferably, the outer walls of the two straight plates are respectively attached to the two ends of the protective frame, and the protective frame is threadedly connected to the two straight plates by a plurality of second bolts.

[0012] This utility model proposes an obstacle avoidance device for a tractor based on laser ranging. The advantages are as follows: Through the cooperation of the protective device and the grid plate, the operator places the laser ranging module inside the housing. Simultaneously, the operator pushes the two straight plates upwards, allowing them to be inserted into the frames on both sides. The operator then inserts two first bolts into the frames and rotates them, causing one end of the first bolt to engage with a groove on the surface of the straight plate, thus fixing the position of the two straight plates. At the same time, the operator installs the protective frame onto the surface of the two straight plates using four second bolts, protecting the laser ranging module. This allows for quick disassembly of the laser ranging module and provides protection, making the device more convenient to use. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of this utility model;

[0014] Figure 2 This utility model Figure 1 The front view;

[0015] Figure 3 This utility model Figure 1 A front sectional view;

[0016] Figure 4 This utility model Figure 1 Top sectional view;

[0017] Figure 5 This utility model Figure 3 Schematic diagram of part A in the middle;

[0018] Figure 6 This utility model Figure 4 Schematic diagram of part B in the middle.

[0019] In the diagram: 1. Tractor front guard plate, 2. Protective device, 201. Through hole block, 202. Square block, 203. Frame, 204. Straight plate, 3. Grille, 4. Laser rangefinder, 5. Laser rangefinder module, 6. First bolt, 7. Protective frame, 8. Second bolt, 9. Power cord, 10. Box. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings:

[0021] See attached document Figure 1-6 In this embodiment, a tractor obstacle avoidance device based on laser ranging includes a tractor front guard plate 1 and a grille 3. The two tractor front guard plates 1 are fixedly connected to the two ends of the grille 3 respectively. The outer wall of the grille 3 is provided with a protective device 2. The inner wall of the grille 3 is fixedly connected with a housing 10. The inner wall of the housing 10 is provided with heat insulation cotton to reduce the impact of engine heat on the laser ranging module 5. The inner wall of the housing 10 is in contact with the laser ranging module 5. The laser ranging module 5 includes a three-axis accelerometer, a three-axis magnetic sensor, a barometric pressure sensor, a data comparator, a counter, a central processing unit, a gyroscope, and an audible and visual alarm. The outer wall of the laser ranging module 5 is electrically connected to a power line 9, and one end of the power line 9 passes through the housing 10.

[0022] The outer walls of both straight plates 204 are provided with grooves, and the outer walls of both straight plates 204 are provided with two threaded holes. The front end of the laser ranging module 5 is fixedly connected to the laser rangefinder 4. The front end of the laser ranging module 5 is provided with a circular groove. The frame 203 is threadedly connected to the first bolt 6 through the threaded hole on its surface. One end of the first bolt 6 is inserted into the groove on the surface of the straight plate 204. The surface of the straight plate 204 is provided with one groove and two threaded holes. The outer walls of both straight plates 204 are respectively attached to the two ends of the protective frame 7. The protective frame 7 is threadedly connected to the straight plates 204 on both sides through multiple second bolts 8.

[0023] The protective device 2 includes a through-hole block 201 and a straight plate 204. One end of each through-hole block 201 is fixedly connected to the grid plate 3. Each through-hole block 201 is slidably connected to the two straight plates 204 through through-holes on its surface. A square block 202 is fixedly connected to the lower end of each straight plate 204. The upper end of the square block 202 is in contact with the through-hole block 201. The upper end of the straight plate 204 is inserted into the two frames 203. One end of each frame 203 is fixedly connected to the grid plate 3.

[0024] Working principle:

[0025] When using a tractor equipped with laser rangefinding:

[0026] Installation process:

[0027] The tractor front guard plate 1 in this device needs to be installed on the chassis to protect the engine. The operator places the laser ranging module 5 inside the housing 10. At the same time, the operator connects the power cable 9 to the tractor's onboard battery through a transformer to power the laser ranging module 5. Simultaneously, the operator pushes the two straight plates 204 upwards so that they can be inserted into the two side frames 203. The operator then inserts two first bolts 6 into the frame 203 and rotates the first bolts 6 so that one end of the first bolt 6 engages with the groove on the surface of the straight plate 204, fixing the position of the two straight plates 204. At the same time, the operator installs the protective frame 7 onto the surface of the two straight plates 204 using four second bolts 8 to protect the laser ranging module 5.

[0028] Usage process:

[0029] While the tractor is moving forward, the laser rangefinder 4 emits pulsed laser light to detect the distance between obstacles and the tractor body in real time. The laser emitter in the laser emission system emits laser light, which is then transmitted to the central processing unit via the laser receiving system. Simultaneously, a counter counts the number of clock pulses entering during the time period of light pulse emission and reception. The laser light emitted by the laser emitter is calibrated and modulated by a beam expander collimation system and a spatial light modulator. When the emitted laser light encounters an obstacle, it is reflected back, filtered by an optical wave filter module, and then converted into an electrical signal by a photoelectric converter before being transmitted to the central processing unit. Meanwhile, the three axes... Accelerometers, triaxial magnetic sensors, and air pressure sensors monitor the tractor's driving status in real time. The detected speed, acceleration, and direction are transmitted to the central processing unit (CPU) via a data comparator and a counter. After receiving signals from the photoelectric converter and the counter, the CPU analyzes the driving speed and the number of clock pulses entering during the time period of light pulse emission and reception. It calculates the relative distance between the tractor and the obstacle and transmits the obtained data in real time to the data comparator and the display screen (which can be installed in a position convenient for the driver to observe). By observing the display screen, the operator can effectively avoid collisions.

[0030] Although the present invention has been illustrated and described with reference to preferred embodiments, those skilled in the art should understand that various changes in form and detail are possible within the scope of the claims.

Claims

1. A laser ranging-based obstacle avoidance device for a tractor, comprising a tractor front apron (1) and a grating plate (3), two sides of the tractor front apron (1) are respectively fixedly connected with two ends of the grating plate (3), characterized in that: The outer wall of the grid plate (3) is provided with a protective device (2), the inner wall of the grid plate (3) is fixedly connected with a box (10), the inner wall of the box (10) is attached to a laser ranging module (5), the outer wall of the laser ranging module (5) is electrically connected with a power line (9), and one end of the power line (9) penetrates the box (10).

2. The laser ranging based obstacle avoidance device for tractor as claimed in claim 1 wherein: The protective device (2) includes a through-hole block (201) and a straight plate (204), one end of the through-hole block (201) on both sides is fixedly connected with the grid plate (3), the through-hole block (201) is slidably connected with two straight plates (204) through the through holes formed on the surface, the lower end of the straight plate (204) is fixedly connected with a square block (202), the upper end of the square block (202) is attached to the through-hole block (201), the upper end of the straight plate (204) is respectively inserted into two frame bodies (203), and one end of the frame body (203) on both sides is fixedly connected with the grid plate (3).

3. The laser ranging based obstacle avoidance device for tractor as claimed in claim 2 wherein: The outer wall of the straight plate (204) on both sides is provided with a groove, and the outer wall of the straight plate (204) on both sides is provided with two threaded holes.

4. The laser ranging based obstacle avoidance device for tractor as claimed in claim 1 wherein: The front end of the laser ranging module (5) is fixedly connected with a laser range finder (4), and the front end of the laser ranging module (5) is provided with a circular groove.

5. The laser ranging based obstacle avoidance device for tractor as claimed in claim 2 wherein: The frame body (203) is threadedly connected with the first bolt (6) through the threaded hole formed on the surface, and one end of the first bolt (6) is inserted into the groove formed on the surface of the straight plate (204).

6. The laser ranging based obstacle avoidance device for tractor as claimed in claim 2 wherein: The outer wall of the straight plate (204) on both sides is respectively attached to both ends of the protective frame (7), and the protective frame (7) is threadedly connected with the straight plates (204) on both sides through a plurality of second bolts (8).

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