CN101622928A - Remote control system of combine harvester - Google Patents
Remote control system of combine harvester Download PDFInfo
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- CN101622928A CN101622928A CN200910023549A CN200910023549A CN101622928A CN 101622928 A CN101622928 A CN 101622928A CN 200910023549 A CN200910023549 A CN 200910023549A CN 200910023549 A CN200910023549 A CN 200910023549A CN 101622928 A CN101622928 A CN 101622928A
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- combine harvester
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- 230000033001 locomotion Effects 0.000 claims description 4
- 239000012467 final product Substances 0.000 claims description 3
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 244000037666 field crops Species 0.000 claims 1
- 238000003306 harvesting Methods 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000000875 corresponding effect Effects 0.000 description 13
- 235000013339 cereals Nutrition 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 241000209140 Triticum Species 0.000 description 4
- 235000021307 Triticum Nutrition 0.000 description 4
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- 239000012530 fluid Substances 0.000 description 2
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- 241001124569 Lycaenidae Species 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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Abstract
A remote control system of a combine harvester can remotely control the combine harvester within the range of 2-5 kilometers, well relieve the labor intensity of a driver, improve the severe operating environment, greatly improve the operating comfort and improve the harvesting benefit. According to the system, road condition information and information of the header and the reel are collected in real time through two cameras installed on the harvester, an operator comprehensively judges the road condition information and the information of the header and the reel at a remote place by means of two paths of image information displayed on a portable PC (personal computer), a handheld remote controller is used for sending a control command, a receiving system on the combine harvester receives a signal, and nine oil paths are processed and controlled to be driven to push different actuating mechanisms so as to realize eight different remote control operations (including left turning, right turning, advancing and retreating and lifting of the header and the reel).
Description
Technical field:
Patent of the present invention relates to a kind of remote control system that is applied to combine, and the operator realizes the lifting remote control of the walking remote control of grain header and the ceding of Taiwan, straw shift wheel in 2～5 kilometer range, and it is applicable to wheat, the corn combine of various models.
Background technology:
At present, telecontrol engineering has been widely used in producing, the life various aspects, but is fewer in the application of agriculture field, and especially the agricultural machinery aspect is used still less; China's major grain producing area arable area is vast, is fit to big machinery operations such as combine, but because condition of work is badly arduous, and operator too hardship is too tired and labour intensity is very big; Harvesting wheat just is in midsummer season in addition, the wheat skin flies upward during grain header work, the working environment very severe, develop the remote control system that is used on the combine of cover in this case practicality is arranged very much, driver's labour intensity be can reduce significantly, operation comfort and results benefit improved.
Summary of the invention:
Patent of the present invention provides a cover to be used for remote control system on wheat, the corn combine, the liter of the motion (advance, retreat, turn left and turns right) of image information remote control combine in 2～5 kilometer range that the operator can send back according to camera on the grain header and the ceding of Taiwan, straw shift wheel and falling.Native system is simple to operate, is easy to study, is adapted at vast rural area and promotes.
Native system is divided into three parts: the transmission of the wireless transmission of image and receiving system, control signal and receiving system (dispensing device is a hand-held remote controller), signal processing circuit and fluid pressure drive device; Adopt the remote operation mode, the corresponding function that realizes of institute is: the advancing of combine, retreat, turn left, the liter of right-hand rotation and the ceding of Taiwan, straw shift wheel and falling.
The wireless transmission of image and receiving system are made up of camera, video encoder and wireless front and back end bridge.Two-way CCD camera will be gathered combine harvester cutting table and path, the place ahead (by the decision of camera installation site) information respectively, the two-way image information is carried out video compress respectively through video encoder, the WLAN that two-way image information after the compression is made up of the front and back end bridge simultaneously is wirelessly transmitted on the portable PC in operating side, operating personnel are by the image information on the PC, by observing, judge and operate the remote control of hand-held remote controller enforcement to combine.
The dispensing device of control signal is a hand-held remote controller, and operating personnel just can transmit control signal by top button; Receiving system is the slave computer receiving circuit, and this device is installed on the combine, and receiving circuit receives the control signal and the decoding of hand-held remote controller and handles, and drives hydraulic system then and then realizes corresponding action.
The detail operations process is being observed the two-way picture signal that passes on the combine for operating personnel on the portable PC, the one tunnel is path signal, and one the tunnel is ceding of Taiwan signal; The operator makes according to the two-way picture signal and judges that decision allows grain header carry out which kind of action, directly press corresponding button on the hand-held remote controller then, control signal is delivered to the grain header processing unit by hand-held remote controller by wireless transmission method, signal after will handling then is delivered to CPU AT89S52 single-chip microcomputer, the signal that the transmission of single-chip microcomputer analysis and judgement comes, trigger corresponding general mouthful of high-low level then, and then drive the corresponding relays circuit operation, to realize function corresponding.
This cover remote control system will realize is the lifting remote control of the motion (advance, retreat, turn left and turn right) of combine and the ceding of Taiwan, straw shift wheel, realizes that at the grain header end these functions all adopt hydraulic system.Fluid pressure drive device is made up of 1 2/2-way normally closed solenoid valve, two two-bit triplet magnetic valves, three three position four-way electromagnetic valves, a gear pump, a fuel tank, the break-make of magnetic valve is realized by corresponding relay circuit control, function of every realization, all need to allow normally closed magnetic valve disconnect, allowing in addition then, certain solenoid closure gets final product.6 normally open solenoid valves are respectively controlled one or several oil circuit and are used for realizing a function.Realize function, only need allow steering wheel turn left, the left-hand rotation of steering wheel is controlled corresponding mechanical mechanism by an oil circuit and is realized, realize turning right, advance, retreat and the lifting of the ceding of Taiwan, straw shift wheel all in like manner, just the frame for movement that drives of electromagnetic valve structure and oil circuit is different.
By to we can see that its beneficial effect is in the introduction of patent basic control function of the present invention and characteristics: the many shortcomings when overcoming the combine traditional work fully, the driver is freed from inclement condition, heavy driving operation, can in 2～5 kilometer range, realize the remote control control of combine by a portable PC and small hand-held remote controller.
Description of drawings
Further specify the present invention below in conjunction with accompanying drawing and enforcement.
Fig. 1 is a hand-held remote controller internal circuit diagram of the present invention.
Fig. 2 is that the present invention receives the control signal circuit diagram.
Fig. 3 is a hand-held remote controller sketch of the present invention.
Fig. 4 is a hydraulic means sketch of the present invention.
Fig. 5 is a distance type combine overall diagram.
Fig. 6 is the steering mechanical construction drawing.
Fig. 1 is hand-held remote controller internal circuit diagram of the present invention. 8 buttons are arranged among the figure, send respectively 8 not Control signal together. This main circuit will be reached by M74H147B1R series encoder, PT2262-L series encoder The KYL-1020U wireless transmitter module forms, and power supply is a joint 5v dry cell. The user forms by six press keys Six kinds of different control signals through the coding of two encoders, pass the signal along to the wireless transmission mould then Piece is launched. Tranmitting frequency is regulated and can be realized transmitter module setting by software.
Fig. 2 is reception control signal circuit diagram of the present invention. This circuit by the KYL-1020U wireless receiving module, PT2272-L decoder (supporting with PT2262-L), Single-chip Controlling unit, hardware watchdog resets and continue Electrical apparatus control circuit forms. Control relay circuit has only been drawn two control loops and (namely has been connected to P1.0, P1.1 On), all the other five mouths (P1.2, P1.3, P1.4, P1.5, P1.6, P1.7, P2.7) all with the front electricity The road is consistent, and it is different just to meet executing agency: P1.0 solenoid control oil return line, P1.1 rear electromagnetic valve In-line, P1.4 before control left-hand rotation oil circuit, P1.2 rear electromagnetic valve control right-hand rotation oil circuit, the control of P1.3 rear electromagnetic valve Rear electromagnetic valve control retreats that oil circuit, the P1.5 rear electromagnetic valve control ceding of Taiwan rise oil circuit, the P1.6 rear electromagnetic valve is controlled and cut Platform falls that oil circuit, P1.7 rear electromagnetic valve control winder rises oil circuit, the P2.7 rear electromagnetic valve is controlled winder and fallen oil circuit. Describe as an example of left-hand rotation example, when receiving circuit is received left rotaring signal, single-chip microcomputer pin P1.0 and P1.1 Pin sets low level, back relay adhesive, and this moment, the control loop magnetic valve transferred disconnection to by normally off, Control left-hand rotation solenoid closure, hydraulic oil promotes the action of left-hand rotation executing agency, to realize the left-hand rotation function.
Fig. 3 is the hand-held remote controller sketch. Eight buttons are controlled respectively the advancing of united reaper, are retreated, a left side Turn to, the liter of right-hand rotation and the ceding of Taiwan, winder with fall.
Fig. 4 is hydraulic means sketch of the present invention. Whole hydraulic means is by fuel tank, gear as seen from the figure Pump, 1 2/2-way normally closed solenoid valve, 2 two-bit triplet magnetic valves, 3 three position four-way electromagnetic valves and 3 Individual oil cylinder forms. Magnetic valve 1 is normally closed, and when not carrying out any action, this oil circuit is communicated with, height Force feed is the road oil sump tank thus, consists of a loop. This magnetic valve disconnects oil return line when function will be carried out Disconnect, the corresponding solenoid closure of another one, corresponding oil circuit is logical, and this moment, hydraulic oil was with regard to the road promotion is corresponding thus Corresponding function is moved to realize by executing agency. As seen from the figure, magnetic valve 2 control right-hand rotation oil circuits, electricity The lifting oil circuit of magnet valve 3 control left-hand rotation oil circuits, the magnetic valve 4 control cedings of Taiwan, magnetic valve 5 control winders Oil circuit is advanced, retreats in lifting oil circuit, magnetic valve 6 controls.
Fig. 5 is distance type united reaper overall diagram. Can find out among the figure that winder 1 and the ceding of Taiwan 3 all are that liquid is arranged Pressure-controlled is equipped with magnetic valve on the hydraulic cylinder 2 and 4, can control 1 and 3 lifting by remote controller. Shooting 5 height for detection of winder and the ceding of Taiwan. Camera 6 is used for the control harvesting for detection of pavement behavior The left/right rotation of machine and forward-reverse. Signal receiving device 7 is used for receiving control signal and the solution that remote controller sends Code is processed, the then corresponding action of drive hydraulic system principle and then realization.
Fig. 6 is the steering mechanical construction drawing. Straight line moving during combine operation, when needing to turn left, Press then magnetic valve 1 connection of left-hand rotation button on the handheld device, hydraulic cylinder 2 top oil-feeds, the oil of bottom returns Fuel tank, the rack drives worm gear 4 by underpart of the piston rod are rotated counterclockwise and make ackerman steering drive associating Harvester turns left. Magnetic valve 3 control harvesters are turned right.
Embodiment
At first adjust CCD, image encoder and signal processing module on the combine during use, each several part is all powered on.Closely locating the test pattern laser propagation effect then, load onto battery then in remote controller, checking image information with portable PC a long way off, using a teleswitch and carry out straighforward operation and get final product, operation is very easy.
Claims (10)
1. combine harvester remote control system, by the hand-held remote controller controlled hydraulic system realize combine left-hand rotation, turn right, advance, retreat and the lifting of the ceding of Taiwan, straw shift wheel.This system comprises: 1) wireless transmission of image and receiving system; 2) hand-held remote controller (control signal dispensing device); 3) control signal receives and treating apparatus; 4) hydraulic-driven and mechanical actuating mechanism.It is characterized in that: the operator is the motion and the work of remote-controlled combine by the real-time working image information with small-sized remote controller in the distance, has overcome severe operational environment, driver and has driven shortcomings such as overtired for a long time.
2. combine harvester remote control system according to claim 1, it is characterized in that to gather the duty that the two-path video signal shows grain header, one the tunnel shows grain header the place ahead operating path information, the lifting situation of the ceding of Taiwan and straw shift wheel is then monitored on another road, make the operator can grasp the operation duty of combine more all sidedly, so that send suitable control instruction.
3. combine harvester remote control system according to claim 2 is characterized in that being different from traditional IMAQ scope, and native system has increased by one tunnel lifting situation map picture of gathering the ceding of Taiwan and straw shift wheel specially, make control more accurately, reliable.
4. combine harvester remote control system according to claim 3 is characterized in that picture signal is by the WLAN transmission, uses conveniently, is suitable for the combine of land for growing field crops operation.
5. combine harvester remote control system according to claim 1 is characterized in that the transmission of control signal is finished by a hand-held remote controller, and simple to operation, easy operating the person grasp fast.
6. combine harvester remote control system according to claim 5, what it is characterized in that small-sized remote controller sends is the wireless remote control signal, tranmitting frequency can be adjusted by software, need not apply for using frequency range.
7. combine harvester remote control system according to claim 1 is characterized in that receiving the control signal device and is installed on the combine, and receiving circuit and hydraulic system, mechanical actuating mechanism have been finished required distant control function jointly.
8. combine harvester remote control system according to claim 7, it is characterized in that receiving system receives a certain control signal, processing unit is promptly to its processing of decoding, and drives then that corresponding relays action, magnetic valve open and close, the oil circuit break-make comes driving device executing agency to finish function corresponding.
9. combine harvester remote control system according to claim 8, it is characterized in that system to realize grain header left-hand rotation, turn right, advance, retreat and the lifting control of the ceding of Taiwan, straw shift wheel, its driving mechanism is a full hydraulic system, and form is simple, cost is low, reliability is high.
10. combine harvester remote control system according to claim 9, the break-make that it is characterized in that 9 hydraulic circuits be by 9 solenoid control, wherein has one to be the control oil return line, its state is normally closed, and all the other magnetic valves are often to be opened; Under the situation of grain header without any action, the oil in the whole hydraulic system circulates, and when carrying out a certain function, we only need to interrupt this circulation, allow hydraulic oil enter corresponding oil circuit and get final product.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910023549A CN101622928A (en) | 2009-08-10 | 2009-08-10 | Remote control system of combine harvester |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910023549A CN101622928A (en) | 2009-08-10 | 2009-08-10 | Remote control system of combine harvester |
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| Publication Number | Publication Date |
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| CN101622928A true CN101622928A (en) | 2010-01-13 |
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| CN200910023549A Pending CN101622928A (en) | 2009-08-10 | 2009-08-10 | Remote control system of combine harvester |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102011759A (en) * | 2010-11-30 | 2011-04-13 | 湖州生力液压有限公司 | Electro-hydraulic control composite valve for reaper |
| CN102342199A (en) * | 2010-08-02 | 2012-02-08 | 滕旭 | Micro-type automated agricultural machine platform |
| CN102625195A (en) * | 2012-02-29 | 2012-08-01 | 三一重工股份有限公司 | Construction machine and remote control terminal and remote control system thereof |
| CN107256579A (en) * | 2012-09-26 | 2017-10-17 | 株式会社久保田 | Working truck, over the ground job information display methods, program and recording medium over the ground |
| CN107711046A (en) * | 2017-09-12 | 2018-02-23 | 绛县星源工贸有限公司 | A kind of electric self-propelled stalk cutting baler |
| US10310455B2 (en) | 2017-06-19 | 2019-06-04 | Deere & Company | Combine harvester control and communication system |
| US10311527B2 (en) | 2014-01-14 | 2019-06-04 | Deere & Company | Agronomic variation and team performance analysis |
| CN109937685A (en) * | 2019-02-21 | 2019-06-28 | 江苏大学 | A kind of control device and its control method of combine harvester header job parameter |
| CN109937676A (en) * | 2017-12-21 | 2019-06-28 | 山东农业大学 | A kind of Mechatronic control system and control method of self-propelled hydraulic lotus root digging machine |
| US10380704B2 (en) | 2014-01-14 | 2019-08-13 | Deere & Company | Operator performance recommendation generation |
| CN110199666A (en) * | 2019-04-09 | 2019-09-06 | 丰疆智能科技股份有限公司 | Harvester remote control system and harvester remote control device |
| US10453018B2 (en) | 2014-01-14 | 2019-10-22 | Deere & Company | Agricultural information sensing and retrieval |
| US10694668B2 (en) | 2017-06-19 | 2020-06-30 | Deere & Company | Locally controlling settings on a combine harvester based on a remote settings adjustment |
| WO2020140490A1 (en) * | 2019-01-04 | 2020-07-09 | 丰疆智能科技股份有限公司 | Harvester with gimbal camera device |
| US10782672B2 (en) | 2018-05-15 | 2020-09-22 | Deere & Company | Machine control system using performance score based setting adjustment |
| CN112486149A (en) * | 2020-11-30 | 2021-03-12 | 山东里能鲁西矿业有限公司 | Remote control circuit system of underground explosion-proof battery car |
| US11589507B2 (en) | 2017-06-19 | 2023-02-28 | Deere & Company | Combine harvester control interface for operator and/or remote user |
| US11789413B2 (en) | 2017-06-19 | 2023-10-17 | Deere & Company | Self-learning control system for a mobile machine |
-
2009
- 2009-08-10 CN CN200910023549A patent/CN101622928A/en active Pending
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102342199A (en) * | 2010-08-02 | 2012-02-08 | 滕旭 | Micro-type automated agricultural machine platform |
| CN102011759A (en) * | 2010-11-30 | 2011-04-13 | 湖州生力液压有限公司 | Electro-hydraulic control composite valve for reaper |
| CN102011759B (en) * | 2010-11-30 | 2015-06-24 | 湖州生力液压有限公司 | Electro-hydraulic control composite valve for reaper |
| CN102625195A (en) * | 2012-02-29 | 2012-08-01 | 三一重工股份有限公司 | Construction machine and remote control terminal and remote control system thereof |
| CN107256579A (en) * | 2012-09-26 | 2017-10-17 | 株式会社久保田 | Working truck, over the ground job information display methods, program and recording medium over the ground |
| CN107256579B (en) * | 2012-09-26 | 2021-08-03 | 株式会社久保田 | Harvester, ground operation information display method and device and recording medium |
| US10453018B2 (en) | 2014-01-14 | 2019-10-22 | Deere & Company | Agricultural information sensing and retrieval |
| US10380704B2 (en) | 2014-01-14 | 2019-08-13 | Deere & Company | Operator performance recommendation generation |
| US10311527B2 (en) | 2014-01-14 | 2019-06-04 | Deere & Company | Agronomic variation and team performance analysis |
| US10694668B2 (en) | 2017-06-19 | 2020-06-30 | Deere & Company | Locally controlling settings on a combine harvester based on a remote settings adjustment |
| US10310455B2 (en) | 2017-06-19 | 2019-06-04 | Deere & Company | Combine harvester control and communication system |
| US11589507B2 (en) | 2017-06-19 | 2023-02-28 | Deere & Company | Combine harvester control interface for operator and/or remote user |
| US11789413B2 (en) | 2017-06-19 | 2023-10-17 | Deere & Company | Self-learning control system for a mobile machine |
| CN107711046A (en) * | 2017-09-12 | 2018-02-23 | 绛县星源工贸有限公司 | A kind of electric self-propelled stalk cutting baler |
| CN109937676A (en) * | 2017-12-21 | 2019-06-28 | 山东农业大学 | A kind of Mechatronic control system and control method of self-propelled hydraulic lotus root digging machine |
| CN109937676B (en) * | 2017-12-21 | 2024-01-30 | 山东农业大学 | Electromechanical control system and control method of self-propelled hydraulic lotus root digging machine |
| US10782672B2 (en) | 2018-05-15 | 2020-09-22 | Deere & Company | Machine control system using performance score based setting adjustment |
| WO2020140490A1 (en) * | 2019-01-04 | 2020-07-09 | 丰疆智能科技股份有限公司 | Harvester with gimbal camera device |
| CN109937685A (en) * | 2019-02-21 | 2019-06-28 | 江苏大学 | A kind of control device and its control method of combine harvester header job parameter |
| CN109937685B (en) * | 2019-02-21 | 2024-06-07 | 江苏大学 | Control device and control method for operation parameters of combine harvester header |
| CN110199666A (en) * | 2019-04-09 | 2019-09-06 | 丰疆智能科技股份有限公司 | Harvester remote control system and harvester remote control device |
| WO2020206936A1 (en) * | 2019-04-09 | 2020-10-15 | 丰疆智能科技股份有限公司 | Harvester remote control system and harvester remote control device |
| CN112486149B (en) * | 2020-11-30 | 2023-01-24 | 山东里能鲁西矿业有限公司 | Remote control circuit system of underground explosion-proof battery car |
| CN112486149A (en) * | 2020-11-30 | 2021-03-12 | 山东里能鲁西矿业有限公司 | Remote control circuit system of underground explosion-proof battery car |
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Open date: 20100113 |