CN110217215A - Intelligent harvester and its braking method with automatic braking function - Google Patents
Intelligent harvester and its braking method with automatic braking function Download PDFInfo
- Publication number
- CN110217215A CN110217215A CN201910280709.4A CN201910280709A CN110217215A CN 110217215 A CN110217215 A CN 110217215A CN 201910280709 A CN201910280709 A CN 201910280709A CN 110217215 A CN110217215 A CN 110217215A
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- China
- Prior art keywords
- harvester
- communication
- control
- braking
- tele
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
Abstract
A kind of intelligent harvester with automatic braking function, including, a harvester body；One wireless communication assembly, is located at the harvester body, and the wireless communication assembly is operatively connected to a tele-control system；One communication detection system, is used to detect the communication between the wireless communication assembly and the tele-control system；An and braking system, the braking system is located at the harvester body, the braking system is operatively connected to one braking system of communication detection system, when the communication detection system detection to the communication between the wireless communication assembly and the tele-control system breaks down, the braking system controls the harvester body braking.
Description
Technical field
The present invention relates to harvester field, further relate to an intelligent harvester with automatic braking function and its
Braking method.
Background technique
With the development of science and technology, agricultural mechanical field has obtained development at full speed, especially harvester, it is more and more to receive
Cutting mill is continued to develop to intelligent, unmanned direction, effective while people are freed from heavy rural labor
Ground improves the efficiency of agricultural production.
Traditional harvest machine usually requires driver when carrying out agricultural operation and drives, harvester driver control
The movement and operation of harvester.During traditional harvest machine operation, when in case of emergency, harvester driver can be controlled
Harvester processed stops movement, prevents from causing harm to the human body or cause any property loss, that is to say, that the safety of traditional harvest machine
Performance is opposite can to obtain enough guarantees.
It is understood that unmanned harvester is during harvester operation due to not having the participation of driver,
When harvester in case of emergency, it is described for example, when signal interruption between unmanned harvester and tele-control system
Unmanned harvester just will control the nothing at this time if emergency braking measure can not be taken in state out of control
People drives harvester and stops movement, it will makes to the life security and property safety of the human body near the unmanned harvester
It is threatened at great.
With the progress of society and the development of science and technology, the unmanned of harvester has become inevitable development trend, still
How signal interruption in unmanned harvester operational process tele-control system between present in huge peace is solved
Full hidden danger already becomes unmanned harvester and further develops technical problem urgently to be resolved.
Summary of the invention
It is an object of the present invention to provide one with automatic braking function intelligent harvester and its braking method,
Described in automatic braking function intelligent harvester can the emergency braking when communication failure occurs, can be effectively prevented
Cause the loss of personnel and property.
It is another object of the present invention to provide one with automatic braking function intelligent harvester and its braking method,
Wherein the intelligent harvester with automatic braking function can be between the intelligent harvester and tele-control system
Automatic braking when communication disruption can be effectively prevented the loss for causing personnel and property.
It is another object of the present invention to provide one with automatic braking function intelligent harvester and its braking method,
Wherein the intelligent harvester with automatic braking function can communication between real-time detection and tele-control system, work as inspection
Emergency braking when measuring communication failure.
It is another object of the present invention to provide one with automatic braking function intelligent harvester and its braking method,
Wherein the intelligent harvester with automatic braking function can detect the communication between the tele-control system
When failure, one transmission component of control switches to neutral gear, so that the intelligence harvester being capable of emergency braking.
It is another object of the present invention to provide one with automatic braking function intelligent harvester and its braking method,
Wherein the intelligent harvester with automatic braking function can detect the communication between the tele-control system
When failure, control one brake assemblies brake, so that the intelligence harvester being capable of emergency braking.
It is another object of the present invention to provide one with automatic braking function intelligent harvester and its braking method,
Wherein the intelligent harvester with automatic braking function further comprises a controller and is operatively connected to described
One first driving assembly of controller, first driving assembly are operatively connected to the transmission component, when detecting
When communication between the wireless communication assembly and the tele-control system is broken down, the controller control described first
Driving assembly drives the transmission component to switch to middle position.
It is another object of the present invention to provide one with automatic braking function intelligent harvester and its braking method,
Wherein the intelligent harvester with automatic braking function further comprises one being operatively connected to the controller
One second driving assembly, second driving assembly are operatively connected to the brake assemblies, described wireless when detecting
When communication between communication part and the tele-control system is broken down, the controller controls second driving assembly
The brake assemblies are driven to brake.
It is another object of the present invention to provide one with automatic braking function intelligent harvester and its braking method,
Wherein the intelligent harvester with automatic braking function includes a communication detection system, when the communication detection system detection
When to the signal strength between the wireless communication assembly and the tele-control system less than a preset signal strength, institute is controlled
State the braking of harvester body.
It is another object of the present invention to provide one with automatic braking function intelligent harvester and its braking method,
Wherein when the communication detection system detection to the signal interruption between the wireless communication assembly and the tele-control system
When, control the harvester body braking.
It is another object of the present invention to provide one with automatic braking function intelligent harvester and its braking method,
Wherein the intelligent harvester with automatic braking function further comprises delay detection control assembly, the delay detection
Control assembly is used for after Europe takes the braking system control communication detection system control harvester body braking, controls institute
It states communication detection system and detects communication between the wireless communication assembly and the tele-control system again.
It is another object of the present invention to provide one with automatic braking function intelligent harvester and its braking method,
Wherein the intelligent harvester structure with automatic braking function is simple, highly-safe.
Correspondingly, in order to realize that at least one above goal of the invention, the present invention provide the intelligence with automatic braking function
Energy harvester, comprising:
One harvester body；
One wireless communication assembly, is located at the harvester body, and the wireless communication assembly quilt can place of working connection
In a tele-control system；
One communication detection system, is used to detect the communication between the wireless communication assembly and the tele-control system；
And
One braking system, the braking system are located at the harvester body, and the braking system quilt can place of working company
Be connected to one braking system of communication detection system, when the communication detection system detection to the wireless communication assembly with it is described
When communication between tele-control system is broken down, the braking system controls the harvester body braking.
According to some embodiments of the present invention, the intelligent harvester with automatic braking function further comprise by
Set on a transmission component of the harvester body, the transmission component is operatively connected to the braking system, works as institute
When stating communication detection system detection and breaking down to the communication between the wireless communication assembly and the tele-control system, institute
It states the braking system control transmission component and switches to neutral position state.
According to some embodiments of the present invention, the intelligent harvester with automatic braking function further comprise by
Set on a brake assemblies of the harvester body, the brake assemblies are operatively connected to the braking system, work as institute
When stating communication detection system detection and breaking down to the communication between the wireless communication assembly and the tele-control system, institute
It states braking system and controls the brake assemblies brake.
According to some embodiments of the present invention, the intelligent harvester with automatic braking function further comprise by
Set on a brake assemblies of the harvester body, the brake assemblies are operatively connected to the braking system, work as institute
When stating communication detection system detection and breaking down to the communication between the wireless communication assembly and the tele-control system, institute
It states braking system and controls the brake assemblies brake.
According to some embodiments of the present invention, the braking system further comprise a controller with by can place of working connect
In one first driving assembly of the controller, the controller is operatively connected to the communication detection system, described
First driving assembly is driveably connected to the transmission component, when the communication detection system detection to the wireless telecommunications
When communication between component and the tele-control system is broken down, the controller controls the first driving assembly work
Make, first driving assembly drives the transmission component to switch to neutral position state.
According to some embodiments of the present invention, the braking system further comprise a controller with by can place of working connect
In one second driving assembly of the controller, the controller is operatively connected to the communication detection system, described
Second driving assembly is driveably connected to the brake assemblies, when the communication detection system detection to the wireless telecommunications
When communication between component and the tele-control system is broken down, the controller controls the second driving assembly work
Make, second driving assembly drives the brake assemblies brake.
According to some embodiments of the present invention, first driving assembly includes a driving main body and from the driving main body
An outwardly extending drive shaft, the transmission component include a transmission main body and control from the transmission main body outwardly extending one
Bar, the drive shaft are driveably connected to the control-rod, and the drive shaft can drive the control-rod relative to described
It is driven bulk motion.
According to some embodiments of the present invention, the intelligent harvester with automatic braking function further comprise by
Set on a positioning component of the harvester body, the positioning component is used to determine the position of the harvester body.
According to some embodiments of the present invention, the communication detection system further comprise a traffic intensity detection unit and
It is operatively connected to a signal comparing unit of the traffic intensity detection unit, the traffic intensity detection unit is used for
The communication strength between the wireless communication assembly and the tele-control system is detected, the signal comparing unit is for comparing institute
The size of traffic intensity detection unit signal strength detected and a preset signal strength is stated, the signal comparing unit quilt can
It is operably connected to the braking system.
According to some embodiments of the present invention, the communication detection system further comprises a communicating interrupt detection components,
The communicating interrupt detection components are used to detect the communication between the wireless communication assembly and the tele-control system.
According to some embodiments of the present invention, the intelligent harvester with automatic braking function further comprises one
Delay detection control assembly, the delay detection control assembly is operatively connected to the communication detection system, described to prolong
When detection control assembly be used for after being spaced a preset time after the braking system controls harvester body braking again
Control the communication described in the communication detection system detection between wireless communication assembly and the tele-control system.
According to another aspect of the present invention, the present invention further provides the braking method of an intelligent harvester, spy includes:
(a) communication between the wireless communication assembly and a tele-control system of a harvester body is located in detection；
With
(b) when the communication between the wireless communication assembly and the tele-control system is broken down, described in control
The braking of harvester body.
According to some embodiments of the present invention, in the step (b), when the wireless communication assembly and the long-range control
When communication between system processed is broken down, the transmission component that the harvester body is located in control switches to middle position.
According to some embodiments of the present invention, in the step (b), when the wireless communication assembly and the long-range control
When communication between system processed is broken down, the brake assemblies brake of the harvester body is located in control.
According to some embodiments of the present invention, in the step (b), when detect the wireless communication assembly with it is described
When signal strength between tele-control system is less than a preset signals value, the harvester body braking is controlled.
According to some embodiments of the present invention, in the step (b), when detect the wireless communication assembly with it is described
When signal interruption between tele-control system, the harvester body braking is controlled.
According to some embodiments of the present invention, after controlling the harvester body braking, the channel radio is detected again
The communication between component and the tele-control system is interrogated, when detecting the wireless communication assembly and the long-range control system again
When signal strength between system is greater than a preset signal strength, the harvester body starting is controlled.
Detailed description of the invention
Fig. 1 is the whole frame of the intelligent harvester with automatic braking function according to a preferred embodiment of the present invention
Figure structure schematic representation.
Fig. 2 is the whole knot of the intelligent harvester with automatic braking function according to a preferred embodiment of the present invention
Structure schematic diagram.
Fig. 3 is another frame of the intelligent harvester with automatic braking function according to a preferred embodiment of the present invention
Figure structure schematic representation.
Fig. 4 is the one first of the intelligent harvester with automatic braking function according to a preferred embodiment of the present invention
The structural schematic diagram of driving motor.
Fig. 5 is the one second of the intelligent harvester with automatic braking function according to a preferred embodiment of the present invention
The structural schematic diagram of driving motor.
Fig. 6 is a section view of the intelligent harvester with automatic braking function according to a preferred embodiment of the present invention
Structural schematic diagram.
Fig. 7 is a braking of the intelligent harvester with automatic braking function according to a preferred embodiment of the present invention
Flow diagram schematic diagram.
Fig. 8 is another system of the intelligent harvester with automatic braking function according to a preferred embodiment of the present invention
Dynamic flow diagram.
Fig. 9 is the braking side of the intelligent harvester with automatic braking function according to a preferred embodiment of the present invention
The block diagram representation of method.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper",
The orientation or position of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside"
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned
Term is not considered as limiting the invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
Reference book attached drawing 1 to Fig. 8, the intelligent harvester provided by the present invention with automatic braking function are explained
It states, the intelligent harvester with automatic braking function can break down in the communication between long-distance radio communication system
When, take emergency braking measure automatically, so as to be effectively prevented from the intelligent harvester it is out of control and to the life of people and
Grave danger caused by property safety, to effectively improve the security performance of the intelligent harvester.
Reference book attached drawing 1 and Fig. 3, specifically, the intelligent harvester with automatic braking function includes a receipts
Cutting mill body 10, a communication detection system 20 and a braking system 30, wherein the braking system 30 is located at the harvesting
Machine body 10, the braking system 30 are operatively connected to the communication detection system 20.
The intelligent harvester with automatic braking function further comprises be located at the harvester body 10 one
Wireless communication assembly 11, the wireless communication assembly 11 are operatively connected to a tele-control system 200.It is described to have certainly
The user of the intelligent harvester of dynamic braking function can be by the tele-control system 200 to the wireless communication assembly 11
Control instruction is sent, for controlling the operation of the harvester body 10.
The intelligent harvester with automatic braking function further comprises be located at the harvester body 10 one
Executive module, the executive module are operatively connected to the wireless communication assembly 11, and the executive module can be from institute
It states wireless communication assembly 11 and obtains corresponding control instruction, for controlling the operation of the harvester body 10.That is, making
User can be by the execution group by the control instruction that the tele-control system 200 is sent to the wireless communication assembly 11
Part obtains, and the executive module can control the operation of the harvester body 10 based on the control instruction.
The communication detection system 20 is for detecting the wireless communication assembly 11 for being located at the harvester body 10
With the communication between the tele-control system 200, when detecting the wireless telecommunications for being located at the harvester body 10
When communication between component 11 and the tele-control system 200 is broken down, the braking system 30 takes emergency braking to arrange
It applies, controls 10 emergency braking of harvester body, prevent the harvester body 10 from losing the tele-control system 200
Control in the case where continue to travel, protect the safety of life and property of people.
The wireless communication assembly 11 is located at the harvester body 10, and the wireless communication assembly 11 can be with institute
It states the movement of harvester body 10 and moves, the wireless communication assembly 11 is communicatively connected to the tele-control system
200.The tele-control system 200 can send control to the wireless communication assembly 11 by way of wireless telecommunications and refer to
It enables, for controlling the operation of the harvester body 10.The communication detection system 20 is operatively connected to described wireless
Communication part 11, the communication detection system 20 is for detecting the wireless communication assembly 11 and the tele-control system 200
Between communication.The communication detection system 20 is also operatively connected to the braking system 30, when the communication detection
System 20 detect the communication between the wireless communication assembly 11 and the tele-control system 200 there are when failure, it is described
Braking system 30 takes emergency braking measure, so that controlling institute in time after the control for losing the tele-control system 200
It states harvester body 10 and stops movement.
Further, the intelligent harvester with automatic braking function further comprises being located at the harvester machine
One transmission component 12 of body 10.Mutually switched between different states described in capable of controlling by the control transmission component 12
The operating status of harvester body 10, for example, when the transmission component 12 is switched to walking gear, the harvester body
10 can be driven to preceding movement, and when the transmission component 12, which is switched to, retreats gear, the harvester body 10 can
It is moved after being driven to, when the transmission component 12 is switched to middle position, the harvester body 10 being capable of stop motion.
Preferably, the transmission component 12 is HST (the hydrostatic variable speed of Hydro Static Transmission
Device).
The transmission component 12 is operatively connected to the braking system 30.When the communication detection system 20 detects
When breaking down to the communication between the wireless communication assembly 11 and the tele-control system 200, the braking system 30
The work that the transmission component 12 can be controlled adjusts the working condition of the transmission component 12, so that the harvester
Body 10 can stop moving.Specifically, when the communication detection system 20 detect the wireless communication assembly 11 with it is described
When communication between tele-control system 200 is broken down, the braking system 30 drives the HST to switch to middle position, so that
It obtains the harvester body 10 and stops movement.
Specifically, when the communication detection system 20 detects the wireless communication assembly 11 and the tele-control system
There are when failure, the communication detection system 20 generates a detection information 21 for communication between 200.The braking system 30 can
The detection information 21 is obtained from the communication detection system 20, and the transmission component 12 is controlled based on the detection information 21
Working condition.
Reference book attached drawing 3, the braking system 30 further comprise a controller 31 and one first driving assembly 32,
First driving assembly 32 is operatively connected to the controller 31, and the controller 31 is by being operatively connected to
Communication detection system 20 is stated, first driving assembly 32 is driveably connected to the transmission component 12, and described first drives
Dynamic component 32 can drive the transmission component 12 mutually to switch between different work gears.When the communication detection system
20 detect communication between the wireless communication assembly 11 and the tele-control system 200 there are when failure, the control
Device 31 can obtain the detection information 21 from the communication detection system 20, and can control institute based on the detection information 21
Stating the first driving assembly 32 drives the transmission component 12 to switch to neutral position state, so that the harvester body 10 stops moving
It is dynamic, prevent the harvester body 10 from continuing to move in the state of out of control and causing damages to the security of the lives and property of people.
Preferably, first driving assembly 32 is a driving motor 321, and the driving motor 321 is driveably connected
It is connected to the HST, the driving motor can drive the HST mutually to switch between different shifting states.When described logical
News detection system 20 detects that the communication between the wireless communication assembly 11 and the tele-control system 200 is broken down
When, the driving motor 321 drives the HST to switch to neutral position state, so that the harvester body 10 can stop moving
It is dynamic.
Reference book attached drawing 4, the driving motor 321 include a motor body 322 and one from the motor body 322
Outwardly extending drive shaft 323, the motor body 322 can drive the drive shaft 323 to rotate.The transmission component 12 wraps
A transmission main body 121 and one is included from the outwardly extending control-rod 122 of the transmission main body 121.The control-rod 122 can be driven
It is dynamic to do piston motion relative to the transmission main body 121, when the control-rod 122 is driven relative to the transmission main body 121
When doing piston motion, the transmission ratio of the transmission main body 121 can be changed, so as to change the harvester body 10
Gear.
The drive shaft 323 of first driving assembly 32 is driveably connected to described in the transmission component 12
Control-rod 122 is able to drive described in the transmission component 12 when the drive shaft 323 of the driving motor 321 rotates
Control-rod 122 does piston motion relative to the transmission main body 121, to control the transmission component 12 in different gear shapes
Mutually switch between state.
Preferably, the control-rod of the drive shaft 323 of the driving motor 321 perpendicular to the transmission component 12
122, and the drive shaft 323 of the driving motor 321 is engaged in the control-rod 122 of the transmission component 12, when
The drive shaft 323 is able to drive the control-rod 122 when rotating and does piston motion relative to the transmission main body 121.
The driving motor 321 further comprises the first gear component 324 for being located at the drive shaft 323.It is described
Transmission component 12 further comprises the second gear component 123 for being located at the control-rod 122.The first gear component
324 and the second gear component 123 be adapted, the first gear component 324 is engaged in the second gear component 123,
So that the drive shaft 323, which is able to drive the control-rod 122, does piston motion relative to the transmission main body 121.It is excellent
Choosing, the first gear component 324 is located at the one end of the drive shaft 323 far from the motor body 322.
It is understood that can be controlled by the rotation direction and rotational angle of the control driving motor 321 described
Transmission component 12 switches between different shifting states.For example, the motor body 322 when the driving motor 321 drives
When moving the drive shaft 323 and rotating counterclockwise, the drive shaft 323 drive the control-rod 122 of the transmission component 12 to
Direction movement far from the transmission main body 121, then, when the motor body 322 drives the drive shaft 323 to turn clockwise
When dynamic, the drive shaft 323 drives the control-rod 122 of the transmission component 12 to the side close to the transmission main body 121
To movement, thus change it is described transmission main body 121 transmission ratios, control the transmission component 12 different shifting states it
Between mutually switch.Those skilled in the art is it should be understood that in other preferred embodiments of the invention, the driving
It can also be other corresponding relationships between the rotation direction of axis 323 and the direction of motion of the control-rod, that is to say, that work as institute
When stating drive shaft 323 and rotating counterclockwise, the drive shaft 323 drives the control-rod 122 to close to the transmission main body 121
Direction movement, when the drive shaft 323 rotates clockwise, the drive shaft 323 drives the control-rod 122 to far from described
It is driven the direction movement of main body 121.As long as those skilled in the art is it should be understood that can reach invention mesh of the invention
, the corresponding relationship between the rotation direction of the drive shaft 323 and the direction of motion of the control-rod 122 should not be constituted pair
Limitation of the invention.
Reference book attached drawing 5 and Fig. 6, the intelligent harvester with automatic braking function provided by the present invention
One variant embodiment is set forth, and in this variant embodiment, the intelligent harvester with automatic braking function is into one
Step includes being located between the drive shaft 323 of the driving motor 321 and the control-rod 122 of the transmission component 12
One be spirally connected component 325, described one end for being spirally connected component 325 is connected to the drive shaft 323, and the other end is connected to the control
Bar 122.
Preferably, in the preferred embodiment, the component 325 that is spirally connected is located at the drive shaft 323 and the control
Between bar 122, and be spirally connected component 325 and the drive shaft 323 and the coaxial arrangement of the control-rod 122.
The component 325 that is spirally connected further has a loose slot 326 of the opening towards 122 direction of control-rod, described
Control-rod 122 is movably arranged in the loose slot 326 far from one end of the transmission main body 121.The loose slot 326
The one end of inner wall and the control-rod 122 far from the transmission main body 121 is described equipped with the internal screw thread and external screw thread being mutually adapted
Control-rod 122 can be in the loose slot 326 relative in the loose slot 326 far from one end of the transmission main body 121
Wall rotation.Preferably, in the preferred embodiment, 326 inner wall of loose slot is internal screw thread, and the control-rod 122 is far from institute
The one end for stating transmission main body 121 is equipped with the external screw thread being adapted with the internal screw thread.
The component 325 that is spirally connected is fixed in the drive of the driving motor 321 far from one end of the control-rod 122
The one end of moving axis 323 far from the motor body 322.Those skilled in the art is it should be understood that of the invention another
In a little preferred embodiments, the component 325 that is spirally connected can also be shaped in the drive far from one end of the control-rod 122
The one end of moving axis 323 far from the motor body 322.
The motor body 322 of the driving motor 321 and the transmission main body 121 difference of the transmission component 12
It is fixedly installed in the harvester body 10.When the motor body 322 of the driving motor 321 drives the drive shaft
When 323 rotation, the component 325 that is spirally connected is with driving the transmission component 12 while the drive shaft 323 rotates together
The control-rod 122 does piston motion relative to the transmission main body 121, to change the transmission ratio of the transmission main body 121.
It illustrates but is not limited to, when the motor body 322 of the driving motor 321 drives the drive shaft 323 to rotate clockwise,
The component 325 that is spirally connected drives the control-rod 122 to move to the direction far from the transmission main body 121, that is to say, that described
Control-rod 122 is moved to the bottom direction of the loose slot 326.When the motor body 322 of the driving motor 321 drives
When the drive shaft 323 rotates counterclockwise, the component 325 that is spirally connected drives the control-rod 122 to close to the transmission main body
121 direction movement, that is to say, that the control-rod 122 is moved to the direction far from 326 bottom of loose slot.In other words
It says, the transmission component 12 can be controlled different by the rotation direction and rotational angle that control the driving motor 321
Mutually switch between shifting state.When the communication detection system 20 detects the wireless communication assembly 11 and the long-range control
When communication between system 200 processed is broken down, the controller 31 controls the work of the driving motor 321, the driving
Motor 321 drives the control-rod of the transmission component 12 to switch to middle position, so that the transmission component 12 switches to sky
Gear state.
Reference book attached drawing 3, in other preferred embodiments of the invention, the intelligence harvester further comprises
A brake assemblies 13 of the harvester body 10 are located at, the brake assemblies 13 are operatively connected to the braking system
System 30.When the communication detection system 20 detects between the wireless communication assembly 11 and the tele-control system 200
When communication is broken down, the braking system 30 controls the brake assemblies 13 and brakes, so that 10 energy of harvester body
It is enough to stop movement.
Specifically, the braking system 30 further comprises one second driving assembly 33, second driving assembly 33 divides
It is not operatively connected to the controller 31 and the brake assemblies 13.Described in being detected when the communication detection system 20
There are when failure, the controller 31 controls described for communication between wireless communication assembly 11 and the tele-control system 200
Second driving assembly 33 drives the brake assemblies 13 to brake, so that the harvester body 10 stops movement, prevents described
Harvester body 10 continues to travel under the control for losing the tele-control system 200.
Those skilled in the art is it should be understood that in other preferred embodiments of the invention, when the communication
Detection system 20 detect the communication between the wireless communication assembly 11 and the tele-control system 200 there are when failure,
While the control transmission component 12 switches to neutral position state, the braking system 30 can also be controlled the braking system 30
It makes the brake assemblies 13 to brake, so that the harvester body 10 can quickly stop.That is, when the communication is examined
Examining system 20 detect the communication between the wireless communication assembly 11 and the tele-control system 200 there are when failure, institute
While stating controller 31 and control first driving assembly 32 transmission component 13 is driven to switch to neutral position state, the control
Device 31 processed controls second driving assembly 33 and the brake assemblies 13 is driven to brake, so that the harvester body 10 can
Fast braking.
Specifically, the communication detection system 20 includes a traffic intensity detection unit 22, the traffic intensity detection is single
Member 22 is operatively connected to the wireless communication assembly 11 and/or the tele-control system 200, the traffic intensity inspection
Unit 22 is surveyed to be used to detect the signal strength between the wireless communication assembly 11 and the tele-control system 200.
The traffic intensity detection unit 22 is also operatively connected to the braking system 30.When the traffic intensity
Detection unit 22 detects that the traffic intensity between the wireless communication assembly 11 and the tele-control system 200 is pre- less than one
If when signal value 220, the braking system 30 controls the harvester body 10 and brakes.
Specifically, the communication detection system 20 further comprises a signal comparing unit 23.The signal comparing unit
23 are operatively connected to the traffic intensity detection unit 22.The signal comparing unit 23 is used for from the traffic intensity
Detection unit 22 obtains the traffic intensity detection unit 22 wireless communication assembly 11 detected and the long-range control
A real-time signal strength 230 between system 200, and the real-time signal strength 230 and the preset signals value 220
Size, when the real-time signal strength 230 is less than the preset value 220, the braking system 30 controls the harvester machine
Body 10 is braked, and when the numerical value of the real-time signal strength 230 is greater than the preset signals value 220, the braking system 30 is not
It controls the harvester body 10 to brake, the signal comparing unit 23 continues to obtain institute from the traffic intensity detection unit 22
Real-time signal strength 230 is stated, and the real-time signal strength 230 is compared with the preset signals value 220.
Those skilled in the art is it should be understood that when the wireless telecommunications group for being located at the harvester body 10
When communication signal intensity between part 11 and the tele-control system 200 is less than certain numerical value, the wireless communication assembly 11
Communication between the tele-control system 200 will will receive strong influence.For example, working as the tele-control system 200
When sending a control instruction to the wireless communication assembly 11, due to the wireless communication assembly 11 and the tele-control system
Signal strength between 200 is weaker, and the 11 received control signal of institute of wireless communication assembly may be with the long-range control
The control signal that system 200 is actually sent out has a certain difference, and executes so as to will lead to the harvester body 10
The instruction of mistake influences the safety of people's life and property.
Specifically, the signal comparing unit 23 is operatively connected to the controller of the braking system 30
31.When the numerical value of the signal comparing unit 23 real-time signal strength 230 is less than the preset signals value 220,
The controller 31 controls first driving assembly 32 and the transmission component 12 is driven to switch to middle position or the controller
31 control second driving assemblies 33 drive the brake of brake assemblies 13 or the controller 31 to control described first and drive
Dynamic component 32 drives the transmission component 12 to control second driving assembly 33 while switching to middle position and drives the brake
Component 13 brakes so that the harvester body 10 can emergency braking, prevent the harvester body 10 described wireless
It is continued to move in the case that communication signal between communication part 11 and the tele-control system 200 is weaker.
In other preferred embodiments of the invention, when the communication detection system 20 detects the wireless telecommunications group
When communicating interrupt between part 11 and the tele-control system 200, the braking system 30 controls the harvester body 10
Braking.The communication detection system 20 includes a communicating interrupt detection components 24, and the communicating interrupt detection components 24 are by can work
It is connected to the braking system 30 and the wireless communication assembly 11 with making, the communicating interrupt detection components 24 are for detecting institute
State the communication connection between wireless communication assembly 11 and the tele-control system 200.When the communicating interrupt detection components 24
When detecting that the signal of communication between the wireless communication assembly 11 and the tele-control system 200 interrupts, the braking system
The 30 control harvester body 10 of system is braked.
Specifically, when the communicating interrupt detection components 24 detect the wireless communication assembly 11 and tele-control system
When communication disruption between 200, the controller 31 controls first driving assembly 32 and the transmission component 12 is driven to switch
To neutral gear, perhaps the controller 31 controls second driving assembly 33 brake assemblies is driven to brake or the control
Device 31 processed drives the transmission component 12 controller 31 while switching to neutral gear controlling first driving assembly 32
Controlling second driving assembly 32 drives the brake assemblies 13 to brake, so that the harvester body 10 can be made rapidly
It is dynamic.
Reference book attached drawing 1, the intelligent harvester with automatic braking function further comprise be located at it is described
One positioning component 40 of harvester body 10.The positioning component 40 is operatively connected to the wireless communication assembly 11,
The wireless communication assembly 11, the positioning component 40 are used to obtain the real time position of the harvester body 10, and pass through institute
It states wireless communication assembly 11 and the location information of the harvester body 10 is sent to the tele-control system 200, so that
The controller of the intelligence harvester can obtain the location information of the harvester body 10 in real time.
It is understood that when the communication between the wireless communication assembly 11 and the tele-control system 200 occurs
Failure, when the braking system 30 controls 10 emergency braking of harvester body, the tele-control system 200 is no longer able to
The position of the harvester body 10 is obtained by the wireless communication assembly 11.It is understood that working as the wireless telecommunications
When communication between component 11 and the tele-control system 200 is broken down, the braking system 30 controls the harvester
Body 10 is braked, then the harvesting that 200 last time of the tele-control system is obtained from the wireless communication assembly 11
The position of machine body 10 is the position that communication failure occurs with the tele-control system 200 for the wireless communication assembly 11.
That is, as long as people determine the last time of the harvester body 10 acquired in the tele-control system 200
Position just can determine receipts when generation communication failure between the wireless communication assembly 11 and the tele-control system 200
It is rapidly repaired described wireless so as to rapidly obtain the position of the harvester body 10 position of cutting mill body 10
Communication between communication part 11 and the tele-control system 200.
Further, the intelligent harvester with automatic braking function provided by the present invention further comprises prolonging
When detect control assembly 50, the delay detects control assembly 50 and is operatively connected to the communication detection system 20.When
The communication detection system 20 detects that the communication between the wireless communication assembly 11 and the tele-control system 200 occurs
When failure, the delay detection control assembly 50 can control the communication detection system 20 again after being spaced a preset time
Detect the communication between the wireless communication assembly 11 and the tele-control system 200.
Those skilled in the art is it should be understood that in the intelligence with automatic braking function provided by the present invention
In the operational process of energy harvester, the communication between the wireless communication assembly 11 and the tele-control system 200 may
There are certain fluctuations.For example, the traffic intensity between the wireless communication assembly 11 and the tele-control system 200 is unexpected
Weaken, but restores normal in a short time again, then in this case, when the braking system 30 controls the harvester
Body 10 is braked, and maintenance personal is waited to come to need to consume a large amount of time, greatly reduce intelligent receipts in the case where maintenance
The operating efficiency of cutting mill.
Preferably, in the preferred embodiment, when the communication detection system 20 detects the wireless communication assembly 11
When communication between the tele-control system 200 is broken down, the braking system 30 controls the harvester body 10
Braking.After the braking system 30 controls described braking a period of time of harvester body 10, the delay detects control group
Part 50 controls the communication detection system 20 and is detected between the wireless communication assembly 11 and the tele-control system 200 again
Communication, when the communication detection system 20 detect again the wireless communication assembly 11 and the tele-control system 200 it
Between communication when meeting preset condition, the braking system 30 controls the harvester body 10 and starts, so that the harvesting
Machine body 10 is again started up operation, when the communication detection system 20 detects the wireless communication assembly 11 and described long-range again
When communication between control system 200 still remains failure, then the harvester body 10 is not controlled and is again started up, is waited to be repaired
Personnel come to repair.
Those skilled in the art brakes it should be understood that controlling the harvester body 10 in the braking system 30
Afterwards, then before the starting of harvester body 10 described in secondary control, the delay detection control assembly 50 controls the communication detection system
The number that system 20 detects the communication between the wireless communication assembly 11 and the tele-control system 200 again is implemented as more
It is secondary, in the completely normal situation of communication between the wireless communication assembly 11 and the tele-control system 200 again
Harvester body 10 described in secondary control is mobile.It is braked that is, controlling the harvester body 10 in the braking system 30
Afterwards, only when 20 repeated detection of communication detection system to the wireless communication assembly 11 and the tele-control system 200
Between the normal situation of communication under, harvester body 10 described in secondary control starts the braking system 30 again.
Reference book attached drawing 9, according to another aspect of the present invention, the present invention further provides the systems of an intelligent harvester
Dynamic method, comprising:
(a) detection is located between a wireless communication assembly 11 of a harvester body 10 and a tele-control system 200
Communication；With
(b) when detecting that the communication between the wireless communication assembly 11 and the tele-control system 200 breaks down
When, it controls the harvester body 10 and brakes.
In some embodiments of the invention, the intelligent harvester with automatic braking function further comprises a system
Dynamic system 30 and one be located at the harvester body 10 a transmission component 12, when detect the wireless communication assembly 11 with
When communication between the tele-control system 200 is broken down, the harvester machine is located in the control of braking system 30
The transmission component 12 of body 10 switches to middle position.In other words, when detect the wireless communication assembly 11 with it is described long-range
When communication between control system 200 is broken down, the braking system 30 controls the institute for being located at the harvester body 10
It states transmission component 12 and switches to neutral gear.
Further, the intelligent harvester with automatic braking function provided by the present invention further comprises being set
In a brake assemblies 13 of the harvester body 10, when detecting the wireless communication assembly 11 and the tele-control system
When communication between 200 is broken down, the braking system 30 controls the brake group for being located at the harvester body 10
Part 13 brakes, so that the harvester body 10 emergency braking under the control for losing the tele-control system 200.
Specifically, the intelligent harvester with automatic braking function provided by the present invention further comprises a communication
Detection system 20, the communication detection system 20 is for detecting the wireless communication assembly 11 and the tele-control system 200
Between communication.Wherein in the step (a), the communication detection system 20 detects the wireless communication assembly 11 and described
Communication between tele-control system 200.
The communication detection system 20 further comprises a traffic intensity detection unit 22 and by being operatively connected to
A signal comparing unit 23 of traffic intensity detection unit 22 is stated, the traffic intensity detection unit 22 is described wireless for detecting
The intensity of signal between communication part 11 and the tele-control system 200, the signal comparing unit 23 is for comparing institute
The size for stating the signal strength detected of traffic intensity detection unit 22 Yu a preset signal strength value, when the traffic intensity is examined
The signal strength surveyed between the wireless communication assembly 11 detected of unit 22 and the tele-control system 200 is less than described
When preset signal strength, the braking system 30 controls the harvester body 10 and brakes.
The communication detection system 20 further comprises a communicating interrupt detection components 24, the communicating interrupt detection components
24 for detecting the communication between the wireless communication assembly 11 and the tele-control system 200, when the communicating interrupt is examined
When survey component 24 detects the communicating interrupt between the wireless communication assembly 11 and the tele-control system 200, the system
Dynamic system 30 controls the harvester body 10 and brakes.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
It should be understood by those skilled in the art that foregoing description and the embodiment of the present invention shown in the drawings are only used as illustrating
And it is not intended to limit the present invention.The purpose of the present invention has been fully and effectively achieved.Function and structural principle of the invention exists
It shows and illustrates in embodiment, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (17)
1. a kind of intelligent harvester with automatic braking function characterized by comprising
One harvester body；
One wireless communication assembly, is located at the harvester body, and the wireless communication assembly is operatively connected to one
Tele-control system；
One communication detection system, is used to detect the communication between the wireless communication assembly and the tele-control system；And
One braking system, the braking system are located at the harvester body, and the braking system is operatively connected to
One braking system of communication detection system, when the communication detection system detection to the wireless communication assembly and described long-range
When communication between control system is broken down, the braking system controls the harvester body braking.
2. the intelligent harvester according to claim 1 with automatic braking function, further comprises being located at the receipts
One transmission component of cutting mill body, the transmission component are operatively connected to the braking system, when the communication detection
When system detection breaks down to the communication between the wireless communication assembly and the tele-control system, the braking system
It controls the transmission component and switches to neutral position state.
3. the intelligent harvester according to claim 1 with automatic braking function, further comprises being located at the receipts
One brake assemblies of cutting mill body, the brake assemblies are operatively connected to the braking system, when the communication detection
When system detection breaks down to the communication between the wireless communication assembly and the tele-control system, the braking system
Control the brake assemblies brake.
4. the intelligent harvester according to claim 2 with automatic braking function, further comprises being located at the receipts
One brake assemblies of cutting mill body, the brake assemblies are operatively connected to the braking system, when the communication detection
When system detection breaks down to the communication between the wireless communication assembly and the tele-control system, the braking system
Control the brake assemblies brake.
5. the intelligent harvester according to claim 2 with automatic braking function, wherein the braking system is further
Including a controller and it is operatively connected to one first driving assembly of the controller, the controller is by can place of working
It is connected to the communication detection system, first driving assembly is driveably connected to the transmission component, when described logical
When news detection system detects that the communication between the wireless communication assembly and the tele-control system is broken down, the control
Device processed controls the first driving assembly work, and first driving assembly drives the transmission component to switch to neutral position state.
6. the intelligent harvester according to claim 3 with automatic braking function, wherein the braking system is further
Including a controller and it is operatively connected to one second driving assembly of the controller, the controller is by can place of working
It is connected to the communication detection system, second driving assembly is driveably connected to the brake assemblies, when described logical
When news detection system detects that the communication between the wireless communication assembly and the tele-control system is broken down, the control
Device processed controls the second driving assembly work, and second driving assembly drives the brake assemblies brake.
7. the intelligent harvester according to claim 5 with automatic braking function, wherein the first driving assembly packet
It includes a driving main body and from the outwardly extending drive shaft of driving main body, the transmission component is including a transmission main body and certainly
The outwardly extending control-rod of transmission main body, the drive shaft are driveably connected to the control-rod, the drive shaft
The control-rod can be driven relative to the transmission bulk motion.
8. further comprising being set according to claim 1 to any intelligent harvester with automatic braking function in 7
In a positioning component of the harvester body, the positioning component is used to determine the position of the harvester body.
9. according to claim 1 to any intelligent harvester with automatic braking function in 7, wherein the communication is examined
Examining system further comprises a traffic intensity detection unit and is operatively connected to the one of the traffic intensity detection unit
Signal comparing unit, the traffic intensity detection unit is for detecting between the wireless communication assembly and the tele-control system
Communication strength, the signal comparing unit is pre- for the traffic intensity detection unit signal strength detected and one
If the size of signal strength, the signal comparing unit is operatively connected to the braking system.
10. according to claim 1 to any intelligent harvester with automatic braking function in 7, wherein the communication
Detection system further comprises a communicating interrupt detection components, and the communicating interrupt detection components are for detecting the wireless telecommunications
Communication between component and the tele-control system.
11. further comprising one according to claim 1 to any intelligent harvester with automatic braking function in 10
Delay detection control assembly, the delay detection control assembly is operatively connected to the communication detection system, described to prolong
When detection control assembly be used for after being spaced a preset time after the braking system controls harvester body braking again
Control the communication described in the communication detection system detection between wireless communication assembly and the tele-control system.
12. the braking method of an intelligent harvester characterized by comprising
(a) communication between the wireless communication assembly and a tele-control system of a harvester body is located in detection；With
(b) when detecting that the communication between the wireless communication assembly and the tele-control system is broken down, institute is controlled
State the braking of harvester body.
13. the braking method of intelligence harvester according to claim 12, wherein in the step (b), when detecting
When communication between the wireless communication assembly and the tele-control system is broken down, the harvester machine is located in control
One transmission component of body switches to middle position.
14. the braking method of intelligence harvester according to claim 12, wherein in the step (b), when the nothing
When communication between line communication part and the tele-control system is broken down, control is located at the one of the harvester body
Brake assemblies brake.
15. the control method of intelligence harvester according to claim 12, wherein in the step (b), when detecting
When signal strength between the wireless communication assembly and the tele-control system is less than a preset signals value, the receipts are controlled
The braking of cutting mill body.
16. the control method of intelligence harvester according to claim 12, wherein in the step (b), when detecting
When signal interruption between the wireless communication assembly and the tele-control system, the harvester body braking is controlled.
17. according to claim 1 in 2 to 16 any intelligent harvester control method, wherein controlling the harvesting
After the braking of machine body, the communication between the wireless communication assembly and the tele-control system is detected again, when detecting again
When signal strength between the wireless communication assembly and the tele-control system is greater than a preset signal strength, described in control
The starting of harvester body.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910280709.4A CN110217215A (en) | 2019-04-09 | 2019-04-09 | Intelligent harvester and its braking method with automatic braking function |
| AU2019440385A AU2019440385B2 (en) | 2019-04-09 | 2019-09-23 | Intelligent harvester with automatic braking function, and braking method thereof |
| EP19923831.2A EP3954193A4 (en) | 2019-04-09 | 2019-09-23 | Intelligent harvester with automatic braking function, and braking method thereof |
| PCT/CN2019/107286 WO2020206949A1 (en) | 2019-04-09 | 2019-09-23 | Intelligent harvester with automatic braking function, and braking method thereof |
| CA3131994A CA3131994A1 (en) | 2019-04-09 | 2019-09-23 | Intelligent harvester with automatic braking function, and braking method thereof |
| US17/487,235 US20220009459A1 (en) | 2019-04-09 | 2021-09-28 | Intelligent harvester with automatic braking function and braking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910280709.4A CN110217215A (en) | 2019-04-09 | 2019-04-09 | Intelligent harvester and its braking method with automatic braking function |
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| Publication Number | Publication Date |
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| CN110217215A true CN110217215A (en) | 2019-09-10 |
Family
ID=67822493
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910280709.4A Pending CN110217215A (en) | 2019-04-09 | 2019-04-09 | Intelligent harvester and its braking method with automatic braking function |
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| CN (1) | CN110217215A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020206949A1 (en) * | 2019-04-09 | 2020-10-15 | 丰疆智能科技股份有限公司 | Intelligent harvester with automatic braking function, and braking method thereof |
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