CN113212334B - Operation safety control device and control method for grain crop harvesting robot - Google Patents
Operation safety control device and control method for grain crop harvesting robot Download PDFInfo
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- CN113212334B CN113212334B CN202110513118.4A CN202110513118A CN113212334B CN 113212334 B CN113212334 B CN 113212334B CN 202110513118 A CN202110513118 A CN 202110513118A CN 113212334 B CN113212334 B CN 113212334B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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Abstract
A grain crop harvesting robot operation safety control device and a control method can automatically judge and identify the actual operation state of a harvesting robot through a vehicle control unit VCU, and can control working parts of the harvesting robot to be recovered from an unsafe state to a safe state, so that potential safety hazards of the harvesting robot caused by the fact that a driver mistakenly touches or forgets to close a harvesting operation switch after use can be effectively reduced, and the harvesting robot can be kept in the safe state to the maximum extent.
Description
Technical Field
The invention belongs to the technical field of crop harvester control, and particularly relates to a grain crop harvesting robot operation safety control device and a control method.
Background
In recent years, in order to improve agricultural production efficiency and reduce agricultural labor intensity, the intellectualization of agricultural machinery is rapidly developed.
As a key device for harvesting cereal crops (rice, millet, sorghum, corn and the like), the cereal crop harvesting robot has numerous working parts and complex and various operating environments, and along with the development of the technology, the intelligent degree of the cereal crop harvesting robot is higher and higher.
The control unit of a cereal harvesting robot typically includes an engine controller ECU and a vehicle control unit VCU. Through intelligent transformation, each working part of the cereal crop harvesting robot basically realizes an electric control function, such as electric control hydrostatic walking, electric control of a header clutch, electric control of a main clutch, electric control adjustment of the rotating speed of a reel, electric control adjustment of the height of a header, electric control of a grain unloading barrel, electric control adjustment of the rotating speed of a roller, electric control adjustment of a gap of a concave plate, electric control adjustment of the rotating speed of a fan and the like.
The main clutch can realize disconnection and combination of driving power of working components such as cleaning and threshing of the harvesting robot so as to control working components such as cleaning and threshing of the harvesting robot, the header clutch can realize disconnection and combination of driving power of a header (with a feeding device) so as to control working of the feeding device, and the grain unloading barrel needs to be stretched out when grain unloading is finished and needs to be retracted after the grain unloading is finished.
In view of the working properties of the electric control components, if misoperation occurs for some reason during the working process of the harvesting robot, such as the driver mistakenly pressing the harvesting operation mode in the road transportation mode; or forget to change the work mode into the road transportation mode after the harvest operation is finished, and the like, the potential safety operation problems or other possible factors can cause the cereal crop harvesting robot to have potential safety hazards, such as the header is in the work state in the road transportation mode, or the grain unloading barrel is in the side extension state in the transportation mode, and the like. Therefore, the importance of the safety function of the harvesting robot is increasingly highlighted.
Disclosure of Invention
The invention aims to provide a grain crop harvesting robot operation safety control device and a control method.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: the utility model provides a cereal crop results robot operation safety control device which characterized in that: the automatic control system comprises a harvesting robot sensing module, an engine controller ECU, a vehicle control unit VCU, a hydraulic safety valve, an operation safety end execution module, a working part and a display screen;
the harvesting robot sensing module can acquire state information of the harvesting robot and working mode information manually selected by a driver and transmit the acquired information to a Vehicle Control Unit (VCU);
the engine controller ECU can acquire an engine rotating speed signal, process the acquired rotating speed signal and transmit the processed rotating speed signal to the VCU;
the VCU can receive information transmitted by the harvesting robot sensing module and a rotating speed signal transmitted by the ECU, process the information and the signal and display a processing result through a display screen; the vehicle control unit can also judge whether to output control signals to the hydraulic safety valve and the operation safety end execution module according to the processing result;
the hydraulic safety valve is arranged on a hydraulic main control pipeline of a hydraulic system of the harvesting robot and is positioned at the upstream of hydraulic oil supply of a working part, and the hydraulic safety valve is controlled to be opened and closed by a VCU (vehicle control unit);
the operation safety end execution module comprises a plurality of electrically-controlled hydraulic valves which are connected in parallel, the electrically-controlled hydraulic valves are controlled to be opened and closed by a VCU (vehicle control unit), when the hydraulic safety valve is opened and hydraulic power is normally provided, the corresponding clutches can be combined or separated and the grain discharging barrel can extend out or retract through opening and closing control of the electrically-controlled hydraulic valves, so that state control of corresponding working components is finally realized;
the display screen is in bidirectional communication connection with the VCU of the vehicle controller and can perform acousto-optic display prompt on a driver according to information sent by the VCU of the vehicle controller;
the working component is a control execution object of the hydraulic safety valve and the operation safety tail end execution module.
Furthermore, the harvesting robot sensing module comprises a working mode switch for selecting a working mode, a roller rotating speed sensor for detecting the rotating speed of a threshing roller, a vehicle speed sensor for detecting the walking speed of the harvesting robot, a gap bridge rotating speed sensor for detecting the rotating speed of a gap bridge main shaft, a grain unloading barrel state sensor for detecting the telescopic state of a grain unloading barrel and a cutting platform angle sensor for detecting the cutting platform angle to obtain the cutting platform height.
Furthermore, the harvesting robot operation safety end execution module comprises a main clutch electric control hydraulic valve for controlling engagement and separation of a main clutch, a header clutch electric control hydraulic valve for controlling engagement and separation of a header clutch, and a grain unloading barrel electric control hydraulic valve for controlling extension and retraction of a grain unloading barrel, wherein the main clutch electric control hydraulic valve, the header clutch electric control hydraulic valve and the grain unloading barrel electric control hydraulic valve are respectively and independently controlled by control signals of a whole vehicle controller VCU.
Furthermore, the engine controller ECU and the vehicle control unit VCU as well as the vehicle control unit VCU and the display screen are connected through CAN buses.
Further, the working components comprise a main clutch, a header clutch and a grain unloading barrel.
A grain crop harvesting robot operation safety control method is characterized by comprising the following steps:
firstly, starting an engine, and selecting a corresponding position of a working mode switch according to a working requirement;
secondly, the VCU of the vehicle control unit detects the position of the working mode switch and sends out a corresponding command according to a detection result:
A. when the working mode switch position is detected to be in the harvesting working mode, a driver requests for the action of the working safety end execution module, the vehicle control unit VCU is considered to be effective, and the vehicle control unit VCU can control the hydraulic safety valve to be opened to provide hydraulic power for corresponding working parts under the operation of the driver or automatically;
B. when the working mode switch position is detected to be in a road transportation mode, the hydraulic safety valve is always kept closed and locked by a VCU command of the vehicle control unit, and hydraulic power is forbidden to be provided for a working part; the method comprises the following steps that a driver requests an operation safety end execution module, and a Vehicle Control Unit (VCU) is regarded as invalid;
thirdly, the harvesting robot enters a driving state:
in the running process of the harvesting robot, a vehicle control unit VCU carries out monitoring and judgment according to information transmitted by a harvesting robot sensing module and information transmitted by an engine controller ECU; when the driver selects the harvesting operation mode, but the actual state of the harvesting robot is judged to be in accordance with the conditions of the road transportation mode, the vehicle control unit VCU automatically considers that the vehicle control unit VCU is in the road transportation mode at present, and then the vehicle control unit VCU sends alarm information that the working mode is not in accordance with the actual state to a display screen to prompt the driver for a short time;
meanwhile, the VCU judges the state of the working part through the harvesting robot sensing module, and when the working part is judged to be in an unsafe state, the VCU controls the operation safety end execution module to automatically act, so that the working part returns to a safe state, and the safety control of the harvesting robot is realized.
Further, in the third step, the conditions that the actual state of the harvesting robot is judged to accord with the road transportation mode are that the vehicle speed is more than 15Km/h, the height of the header is more than 600mm, and the engine speed is more than 1200 rpm.
Further, in step three, the criterion for determining that the working component is in an unsafe state includes: when the rotating speed of the roller is more than 100rpm, the main clutch is still in the engaging state and is in an unsafe state; when the rotating speed of the gap bridge is more than 20rpm, the header clutch is still in a joint state and is in an unsafe state; when the grain unloading barrel is monitored by the grain unloading barrel state sensor to be stretched out, the grain unloading barrel is considered to be in an unsafe state.
Further, in the third step, when the working component is determined to be in the unsafe state, the mode that the vehicle control unit VCU controls the working component to automatically return to the safe state is as follows: and sending a driving signal to an electric control hydraulic valve corresponding to an unsafe working part in the operation safety end execution module to perform opening and closing actions, and simultaneously sending a driving signal to a hydraulic safety valve to enable the hydraulic safety valve to be opened to provide hydraulic power for the change of the state of the working part, and after the working part recovers the safety state, the vehicle control unit VCU commands the hydraulic safety valve to be closed and keeps a closed and locked state under the operation of a road transportation mode.
Has the advantages that:
according to the invention, the VCU of the vehicle control unit can automatically judge and identify the actual operation state of the harvesting robot and control the working parts of the harvesting robot to be recovered from the unsafe state to the safe state, so that the potential safety hazard of the harvesting robot caused by the fact that the harvesting robot is mistakenly touched by a driver or forgets to close a harvesting operation switch after the harvesting robot is used can be effectively reduced, in addition, the VCU of the vehicle control unit can show the relevant conditions on a display screen to remind the driver, so that the operation selection of the driver is provided, and the harvesting robot can be kept in the safe state to the maximum extent.
Drawings
Fig. 1 is a block diagram of a job safety control apparatus according to an embodiment of the present invention.
Fig. 2 is a flow chart of the operation mode determination in the present invention.
FIG. 3 is a flow chart of the execution of each electrically controlled hydraulic valve in the operation safety end execution module according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1, the operation safety control device for the grain crop harvesting robot comprises a harvesting robot sensing module, an engine controller ECU, a vehicle control unit VCU, a hydraulic safety valve, an operation safety end execution module, a working part and a display screen.
The harvesting robot sensing module can collect the state information of the harvesting robot and the working mode information manually selected by a driver, and transmits the collected information to the VCU. That is, in fig. 1, the harvesting robot sensing module transmits the sensor signal to the vehicle control unit VCU.
The engine controller ECU can acquire an engine rotating speed signal and process the acquired rotating speed signal and then transmit the processed rotating speed signal to the VCU.
Specifically, after the engine controller ECU collects an engine speed signal, the engine speed signal is used as an engine speed value, and then the engine speed value is transmitted to the vehicle control unit VCU.
The VCU can receive information transmitted by the harvesting robot sensing module and a rotating speed signal transmitted by the ECU, process the information and the signal and display a processing result through a display screen; the vehicle control unit can also judge whether to output control signals to the hydraulic safety valve and the operation safety end execution module according to the processing result.
The hydraulic safety valve is arranged on a hydraulic main control pipeline of a hydraulic system of the harvesting robot and located at the upstream of a hydraulic oil supply of a working part, the hydraulic safety valve is controlled to be opened and closed by a Vehicle Control Unit (VCU), and specifically, the VCU sends a driving signal to the hydraulic safety valve to control the opening and closing of the hydraulic safety valve so as to provide hydraulic power for actions of the working part or stop providing the hydraulic power.
The operation safety end execution module comprises a plurality of electric control hydraulic valves which are connected in parallel, the electric control hydraulic valves are controlled by a VCU of the vehicle control unit to be opened and closed, when the hydraulic safety valve is opened and hydraulic power is normally supplied, the corresponding clutches can be combined or separated through opening and closing control over the electric control hydraulic valves, and therefore state control over corresponding working parts is finally achieved.
That is, each clutch requires two conditions when performing an engaging or disengaging action, the first condition being that hydraulic power is required, which is provided by a hydraulic relief valve control; the second condition is that an electrically controlled hydraulic valve corresponding to the clutch is required to be opened, and the condition is met by the control of a vehicle control unit VCU. It should be noted here that, in view of energy saving of the vehicle, the hydraulic relief valve is normally in a normally closed state, and is opened under corresponding control only when hydraulic power is required.
The working component is a control execution object of the hydraulic safety valve and the operation safety tail end execution module.
The display screen is in bidirectional communication connection with the VCU of the vehicle controller and can perform acousto-optic display prompt on a driver according to information sent by the VCU of the vehicle controller.
In this embodiment, the harvesting robot sensing module includes a working mode switch for selecting a working mode, a drum rotation speed sensor for detecting a rotation speed of a threshing drum, a vehicle speed sensor for detecting a walking speed of the harvesting robot, a bridge-crossing rotation speed sensor for detecting a rotation speed of a bridge-crossing main shaft, a grain unloading drum state sensor for detecting a stretching state of the grain unloading drum, and a header angle sensor for detecting a header angle to obtain a header height. The working mode switch is electrically connected with the vehicle control unit VCU, and the vehicle control unit VCU can detect the position of the working mode switch, so that the working mode switch can be regarded as a sensor here.
In this embodiment, the harvesting robot operation safety end execution module includes a main clutch electrically-controlled hydraulic valve for controlling engagement and disengagement of a main clutch, i.e., the main clutch valve in fig. 1 and 3, a header clutch electrically-controlled hydraulic valve for controlling engagement and disengagement of a header clutch, i.e., the header clutch valve in fig. 1 and 3, and an unloading barrel electrically-controlled hydraulic valve for controlling extension and retraction of an unloading barrel, i.e., the unloading barrel valve in fig. 1 and 3. The main clutch electric control hydraulic valve, the header clutch electric control hydraulic valve and the grain unloading barrel electric control hydraulic valve are respectively and independently controlled by control signals of a VCU (vehicle control unit).
Specifically, the VCU of the vehicle control unit controls the on-off of the VCU by sending a driving signal to an electrically controlled hydraulic valve in an operation safety end execution module.
In this embodiment, the ECU and the VCU as well as the VCU and the display screen are connected via the CAN bus for communication.
A grain crop harvesting robot operation safety control method comprises the following steps:
firstly, an engine is started, the whole harvesting robot is electrified, and the corresponding position of a working mode switch is selected according to working requirements.
This step may be done manually by the driver.
Secondly, the VCU of the vehicle control unit detects the position of the working mode switch and sends out a corresponding command according to a detection result:
specifically, the method comprises the following steps:
A. when the position of the working mode switch is detected to be in the harvesting working mode, that is, the working mode switch state is 0 (in this embodiment, "0" represents the harvesting working mode, otherwise (or 1 represents the road transportation mode), the vehicle control unit VCU determines that the vehicle control unit VCU is valid when the driver requests the operation of the working safety end execution module, and at this time, the vehicle control unit VCU can control the hydraulic safety valve to open under the operation of the driver or automatically to provide hydraulic power for the corresponding working component. And the driver requests the operation safety end execution module to operate through the corresponding control device.
That is to say, when the driver selects the mode switch to be located "results operation mode" manually, the hydraulic safety valve can not open automatically, because can lose engine power like this, be unfavorable for energy-conservation, only when these working parts such as clutch or grain unloading section of thick bamboo need change operating condition, the hydraulic safety valve just can provide hydraulic power for the execution of working part under the condition that vehicle control unit VCU sent drive command, also under such a condition, the opening and closing of automatically controlled hydraulic valve can really play a role.
B. When the working mode switch position is detected to be in a road transportation mode, the hydraulic safety valve is always kept closed and locked by a VCU command of the vehicle control unit, and hydraulic power is forbidden to be provided for a working part; and the vehicle control unit VCU is regarded as invalid when the driver requests the operation safety end execution module to act.
Thirdly, the harvesting robot enters a driving state:
in the running process of the harvesting robot, a vehicle control unit VCU carries out monitoring and judgment according to information transmitted by a harvesting robot sensing module and information transmitted by an engine controller ECU; when the driver selects the harvesting operation mode, but the actual state of the harvesting robot is judged to be in accordance with the conditions of the road transportation mode, the vehicle control unit VCU automatically considers that the vehicle control unit VCU is in the road transportation mode at present, and then the vehicle control unit VCU sends alarm information that the working mode is not in accordance with the actual state to a display screen to prompt the driver for a short time;
meanwhile, the VCU judges the state of the working part through the harvesting robot sensing module, and when the working part is judged to be in an unsafe state, the VCU controls the operation safety end execution module to automatically act, so that the working part returns to a safe state, and the safety control of the harvesting robot is realized.
The safety control of the third step can be performed not only at the beginning of the harvesting operation, but also after the harvesting operation is completed.
When the third step appears at the beginning stage of the harvesting operation and the harvesting robot reaches the operation place and needs to be reset to the harvesting operation mode, the driver can switch the manually selected operation mode switch from the harvesting operation mode to the road transportation mode, and then switch from the road transportation mode to the harvesting operation mode, so that the harvesting robot is actually switched to the harvesting operation mode.
In the third step, the condition that the actual state of the harvesting robot is judged to accord with the road transportation mode is as follows: the vehicle speed is more than 15Km/h, the height of the header is more than 600mm, and the rotating speed of the engine is more than 1200 rpm. If only one of the three conditions is not satisfied, the mode is the harvesting operation mode, that is, the road transportation mode is determined when all three conditions are satisfied, as shown in fig. 2. The speed of the vehicle is the running speed of the harvesting robot.
In the third step, on the premise that the vehicle control unit VCU judges that the harvesting robot actually operates in the road transportation mode, the criterion for judging that the working part is in an unsafe state includes: when the rotating speed of the roller is more than 100rpm, the main clutch is still in an engaged state and is in an unsafe state; when the rotating speed of the gap bridge is more than 20rpm, the header clutch is still in a joint state and is in an unsafe state; and when the grain unloading barrel is monitored by the grain unloading barrel state sensor to be stretched out, the grain unloading barrel is considered to be in an unsafe state.
When the state of the working component is in an unsafe state, the mode that the VCU of the vehicle control unit controls the working component to automatically return to the safe state is as follows: and sending a driving signal to an electric control hydraulic valve corresponding to an unsafe working part in the operation safety end execution module to carry out opening and closing actions, and simultaneously sending a driving signal to a hydraulic safety valve to open the hydraulic safety valve to provide hydraulic power for the change of the state of the working part, and after the working part recovers the safety state, the vehicle control unit VCU commands the hydraulic safety valve to be closed and keeps a closed and locked state under the operation in a road transportation mode.
The control process of the present invention is described in detail below with the working components as the main clutch valve, the header clutch valve and the grain unloading cylinder valve as examples.
1. Master clutch valve actuation
Electrifying the whole vehicle:
when the on-off position of the working mode detected by the VCU of the vehicle controller is 0 and the VCU of the vehicle controller judges that the actual working state of the harvesting robot is also 0 (namely the harvesting working mode), the hydraulic safety valve can be opened or closed under the control request of a driver, and the main clutch valve executes the action according to the request of the VCU of the vehicle controller.
The request of the vehicle control unit VCU can be realized by a driver through the control device, and the vehicle control unit VCU can also automatically send a driving command to request according to actual needs.
When the VCU of the vehicle control unit detects that the switch position of the working mode is 0, but the VCU of the vehicle control unit judges that the actual state of the harvesting robot is not 0, or when the VCU of the vehicle control unit detects that the switch position of the working mode is 1, the VCU of the vehicle control unit judges that the vehicle is in a road running working condition, namely a road transportation mode:
at this time, if the main clutch in the working part is in a safe state, namely the vehicle control unit VCU detects that the drum rotation speed is less than or equal to 100rpm, the hydraulic safety valve is kept closed and locked, namely the VCU prohibits the opening and closing actions of the main clutch valve.
If the VCU of the vehicle control unit detects that the rotating speed of the drum is greater than 100rpm, the VCU of the vehicle control unit determines that the main clutch is still in the engagement state, namely the unsafe state, the VCU of the vehicle control unit automatically sends a driving command to request the valve of the main clutch to be opened, meanwhile, the VCU of the vehicle control unit automatically sends the driving command to enable the hydraulic safety valve to be opened, hydraulic power is provided for the disengagement of the main clutch, and after the main clutch is restored to the safe state, the VCU of the vehicle control unit sends the driving command again to enable the valve of the main clutch and the hydraulic safety valve to be closed.
That is, when the vehicle control unit VCU detects that the drum rotation speed is greater than 100rpm, it automatically controls the opening and closing of the main clutch valve to disengage the main clutch, and certainly, in this process, it also needs to control the opening and closing of the hydraulic safety valve to provide hydraulic power.
2. The header clutch valve and the grain unloading cylinder valve are basically executed in the same way as the main clutch valve and are basically executed at the same time as the main clutch valve. And will not be described in detail herein.
It should be noted that: when the hydraulic safety valve needs to be opened or closed in the header clutch valve executing process, if the hydraulic safety valve is judged to be opened or closed, the step is omitted. The unloading cylinder valve is executed in the same way.
The above embodiments are only intended to illustrate the technical solution of the present invention and not to limit the same, and it should be understood by those skilled in the art that the specific embodiments of the present invention can be modified or substituted with equivalents with reference to the above embodiments, and any modifications or equivalents without departing from the spirit and scope of the present invention are within the scope of the claims of the present invention.
Claims (7)
1. The utility model provides a cereal crop results robot operation safety control device which characterized in that: the automatic control system comprises a harvesting robot sensing module, an engine controller ECU, a vehicle control unit VCU, a hydraulic safety valve, an operation safety end execution module, a working part and a display screen;
the harvesting robot sensing module can acquire state information of the harvesting robot and working mode information manually selected by a driver and transmit the acquired information to the VCU;
the engine controller ECU can acquire an engine rotating speed signal, process the acquired rotating speed signal and transmit the processed rotating speed signal to the VCU;
the VCU can receive information transmitted by the harvesting robot sensing module and a rotating speed signal transmitted by the ECU, process the information and the signal and display a processing result through a display screen; the vehicle control unit can also judge whether to output control signals to the hydraulic safety valve and the operation safety end execution module according to the processing result;
the hydraulic safety valve is arranged on a hydraulic main control pipeline of a hydraulic system of the harvesting robot and is positioned at the upstream of hydraulic oil supply of a working part, and the hydraulic safety valve is controlled to be opened and closed by a VCU (vehicle control unit);
the operation safety end execution module comprises a plurality of electrically controlled hydraulic valves which are connected in parallel, the electrically controlled hydraulic valves are controlled by a VCU of the vehicle control unit to be opened and closed, when the hydraulic safety valve is opened and hydraulic power is normally supplied, the corresponding clutches can be combined or separated through opening and closing control over the electrically controlled hydraulic valves, and therefore state control over corresponding working parts is finally achieved;
the display screen is in bidirectional communication connection with the VCU of the vehicle controller and can perform acousto-optic display prompt on a driver according to information sent by the VCU of the vehicle controller;
the working part is a control execution object of a hydraulic safety valve and an operation safety end execution module, the harvesting robot operation safety end execution module comprises a main clutch electric control hydraulic valve for controlling engagement and separation of a main clutch, a header clutch electric control hydraulic valve for controlling engagement and separation of the header clutch and an unloading barrel electric control hydraulic valve for controlling extension and retraction of an unloading barrel, and the main clutch electric control hydraulic valve, the header clutch electric control hydraulic valve and the unloading barrel electric control hydraulic valve are respectively and independently controlled by control signals of a VCU (vehicle control unit).
2. The cereal crop harvesting robot operation safety control device of claim 1, characterized in that: the harvesting robot sensing module comprises a working mode switch for selecting a working mode, a roller rotating speed sensor for detecting the rotating speed of a threshing roller, a vehicle speed sensor for detecting the walking speed of the harvesting robot, a bridge crossing rotating speed sensor for detecting the rotating speed of a bridge crossing main shaft, a grain unloading barrel state sensor for detecting the telescopic state of the grain unloading barrel and a header angle sensor for detecting the angle of the header to obtain the height of the header.
3. The grain crop harvesting robot operation safety control device of claim 1, wherein: the ECU of the engine controller and the VCU of the vehicle controller as well as the VCU of the vehicle controller and the display screen are connected through CAN buses.
4. A grain crop harvesting robot operation safety control method is characterized by comprising the following steps:
firstly, starting an engine, and selecting a corresponding position of a working mode switch according to a working requirement;
secondly, the VCU of the vehicle control unit detects the position of the working mode switch and sends out a corresponding command according to a detection result:
A. when the working mode switch position is detected to be in the harvesting working mode, a driver requests for the action of the working safety end execution module, the vehicle control unit VCU is considered to be effective, and the vehicle control unit VCU can control the hydraulic safety valve to be opened to provide hydraulic power for corresponding working parts under the operation of the driver or automatically; the harvesting robot operation safety tail end execution module comprises a main clutch electric control hydraulic valve for controlling the engagement and the disengagement of a main clutch, a header clutch electric control hydraulic valve for controlling the engagement and the disengagement of the header clutch and a grain unloading barrel electric control hydraulic valve for controlling the extension and the retraction of a grain unloading barrel, wherein the main clutch electric control hydraulic valve, the header clutch electric control hydraulic valve and the grain unloading barrel electric control hydraulic valve are respectively and independently controlled by control signals of a VCU (vehicle control unit);
B. when the working mode switch position is detected to be in a road transportation mode, the hydraulic safety valve is always kept closed and locked by a VCU command of the vehicle control unit, and hydraulic power is forbidden to be provided for a working part; the method comprises the following steps that a driver requests an operation safety end execution module, and a Vehicle Control Unit (VCU) is regarded as invalid;
thirdly, the harvesting robot enters a driving state:
in the running process of the harvesting robot, a vehicle control unit VCU carries out monitoring and judgment according to information transmitted by a harvesting robot sensing module and information transmitted by an engine controller ECU; when the driver selects the harvesting operation mode, but the actual state of the harvesting robot is judged to be in accordance with the conditions of the road transportation mode, the vehicle control unit VCU automatically considers that the vehicle control unit VCU is in the road transportation mode at present, and then the vehicle control unit VCU sends alarm information that the working mode is not in accordance with the actual state to a display screen to prompt the driver for a short time;
meanwhile, the VCU judges the state of the working part through the harvesting robot sensing module, and when the working part is judged to be in an unsafe state, the VCU controls the operation safety end execution module to automatically act to enable the working part to return to a safe state, so that the harvesting robot is safely controlled.
5. The operation safety control method of the cereal crop harvesting robot according to claim 4, characterized in that in step three, the conditions for judging that the actual state of the harvesting robot meets the road transportation mode are that the vehicle speed is greater than 15Km/h, the header height is greater than 600mm, and the engine speed is greater than 1200 rpm.
6. The grain crop harvesting robot operation safety control method as claimed in claim 4, wherein the step three, the criterion of judging that the working part is in an unsafe state comprises: when the rotating speed of the roller is more than 100rpm, the main clutch is still in the engaging state and is in an unsafe state; when the rotating speed of the gap bridge is more than 20rpm, the header clutch is still in a joint state and is in an unsafe state; when the grain unloading barrel is monitored by the grain unloading barrel state sensor to be stretched out, the grain unloading barrel is considered to be in an unsafe state.
7. The operation safety control method of the grain crop harvesting robot as claimed in claim 4, wherein in the third step, when the working component is determined to be in the unsafe state, the mode of the vehicle control unit VCU controlling the working component to automatically return to the safe state is as follows: and sending a driving signal to an electric control hydraulic valve corresponding to an unsafe working part in the operation safety end execution module to perform opening and closing actions, and simultaneously sending a driving signal to a hydraulic safety valve to enable the hydraulic safety valve to be opened to provide hydraulic power for the change of the state of the working part, and after the working part recovers the safety state, the vehicle control unit VCU commands the hydraulic safety valve to be closed and keeps a closed and locked state under the operation of a road transportation mode.
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| CN202110513118.4A CN113212334B (en) | 2021-05-11 | 2021-05-11 | Operation safety control device and control method for grain crop harvesting robot |
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| CN202110513118.4A CN113212334B (en) | 2021-05-11 | 2021-05-11 | Operation safety control device and control method for grain crop harvesting robot |
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| CN113212334B true CN113212334B (en) | 2022-07-26 |
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