RU2550876C1 - Electric equipment system for track-laying vehicle - Google Patents

Abstract

FIELD: electricity.SUBSTANCE: system contains power supply devices, electronic microprocessor controllers adapted for the control of the motor, transmission and operating equipment, instruments of low-voltage equipment, sensors for operating parameters of the vehicle, control bodies and operator's panel. In the system work permit for unqualified persons is limited; allowable operating parameters of the machine are limited depending on the operator's qualification; data on safety regulations for the operation of the vehicle and works production card are displayed at the operator's panel. An input into nonvolatile memory and display of data on the technical state of the vehicle is provided; safe filling of the vehicle with fuel and start-up of the motor are ensured; safe control of the vehicle operation is provided at slopes, steep ascents and descents and near power transmission lines; availability of a fire extinguisher, first aid kit and other objects required for the safe work of the operator is ensured. Different alternatives of sound and light signalling on the vehicle operation are implemented. A change in maximum permitted operation modes of the vehicle is made depending on the availability of ROPS; signals from sensors of safe belts and the cabin door position, other functions of safe control are implemented for different conditions and modes of the vehicle operation.EFFECT: increasing the safety of the operator.18 cl, 1 dwg

Description

The invention relates to tracked agricultural, road-building and earth moving vehicles, in particular to bulldozers.

A known system of electrical equipment of a digging and transporting machine (bulldozer), comprising an electronic transmission control unit and working equipment and means connected to it for measuring the speed of the bulldozer, as well as slipping and accelerating its left and right sides. This system provides control of lifting / lowering of the working equipment (blade of the bulldozer), as well as the movement of the machine, including stabilization of its rectilinear movement by influencing the control mechanisms of turns and skew of the working body [1].

A disadvantage of the known system is limited functionality, since it does not provide control of the engine, lighting, sound signals and other devices of the machine.

Closest to the proposed is the electrical system of the tracked vehicle, containing the power supply system, electronic controllers adapted to control the engine, transmission and working equipment of the machine, lighting and sound alarms, air conditioning and wipers, which are controlled from controllers or key switches, as well as organs control and sensors of engine operation parameters and machine transmissions connected to controllers and to the dashboard of operas torus [2].

The disadvantage of this electrical system is the reduced safety of the operator on the machine. This is due to the fact that in this system the functions of automated or automatic protection of the machine and the operator from the occurrence of emergency situations and modes in various operating conditions of the machine are not implemented.

The technical result, the achievement of which the invention is directed in all variants of its execution, is to increase the safety of the machine operator.

In the electrical system of the tracked vehicle, containing the power supply system, electronic controllers adapted to control the engine, transmission, working equipment and / or lighting devices, sound alarm devices, as well as machine operation sensors connected to at least one controller, organs machine controls, connected to at least one controller, and an operator panel adapted to display machine operation parameters, the specified technical result is achieved due to the fact that in this system one or more of the following technical solutions are implemented in any combination of them:

- the system includes a device for reading personal or biometric data of the operator, and machine permission signals are generated only after comparing the read data with the data of at least one operator authorized to control the machine stored in the non-volatile memory of the system;

- non-volatile memory of the system contains information about the requirements or rules for safe operation on the machine, and the operator panel is adapted to display it;

- the non-volatile memory of the system contains information about the work order or work plan, the route of the machine or the place of work, and / or about the features of the safe execution of these works, and the operator panel is adapted to display it;

- provides input to the non-volatile memory of the system and display information about the technical condition of the machine;

- implemented the transfer of data on the parameters of the machine and its technical condition to a terminal located outside the machine, as well as recording these data for storage in the non-volatile memory of the terminal with the ability to read if necessary;

- the controller provides verification, control and registration in non-volatile memory of the operator idling (reference) of the machine mechanisms after starting the engine before starting the machine by detecting changes in the output signals of the machine operation parameters sensors;

- the system detects the fueling mode of the machine by monitoring the removal of the fuel tank cap or changes in the fuel level in the tank and then generates a stop signal or sets a low engine speed in this mode, and also contains a smoke detector (smoking operator-refueling machine) and / or the illumination of the machine in the area of the fuel tank and blocks the supply of fuel to the tank in the presence of smoke and / or insufficient light;

- the controller, after receiving a signal from the key, monitors the conditions for safe engine start: disabling the transmission of torque from the engine to the drive sprockets of the machine, the included state of the parking brake, the operator being in the cab or in the car seat and the disabled state of the process equipment drive;

- the system contains a sensor for the concentration of harmful substances with exhaust gases or exhaust smoke of the engine and informs the operator about the excess of the maximum permissible value of this parameter previously stored in its non-volatile memory;

- the system contains at least one sensor of the concentration of dust, carbon monoxide, alcohol vapor or fuel in the cabin air, sound level at the operator’s workplace, vibration on the seat or control element of the machine, air temperature in the operator’s cabin and informs the operator about the maximum the permissible value of this parameter recorded in its memory, and / or generates a signal to stop the engine or machine;

- the system contains an ambient light sensor (illumination of the working platform or traffic path), and its controller automatically switches on the lighting devices if the level of this illumination is below the minimum acceptable value, or generates an alert signal for the operator and / or a signal to stop the engine or machine, if the presence of a signal to turn on the lighting devices, the level of external illumination remains less than the minimum acceptable value, for example, due to a malfunction or contamination of the devices svescheniya;

- the system contains at least one sensor for the intensity of fog, rain, snowfall and / or dustiness of the environment, and its controller constantly or periodically turns on the lighting and / or sound alarms if the value of the parameter controlled by the sensor exceeds the value recorded in it non-volatile memory, and / or implements control of the machine from the condition of limiting the speed of its movement at a level previously recorded in the controller memory;

- the system contains a sensor for tilting the machine in the longitudinal and / or transverse plane and at least one sensor for ambient light, fog, rain, snow and / or dustiness of the environment, and the controller generates a warning signal and / or blocks the operation of the machine if the actual value of the longitudinal and / or transverse inclination of the machine exceeds the maximum permissible value, depending on the ambient light, the intensity of the fog, rain, snowfall and / or dustiness of the environment, previously recorded in the memory ntroller;

- the controller of the electrical system of the tracked vehicle equipped with a traction winch, blocks the inclusion of the drive of this winch if the rear window fencing sensor from the metal grille indicates its absence, or if the operator does not confirm the presence of this fence by acting on the controls;

- the controller compares any direction and / or speed of the linear or angular movement of the machine and / or its working equipment with the signals of the machine controls that specify these speeds and directions, and, if there are inconsistencies, for example, due to a malfunction of the machine, it generates a warning signal for the operator and / or engine or machine stop signal;

- the system contains at least one sensor of the presence on the machine of a fire extinguisher, shovel, first aid kit, potable water and / or tow rope, and the controller generates a warning signal and / or an engine or machine stop signal depending on the signal from this sensor . Each of these sensors can be made in the form of a transponder (RFID tag) attached to the corresponding device (object) and its reading device. The presence sensor on the machine of a fire extinguisher or tank for drinking water can also be made in the form of a weight sensor. In the latter case, the controller additionally determines the presence of a sufficient amount of extinguishing agent in the extinguisher or drinking water in the specified capacity;

- the controller converts the operation parameters of the machine and the signals of the controls of the machine into control signals of the light or sound alarm devices in accordance with the program of this conversion, previously recorded in its non-volatile memory and determines the order of this conversion, the characteristic and / or type of control signals of the light or sound alarm devices . These control signals are generated, in particular, from the condition for giving a warning sound and / or light signal before starting or changing the direction of movement of the machine and its working equipment, when the machine is moving in reverse, and for different directions of movement or rotation of the machine and its working equipment, the controller sets different frequencies, durations, repetition periods, or various combinations of durations and pauses of this warning signal. In this case, the operator panel can be equipped with a control body used to switch the type and characteristics of warning signals depending on the level of danger created by the working machine, on the external conditions of its operation, on the presence of people in the working area of the machine, or from the condition that it is possible to identify these signals of various machines operating on the same site (in one zone);

- the system contains a sensor of the angle of inclination of the machine in the longitudinal and / or transverse plane and a sensor for the presence of an operator protection device during rollover of the machine (ROPS), or the operator panel is adapted to confirm the presence of ROPS by the operator, and the controller changes the maximum permissible longitudinal and / or transverse angle tilt of the machine depending on the presence of ROPS, as well as the formation of a warning signal and / or a signal to stop the engine or machine if the angle of the longitudinal and / or transverse tilt of the machine is greater It has a maximum permissible value;

- the system contains an operator seat belt seat belt sensor and a ROPS presence sensor, or the operator panel is adapted to confirm the presence of ROPS by the operator, and the controller generates a warning signal and / or engine or machine stop signal if the seat belt is not fastened with ROPS;

- the system contains a sensor for fixing the left and / or right cab door in the open position and a sensor for the transverse and / or longitudinal roll of the machine, and the controller generates a warning signal and / or a stop signal for the engine or machine if the cab door is closed and the angle of the transverse and / or the longitudinal inclination of the machine exceeds the maximum allowable value previously recorded in the controller's memory;

- the system contains a sensor for tilting the machine in the longitudinal plane, and the controller compares the current value of this angle with the values of the tilt angles of the machine on ascents and descents previously recorded in its non-volatile memory, the excess of which requires the implementation of safety measures, and also, in case of this excess, controls the engine and / or transmission of the machine with the implementation of the prohibition of potentially dangerous control actions on steep ascents and descents: engine stopping, moving the machine on the coast or downhill with by engaging the engine, disengaging the clutch, shifting gears with a power flow discontinuity, starting the engine from the inertia of the vehicle moving downhill, turning with a radius less than the value previously recorded in the controller memory, braking with acceleration greater than the value previously recorded in the controller memory, and / or disabling one track;

- the system contains a transverse plane angle sensor, and the controller compares the current value of this angle with the transverse angle of the machine previously recorded in its non-volatile memory, the excess of which requires the implementation of safety measures, and, in case of this excess, generates transmission control signals or by turning mechanisms of a machine with the implementation of a ban on turning with braking of one track in the uphill direction or turning with a radius less than the value previously recorded memory of the controller;

- the system, for the purpose of implementing safe control of the machine when overcoming the ford, contains a water sensor installed on the machine with the ability to detect the movement of the machine in this mode, and the controller controls the engine and / or transmission of the machine with the implementation of the prohibition of engine shutdown, reducing its angular velocity is less than the value previously recorded in the controller’s memory, gear shifting the transmission, stopping the car, increasing the speed of the car over the value, recorded in the controller memory, and / or rotation with a radius less than the value previously recorded in the controller memory;

- the system contains a traction sensor of the machine, and the controller generates a signal to stop the machine when it hits an obstacle, detected by the rate of increase in traction exceeding the value previously stored in the controller;

- the system includes a wind direction sensor and an indicator used to ensure operator safety when removing the radiator cap of a heated engine by indicating the position of the windward side of this plug or cap;

- the controller, upon receipt of the braking signal of the machine, implements the algorithm for safe stopping the machine, generating control signals for the engine, transmission and trailed working equipment (if it has a wheel drive), in the following sequence: reducing the fuel supply to the engine, turning on the brakes of the wheels of the towed equipment , turning off the transmission of torque from the engine to the drive wheels of the machine, turning on the brake of the machine;

- the system contains a sensor for tilting the machine in the longitudinal plane, and the controller provides the implementation of safe control of the machine when the machine engine unexpectedly stops on ascents and descents exceeding the values previously set and recorded in the controller’s memory by generating engine and transmission control signals in the following sequence: turning on the car brake, turning off the transmission of torque from the engine to the drive sprockets of the machine, starting the engine and simultaneously turning off brake and the transmission of torque from the engine to the drive sprockets of the machine;

- the system contains sensors for the speed of the machine and the angle of inclination of the machine in the longitudinal plane, and the controller generates the braking signals of the machine from the condition of limiting the intensity of the braking of the machine, the maximum allowable value of which at different speeds of the machine during ascents and descents is pre-recorded in the non-volatile memory of the controller;

- the system comprises a GPS / GLONASS global satellite positioning device connected to a controller or an operator panel, in the non-volatile memory of which / the coordinates or an area of the permissible location of the machine and / or the slopes of the soil surface are pre-recorded with reference to these coordinates, and the controller provides engine control and transmission from the condition of moving the machine within its permissible location and prevent overturning;

- the system contains a sensor of the electric field strength of the power line (power transmission line) and a device adapted to detect the presence of the operator’s work permit for work in the security zone of the power line and connected to the controller, which ensures the engine and / or machine stops in the absence of this work permit for the value electric field strength exceeding the maximum allowable value previously recorded in the controller memory. At the same time, a device configured to detect the presence of this access permit at the operator can be implemented as a device for reading data on the availability of this access permit from the memory of a smart card, chip card, flash card, flash USB drive, or a keypad of the operator panel, adapted for entering and analyzing the code of this tolerance.

In addition, in order to achieve the indicated technical results, in the control system of the earth moving machine, in particular:

- the device for reading personal or biometric data of the operator is made in the form of a fingerprint reader, or overwriting data from the long-term memory of a smart card, or a chip card, or a Flash card, or a Flash USB Drive, or an operator’s ID, or his passport or acoustic control of the operator’s voice, or video control of his face, or in the form of a radio frequency, or ultrasonic, or optical, or infrared signal generated by a mobile operator identification device;

- the controller is adapted to store pre-recorded information on the operator’s qualifications in non-volatile memory, or the device for reading data on the operator additionally reads information characterizing its qualifications, and the controller implements a change in the maximum allowable parameters of the machine (speed, longitudinal and lateral roll of the machine, etc. e.) depending on the information on this qualification (on the qualifications of the operator);

- the controller provides a calculation of the duration of each operator and their recording in a long-term non-volatile memory with the ability to read if necessary and, if necessary, identifying violations of the established mode of work and rest and subsequent recording of information about these violations in a long-term non-volatile memory with the ability to read if necessary , as well as the formation of a warning information signal;

- the controller identifies and / or identifies machine malfunctions that affect the safety of its operation by processing records of information about the technical condition of the machine according to the program previously recorded in the non-volatile memory unit of the operator panel or controller, and / or reveals deviations of the machine operation parameters beyond their limits permissible values pre-recorded in the indicated non-volatile memory unit, and also generates a warning signal or a signal to stop the engine and / or block p transmission problems in the presence of the indicated malfunctions or deviations;

- the system contains sensors for fixing the doors of the cabin in the open position and a transverse roll sensor of the machine, and the controller generates a warning signal and / or a stop signal for the engine or machine if the signal of the sensor for the door position of the cabin from the side facing the top of the slope indicates its closed position , and the value of the angle of the lateral roll of the machine exceeds the maximum allowable value previously recorded in the non-volatile memory of the controller;

- any parameters set by the operator, including signs of the presence of ROPS, cabin rear window fencing and restrictions on the operation parameters of the machine and its working equipment, when the system is first turned on, they are established from the condition that these protective devices are absent and the lowest values of the safe operation of the machine and its working equipment are present;

- the system contains a GPS / GLONASS global satellite positioning device connected to a controller or operator panel, in the non-volatile memory of which / the coordinates of the position of power transmission line poles are pre-recorded, and the controller is adapted to control the movement of the machine from the condition of crossing the power line at a right angle near the support (in zones of least sagging wires of power lines);

- the controller, generating control signals or warning signals, is additionally configured to write these signals to non-volatile memory with the ability to read if necessary;

- the controllers and the operator panel are based on microcontrollers and are interconnected using the protocols of the serial interface Controller Area Network (CAN) and / or Local Interconnect Network (LIN).

- the operator panel contains a color graphic panel, a sound or speech alarm device and controls for this panel and / or machine, made in the form of buttons or keys;

- machine controls made in the form of joysticks for controlling the movement and working equipment of the machine, engine start key, fuel control handle, brake and decelerator pedals, as well as key switches for lighting devices.

The implementation of both one of the distinguishing features of the invention, and at the same time any number of alternative features in any combination, leads to the achievement of the same technical result - to increase the safety of the operator on the machine. At the same time, the level of achieved safety improvement depends on the choice of these alternative features and their combination, which is further shown in the description of examples of the implementation of the proposed electrical system.

The drawing shows a simplified diagram of the electrical system of a tracked vehicle with an electromechanical transmission. This system is also applicable to machines with mechanical, hydromechanical, hydrostatic and hybrid transmissions.

The role of the primary energy source is played by a drive engine 1, made, as a rule, in the form of an internal combustion engine (ICE), mainly a diesel engine.

In the given example, a sequential kinematic diagram of the motor-transmission installation of the machine is used, which excludes the mechanical connection of the internal combustion engine with the caterpillar mover. The internal combustion engine is connected to a generator 2, which is a source of electrical energy for two traction motors 3 and 4, which are connected to final drives 5, 6.

Driving wheels (sprockets) 7, 8 of the caterpillar mover are fixed on the final drives.

Electrical system, which can be called a control, protection and control system. In general, it includes a high-voltage (for a machine with an electromechanical or hybrid transmission) and low-voltage parts and contains one or more controllers, in particular, the main (leading) controller 9, controller 10 of the generator 2, two controllers 11, 12 of electric motors 3, 4, the controller 13 drive the working equipment or power take-off shaft 14, the controls for the movement and working equipment of the machine 15, the operator panel (operator, tractor driver) 16, the parameters of the machine 17 and the low-voltage equipment building (power supply, lighting, audible alarm, maintaining the microclimate in the cabin, wipers, etc.) 18 and other devices not conditionally shown in the drawing.

Controllers can also be called control units, control devices, input and load blocks, information control units or devices, etc., which is not of fundamental importance.

The controller 10 of the generator 2 is made, in particular, in the form of a synchronous rectifier and converts the output voltage of the generator 2 into a constant voltage of the power transmission network, for example, 550 V.

The controllers 11 and 12 convert this voltage into alternating voltage or unipolar pulses before applying to the electric motors 3, 4. They are made in the form of power frequency converters, inverters or switches and have built-in control systems based on microcontrollers.

It is possible to combine the 9-13 controllers into a single unit (module), as well as their separate execution, depending on the functions performed and the requirements for the layout of the machine. It is also possible constructive integration of the controller 10 with the generator 1, and the controllers 11, 12 - with electric motors 3, 4.

The information signal transmission lines between the controllers are made using the standard of the industrial CAN network (Controller Area Network - a network of controllers), focused on combining various devices into a single network using serial, broadcast and packet transmission modes. It is also possible to use interfaces LIN (Local Interconnection Network), RS-485 (EIA / TIA standard), etc., as well as wireless interfaces such as ZigBee (IEEE 802.15.4 standard), Wi-Fi (IEEE 802.11 standard), Bluetooth (IEEE 802.15.1 standard), etc.

The main controller 9 coordinates the operation of the entire electrical system, and also implements the control functions of the engine 1 directly, or through an additional motor controller built into it.

Electric motors 3, 4 can be asynchronous frequency-controlled. It is more preferable to use jet reactive (induction, induction) electric motors (WFD, VID, VIRD) - three or more phase motors without magnets and electromagnets in the rotor and stator, controlled by electronic keys of controllers 11, 12. In the English language literature they are called electric motors with variable Magnetic Resistance: “Switched Reluctance Motor (SRM).”

Also promising is the use of permanent magnet synchronous motors in the rotor, which are called the Permanent Magnet Synchronous Motor (PMSM) in English. Less commonly used is the name “BrushLess Direct Current motor (BLDC)”, which translates as “Brushless DC Motor”.

Generator 2 may have a design similar to or different from electric motors 3, 4.

The controller 10 also provides switching of the windings of the generator 2 when it is operating in the electric motor mode (acts as a synchronous rectifier), and the controllers 11, 12 - switching the windings of the electric motors 3, 4 when they work in the generator mode.

The machine can be equipped with working (mounted) equipment and / or a power take-off shaft (PTO) with hydromechanical, hydraulic, electro-hydraulic or electromechanical drive 14, which is controlled by an operator (also called a driver, tractor driver or driver) using controls 15 through the main controller 9 and the controller 13 of the drive 14, or these controllers in automatic mode.

In the case of using a hydraulic (hydromechanical, electro-hydraulic) drive 14, a hydraulic distributor is additionally installed on the machine, connecting the hydraulic pump to at least one hydraulic cylinder or hydraulic motor. The distributor, hydraulic pump and / or hydraulic motor can be made with proportional or discrete control from the controller 13.

Normally closed parking brakes 19, 20 are built into electric motors 3, 4 or on-board gearboxes 7, 8, which are controlled directly by the main controller 9 or electric motor controllers 11, 12. The controllers ensure that the brakes 19, 20 are applied to prevent the machine from rolling downhill, as well as to brake and stop it, if for some reason the braking intensity of the electric motors 3, 4 is insufficient.

The controllers 11 and 12 control the electric motors 3, 4 with the possibility of changing both the speed and the direction of movement of the machine. An alternative implementation of the machine’s transmission is the use of one electric motor, final drive, differential control device, on-board friction clutches and service brakes.

The controls 16 are designed to generate control signals for the movement and drive of the working equipment 14 of the machine and include at least one machine motion control device (joystick) connected to the main controller 9, an engine start key, key and button switches, a control handle fuel supply, brake pedal and de-accelerator. The control of devices of low-voltage equipment 18 is possible directly from the switches, or through controllers.

The braking signals of the machine can be generated by the control device (joystick) by setting its handle to the neutral position, or by using the brake pedal.

The controller 9 is also connected to the operator panel 16, also called the instrument panel, instrument cluster, display unit, information display unit, etc., made in the form of a set of electromechanical pointers, a graphic panel and providing display of machine operation parameters and formation of emergency and warning signals for the operator. The operator panel 16 can be made in the form of a separate unit or combined with one of the controllers.

To control the operation parameters of the machine, the electrical system includes sensors 17. These include temperature and pressure sensors in the transmission and engine 1, sensors for longitudinal and transverse inclination of the machine (roll gauges), environmental parameters (temperature, working area illumination, dust, rain, fog, wind), vehicle position (GPS / GLONASS receivers), vehicle traction, acceleration, angular speeds of transmission shafts (electric motors, hydraulic motors) 21, 22 and other sensors.

The power supply system of the system includes a generator set and a battery (not conventionally shown in the drawing).

The maximum permissible values of the parameters of the machine and its working equipment depend on the design of the machine and the technology used to perform the work. Their numerical values are preliminarily determined by calculation or experimentally during the design of the electrical equipment system and are recorded in the memory of the controllers and / or the operator panel.

The electrical system of the tracked vehicle operates as follows.

When the output shaft of the diesel engine 1 is rotated, the controller 10, in accordance with the information signals from the generator 2, generates the necessary signals to its windings (in the case of a valve inductor-reactive generator).

The controller 10 performs the functions of a rectifier. The DC voltage of the power transmission network from its output goes to the controllers 11, 12, which perform the functions of power electronic switches or inverters - converters of direct voltage to variable frequency variable.

Traction motors 3, 4, receiving electrical energy from the controllers 11, 12, convert it into mechanical energy and transmit torque to the final drives 5, 6 and further to the drive sprockets 7, 8 of the caterpillar mover, providing movement of the machine.

The operating modes of engine 1, generator 2 and electric motors 3, 4 are set by the main controller 9, which is connected with the controls of the machine 16 and the operator panel 16. It is implemented on the basis of the microcontroller and acts as the coordinator of the electrical system of the machine.

During operation of the machine, its speed is set by the controllers 9, 11, 12, depending on the position of the handle of the control 16. The machine is rotated by setting different angular speeds of the electric motors 3, 4. The angular velocity sensors 21, 22 are used to control these speeds and synchronizing the operation of the sides of the machine in order to ensure its rectilinear movement in the absence of turns.

When a stop signal (braking) of the machine is received by the main controller 9 by translating its motion control to the zero position or by acting on the brake control (for example, pedal), the controllers 11, 12 transfer the motors 3, 4 by signals from the main controller 9 into generator mode. The intensity of braking is determined by the position (movement), the angle of inclination of the control 16, or the force with which the operator (operator) acts on it.

In this case, electric motors 3, 4, operating in the generator mode, convert the kinetic energy of the machine into electrical energy and feed it into the power transmission network. Excessive energy of the power transmission network is utilized by transferring it to the storage battery, engine 1, equipment drive or braking resistor unit (not shown conventionally in the drawing).

By adjusting the braking torque created by electric motors 3, 4, the required braking intensity is set by the control 16. 16. The braking signal can also be generated by the electrical system of the machine in automatic mode without the participation of the operator (driver).

The machine can be equipped with normally closed parking brakes 19, 20, which are designed to hold the machine on a slope and do not take part in its normal operation (they are not working brakes of the machine). However, the controllers 11, 12 can enable these brakes if the main controller 9 determines that the braking torque created by the implementation of alternative braking methods is not sufficient to brake the machine with the intensity set by the braking control 16.

The control of the actual values of the speed, braking intensity and turning radius of the machine is carried out by the main controller 9 using the output signals of the sensors of the theoretical speed of the machine 21, 22, the actual speed or acceleration of the machine, as well as sensors 17 of other parameters of the machine. Next, the main controller 9, using the CAN bus, LIN, or another data transfer interface, transmits information to other controllers about the required parameters and operating modes of the associated machine components and assemblies, ensuring that the operator’s set and actual values of the speed, braking intensity and turning radius of the machine.

Similarly, the machine is controlled with a hydrostatic or hydromechanical transmission. The difference in the design parameters of transmissions of various types is taken into account in the design of the controllers and the operator panel, in the microcontroller work programs on the basis of which they are implemented, as well as when choosing the composition of the sensors 17.

On a tracked vehicle with any type of transmission, the electrical system implements a number of safety functions described in the claims as alternative features. Their implementation in any combination leads to the achievement of the same technical result - to increase the safety of the operator on the machine.

In the first embodiment of the system, it includes a device for reading personal or biometric data of an operator, made, in particular, in the form of a device for reading fingerprints, a device for overwriting this data from the long-term memory of a smart card, chip card, Flash card, drive Flash USB Drive, operator’s ID or passport, or device for acoustic control of the operator’s voice (microphone and speech processing means), or video control of his face (video cameras and video processing tools The images) or as a receiver radio frequency, ultrasonic, infrared optical signal generated by the mobile device operator identification, such as a transponder. At the same time, data on the qualifications of the operator can be read or stored in the memory of the controller or operator panel. This technical solution allows to increase safety by providing access to control the machine only to those operators who have such access, and taking into account their qualifications, since controller 9 automatically changes the maximum permissible parameters of the machine (speed, longitudinal and lateral roll of the machine and etc.) depending on this qualification.

In addition to such monitoring and automatic change of the maximum allowable parameters of the machine, the controller 9 can be implemented to control the duration of each operator and write them to a long-term non-volatile memory with the ability to read if necessary, as well as, if necessary, detect violations of the established mode of work and rest various operators with the recording of information about these violations in non-volatile memory and the formation of a warning signal. This improves safety by limiting the work of a tired operator on a machine.

In the second embodiment of the system, the non-volatile memory of the controller 9 or the operator panel 16 contains information about the requirements or rules for safe operation on the machine, and the operator panel is adapted to display it. In this case, the operator promptly (directly on the machine) receives information on the requirements (rules) of work that can prevent the occurrence of dangerous situations during transportation, installation (dismantling) and operation of the machine, which increases the safety of its operation. Such informing the operator can be implemented both independently (separately), and in addition to implementing restrictions on access to control the machine and changing the maximum permissible parameters of the machine.

In the third embodiment of the system, independently or in addition to the implementation of the previous alternative features, the non-volatile memory of the system contains information about the work order or technological map of the work, the route of the machine or the place of work, and / or about the features of the safe execution of these works. Prompt display of this information on the operator panel, including directly during the movement of the machine, when the operator is not able to study the paperwork, can improve the safety of work.

Before starting work, the operator must familiarize himself with the technical condition of the machine, for example, by reading the entries in the logbook of the technical condition of the machine and eliminate these malfunctions, and after completing work, make notes about malfunctions that arose during its operation. In order to increase the efficiency of the implementation of such operator actions, which increase the safety of his work, the fourth version of the system provides for entering into the non-volatile memory of the system and displaying information about the technical condition of the machine, i.e. the paper version of such a journal is replaced by an electronic one, implemented directly on the machine. Malfunctions of the machine that affect the safety of its operation can also be detected by the controller 9 by processing records of information on the technical condition of the machine according to the program previously recorded in the non-volatile memory unit of the operator panel or controller, or by monitoring the deviation of the machine's operating parameters beyond their permissible values, pre-recorded in non-volatile memory of the controller.

In addition to this, the system can implement the transfer of data on the parameters of the machine and its technical condition to a terminal located outside the machine, as well as the recording of these data for storage in non-volatile memory of the terminal with the ability to read if necessary. This allows remote monitoring of the operator’s work, which is a disciplining factor, helps to reduce violations of the rules of operation of the machine and, accordingly, increases the safety of its operation.

These options for improving security can also be implemented both independently and in any combination with the above.

The operator, in order to increase the safety of the machine, after eliminating the detected malfunctions, must check the action of all its mechanisms at idle. In the fifth embodiment of the system, providing for the implementation of this safety function, the controller 9, by detecting changes in the output signals of the sensors of the machine 17, provides verification, control and registration in the non-volatile memory of the operator's action (work) idling (good) machine mechanisms after starting engine.

The controller 9 in the sixth embodiment of the system detects the fueling mode of the machine by monitoring the removal of the fuel tank cap or changes in the fuel level in the tank and then generates a stop signal or sets a low engine speed in this mode and / or based on the signals of the smoke sensor and ambient light the machine in the fuel tank area blocks the fuel supply to the tank in the event of smoke (smoking by the tanker operator) and / or insufficient lighting of the machine. This function, implemented both separately and in combination with other safety functions corresponding to other alternative features of the invention, allows to increase safety by eliminating accidents and injuries when refueling the machine.

In the seventh embodiment of the system, the controller 9, after receiving the signal from the key, implements the safe engine start algorithm, namely, it controls the conditions for safe engine start: disables the transmission of torque from the engine to the drive sprockets of the car, the parking brake is on, the operator is in the cab or in a car seat and the disconnected state of the drive of technological equipment.

The eighth embodiment of the system, in which the operator is protected from the effects of emissions of harmful substances from exhaust gases with unacceptably high concentrations or exhaust gases from a high smoke engine, provides for the installation of sensors for monitoring these parameters and informing the operator about exceeding the maximum permissible values of these parameters. Preventing the operation of a machine with high smoke of the engine’s exhaust can also increase the safety of the machine by improving the visibility of the working area or the path of movement of the machine (for example, on tractors, the exhaust pipe of the engine is installed in front of the cab).

Similarly, in the ninth embodiment of the system implementation, control of the concentration of dust, carbon monoxide, alcohol or fuel vapors in the cabin air, sound level at the operator’s workplace, vibration on the seat or control of the machine, air temperature in the operator’s cabin leads to increased safety. also informing the operator about the excess of the maximum permissible value of any of these parameters.

The tenth version of the system, implemented separately, or in combination with other safety functions, provides for the control of external illumination (illumination of the work platform or traffic path), the controller 9 automatically turns on lighting devices 18, if the level of this illumination is below the minimum acceptable value, as well as the automatic generation of a warning a signal for the operator and / or a signal to stop the engine or machine, if in the presence of a signal to turn on the lighting devices, the level of external illumination for any reason, for example, due to a malfunction or contamination of the lighting devices, it remains below the minimum acceptable value.

The system in yet another embodiment of its implementation includes a sensor for the intensity of fog, rain, snowfall and / or dustiness of the environment, and its controller 9 constantly or periodically turns on the lighting and / or sound alarms if the value of the parameter controlled by the sensor exceeds the set value, and / or implements control of the machine from the condition of limiting its speed at a level previously recorded in the memory of controller 9. This allows you to increase safety by eliminating collisions machine at people or other machines in conditions of poor visibility.

The system in the twelfth embodiment of its implementation automatically limits the operation of the machine at elevated angles of longitudinal and / or lateral inclination when operating in conditions of poor visibility. The controller 9 implements this safety function programmatically, using the signals of the angle sensors, ambient light, fog, rain, snowfall and / or dustiness of the environment 17, by generating an alert signal for the operator and / or blocking the operation of the machine. In this case, the permissible values of the machine tilt angles depend on the level of external illumination, the intensity of fog, rain, snowfall and / or dustiness of the environment and are previously stored in the memory of this controller.

The thirteenth embodiment of the system, which provides increased safety for the operator on a machine equipped with a traction winch, provides for blocking the inclusion of the drive of this winch in the absence of a sensor for protecting the rear window of the cab from a metal grill. To do this, either a fence presence sensor is used, or an operator confirms its presence by acting on the controls of the operator panel. This security function can also be implemented either separately or in any combination with the implementation of other security functions that characterize alternative features of the claims.

Accidents and accidents often occur due to malfunctions of the machine during its operation. To prevent them, in yet another embodiment of the electrical system, the controller 9 detects these malfunctions by comparing the directions and / or speeds of the linear or angular movement of the machine and / or its working equipment with the signals of the controls that specify these speeds and directions, and, if there are inconsistencies, generates a warning signal for the operator and / or a signal to stop the engine or machine.

The system in the next version of its execution contains a sensor on the presence of a fire extinguisher, a shovel, a first aid kit, a container for drinking water and / or a tow rope. Each of these sensors is made, in particular, in the form of a transponder (RFID tag) attached to the corresponding device (object) and its reading device. The presence sensor on the machine of a fire extinguisher or a tank for drinking water can also be made in the form of a weight sensor, which makes it possible to determine the presence of a sufficient amount of a fire extinguisher in a fire extinguisher or drinking water in a specified tank. The presence of devices (items) detected by the controller 9 increases the efficiency of the elimination of accidents that have occurred on the machine, which also provides increased safety for the operator.

In another embodiment of the electrical equipment system, various algorithms for generating light and sound warning signals about the operation of the machine are implemented, which also increases the safety of its operation. To this end, the controller 9 converts the signals from the sensors 17 and the controls 15 into the control signals of the lighting devices and light or sound alarm devices 18 in accordance with the program of this conversion, which determines its order, as well as the characteristic and / or appearance of these warning signals. They are formed, in particular, from the condition for giving a warning sound and / or light signal before starting or changing the direction of movement of the machine and its working equipment, as well as when reversing the machine.

Moreover, for different directions of movement or rotation of the machine and its working equipment, different frequencies, durations, repetition periods or various combinations of durations and pauses of this warning signal are set. Changing the type and characteristics of warning signals depending on the level of danger created by a working machine, on the external conditions of its operation, on the presence of people in the working area of the machine, or on the condition that it is possible to identify various machines working on the same site using these signals (in one zone ), is carried out from the operator panel 16.

In the next version of the system, also implemented separately, or in any combination with the implementation of other alternative features of the invention, the tilt angle of the machine in the longitudinal and / or transverse plane and the presence of the operator protection device when the machine capsize (ROPS) are monitored. Further, the controller changes the maximum permissible value of the longitudinal and / or transverse angle of inclination of the machine depending on the presence of ROPS, and also generates a warning signal and / or signal to stop the engine or machine if the angle of longitudinal and / or transverse inclination of the machine exceeds the maximum permissible value. The meaning of the implementation of this version of the system is that to ensure the safety of the operator, it is necessary to reduce the maximum allowable values of the longitudinal and / or transverse inclination of the machine if there is no ROPS on it. The formation of a warning signal and / or a signal for stopping the engine or machine if the seat belt is not fastened with ROPS leads to an additional increase in safety.

When working on slopes, the cab door must be opened so that the operator can leave it when the machine rolls over to increase operator safety. The controller 9 in the corresponding embodiment of the system generates a warning signal and / or a stop signal for the engine or machine if there is no signal from the sensor for fixing the left and / or right door of the cab in the open position and the angle of the transverse and / or longitudinal inclination of the machine exceeds the maximum allowable value previously written to the memory of this controller.

In the next embodiment of the system, it includes a sensor for the angle of inclination of the machine in the longitudinal plane, and controller 9 generates control signals for the engine and / or transmission of the machine with the implementation of blocking dangerous modes of the machine and dangerous control actions of the operator when the machine moves on steep ascents and descents - stopping the engine, moving the machine on a ramp or downhill with the engine stopped, disengaging the clutch, shifting gears with a discontinuous flow of power, starting the engine from inertia and moving downhill machine rotation with a radius smaller than the value pre-recorded in the memory controller deceleration with an acceleration greater than a value previously recorded in memory of the controller, and / or deactivate the audio tracks.

In another embodiment of the system, the controller 9, at elevated values of the tilt angle of the machine in the transverse plane, generates prohibition signals of turning with braking of one track in the uphill direction, or of turning with a radius less than the value previously stored in its memory.

A variant of the electrical system that ensures the safety of the machine when fording a ford contains a water presence sensor that signals the ford is being overcome, and the controller in this mode controls the engine and / or transmission of the machine with the prohibition of stopping the engine, reducing its angular speed below a predetermined value, gear shifting the transmission, stopping the machine, increasing the speed of the machine over a predetermined value, as well as its rotation with a small radius.

In order to prevent accidents when a car runs into obstacles and to increase the operator’s safety accordingly, the system in its corresponding version contains a machine traction sensor, and the controller generates a machine stop signal if the speed of increase in traction exceeds a predetermined value.

To increase operator safety when removing the radiator cap of a heated (superheated) engine, an electrical system option is implemented that includes a wind direction sensor and a signaling device for the position of the windward side of this plug or cap.

In the next version of the electrical system, which provides increased safety of the machine when it is braking, the controller implements the algorithm for safe stopping the machine, generating control signals for the engine, transmission and trailed working equipment (if it has a wheel drive), in the following sequence: reducing the fuel supply to the engine, turning on brakes of wheels of towed equipment, turning off the transmission of torque from the engine to the drive sprockets of the machine, turning on the brakes of the machine.

In the event of an unexpected stop of the engine of the machine on steep ascents and descents, the controller 9, using the signals of the angle sensor of the machine in the longitudinal plane, generates signals for safe control of the engine and transmission of the machine in the following sequence: applying the brake of the machine, disabling the transmission of torque from the engine to the drive sprockets cars, starting the engine and simultaneously turning off the brake and turning on the transmission of torque from the engine to the drive wheels of the machine.

Independently or in addition to the implementation of other alternative features of the invention, the controller 9 at steep ascents and descents can generate machine braking signals from the condition of limiting the machine's braking intensity, the maximum allowable value of which at different speeds of the machine during ascents and descents is pre-recorded in the non-volatile memory of this controller .

The next version of the system implementation includes the inclusion of a GPS / GLONASS global satellite positioning device and recording in a non-volatile memory of any block of the coordinate system or the area of the permissible location of the machine, as well as the values of the slopes of the soil surface with reference to these coordinates. This provides control of the engine and transmission from the condition of moving the machine within its permissible location and prevent tipping over. In particular, the system provides the selection and implementation of the trajectory of the machine from the condition of crossing the power line at a right angle near the support (in the areas of least sagging power line wires).

The system in another embodiment of its execution monitors the electric field strength of the power line (transmission line) and the presence of the work permit for the operator to work in the security zone of the transmission line with the formation of appropriate warning signals or signals blocking the operation of the machine, which also increases the safety of the operator.

In all embodiments of the electrical system, the controller, generating control signals or warning signals, can additionally write these signals to non-volatile memory with the ability to read from the operator panel or using an external reader. The implementation of such a parameter recorder (“black box”) also increases the safety of work, since it allows you to identify violations by the operator of the rules for safe operation of the machine after accidents, which is a disciplining factor for the operator.

The highest level of operator safety when working on the machine is achieved while simultaneously implementing all the alternative features specified in the claims. It is also possible to realize either one of these alternative features, or any number of them in any combination. It also leads to increased security. However, the safety level achieved in this case does not reach the maximum possible value.

The claimed system of electrical equipment of a tracked vehicle also allows other options for its implementation based on the characteristics set forth in the claims.

Information sources

1.SU 18104441 A1, E02F 9/20, E02F 3/76, 04/23/1993.

2. Tractors. Design: Textbook for university students / I.P. Ksenevich, V.M. Sharipov, L.Kh. Arustamov et al .; Under the total. ed. I.P. Ksenevich, V.M. Sharipova. - M.: Moscow State University "MAMI", 2001-821.

Claims (18)

1. The electrical system of the tracked vehicle, comprising at least one controller adapted to control the engine, and / or transmission, and / or work equipment, and / or lighting devices and / or sound alarms included in the electrical system, as well as machine operation parameters sensors connected to at least one controller, at least one machine control element connected to at least one controller, and an operator panel adapted to select CONTROL parameters of the machine and connected to at least one controller or its constituent, characterized in that it further realized at least one of the following technical solutions:
a) the electrical system contains a device for reading personal or biometric data of the operator, which is connected to the controller or is part of the controller or operator panel, which / which is made / configured to compare the read data with the data of at least one operator allowed to control of the machine pre-recorded in his / her non-volatile memory, as well as with the possibility of subsequent generation of warning signals or enable or block signals engine and / or machine bots depending on the results of this comparison;
b) the operator panel or controller contains a non-volatile memory block in which information is stored for storing information that contains the requirements or rules of the operator’s work established from the conditions for preventing dangerous situations during machine operation, and the operator panel is adapted to display this information;
c) the operator’s panel or controller contains a non-volatile memory unit adapted for recording and storing information about the work order or technological map of the work, and / or the route of the machine or the place of work, and / or the features of the safe performance of these works, and the operator panel is adapted to display this information;
d) the electrical system contains a device for inputting information about the technical condition of the machine into the non-volatile memory unit of the controller or the operator panel, the operator panel being adapted to display this information;
d) the electrical system contains a device for transmitting data about the operation parameters of the machine and / or its technical condition to a terminal located outside the machine using a radio channel and / or the Internet, and the terminal is configured to display and record these data for storage in non-volatile memory with the ability to read if necessary;
f) the controller is adapted to verify that the operator idles at least one machine mechanism after starting the engine by detecting changes in the output signals of the sensors of the machine’s operating parameters, as well as to write data on the results of this test to non-volatile memory with the possibility of reading in case of the need and / or generation of a warning signal in the event that the machine starts to work without first checking by the operator this action;
g) the electrical system contains a sensor for the position of the fuel cap or a fuel level sensor in the tank, and the controller is configured to detect the fueling mode of the machine by monitoring the opening of the fuel cap or increasing the fuel level in the tank, and is also adapted to generate a stop signal or low engine speed in the fueling mode of the machine;
h) the electrical system contains a smoke and / or light sensor of the machine in the fuel tank area, as well as a fuel tank cap position sensor or a fuel level sensor in the tank, the controller being configured to detect the fueling mode of the car by monitoring the opening of the fuel tank cap or increasing the level fuel in the tank, and is also adapted to generate a warning signal or a signal blocking the fuel supply in the event of smoke and / or insufficient illumination of the machine in the fuel area oh tank in the refueling mode of the machine;
i) the electrical system is equipped with a contact or contactless key and a device for connecting or reading the signals of this key, and the controller is configured to generate an engine start signal while there is a signal from this key, there is no transmission of torque from the engine to the drive sprockets of the machine, the parking brake is applied , the operator is in the cab or chair of the machine, as well as the disconnected drive of technological equipment, if this drive is available on the machine, and The transmission of torque from the engine to the drive sprockets of the machine, the application of the parking brake, the operator being in the cab or chair of the machine, as well as the disabling of the process equipment drive, if this drive is available on the machine, is detected by the controller using additional sensors connected to it or on the basis of control signals for these mechanisms;
j) the electrical system contains a sensor for the concentration of harmful substances with exhaust gases or exhaust smoke of the engine, and the controller is configured to compare the output signal of this sensor with the maximum allowable value of this monitored parameter previously recorded in the non-volatile memory of the controller, as well as with the possibility of generating, depending on the results of this comparison, a warning signal;
k) the electrical system contains at least one sensor for the concentration of dust and / or carbon monoxide and / or alcohol vapor and / or fuel vapor in the air of the operator’s cabin and / or sound level at the operator’s workplace and / or vibration parameters on the operator’s seat, and / or vibration parameters on at least one control element of the machine, and / or air temperature in the operator’s cabin, and the controller is configured to compare the output signal of this sensor with the maximum allowable value of the controlled parameter, pre preliminarily recorded in the nonvolatile memory of the controller, wherein the controller is adapted for forming, depending on the results of this comparison, the alarm and / or stop signal of the engine or machine;
m) the electrical system contains an ambient light sensor, and the controller is configured to compare the actual amount of illumination with its minimum acceptable value, previously recorded in the non-volatile memory of the controller, and then turn on the lighting devices depending on the results of this comparison, as well as with the possibility of generating a warning signal and / or a signal to stop the engine or machine, if in the presence of a signal to turn on the lighting devices, the level of external illumination and less than the minimum value;
m) the electrical system contains a sensor for the intensity of fog and / or rain and / or snow and / or dustiness of the environment, and the controller is configured to continuously or periodically turn on at least one lighting device and / or sound alarm if the value of the parameter controlled by the sensor exceeds the value previously determined and recorded in the non-volatile memory of the controller, and / or with the possibility of controlling the engine and / or transmission of the machine from the condition of limitation with orosti machine movement, the maximum value of which is previously determined depending on the value of the parameter controlled by the sensor and recorded in the nonvolatile memory of the controller;
o) the electrical system comprises a sensor for tilting the machine in the longitudinal and / or transverse plane, as well as a sensor for ambient light and / or fog and / or rain and / or snow and / or dustiness of the environment, the controller being configured to comparing the actual value of the longitudinal and / or transverse inclination of the machine with its maximum permissible value, previously determined and recorded in the non-volatile memory of the controller, depending on the amount of ambient light and / or fog intensity, and / whether rain and / or snow, and / or dusty environment, and to generate, depending on the result of this comparison, the alarm and / or stop signal of the engine or machine;
o) the electrical system of the tracked vehicle equipped with a traction winch contains a sensor for the presence of the rear window fencing of the cabin from a metal grill or the operator panel is adapted to confirm the presence of this fence by the operator, and the controller is adapted to generate a signal to prohibit the inclusion of the traction winch in the absence of this enclosure;
p) the controller is configured to control the direction and / or speed of the linear or angular movement of the machine and / or its working equipment using at least one sensor of the machine’s operating parameters, and the controller is configured to compare this direction and / or this speed with signals of the controls of the machine and / or its working equipment, as well as with the possibility of subsequent formation, depending on the results of this comparison, a warning signal and / or a signal to stop the engine or cars;
c) the electrical system contains at least one sensor for the presence of a fire extinguisher, and / or a shovel, and / or a first aid kit, and / or a container for drinking water, and / or a tow rope, and the controller is configured to , depending on the signal from this sensor, the warning signal and / or the signal to stop the engine or machine;
r) the controller is adapted to convert the operating parameters of the machine and / or signals of at least one control element of the machine into control signals of lighting devices, and / or a light signaling device, and / or a sound signaling device, in accordance with the program of this conversion, previously recorded in its non-volatile memory and determining the order of this conversion and / or the characteristic and / or type of control signals of the indicated devices and / or devices;
s) the electrical system contains a sensor for the angle of inclination of the machine in the longitudinal and / or transverse plane and a sensor for the presence of an operator protection device when the machine is called ROPS, or the operator panel is adapted to confirm the presence of the specified device by the operator, and the controller is adapted to change the maximum permissible longitudinal and / or transverse tilt angle of the machine, predefined and recorded in the non-volatile memory of the controller, depending on the availability of the specified device a, and is configured to generate a warning signal and / or stop signal of the engine or machine, if the angle of the longitudinal and / or transverse inclination of the machine exceeds the maximum allowable value;
f) the electrical system contains a seat belt sensor for the operator’s seat and a sensor for the presence of an operator protection device when the machine is called ROPS, or the operator panel is adapted to confirm the presence of the specified device by the operator, and the controller is configured to generate an alarm and / or engine or machine stop signal if, with the specified device, the seat belt is not fastened;
x) the electrical system includes at least one sensor for fixing the left and / or right cab door in the open position and a transverse and / or longitudinal tilt sensor of the machine, and the controller is configured to generate an alarm and / or stop signal of the engine or machine, if the signal from the cabin door position sensor indicates its closed position, and the value of the angle of the transverse and / or longitudinal tilt of the machine exceeds the maximum allowable value previously recorded in non-volatile controller memory
c) the electrical system contains a sensor for the angle of inclination of the machine in the longitudinal plane, and the controller is configured to compare this angle with the values of the angle of inclination of the machine on ascents and descents previously recorded in its non-volatile memory, the excess of which requires the implementation of safety measures, and also, in this case excess, with the ability to control the engine and / or transmission of the machine from the prohibition of stopping the engine, and / or moving the machine on the coast or downhill with the engine stopped, and / or off irradiating the clutch of the transmission, and / or shifting the gear with breaking the power flow, and / or starting the engine from the inertia of the vehicle moving downhill, and / or turning with a radius less than the value previously stored in the controller’s memory, and / or braking with acceleration, exceeding the value previously recorded in the controller memory and / or disconnecting one track;
h) the electrical system contains a sensor of the angle of inclination of the machine in the transverse plane, and the controller is configured to compare this angle with the value of the angle of the transverse inclination of the machine previously recorded in its non-volatile memory, the excess of which requires the implementation of safety measures, and, in case of this excess, the ability to control the transmission or turning mechanisms of the machine from the condition of prohibition of turning with braking of one track in the uphill side or turning with a radius less than ritelno recorded in the controller memory;
sh) the electrical system contains a water sensor installed on the machine with the possibility of detecting ford machine overcoming, and the controller, when detecting ford crossing, is adapted to control the engine and / or transmission of the machine from the condition that the engine is stopped and / or its angular speed is reduced less the value previously recorded in the controller's memory, and / or gear shifting the transmission, and / or stopping the machine, and / or increasing the speed of the machine above the value constant in the controller's memory and / or a rotation with a radius smaller than the value pre-recorded in the controller memory;
y) the electrical system contains a traction sensor of the machine, and the controller is adapted to determine the rate of increase in traction and generate a control signal for the transmission of the machine aimed at stopping it, if the rate of increase in traction exceeds the value previously stored in the controller;
(b) the electrical system includes a wind direction sensor and an indicator installed near a removable plug or radiator cap of the engine and connected to a controller that is adapted to generate a control signal for this detector with the ability to indicate the windward side of this plug or radiator cap;
s) the controller is adapted to detect the brake signal of the machine from the control and the subsequent generation of control signals for the engine, transmission, and also trailed work equipment, if it is available and has a wheel drive, in the following sequence: reducing the fuel supply to the engine, turning on the brakes of the wheels of the trailed worker equipment, if any, turning off the transmission of torque from the engine to the drive sprockets of the machine, turning on the brake of the machine;
b) the electrical system contains a sensor for the angle of inclination of the machine in the longitudinal plane, and the controller is configured to compare this angle with the values of the angle of inclination of the machine on ascents and descents previously recorded in its non-volatile memory, the excess of which requires the implementation of safety measures, and also, in this case exceeding and detecting engine stop when the car is moving, with the possibility of generating engine and transmission control signals in the following sequence: applying the brake of the machine s, off the transmission of torque from the engine to the drive sprocket of the machine, start the engine and simultaneous switching off the brakes and the transmission of torque from the engine to the drive sprocket of the machine;
e) the electrical system contains sensors for the speed of the machine and the angle of inclination of the machine in the longitudinal plane, and the controller is adapted to generate braking signals of the machine from the condition of limiting the intensity of braking of the machine, the maximum allowable value of which at different speeds of the machine during ascents and descents is pre-recorded in the non-volatile memory of the controller ;
j) the electrical system contains a global satellite positioning device connected to the controller or the operator panel, in the non-volatile memory of which / the coordinates of the permissible location of the machine and / or the slopes of the soil surface are pre-recorded with reference to these coordinates, and the controller is adapted to control the engine and / or transmission of the machine from the condition of moving the machine within its permissible location and preventing it from tipping over;
i) the electrical system contains an electric field strength sensor for the power line and a device configured to detect whether the operator has a work permit for work in the security zone of the power line and is connected to a controller or operator panel that is / which is adapted to generate a signal to stop the engine and / or the machine in the absence of this tolerance order and the electric field strength exceeding the maximum permissible value, pre but recorded in the controller memory. 2. The electrical system according to claim 1, characterized in that the device for reading personal or biometric data of the operator is made in the form of a fingerprint reader, or overwriting data from the long-term memory of a smart card, or a chip card, or a Flash card, or Flash USB Drive, or operator’s ID, or his passport, or acoustic control of the operator’s voice, or video control of his face, or in the form of a radio frequency, or ultrasonic, or optical, or infrared signal receiver, formed vannogo mobile device operator identification. 3. The electrical system according to claim 1, characterized in that the controller is configured to store pre-recorded information about the qualifications of the operator in non-volatile memory or the device for reading data about the operator is configured to additionally read information characterizing its qualifications, and the controller is configured to change maximum permissible parameters of the machine depending on the information about this qualification. 4. The electrical system according to claim 1, characterized in that the controller is additionally configured to calculate the duration of each operator and write them to a long-term non-volatile memory with the ability to read if necessary. 5. The electrical system according to claim 4, characterized in that the controller is adapted to calculate the duration of work and rest of each operator, identify violations of the established regime of work and rest, and then record information about these violations in a long-term non-volatile memory with the ability to read if necessary and / or with the possibility of forming a warning information signal. 6. The electrical system according to claim 1, characterized in that the controller is configured to detect and / or identify machine malfunctions that affect the safety of its operation by processing records of information about the technical condition of the machine according to a program previously recorded in the non-volatile memory unit of the operator panel or controller, and / or with the possibility of detecting deviations of the machine operation parameters beyond their permissible values previously recorded in the specified non-volatile memory unit, as well as with zmozhnostyu generating a warning signal or the engine stop signal and / or blocking of transmission in the presence of these defects or abnormalities. 7. The electrical system according to claim 1, characterized in that at least one sensor of the presence on the car rear window fencing cabin, and / or fire extinguisher, and / or shovel, and / or first aid kit, and / or containers for drinking water, and / or a tow rope, and / or operator protection device when capsizing the machine, contains a transponder, also referred to as an RFID tag attached to the specified guard, and / or fire extinguisher, and / or shovel, and / or first-aid kit, and / or containers and / or tow rope and at least one midrange Tuva device or radio frequency transponders RFTD-tag attached to the controller or operator panel. 8. The electrical system according to claim 1, characterized in that the presence sensor on the machine of a fire extinguisher or a tank for drinking water is made in the form of a weight sensor, and the controller is configured to detect the presence of a sufficient amount, respectively, of a fire extinguisher in a fire extinguisher or in a tank for drinking water means or drinking water, as well as with the possibility of forming, depending on this quantity, a warning signal for the operator and / or a signal to stop the engine or machine. 9. The electrical system according to claim 1, characterized in that the controller is adapted to convert the operating parameters of the machine and / or signals of at least one control element of the machine into control signals for lighting devices and / or light or sound signaling devices from the supply condition warning sound and / or light signal before starting and / or changing the direction of movement of the machine and / or its working equipment, and / or when the machine is moving in reverse, moreover, for different directions of movement and / or When the machine and / or its working equipment rotate, the controller sets various frequencies, or durations, or repetition periods, or various combinations of durations and pauses of this warning signal. 10. The electrical system according to claim 9, characterized in that the operator panel is equipped with a control device adapted to switch by the operator the type and characteristics of the warning signals depending on the level of danger created by the working machine and / or on the external conditions of its operation, and / or from the presence of people in the working area of the machine, and / or from the condition that it is possible to identify various machines by these signals by workers who service these machines or are in their area of operation. 11. The electrical system according to claim 1, characterized in that it comprises a sensor for fixing the left and / or right cab door in the open position and a transverse roll sensor of the machine, and the controller is configured to generate a warning signal and / or a stop signal of the engine or machine, if the signal from the sensor of the position of the door of the cabin from the side facing the top of the slope indicates its closed position, and the value of the angle of the lateral roll of the machine exceeds the maximum allowable value previously recorded in rgonezavisimuyu controller memory. 12. The electrical equipment system according to claim 1, characterized in that the parameters set by the operator, including signs of the presence of an operator protection device when the machine is tipped over, the rear window fencing of the cabin and restrictions on the operation parameters of the machine and / or its working equipment, are set when the system is initially turned on controller or operator panel from the condition of the absence of these protective devices and the lowest values of the safe operation parameters of the machine and / or its working equipment; 13. The electrical system according to claim 1, characterized in that the device configured to detect the presence of the operator’s work permit in the security zone of the power line is implemented as a device for reading data on the availability of this work permit from the smart card memory , or a chip card, or a Flash card, or a Flash USB Drive, or in the form of an operator panel keypad adapted to enter and analyze the code for this approval. 14. The electrical system according to claim 1, characterized in that it comprises a global satellite positioning device connected to a controller or an operator panel, in the non-volatile memory of which / which the coordinates of the position of the transmission line poles are pre-recorded, and the controller is adapted to control the movement of the machine from the condition the intersection of the power line at a right angle near the support. 15. The electrical system according to any one of claims 1 to 14, characterized in that the controller, generating control signals or warning signals, is additionally configured to write these signals to non-volatile memory with the ability to read if necessary. 16. The electrical system according to claim 1, characterized in that the controllers and the operator panel are based on microcontrollers and are interconnected using the protocols of the serial interface Controller Area Network (CAN) and / or Local Interconnect Network (LIN). 17. The electrical system according to claim 1, characterized in that the operator panel contains a color graphic panel, a sound or speech alarm device and controls for this panel and / or machine, made in the form of buttons or keys. 18. The electrical system according to claim 1, characterized in that the controls of the machine are in the form of joysticks for controlling the movement and operating equipment of the machine, an engine start key, a fuel control handle, brake pedals and a de-separator, as well as key switches for lighting devices.