WO2020206936A1 - 收割机远程遥控系统和收割机远程遥控装置 - Google Patents
收割机远程遥控系统和收割机远程遥控装置 Download PDFInfo
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- WO2020206936A1 WO2020206936A1 PCT/CN2019/106713 CN2019106713W WO2020206936A1 WO 2020206936 A1 WO2020206936 A1 WO 2020206936A1 CN 2019106713 W CN2019106713 W CN 2019106713W WO 2020206936 A1 WO2020206936 A1 WO 2020206936A1
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- harvester
- operation module
- remote control
- instruction
- control device
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
Definitions
- the present invention relates to the field of harvesters, and more specifically, to a remote control system for a harvester and a remote control device for a harvester, thereby reducing operation complexity and workload.
- the combine harvester can integrate harvesting and threshing functions, and centrally store the grains in the storage warehouse, and then the grain can be transported to the transport truck through the conveyor belt. Compared with the traditional working method of manual harvesting and grain thresher, the combine harvester greatly improves the working efficiency.
- the existing combine harvesters are equipped with operating handles and buttons on the fuselage, and the operator needs to drive and operate on the harvester. This leads to a poor working environment for operators during the operation of the combine harvester. For example, during summer work, not only is the sun hot and the temperature is high, but the dust and fines fly up during the work process. The driver is exposed to such an environment to work, and the body is very burdened.
- the existing combine harvester still needs to be further improved to reduce the burden on the operator and further improve the work efficiency.
- An object of the present invention is to provide a remote control system for a harvester and a remote control device for a harvester, through which the remote control device for the harvester can remotely control the corresponding harvester without operating on the harvester, thereby improving the operator's work Environment, improve work efficiency.
- Another object of the present invention is to provide a remote control system for the harvester and a remote control device for the harvester, which can enable the operator to simultaneously monitor the working department, the unloading area, around the car body, the working area, the harvester engine or its own vehicle condition information, etc. , So as to adjust the operation in time.
- the operator can only observe the front situation with naked eyes, the technical solution of the present invention is safer and easier to work.
- Another object of the present invention is to provide a remote control system for a harvester and a remote control device for a harvester, wherein the remote control device for the harvester controls the harvester, which is easier to learn and lower than the existing operation method. The labor intensity of the operator.
- Another object of the present invention is to provide a harvester remote control system and a harvester remote control device, wherein the harvester is controlled by the harvester remote control device, and the operator does not need to be tied to a fixed position, but can freely Controlling the harvester at a proper position away from the harvester also makes it easier to observe the surrounding environment and the condition of the harvester.
- Another object of the present invention is to provide a remote control system for a harvester and a remote control device for the harvester, wherein when the operator is inconvenient to observe on the harvester, the remote control device for the harvester can be used to remotely control the harvester or transfer the field.
- Another object of the present invention is to provide a remote control system for a harvester and a remote control device for the harvester, wherein the remote control device for the harvester can be shaped like a handle, so as to be convenient to hold and carry.
- the present invention further provides a remote control system for a harvester, suitable for a harvester, including:
- a remote control device for remotely controlling the harvester, wherein the remote control device includes an operation module for receiving an operation instruction input by an operator; and
- An agricultural machine terminal wherein the remote control device and the agricultural machine terminal are communicatively connected, wherein the agricultural machine terminal is installed on the harvester and can receive the operation instruction and control the harvester to execute the operation instruction.
- the operation module includes a driving direction operation module, wherein the driving direction operation module receives a driving direction operation instruction and transmits it to the agricultural machine end, and the agricultural machine end controls the harvester to execute the operation The operating instructions for the direction of travel.
- the operation module includes a driving speed operation module, wherein the driving speed operation module receives a driving speed operation command and transmits it to the agricultural machine end, and the agricultural machine end controls the harvester The driving speed operation command.
- the operation module includes a harvesting operation module, wherein the harvesting operation module receives a harvesting operation instruction and transmits it to the agricultural machinery terminal, and the agricultural machinery terminal controls the cutting platform and the dial of the harvester.
- the grain wheel executes the harvesting operation instruction.
- the operation module includes a threshing operation module, wherein the threshing operation module receives a threshing operation instruction and transmits it to the agricultural machine end, and the agricultural machine end controls the execution of the threshing operation part of the harvester The threshing operation instruction.
- the operation module includes a grain unloading operation module, wherein the grain unloading operation module receives a grain unloading operation instruction and transmits it to the agricultural machine end, and the agricultural machine end controls the unloading of the harvester
- the grain device executes the grain unloading operation instruction.
- the operation module includes a lighting operation module, wherein the lighting operation module receives a lighting operation instruction and transmits it to the agricultural machine end, and the agricultural machine end controls the lighting device of the harvester to perform the operation The lighting operation instructions.
- the operation module includes a sound instruction operation module, wherein the sound instruction operation module receives a sound instruction operation instruction and transmits it to the agricultural machinery terminal, and the agricultural machinery terminal controls the sound of the harvester The device executes the voice instruction operation instruction.
- the agricultural machine terminal includes an information collection module, wherein the information collection module collects the harvester airframe condition information and an operation parameter of the airframe surrounding conditions, and transmits them to the remote control device.
- the remote control device includes a display interface for displaying the operating parameters of the harvester, wherein the display interface has a plurality of sub-display interfaces, and each of the sub-display interfaces displays correspondingly The operation parameters corresponding to different areas of the harvester.
- the instruction receiving device of the operating module is configured as a physical button, a virtual button or a combination of both.
- the operation module switches the instruction receiving device corresponding to the control object of the operation module according to an operation switching instruction to correspondingly operate and control.
- the present invention further provides a remote control device for a harvester, suitable for remotely controlling an associated harvester, including:
- An operation module wherein the operation module receives an operation instruction input by an operator for the associated harvester to receive and execute;
- a remote control body wherein the operation module is operatively installed on the remote control body.
- Fig. 1 is an application diagram of a remote control system for a harvester according to a preferred embodiment of the present invention.
- Fig. 2 is a structural block diagram of a remote control system for a harvester according to a preferred embodiment of the present invention.
- Fig. 3 is a display mode of a display interface of a remote control device for a harvester according to a preferred embodiment of the present invention.
- Fig. 4 is a schematic diagram of an information collection module configuration of a remote control system for a harvester according to a preferred embodiment of the present invention.
- Fig. 5 is a schematic diagram of the operation of a remote control device for a harvester according to a preferred embodiment of the present invention.
- Fig. 6 is a schematic diagram of another operation of a remote control device for a harvester according to a preferred embodiment of the present invention.
- a remote control system for a harvester according to an embodiment of the present invention is illustrated, so that the operator can remotely control an associated harvester through a remote control device for the harvester to improve the operator’s work Environment, reduce operation difficulty and improve operation efficiency.
- the remote control system for the harvester includes an agricultural machine terminal 10 and a remote control device 20.
- the agricultural machine end 10 is installed in a harvester body 100, and the agricultural machine end 10 and the remote control device 20 are communicatively connected.
- the agricultural machine terminal 10 can receive a control instruction from the remote control device 20, and the agricultural machine terminal 10 controls the harvester body 100 according to the received control instruction, thereby realizing remote control of the harvester.
- the agricultural machine terminal 10 includes a harvester signal transceiver 11 for sending various information about the agricultural machine and receiving control instructions from the remote control device 20.
- the signal transceiver 11 of the harvester can adopt various types of signal transceivers currently on the market or products developed by the manufacturer, and the present invention is not limited.
- the harvesting signal transceiver 11 is installed on the harvester body 100, and preferably, is installed in an unobstructed position to facilitate receiving the signal from the remote control device 20 and transmitting the harvester status information to the remote control device 20 .
- the harvesting signal transceiver 11 is installed at the highest part of the harvester body 100.
- the agricultural machinery terminal 10 includes an information collection module 12 for collecting operational parameters such as the body condition information of the harvester body 100 and the surrounding condition of the body.
- the information collection module 12 is communicatively connected to the harvester body 100, so as to obtain airframe condition information, such as vehicle speed, fuel amount, power, engine condition, and so on.
- the information collection module 12 includes a plurality of camera devices 121 to collect information such as the working part, the unloading area, the surroundings of the vehicle body, and the working area.
- a plurality of the imaging devices 121 are installed in the work area of the harvester body 100, the unloading area, the periphery of the vehicle body, and the like.
- one of the camera devices 121 is installed in front of the harvester body 100 to obtain the status of the crops to be harvested in front of the harvester and the conditions of the working parts such as the harvesting platform and reels; the other camera device 121 is installed At the exit of the grain unloading arm of the harvester, the process of obtaining grain unloading, etc., skilled technicians can install the camera device 121 at a required position according to requirements, and the present invention is not limited.
- the remote control device 20 includes a remote control device signal transceiver 23, and the remote control device signal transceiver 23 and the harvester signal transceiver 11 are communicatively connected, for example, via Bluetooth, WiFi, local area network and other technologies.
- the remote control device signal transceiver 23 receives the operator's operation instruction input through the remote control device 20 to the harvester signal transceiver 11 and receives operation parameters from the harvester signal transceiver 11.
- the remote control device 20 includes a display interface 21 to display the operation parameters from the information collection module 12.
- the display interface 21 has a plurality of sub-display interfaces, and each of the sub-display interfaces correspondingly displays a surveillance video of the camera 121, so that the operation Operators can simultaneously observe the situation in multiple areas such as the operation department, the unloading area, the car body and the operation area.
- the display interface 21 can display the surveillance video acquired by the corresponding camera 121 according to the switching instruction.
- the display interface 211 currently displays the video of the camera 121 of the monitoring operation unit, and according to the requirement of the switching instruction, it can be switched to the video of the camera 121 of the monitoring grain unloading area.
- This allows the operator to simultaneously monitor the work department, the unloading area, around the car body, the work area, the harvester engine or its own vehicle condition information, etc., so as to adjust the work operation in time.
- the operator can only observe the front situation with naked eyes, the technical solution of the present invention is safer and easier to work.
- the remote control device 20 includes an operating module 22 to receive operating instructions input by an operator.
- the device for the operator to input the operation instruction can be configured as a physical button, a virtual button or a combination of the two, wherein the virtual button and the display interface 21 can be displayed on the same display device, and the present invention is not limited. According to the operation parameters displayed on the display interface 21, the operator can judge and input operation instructions through the operation module 22.
- the operation module 22 includes a driving operation module 221 for receiving operation instructions for controlling the driving of the harvester body 100, such as braking, turning, driving straight, reversing, and electronic accelerator lifting.
- the driving operation module 221 includes a driving direction operation module 2211 for controlling turning, driving straight or reversing.
- the device for the operator to input the driving direction operation instruction can be configured as an operating lever that can flexibly change the direction, or a combination of keys representing changes in the front, rear, left, and right directions, or a steering wheel-type control key.
- the driving operation module 221 includes a driving speed operation module 2212, which is used to receive driving speed operation instructions, that is, instructions for electronic accelerator lift control.
- the device for the operator to input instructions can be configured as a combination of plus, minus and brake buttons, or a combination of a throttle control button and brake button, pressing the throttle control button to accelerate, releasing the throttle control button to decelerate, etc.
- the operation module 22 includes an operation operation module 222, which is used to receive operation instructions for controlling the operation part of the harvester body 100, such as the height of the header, the lifting of the reel, the threshing speed, the lifting and rotation of the grain conveying arm, etc. .
- the operation operation module 222 includes a harvesting operation module 2221 for receiving harvesting operation instructions, such as controlling the start and stop of the harvesting operation unit, the lifting of the header, and the lifting of the reel.
- the operation operation module 222 further includes a threshing operation module 2222 for receiving threshing operation instructions, such as controlling the start and stop of the threshing operation, and the speed of the threshing operation.
- the operation operation module 222 includes a grain unloading operation module 2223 for receiving grain unloading operation instructions, such as controlling the start and stop of grain unloading, the lifting or rotating of the grain conveying arm, and the grain unloading speed.
- the operating module 22 includes an auxiliary operating module 223 for receiving instructions for controlling lighting or sound and light instructions.
- the auxiliary operation module 223 includes a lighting operation module 2231 for receiving lighting operation commands, such as commands for controlling low beams and commands for controlling high beams.
- the auxiliary operation module 223 includes a voice instruction operation module 2232 for receiving voice instruction operation instructions, such as voice prompts when reversing, and voice prompts when turning.
- the instruction receiving module of the auxiliary operation module 223 may be a full virtual button, or a physical button may be set separately, or it may be combined with the instruction receiving device of the job operation module 222 to enable the instruction through an auxiliary switching instruction
- the receiving device is used to correspond to the auxiliary operation module 223.
- the instruction receiving device of the harvesting operation module 2221 of the operation module 22, the instruction receiving device of the threshing operation module 2222, and the instruction receiving device of the grain unloading operation module 2223 are each The corresponding instruction receiving devices are respectively set in the preset area, independent of each other, as shown in FIG. 5.
- the instruction receiving devices of the various sub-modules of the operating module 22 are unified.
- each sub-module shares a start and stop key, and a direction operation key to control the lift or rotation, and through a Operation switching instruction, the operator selects the corresponding sub-module for adjustment and control of the current instruction receiving device.
- all the content to be controlled of the harvesting operation module 2221, the threshing operation module 2222 and the grain unloading operation module 2223 are sequentially displayed at preset positions, and the operator can select the object to be adjusted through the touch screen or physical buttons. Then through the instruction receiving device operation control, as shown in Figure 6.
- Operation instructions such as driving operation instructions, threshing operation instructions, or grain unloading operation instructions input by the operator are received through the operation module 22. Operation instructions are transmitted to the agricultural machine terminal 10 through the remote control device signal transceiver 23 and the harvester signal transceiver 11 for execution.
- the remote control device 20 is implemented as a remote control handle, as shown in FIG. 1.
- the display interface 21 is implemented as the display screen of the remote control handle, and the operator can input instructions through the physical buttons and/or virtual buttons configured on the remote control handle, operate the operation module 22, and then operate the corresponding The harvester body 100.
- the operator can remotely control the driving and operation of the harvester body 100 through the remote control handle without the need to operate on the harvester himself, thereby improving the operator's working environment and improving work efficiency.
- the remote control handle can follow the work on site.
- the remote control handle is also convenient for the operator to observe on site.
- the remote control device 20 includes a remote control body 24, the display interface 21, the operation module 22, and the remote control device signal transceiver 23.
- the remote control body 24 may be a housing equipped with a power supply and communication device, and provides a working environment for the display interface 21, the operation module 22 and the remote control device signal transceiver 23. That is, the display interface 21, the operation module 22, and the remote control device signal transceiver 23 are operatively installed on the remote control body 24, respectively.
- the agricultural machine terminal 10 includes an execution module 13 for receiving operation instructions from the operation module 22 of the remote control device 20 and executing the operation instructions.
- the execution module 13 is installed in the harvester body 100, such as the traveling direction control device, the traveling speed control device, the harvesting operation unit, the threshing operation unit, the grain conveying arm, and the lighting or sound and light indicating device of the harvester body 100 Wait.
- the execution module 13 receives the travel direction operation instruction from the travel direction operation module 2211, and controls the travel direction control device of the harvester body 100 to execute the travel direction operation instruction, such as a steering wheel. For example, if the operator inputs a right turn instruction, the driving direction operation module 2211 receives the right turn instruction and transmits it to the execution module 13. The execution module 13 controls the driving direction control device to execute a right turn instruction correspondingly, so that the steering wheel turns right.
- the execution module 13 receives the driving speed operation command from the driving speed operation module 2212, and controls the driving speed control device to execute the driving speed operation command. For example, an operator inputs a braking instruction, and the driving speed operation module 2212 receives the braking instruction and transmits it to the execution module 13. The execution module 13 controls the driving speed control device to execute a braking command, so that the tires stop moving.
- the execution module 13 receives the harvesting operation instruction from the harvesting operation module 2221, and controls the harvesting operation unit to execute the harvesting operation instruction. For example, an operator inputs a harvesting start instruction, and the harvesting operation module 2221 receives the harvesting start instruction and transmits it to the execution module 13. The execution module 13 controls the harvesting operation unit to execute the harvesting start instruction, so that the reel starts to rotate, and the harvesting operation unit starts the operation.
- the execution module 13 receives the threshing operation instruction from the threshing operation module 2222 and controls the threshing operation unit to execute the threshing operation instruction. For example, an operator inputs a threshing start instruction, and the threshing operation module 2222 receives the threshing start instruction and transmits it to the execution module 13. The execution module 13 controls the threshing operation unit to execute the threshing start instruction to start the threshing operation.
- the execution module 13 receives the grain unloading operation instruction from the grain unloading operation module 2223, and controls the grain transport arm to execute the grain unloading operation instruction. For example, an operator inputs a grain conveying arm lifting command, and the grain unloading operation module 2223 receives the grain conveying arm lifting command, and transmits it to the execution module 13.
- the execution module 13 controls the grain conveying arm to execute the lifting command of the grain conveying arm, and then raises or lowers accordingly.
- the execution module 13 receives the lighting operation instruction from the lighting operation module 2231, and controls the lighting device to execute the lighting operation instruction. For example, an operator inputs a high-beam lighting instruction, and the lighting operation module 2231 receives the lighting operation instruction and transmits it to the execution module 13. The execution module 13 controls the lighting device to execute the high-beam lighting instructions and turn on the high-beam lights.
- the execution module 13 receives the sound instruction operation instruction from the sound instruction operation module 2232, and controls the sound and light instruction device to execute the sound instruction operation instruction. For example, the operator inputs a reversing voice prompt instruction, and the voice instruction operation module 2232 receives the reversing voice prompt instruction and transmits it to the execution module 13. The execution module 13 controls the sound and light indicating device to emit a reversing sound prompt.
- the harvester body 100 can be operated remotely, thereby achieving the objectives and advantages of the present invention.
- the remote control device 20 of the present invention is easier to use and reduces the labor intensity of the operator.
- the remote control device of the harvester to control the harvester, the operator does not need to be tied to a fixed position, but can freely control the harvester at a proper position from the harvester, and it is also more convenient to observe the surrounding environment and the The situation of the harvester.
- the remote control device for the harvester can be used to remotely control the harvester or transfer the field.
- the remote control device of the harvester can be made into a handle-like shape, which is convenient to hold and carry.
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Abstract
一收割机远程遥控系统和收割机远程遥控装置，其中该收割机远程遥控系统包括一遥控装置（20），用于远程遥控该收割机，其中遥控装置包括一操作模块（22），以供接收操作员输入的一操作指令；和一农机端（10），其中遥控装置和农机端通信地连接，其中农机端被安装于该收割机，能够接收操作指令，并控制该收割机执行操作指令，从而实现遥控装置远程操作收割机。
Description
本发明涉及收割机领域，更详而言之地涉及一收割机远程遥控系统和收割机远程遥控装置，从而降低操作复杂性和作业负担。
随着农业机械的发展，各式农业机械在我国呈迅速发展态势，联合收割机便是其中之一。联合收割机能够集合收割和脱粒功能，并将谷粒集中存储到储蓄仓，之后可以通过送带将粮食输送到运输车上。相比传统的人工收割和谷粒脱粒机配合的工作方式，联合收割机极大提高了作业效率。
但是现有的联合收割机都是在机身上配置操作手柄、按钮等，操作员需要在收割机上驾驶和操作。这导致联合收割机作业的过程中，操作员的工作环境较差。比如，夏天作业的过程中，不仅阳光毒辣、温度高，作业过程中的尘土和细屑飞扬，驾驶员暴露于这样的环境工作，身体负担很重。
另一方面，对操作员的作业水平都有较高的要求，需要操作员对驾驶农机的操作方法以及机械收割作物对象有较丰富经验。比如，操作员需要熟知每个按钮和操作杆对应的操作，还要眼观六路，观察农作田的情况等等。
也就是说，现有的联合收割机仍需进一步改进，以减轻操作员的负担，进一步提高作业效率。
发明内容
本发明的一个目的在于提供一收割机远程遥控系统和收割机远程遥控装置，可以通过所述收割机远程遥控装置，远程遥控对应的收割机，而无需在收割机上操作，从而改善操作员的作业环境，提高工作效率。
本发明的另一个目的在于提供一收割机远程遥控系统和收割机远程遥控装置，可以使得操作员能够同时监视作业部，卸粮区，车身周围，作业区域、收割 机发动机或自身车况信息等等，从而及时调整作业操作。相比于现有技术，操作员只能通过肉眼观察前方情况相比，本发明的技术方案更加安全和便于作业。
本发明的另一个目的在于提供一收割机远程遥控系统和收割机远程遥控装置，其中通过所述收割机远程遥控装置控制所述收割机，相比较现有的操作方式，更容易上手，并且降低操作员的劳动强度。
本发明的另一个目的在于提供一收割机远程遥控系统和收割机远程遥控装置，其中通过所述收割机远程遥控装置控制所述收割机，操作员无需被束缚在固定位置，而是可以自由地在距离所述收割机恰当的位置控制收割机，也更方便观察周边环境和所述收割机的情况。
本发明的另一个目的在于提供一收割机远程遥控系统和收割机远程遥控装置，其中当操作员在收割机上不便观察时，可以利用所述收割机远程遥控装置远程控制收割机或转移场地。
本发明的另一个目的在于提供一收割机远程遥控系统和收割机远程遥控装置，其中所述收割机远程遥控装置可以被制成手柄状等形状，从而便于握持和携带。
为了实现以上至少一个目的，依本发明的一个方面，本发明进一步提供一收割机远程遥控系统，适用于一收割机，包括：
一遥控装置，用于远程遥控该收割机，其中所述遥控装置包括一操作模块，以供接收操作员输入的一操作指令；和
一农机端，其中所述遥控装置和所述农机端通信地连接，其中所述农机端被安装于该收割机，能够接收所述操作指令，并控制该收割机执行所述操作指令。
根据本发明的一个实施例，所述操作模块包括一行驶方向操作模块，其中所述行驶方向操作模块接收一行驶方向操作指令并传输至所述农机端，所述农机端控制该收割机执行所述行驶方向操作指令。
根据本发明的一个实施例，所述操作模块包括一行驶速度操作模块，其中所述行驶速度操作模块接收一行驶速度操作指令并传输至所述农机端，所述农机端控制该收割机执行所述行驶速度操作指令。
根据本发明的一个实施例，所述操作模块包括一收割操作模块，其中所述收割操作模块接收一收割作业指令并传输至所述农机端，所述农机端控制该收割机的割台和拨禾轮执行所述收割作业指令。
根据本发明的一个实施例，所述操作模块包括一脱粒操作模块，其中所述脱粒操作模块接收一脱粒作业指令并传输至所述农机端，所述农机端控制该收割机的脱粒作业部执行所述脱粒作业指令。
根据本发明的一个实施例，所述操作模块包括一卸粮操作模块，其中所述卸粮操作模块接收一卸粮操作指令并传输至所述农机端，所述农机端控制该收割机的卸粮装置执行所述卸粮操作指令。
根据本发明的一个实施例，所述操作模块包括一照明操作模块，其中所述照明操作模块接收一照明操作指令并传输至所述农机端，所述农机端控制该收割机的照明装置执行所述照明操作指令。
根据本发明的一个实施例，所述操作模块包括一声音指示操作模块，其中所述声音指示操作模块接收一声音指示操作指令并传输至所述农机端，所述农机端控制该收割机的声音装置执行所述声音指示操作指令。
根据本发明的一个实施例，所述农机端包括一信息采集模块，其中所述信息采集模块采集该收割机机身状况信息和机身周边状况的一作业参数，并传输至所述遥控装置。
根据本发明的一个实施例，所述遥控装置包括一显示界面，以供显示该收割机的所述作业参数，其中所述显示界面具有多个子显示界面，每个所述子显示界面对应地显示该收割机的不同区域对应的所述作业参数。
根据本发明的一个实施例，所述操作模块的指令接收装置被配置为实体按键、虚拟按键或两者的结合。
根据本发明的一个实施例，所述操作模块根据一操作切换指令，切换所述操作模块的指令接收装置对应控制对象，以对应地操作控制。
依本发明的另一个方面，本发明进一步提供一收割机远程遥控装置，适用于远程控制一关联的收割机，包括：
一操作模块，其中所述操作模块接收操作员输入的一操作指令，以供关联的该收割机接收并执行；和
一遥控本体，其中所述操作模块可工作地安装于所述遥控本体。
图1是根据本发明的一个较佳实施例的一收割机远程遥控系统的应用图。
图2是根据本发明的一个较佳实施例的一收割机远程遥控系统的结构框图。
图3是根据本发明的一个较佳实施例的一收割机远程遥控装置的显示界面的一种显示方式。
图4是根据本发明的一个较佳实施例的一收割机远程遥控系统的一信息采集模块设置示意图。
图5是根据本发明的一个较佳实施例的一收割机远程遥控装置的一种操作示意图。
图6是根据本发明的一个较佳实施例的一收割机远程遥控装置的另一种操作示意图。
以下描述用于揭露本发明以使本领域技术人员能够实现本发明。以下描述中的优选实施例只作为举例，本领域技术人员可以想到其他显而易见的变型。在以下描述中界定的本发明的基本原理可以应用于其他实施方案、变形方案、改进方案、等同方案以及没有背离本发明的精神和范围的其他技术方案。
本领域技术人员应理解的是，在本发明的揭露中，术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系是基于附图所示的方位或位置关系，其仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此上述术语不能理解为对本发明的限制。
可以理解的是，术语“一”应理解为“至少一”或“一个或多个”，即在一个实施例中，一个元件的数量可以为一个，而在另外的实施例中，该元件的数量可以为多个，术语“一”不能理解为对数量的限制。
如图1至图6所示，本发明的一实施例的一收割机远程遥控系统被阐述，以使操作员可以通过一收割机远程遥控装置远程遥控关联的一收割机，改善操作员的工作环境，降低操作难度，提高作业效率。
如图2所示，所述收割机远程遥控系统包括一农机端10和一遥控装置20。所述农机端10被安装于一收割机本体100，所述农机端10和所述遥控装置20 通信地连接。所述农机端10能够接收来自所述遥控装置20的控制指令，所述农机端10根据接收的控制指令控制所述收割机本体100，从而实现对收割机的远程遥控。
具体地，所述农机端10包括一收割机信号收发器11，用于发送关于农机的各项信息和接收来自所述所述遥控装置20的控制指令。所述收割机信号收发器11可以采用市场上现有的各种型号类型的信号收发器或厂家自行研发的产品，本发明并不限制。所述收割信号收发器11被安装于所述收割机本体100，优选地，被安装于无阻挡的位置，便于接受所述遥控装置20发出的信号以及发射收割机状态信息给所述遥控装置20。例如，在本发明的一个实施例中，所述收割信号收发器11被安装于所述收割机本体100的最高处。
进一步，所述农机端10包括一信息采集模块12，用于采集所述收割机本体100的机身状况信息和机身周边状况等作业参数。具体地，所述信息采集模块12通信地连接所述收割机本体100，从而获取机身状况信息，例如车速、油量、电量、发动机状况等。进一步，所述信息采集模块12包括多个摄像装置121，以采集作业部，卸粮区，车身周围和作业区域等信息。也就是说，多个所述摄像装置121被安装于所述收割机本体100的作业区域，卸粮区和车身周侧等地方。例如，其中一个所述摄像装置121被安装于收割机本体100前方，获取收割机前方的待收割作物的状况以及割台、拨禾轮等作业部的情况；另一个所述摄像装置121被安装于收割机卸粮臂的出口，获取粮食卸载过程等，本领技术人员可以根据需求安装所述摄像装置121于所需位置，本发明并不限制。
对应地，所述遥控装置20包括一遥控装置信号收发器23，所述遥控装置信号收发器23和所述收割机信号收发器11通信地连接，例如通过蓝牙、WiFi、局域网等技术。所述遥控装置信号收发器23接收所述操作员的通过所述遥控装置20输入的操作指令至所述收割机信号收发器11，并接收来自所述收割机信号收发器11的作业参数。
进一步，所述遥控装置20包括一显示界面21，以显示来自所述信息采集模块12的作业参数。在本发明的一个实施例中，如图3所示，所述显示界面21具有为多个子显示界面，每个所述子显示界面对应地显示一个所述摄像装置121的监视视频，从而使操作员可以同时观察作业部，卸粮区，车身周围和作业区域等多个区域的情况。在本发明的另一个实施例中，所述显示界面21可以根据一切 换指令，显示对应的所述摄像装置121所获取的监视视频。例如，当前所述显示界面211显示监视作业部的所述摄像装置121的视频，根据所述切换指令的要求，可以切换至监视卸粮区的所述摄像装置121的视频。这样使得操作员能够同时监视作业部，卸粮区，车身周围，作业区域、收割机发动机或自身车况信息等等，从而及时调整作业操作。相比于现有技术，操作员只能通过肉眼观察前方情况相比，本发明的技术方案更加安全和便于作业。
进一步，所述遥控装置20包括一操作模块22，以接收操作员输入的操作指令。操作员输入操作指令的装置可以被配置为实体按键、虚拟按键或两者的结合，其中虚拟按键可以和所述显示界面21显示于同一显示器装置，本发明并不限制。根据所述显示界面21显示的作业参数，操作员可以判断并通过所述操作模块22输入操作指令。
所述操作模块22包括一行驶操作模块221，用于接收控制所述收割机本体100行驶的操作指令，例如刹车、转弯、直行、倒车、电子油门升降等。具体地，所述行驶操作模块221包括一行驶方向操作模块2211，用于控制转弯、直行或倒车。操作员输入行驶方向操作指令的装置可以被配置为可灵活变动方向的操作杆、或分别代表前后左右方向变化的按键组合、或是方向盘式的控制键等。进一步，所述行驶操作模块221包括一行驶速度操作模块2212，用于接收行驶速度操作指令，即对电子油门升降控制的指令。操作员输入指令的装置可以被配置为加、减和刹车按键组合，或一个油门控制按键和刹车按键组合，按下油门控制键为加速、松开油门控制键为减速等。
所述操作模块22包括一作业操作模块222，用于接收控制所述收割机本体100作业部的操作指令，例如割台高度、拨禾轮的升降、脱粒速度、输粮臂的升降和转动等。具体地，所述作业操作模块222包括一收割操作模块2221，用于接收收割作业指令，例如控制收割作业部的启动与停止、割台升降和拨禾轮的升降等指令。所述作业操作模块222进一步包括一脱粒操作模块2222，用于接收脱粒作业指令，例如控制脱粒作业的启动与停止、脱粒作业的速度等指令。所述作业操作模块222包括一卸粮操作模块2223，用于接收卸粮操作指令，例如控制卸粮开始和停止、输粮臂的升降或转动、粮食卸载速度等指令。
所述操作模块22包括一辅助操作模块223，用于接收控制照明或声光指示等的指令。具体地，所述辅助操作模块223包括一照明操作模块2231，用于接收 照明操作指令，例如控制近光灯的指令和控制远光灯的指令。所述辅助操作模块223包括一声音指示操作模块2232，用于接收声音指示操作指令，例如倒车时的声音提示，转弯时的声音提示等。所述辅助操作模块223的指令接收模块可以是全虚拟按键，也可以是实体按键被单独地设置，也可以和所述所述作业操作模块222指令接收装置结合，通过一辅助切换指令来使指令接收装置用来对应辅助操作模块223。
在本发明的一个实施例中，所述操作模块22的所述收割操作模块2221的指令接收装置、所述脱粒操作模块2222的指令接收装置和所述卸粮操作模块2223的指令接收装置等各个对应的指令接收装置被分别的设置于预设区域，相互独立，如图5所示。
在本发明的另一个实施例中，所述操作模块22的各个子模块的指令接收装置被统一，例如各个子模块共用一个启动和停止键、一个方向操作键来控制升降或旋转，并通过一操作切换指令，操作员选择当前指令接收装置调整和控制的对应子模块。例如所述收割操作模块2221、所述脱粒操作模块2222和所述卸粮操作模块2223的所有待控制内容被依次显示预设位置，操作员可以通过触屏屏幕或实体按键选择需调整的对象，再通过指令接收装置操作控制，如图6所示。
操作员输入的行驶操作指令、脱粒操作指令或卸粮操作指令等操作指令通过所述操作模块22被接收。操作指令通过所述遥控装置信号收发器23和所述收割机信号收发器11被传输至所述农机端10被执行。优选地，所述遥控装置20被实施为遥控手柄，如图1所示。所述显示界面21被实施为所述遥控手柄的显示屏，操作员可以通过配置于所述遥控手柄的实体按键和\或虚拟按键输入指令，操作所述操作模块22，进而操作对应的所述收割机本体100。
也就是说，操作员可以通过所述遥控手柄远程控制所述收割机本体100行驶和作业，无需本人在收割机上操作，从而改善操作员的作业环境，提高工作效率。并且，通过所述遥控手柄，操作员可以现场跟随作业，相比固定和无法移动的远程操作端，所述遥控手柄也便于操作员现场观察。
换句话说，本发明的一个实施例中，所述遥控装置20包括一遥控本体24、所述显示界面21、所述操作模块22和所述遥控装置信号收发器23。所述遥控本体24可以是装有供电和通信装置的壳体，为所述显示界面21，所述操作模块22和所述遥控装置信号收发器23提供可工作地环境。即，所述显示界面21、所述 操作模块22和所述遥控装置信号收发器23分别被可工作地安装于所述遥控本体24。
进一步，所述农机端10包括一执行模块13，用于接收来自所述遥控装置20的所述操作模块22的操作指令，并执行所述操作指令。所述执行模块13安装于所述收割机本体100，例如所述收割机本体100的行驶方向控制装置、行驶速度控制装置、收割作业部、脱粒作业部、输粮臂和照明或声光指示装置等。
具体地，所述执行模块13接收来自所述行驶方向操作模块2211的行驶方向操作指令，控制所述收割机本体100的行驶方向控制装置执行行驶方向操作指令，例如方向盘。例如，操作员输入右转指令，所述行驶方向操作模块2211接收右转指令并传输至所述执行模块13。所述执行模块13控制行驶方向控制装置对应地执行右转指令，使得方向轮右转。
所述执行模块13接收来自所述行驶速度操作模块2212的行驶速度操作指令，控制行驶速度控制装置执行行驶速度操作指令。例如操作员输入刹车指令，所述行驶速度操作模块2212接收刹车指令，并传输至所述执行模块13。所述执行模块13控制行驶速度控制装置执行刹车指令，使得轮胎停止运动。
所述执行模块13接收来自所述收割操作模块2221的收割作业指令，控制收割作业部执行收割作业指令。例如操作员输入收割启动指令，所述收割操作模块2221接收收割启动指令，并传输至所述执行模块13。所述执行模块13控制收割作业部执行收割启动指令，使得拨禾轮开始旋转，收割作业部开始作业。
所述执行模块13接收来自所述脱粒操作模块2222的脱粒作业指令，控制脱粒作业部执行脱粒作业指令。例如操作员输入脱粒开始指令，所述脱粒操作模块2222接收脱粒开始指令，并传输至所述执行模块13。所述执行模块13控制脱粒作业部执行脱粒开始指令，开始脱粒作业。
所述执行模块13接收来自所述卸粮操作模块2223的卸粮操作指令，控制输粮臂执行卸粮操作指令。例如操作员输入输粮臂升降指令，所述卸粮操作模块2223接收输粮臂升降指令，并传输至所述执行模块13。所述执行模块13控制输粮臂执行输粮臂升降指令，随之升或降。
所述执行模块13接收来自所述照明操作模块2231的照明操作指令，控制照明装置执行照明操作指令。例如操作员输入远光照明指令，所述照明操作模块2231接收照明操作指令，并传输至所述执行模块13。所述执行模块13控制照明 装置执行远光照明指令，打开远光灯。
所述执行模块13接收来自所述声音指示操作模块2232的声音指示操作指令，控制声光指示装置执行声音指示操作指令。例如操作员输入倒车声音提示指令，所述声音指示操作模块2232接收倒车声音提示指令，并传输至所述执行模块13。所述执行模块13控制声光指示装置发出倒车声音提示。
通过所述遥控装置20和所述执行模块13的配合，所述收割机本体100可以被实现远程遥控操作，从而实现本发明的目的和优势。相比较现有的复杂操作方式，本发明的所述遥控装置20更容易上手，并且降低操作员的劳动强度。通过所述收割机远程遥控装置控制所述收割机，操作员无需被束缚在固定位置，而是可以自由地在距离所述收割机恰当的位置控制收割机，也更方便观察周边环境和所述收割机的情况。尤其当操作员在收割机上不便观察时，可以利用所述收割机远程遥控装置远程控制收割机或转移场地。并且，所述收割机远程遥控装置可以被制成手柄状等形状，从而便于握持和携带。
本领域的技术人员应理解，上述描述及附图中所示的本发明的实施例只作为举例而并不限制本发明。本发明的目的已经完整并有效地实现。本发明的功能及结构原理已在实施例中展示和说明，在没有背离所述原理下，本发明的实施方式可以有任何变形或修改。
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- 一收割机远程遥控系统，适用于一收割机，其特征在于，包括：一遥控装置，用于远程遥控该收割机，其中所述遥控装置包括一操作模块，以供接收操作员输入的一操作指令；和一农机端，其中所述遥控装置和所述农机端通信地连接，其中所述农机端被安装于该收割机，能够接收所述操作指令，并控制该收割机执行所述操作指令。
- 根据权利要求1所述收割机远程遥控系统，其中所述操作模块包括一行驶方向操作模块，其中所述行驶方向操作模块接收一行驶方向操作指令并传输至所述农机端，所述农机端控制该收割机执行所述行驶方向操作指令。
- 根据权利要求1所述收割机远程遥控系统，其中所述操作模块包括一行驶速度操作模块，其中所述行驶速度操作模块接收一行驶速度操作指令并传输至所述农机端，所述农机端控制该收割机执行所述行驶速度操作指令。
- 根据权利要求1所述收割机远程遥控系统，其中所述操作模块包括一收割操作模块，其中所述收割操作模块接收一收割作业指令并传输至所述农机端，所述农机端控制该收割机的割台和拨禾轮执行所述收割作业指令。
- 根据权利要求1所述收割机远程遥控系统，其中所述操作模块包括一脱粒操作模块，其中所述脱粒操作模块接收一脱粒作业指令并传输至所述农机端，所述农机端控制该收割机的脱粒作业部执行所述脱粒作业指令。
- 根据权利要求1所述收割机远程遥控系统，其中所述操作模块包括一卸粮操作模块，其中所述卸粮操作模块接收一卸粮操作指令并传输至所述农机端，所述农机端控制该收割机的卸粮装置执行所述卸粮操作指令。
- 根据权利要求1所述收割机远程遥控系统，其中所述操作模块包括一照明操作模块，其中所述照明操作模块接收一照明操作指令并传输至所述农机端，所述农机端控制该收割机的照明装置执行所述照明操作指令。
- 根据权利要求1所述收割机远程遥控系统，其中所述操作模块包括一声音指示操作模块，其中所述声音指示操作模块接收一声音指示操作指令并传输至所述农机端，所述农机端控制该收割机的声音装置执行所述声音指示操作指令。
- 根据权利要求1所述收割机远程遥控系统，其中所述农机端包括一信息采集模块，其中所述信息采集模块采集该收割机机身状况信息和机身周边状况的 一作业参数，并传输至所述遥控装置。
- 根据权利要求9所述收割机远程遥控系统，其中所述遥控装置包括一显示界面，以供显示该收割机的所述作业参数，其中所述显示界面具有多个子显示界面，每个所述子显示界面对应地显示该收割机的不同区域对应的所述作业参数。
- 根据权利要求1所述收割机远程遥控系统，其中所述操作模块的指令接收装置被配置为实体按键、虚拟按键或两者的结合。
- 根据权利要求1所述收割机远程遥控系统，其中所述操作模块根据一操作切换指令，切换所述操作模块的指令接收装置对应控制对象，以对应地操作控制。
- 一收割机远程遥控装置，适用于远程控制一关联的收割机，其特征在于，包括：一操作模块，其中所述操作模块接收操作员输入的一操作指令，以供关联的该收割机接收并执行；和一遥控本体，其中所述操作模块可工作地安装于所述遥控本体。
- 根据权利要求13所述收割机远程遥控装置，其中所述操作模块包括一行驶方向操作模块，其中所述行驶方向操作模块接收一行驶方向操作指令并传输至所述农机端，所述农机端控制该收割机执行所述行驶方向操作指令。
- 根据权利要求13所述收割机远程遥控装置，其中所述操作模块包括一行驶速度操作模块，其中所述行驶速度操作模块接收一行驶速度操作指令并传输至关联的收割机执行。
- 根据权利要求13所述收割机远程遥控装置，其中所述操作模块包括一收割操作模块，其中所述收割操作模块接收一收割作业指令并传输至传输至关联的收割机的割台和拨禾轮执行。
- 根据权利要求13所述收割机远程遥控装置，其中所述操作模块包括一脱粒操作模块，其中所述脱粒操作模块接收一脱粒作业指令并传输至关联的收割机的脱粒作业部执行。
- 根据权利要求13所述收割机远程遥控装置，其中所述操作模块包括一卸粮操作模块，其中所述卸粮操作模块接收一卸粮操作指令并传输至关联的收割机的的卸粮装置执行。
- 根据权利要求13所述收割机远程遥控装置，其中所述操作模块包括一 照明操作模块，其中所述照明操作模块接收一照明操作指令并传输至关联的收割机的的照明装置执行。
- 根据权利要求13所述收割机远程遥控装置，其中所述操作模块包括一声音指示操作模块，其中所述声音指示操作模块接收一声音指示操作指令并传输至关联的收割机的的声音装置执行。
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| US11567492B2 (en) * | 2020-01-17 | 2023-01-31 | Zimeno, Inc. | Vehicle control by a remote operator |
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