CN101622928A - Remote control system of combine harvester - Google Patents

Abstract

A remote control system for a combine harvester can remotely operate the harvester within a range of 2 to 5 kilometers, which can effectively relieve the driver's labor intensity, improve the adverse operating environment, and greatly improve the operating comfort and harvesting efficiency. The system collects road condition information and header and reel information in real time through two cameras installed on the harvester. The operator makes a comprehensive judgment remotely with the help of two-way image information displayed on a portable PC, and sends control instructions using a handheld remote control. The receiving system on the combine harvester receives the signal, processes and controls the nine oil circuits to drive different actuators to achieve eight different remote control operations (including left turn, right turn, forward, backward, and the rise and fall of the header and reel).

Description

Combine Harvester Remote Control System

Technical field:

The patent of the present invention relates to a remote control system applied to combine harvesters. The operator realizes the walking remote control of the harvester and the lifting and lowering remote control of the header and reel within the range of 2 to 5 kilometers. It is suitable for various types of wheat, Corn combine harvester.

Background technique:

At present, remote control technology has been widely used in all aspects of production and life, but the application in the agricultural field is relatively small, especially in agricultural machinery; my country's main grain production areas have a large area of cultivated land, which is suitable for large-scale equipment such as combine harvesters. Mechanical operation, but due to the harsh and difficult working conditions, the operator is too tired and labor-intensive; in addition, the wheat harvest season is just in midsummer, the wheat husks are flying when the harvester is working, and the working environment is very harsh. In this case, a The remote control system applied to the combine harvester is very practical, which can greatly reduce the labor intensity of the driver and improve the operating comfort and harvesting efficiency.

Invention content:

The patent of the present invention provides a set of remote control system for wheat and corn combine harvesters. The operator can remotely control the movement of the combine harvester (forward, backward, left turn) within 2 to 5 kilometers according to the image information sent back by the camera on the harvester. and turn right) and the raising and lowering of headers and reels. The system is simple to operate, easy to learn, and suitable for popularization in rural areas.

The system is divided into three parts: the wireless image transmission and receiving device, the control signal sending and receiving device (the sending device is a hand-held remote controller), the signal processing circuit and the hydraulic drive device; using the remote control operation method, the corresponding functions are as follows: : Forward, backward, left turn, right turn of combine harvester and raising and lowering of header and reel.

The image wireless sending and receiving device is composed of a camera, a video encoder and a wireless front-end and back-end bridge. The two CCD cameras will respectively collect the information of the combine harvester header and the front path (determined by the installation position of the camera), and compress the two-way image information through the video encoder, and the compressed two-way image information will be sent by the front and back end network The wireless local area network composed of the bridge is wirelessly transmitted to the portable PC at the operating end. With the help of the image information on the PC, the operator implements the remote control of the combine harvester by observing, judging and operating the handheld remote control.

The sending device of the control signal is a hand-held remote control, and the operator can send the control signal through the button on the top; the receiving device is the receiving circuit of the lower computer, which is installed on the combine harvester, and the receiving circuit receives the control signal of the hand-held remote control and decodes it. Processing, and then drive the hydraulic system to achieve the corresponding action.

The detailed operation process is that the operator observes the two-way image signals transmitted from the combine harvester on the portable PC, one is the path signal and the other is the header signal; the operator makes a judgment based on the two-way image signals Action, and then directly press the corresponding button on the handheld remote control, the control signal is transmitted from the handheld remote control to the harvester processing unit through wireless transmission, and then the processed signal is transmitted to the central processing unit AT89S52 single-chip microcomputer, and the single-chip microcomputer analyzes and judges the transmitted signal, and then trigger the corresponding high and low level of the general port, and then drive the corresponding relay circuit action to realize the corresponding function.

This set of remote control system is to realize the movement of the combine harvester (forward, backward, left turn and right turn) and the lifting remote control of the header and the reel. The hydraulic system is used to realize these functions at the harvester end. The hydraulic drive device consists of a two-position two-way normally closed solenoid valve, two two-position three-way solenoid valves, three three-position four-way solenoid valves, a gear pump, and an oil tank. The on-off of the solenoid valve is controlled by the corresponding relay circuit To achieve, every time a function is realized, the normally closed solenoid valve needs to be disconnected, and then another solenoid valve can be closed. Each of the 6 normally open solenoid valves controls one or several oil circuits to realize a function. To realize the function of turning left, you only need to turn the steering wheel to the left, and the left turning of the steering wheel is realized by controlling the corresponding mechanical mechanism through an oil circuit. The structure of the solenoid valve and the mechanical structure of the oil circuit drive are different.

Through the introduction of the basic control functions and characteristics of the patent of the present invention, we can see that its beneficial effects are: completely overcome the many shortcomings of the traditional operation of the combine harvester, and liberate the driver from the harsh and heavy driving operation. A portable PC and a small hand-held remote control can realize the remote control of the combine harvester within the range of 2-5 kilometers.

Description of drawings

Further illustrate the present invention below in conjunction with accompanying drawing and implementation.

Fig. 1 is the internal circuit diagram of the handheld remote controller of the present invention.

Fig. 2 is a circuit diagram of receiving control signals of the present invention.

Fig. 3 is a schematic diagram of the handheld remote controller of the present invention.

Fig. 4 is a schematic diagram of the hydraulic device of the present invention.

Fig. 5 is an overall view of the remote-controlled combine harvester.

Figure 6 is a mechanical structure diagram of the steering system.

Fig. 1 is the internal circuit diagram of the handheld remote controller of the present invention. There are 8 buttons in the figure, which send out 8 different control signals respectively. This circuit is mainly composed of M74H147B1R series encoder, PT2262-L series encoder and KYL-1020U wireless transmitter module, and the power supply is a 5v dry battery. The user composes six different control signals through six buttons, and after encoding by two encoders, the signal is transmitted to the wireless transmitting module for emission. The transmission frequency adjustment can be realized by setting the transmission module through software.

Fig. 2 is a circuit diagram of the receiving control signal of the present invention. This circuit is composed of KYL-1020U wireless receiving module, PT2272-L decoder (matched with PT2262-L), microcontroller control unit, hardware watchdog reset and relay control circuit. The relay control circuit only draws two control loops (connected to P1.0 and P1.1), and the remaining five ports (P1.2, P1.3, P1.4, P1.5, P1.6, P1 .7, P2.7) are consistent with the previous circuit, but the connected actuators are different: P1.0 solenoid valve controls the oil return circuit, P1.1 rear solenoid valve controls the left turn oil circuit, P1.2 rear solenoid valve Control the right turn oil circuit, the rear solenoid valve of P1.3 controls the forward oil circuit, the rear solenoid valve of P1.4 controls the backward oil circuit, the rear solenoid valve of P1.5 controls the header oil circuit, and the rear solenoid valve of P1.6 controls the header The oil descending circuit, the solenoid valve after P1.7 controls the oil raising circuit of the reel, and the solenoid valve after P2.7 controls the oil descending circuit of the reel. Taking left turn as an example, when the receiving circuit receives the left turn signal, the pins P1.0 and P1.1 of the single chip microcomputer are set to low level, and the relay behind is closed. At this time, the solenoid valve of the control loop is normally closed Turn off, control the left-turn solenoid valve to close, and the high-pressure oil pushes the left-turn actuator to act to realize the left-turn function.

Figure 3 is a schematic diagram of the handheld remote controller. The eight buttons respectively control the forward, backward, left turn, right turn of the combine harvester and the raising and lowering of the header and the reel.

Fig. 4 is a schematic diagram of the hydraulic device of the present invention. It can be seen from the figure that the entire hydraulic device is composed of a fuel tank, a gear pump, a two-position two-way normally closed solenoid valve, two two-position three-way solenoid valves, three three-position four-way solenoid valves and three oil cylinders. Solenoid valve 1 is normally closed. When not performing any action, this oil circuit is connected, and the high-pressure oil returns to the fuel tank through this circuit, forming a circuit. When there is a function to be executed, the solenoid valve is disconnected, that is, the oil return circuit is disconnected, and the other corresponding solenoid valve is closed, and the corresponding oil circuit is connected. At this time, the high-pressure oil pushes the corresponding actuator to act to realize the corresponding function. It can be seen from the figure that solenoid valve 2 controls the right-turn oil circuit, solenoid valve 3 controls the left-turn oil circuit, solenoid valve 4 controls the lifting oil circuit of the header, solenoid valve 5 controls the lifting oil circuit of the reel, and solenoid valve 6 Control the forward and backward oil circuit.

Fig. 5 is an overall view of the remote-controlled combine harvester. As can be seen from the figure, both reel 1 and header 3 have hydraulic control, hydraulic cylinders 2 and 4 are equipped with solenoid valves, and the lifting of 1 and 3 can be controlled by a remote controller. Camera 5 is used to detect the height of reel and header. The camera 6 is used to detect road conditions and is used to control the harvester to turn left and right and move forward and backward. The signal receiving device 7 is used to receive the control signal sent by the remote controller, decode and process it, and then drive the hydraulic system to realize corresponding actions.

Figure 6 is a mechanical structure diagram of the steering system. When the combine harvester works in a straight line, when it needs to turn left, press the left turn button on the handheld device to turn on the solenoid valve 1, the upper part of the hydraulic cylinder 2 enters oil, and the lower part returns to the oil tank, which is driven by the rack at the lower part of the piston rod. The counterclockwise rotation of the worm gear 4 makes the trapezoidal steering mechanism drive the combine harvester to turn left. Electromagnetic valve 3 controls harvester to turn right.

Detailed ways

When using, first adjust the CCD, image encoder and signal processing module on the combine harvester, so that all parts are powered on. Then test the image transmission effect at a short distance, then install batteries in the remote control, use a portable PC to view image information at a distance, and use the remote control to perform remote control operations, which is very convenient to operate.

Claims (10)

1. combine harvester remote control system, by the hand-held remote controller controlled hydraulic system realize combine left-hand rotation, turn right, advance, retreat and the lifting of the ceding of Taiwan, straw shift wheel.This system comprises: 1) wireless transmission of image and receiving system; 2) hand-held remote controller (control signal dispensing device); 3) control signal receives and treating apparatus; 4) hydraulic-driven and mechanical actuating mechanism.It is characterized in that: the operator is the motion and the work of remote-controlled combine by the real-time working image information with small-sized remote controller in the distance, has overcome severe operational environment, driver and has driven shortcomings such as overtired for a long time.

2. combine harvester remote control system according to claim 1, it is characterized in that to gather the duty that the two-path video signal shows grain header, one the tunnel shows grain header the place ahead operating path information, the lifting situation of the ceding of Taiwan and straw shift wheel is then monitored on another road, make the operator can grasp the operation duty of combine more all sidedly, so that send suitable control instruction.

3. combine harvester remote control system according to claim 2 is characterized in that being different from traditional IMAQ scope, and native system has increased by one tunnel lifting situation map picture of gathering the ceding of Taiwan and straw shift wheel specially, make control more accurately, reliable.

4. combine harvester remote control system according to claim 3 is characterized in that picture signal is by the WLAN transmission, uses conveniently, is suitable for the combine of land for growing field crops operation.

5. combine harvester remote control system according to claim 1 is characterized in that the transmission of control signal is finished by a hand-held remote controller, and simple to operation, easy operating the person grasp fast.

6. combine harvester remote control system according to claim 5, what it is characterized in that small-sized remote controller sends is the wireless remote control signal, tranmitting frequency can be adjusted by software, need not apply for using frequency range.

7. combine harvester remote control system according to claim 1 is characterized in that receiving the control signal device and is installed on the combine, and receiving circuit and hydraulic system, mechanical actuating mechanism have been finished required distant control function jointly.

8. combine harvester remote control system according to claim 7, it is characterized in that receiving system receives a certain control signal, processing unit is promptly to its processing of decoding, and drives then that corresponding relays action, magnetic valve open and close, the oil circuit break-make comes driving device executing agency to finish function corresponding.

9. combine harvester remote control system according to claim 8, it is characterized in that system to realize grain header left-hand rotation, turn right, advance, retreat and the lifting control of the ceding of Taiwan, straw shift wheel, its driving mechanism is a full hydraulic system, and form is simple, cost is low, reliability is high.

10. combine harvester remote control system according to claim 9, the break-make that it is characterized in that 9 hydraulic circuits be by 9 solenoid control, wherein has one to be the control oil return line, its state is normally closed, and all the other magnetic valves are often to be opened; Under the situation of grain header without any action, the oil in the whole hydraulic system circulates, and when carrying out a certain function, we only need to interrupt this circulation, allow hydraulic oil enter corresponding oil circuit and get final product.

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