Safety control method, device and system for combine harvester

Abstract

The invention relates to the technical field of safety control, and particularly discloses a safety control method, device and system for a combine harvester, and the method comprises the steps: judging whether the combine harvester meets a starting condition or not based on the position of a handle of the combine harvester, and the rotating speed value, the battery voltage value and the excitation voltage value of an engine of the combine harvester; and after the combine harvester meets the starting condition, if a target control signal of a main clutch of the combine harvester is received, and the combine harvester meets a preset condition corresponding to the target control signal, the main clutch is controlled. The method can effectively solve the potential safety hazard caused by the fact that the vehicle starting condition is judged only by depending on the position of a handle in the prior art, makes up for the defect that multi-dimensional verification is not carried out in combination with the engine state, and can prevent illegal vehicle starting caused by sensor faults or instantaneous misoperation. And meanwhile, the problem that wrong actions are executed when a combination signal is triggered by mistake before the combine harvester is started is avoided, and the operation safety and the equipment reliability of the combine harvester are improved.

Description

Background Art

[0002] The safety control technology of combine harvesters is the core to ensure operation safety and equipment reliability. In traditional technologies, safety control mainly relies on mechanical interlock devices and simple electrical switch logics. In the current safety control technology of combine harvesters, the starting safety is insufficient. It only relies on the handle position to judge the starting conditions, without combining the engine state for multi-dimensional verification, and cannot prevent illegal starting caused by sensor failures or instantaneous misoperations. In addition, the safety control technology of combine harvesters lacks a secondary triggering mechanism, and wrong actions may still be executed when the combined signal is mis-triggered before starting.

[0003] Therefore, there is an urgent need to provide a technical solution to solve the above problems. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides a safety control method, device, and system for combine harvesters.

[0005] In a first aspect, the present invention provides a safety control method for combine harvesters. The technical solution of this method is as follows:

[0006] Based on the handle position of the combine harvester, as well as the rotational speed value, battery voltage value, and excitation voltage value of the engine of the combine harvester, determine whether the combine harvester meets the starting conditions;

[0007] When the combine harvester meets the starting conditions, if the target control signal of the main clutch of the combine harvester is received, and the combine harvester meets the preset conditions corresponding to the target control signal, control the main clutch.

[0008] The beneficial effects of a safety control method for combine harvesters of the present invention are as follows:

[0009] The method of the present invention can effectively solve the safety hazards caused by traditional technologies relying only on the handle position to judge the starting conditions, make up for the deficiency of not combining the engine state for multi-dimensional verification, prevent illegal starting caused by sensor failures or instantaneous misoperations, and at the same time avoid the problem of executing wrong actions when the combined signal is mis-triggered before starting, greatly improving the operation safety of combine harvesters and the reliability of equipment.

[0010] On the basis of the above solution, a safety control method for combine harvesters of the present invention can also be improved as follows.

[0011] In an optional manner, the starting conditions are: the handle position is in the middle position, and at least one of the rotational speed value of the engine is not greater than the first preset rotational speed value, the battery voltage value is not greater than the preset voltage value, and the excitation voltage value is not greater than the preset excitation voltage value.

[0012] In an alternative manner, the target control signal is: a combined control signal or a separation control signal;

[0013] The preset conditions corresponding to the combined control signal include: the bin cover angle sensor of the combine harvester is closed, the lift grain tube limit switch is valid, and the rotational speed value of the engine is less than a second preset rotational speed value;

[0014] The preset conditions corresponding to the separation control signal include: the rotational speed value of the engine is less than a third preset rotational speed value.

[0015] In an alternative manner, the preset conditions corresponding to the combined control signal further include: the bin cover of the combine harvester is closed, the lift grain tube limit signal is valid, the rotational speed value of the engine is not less than the second preset rotational speed value, and the forced combination flag is valid.

[0016] In an alternative manner, the steps of controlling the main clutch include:

[0017] When the target control signal is the combined control signal, the solenoid valve corresponding to the main clutch is controlled to be energized to perform combined control on the main clutch;

[0018] When the target control signal is the separation control signal, the solenoid valve corresponding to the main clutch is controlled to be de-energized to perform separation control on the main clutch.

[0019] In an alternative manner, it further includes:

[0020] When an emergency stop switch signal is received when the solenoid valve corresponding to the overbridge clutch of the combine harvester is energized, the solenoid valve corresponding to the overbridge clutch is controlled to be de-energized to perform separation control on the overbridge clutch; when the engagement signal of the overbridge clutch is received again, the solenoid valve corresponding to the overbridge clutch is controlled to be energized to perform combined control on the overbridge clutch.

[0021] In an alternative manner, it further includes:

[0022] When the engagement signal of the unloading clutch of the combine harvester is received, if the combine harvester meets the preset unloading conditions, the unloading clutch is controlled to engage; if the combine harvester does not meet the preset unloading conditions, it is determined whether to control the unloading clutch to engage according to the unloading confirmation result; wherein, the preset unloading conditions are: the vehicle speed value of the combine harvester is less than a preset vehicle speed value and the unloading tube is in the retracted state.

[0023] In an alternative manner, it further includes:

[0024] When it is detected that the driver of the combine harvester is away from the position, the combine harvester is disabled. If the driver is not detected to return after the first preset time interval, the cross-bridge clutch is controlled to disengage; if the driver is still not detected to return after the second preset time interval, the main clutch is controlled to disengage; wherein, the first preset time interval is less than the second preset time interval.

[0025] In a second aspect, the present invention provides a safety control device for a combine harvester. The technical solution of the device is as follows:

[0026] It includes: a determination module and a control module;

[0027] The determination module is configured to: based on the handle position of the combine harvester, as well as the rotational speed value, battery voltage value, and excitation voltage value of the engine of the combine harvester, determine whether the combine harvester meets the starting conditions;

[0028] The control module is configured to: when the combine harvester meets the starting conditions, if it receives the target control signal of the main clutch of the combine harvester and the combine harvester meets the preset conditions corresponding to the target control signal, control the main clutch.

[0029] The beneficial effects of a safety control device for a combine harvester according to the present invention are as follows:

[0030] The device of the present invention can effectively solve the safety hazards caused by the traditional technology relying only on the handle position to judge the starting conditions, make up for the deficiency of not combining the engine state for multi-dimensional verification, prevent illegal starting caused by sensor failures or instantaneous misoperations, and at the same time avoid the problem of executing incorrect actions when the engagement signal is mis-triggered before starting, greatly improving the safety of combine harvester operations and the reliability of the equipment.

[0031] In a third aspect, the present invention provides a safety control system for a combine harvester. The technical solution of the system is as follows:

[0032] It includes: a vehicle controller; the vehicle controller is configured to:

[0033] Based on the handle position of the combine harvester, as well as the rotational speed value, battery voltage value, and excitation voltage value of the engine of the combine harvester, determine whether the combine harvester meets the starting conditions;

[0034] When the combine harvester meets the starting conditions, if it receives the target control signal of the main clutch of the combine harvester and the combine harvester meets the preset conditions corresponding to the target control signal, control the main clutch.

[0035] The beneficial effects of a safety control system for a combine harvester according to the present invention are as follows:

[0036] The system of the present invention can effectively solve the potential safety hazards caused by the traditional technology's reliance on the handle position to judge the starting conditions, make up for the deficiency of not conducting multi-dimensional verification in combination with the engine state, prevent illegal starting caused by sensor failures or instantaneous misoperations, and at the same time avoid the problem of incorrect actions being executed when the engagement signal is accidentally triggered before starting, greatly improving the safety of the combine harvester operation and the reliability of the equipment.

[0037] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented in accordance with the content of the description. And in order to make the above and other purposes, features, and advantages of the present invention more obvious and understandable, the following specifically describes the specific embodiments of the present invention. Brief Description of the Drawings

[0038] The drawings are only used to illustrate the embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0039] Figure 1 is a schematic flowchart of an embodiment of a safety control method for a combine harvester according to the present invention;

[0040] Figure 2 is a decision flowchart for starting conditions;

[0041] Figure 3 is one of the main clutch control state diagrams;

[0042] Figure 4 is another main clutch control state diagram;

[0043] Figure 5 is a framework diagram for the safety control of a combine harvester;

[0044] Figure 6 is a flowchart for out-of-position processing;

[0045] Figure 7 is a schematic structural diagram of an embodiment of a safety control device for a combine harvester according to the present invention. Detailed Description of the Embodiments

[0046] The following will describe the exemplary embodiments of the present invention in more detail with reference to the drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein.

[0047] Figure 1 shows a schematic flowchart of an embodiment of a safety control method for a combine harvester provided by the present invention, and this safety control method for a combine harvester can be executed by a vehicle controller. As Figure 1As shown, it includes the following steps:

[0048] S1. Based on the handle position of the combine harvester, as well as the rotational speed value, battery voltage value, and excitation voltage value of the engine of the combine harvester, determine whether the combine harvester meets the starting conditions.

[0049] Among them, a combine harvester is a modern agricultural machine integrating multiple functions such as harvesting, threshing, separating, and cleaning. The handle position is collected by a multi-functional handle sensor arranged on the combine harvester. The handle position includes, but is not limited to: the middle position, the forward push position, and the backward position. The rotational speed value of the engine is collected by a rotational speed sensor arranged on the combine harvester. The battery voltage value and the excitation voltage value can be collected through the analog input pins of the vehicle controller.

[0050] Among them, the starting conditions are: the handle position is in the middle position, and at least one of the rotational speed value of the engine is not greater than the first preset rotational speed value, the battery voltage value is not greater than the preset voltage value, and the excitation voltage value is not greater than the preset excitation voltage value. As Figure 2 shown, specifically, when the handle position is in the middle position (neutral gear), if the combine harvester meets at least one of the conditions of "the rotational speed value of the engine is not greater than the first preset rotational speed value, the battery voltage value is not greater than the preset voltage value, and the excitation voltage value is not greater than the preset excitation voltage value", it is determined that the combine harvester meets the starting conditions; otherwise, starting is prohibited and specific fault items are output through the display screen (instrument) of the combine harvester. If the handle position is not in the middle position, a prompt message of "the engine cannot start when the multi-functional handle is not in neutral gear" is output through the display screen of the combine harvester.

[0051] It should be noted that the first preset rotational speed value is defaulted to 400 rpm, the preset voltage value is defaulted to 27 V, and the preset excitation voltage value is defaulted to 20 V. The above thresholds can also be adjusted according to the actual situation and are not limited here.

[0052] S2. When the combine harvester meets the starting conditions, if the target control signal of the main clutch of the combine harvester is received and the combine harvester meets the preset conditions corresponding to the target control signal, control the main clutch.

[0053] Among them, the target control signal is: the engagement control signal or the separation control signal. The preset conditions corresponding to the engagement control signal include: the silo cover angle sensor of the combine harvester is closed, the grain elevator limit switch is effective, and the rotational speed value of the engine is less than the second preset rotational speed value. The preset conditions corresponding to the separation control signal include: the rotational speed value of the engine is less than the third preset rotational speed value.

[0054] Among them, as Figure 3As shown in the figure, for a combine harvester, if the main clutch is disengaged when the engine speed value is not less than the third preset speed value, a message is sent to the ECU (Electronic Control Unit) via the CAN bus, and the target speed of the engine is set to the third preset speed value. After a continuous setting time, the control is released. If the speed is still greater than or equal to the third preset speed value after the setting time ends, the main clutch is forcibly disengaged and a fault code is recorded.

[0055] It should be noted that, as Figure 4 shown in the figure, both the grain bin cover angle sensor and the grain elevator limit switch are connected to the vehicle controller. The second preset speed value is defaulted to 1500 rpm, and the third preset speed value is defaulted to 1500 rpm. The above thresholds can also be adjusted according to the actual situation and are not restricted here. In addition, in S2, if the combine harvester does not meet the starting conditions and at this time receives the target control signal of the main clutch of the combine harvester, the combine harvester is controlled not to perform an action.

[0056] In an optional manner, the preset conditions corresponding to the control signal further include: the grain bin cover of the combine harvester is closed, the grain elevator limit signal is valid, the engine speed value is not less than the second preset speed value, and the forced engagement flag is valid.

[0057] Among them, the forced engagement flag is set through the CAN message in the vehicle controller. The state of the grain bin cover (open or closed) is collected by the grain bin cover angle sensor, and the grain elevator limit signal (valid or invalid) is collected by the grain elevator limit switch. In addition, when the grain bin cover of the combine harvester is closed, the grain elevator limit signal is valid, the engine speed value is not less than the second preset speed value, and the forced engagement flag is invalid (prohibited), the main clutch engagement is refused and a prompt message of "Please reduce the speed below the set speed" is output through a pop-up window on the display screen.

[0058] It should be noted that, as Figure 5 shown in the figure, first, the state of the grain bin cover is judged. If the grain bin cover is open (not closed), a prompt message of "The grain bin cover is not closed. Confirm to engage the main clutch?" is output through a pop-up window on the display screen. If the driver confirms to continue the operation of engaging the main clutch, it is judged whether the grain elevator limit signal is valid. If the grain elevator limit signal is invalid, a prompt message of "The grain elevator is not in place. Confirm to continue?" is output again through a pop-up window on the display screen. If the driver confirms to continue the operation of engaging the main clutch, it is judged whether the engine speed value is less than the second preset speed value. If the engine speed value is less than the second preset speed value, the main clutch is engaged. If the engine speed value is not less than the second preset speed value and the forced engagement flag is valid, the main clutch is engaged. If the engine speed value is not less than the second preset speed value and the forced engagement flag is invalid, the main clutch is disengaged.

[0059] In an alternative manner, the steps of controlling the main clutch include:

[0060] When the target control signal is the engagement control signal, the solenoid valve corresponding to the main clutch is energized to perform engagement control on the main clutch; when the target control signal is the disengagement control signal, the solenoid valve corresponding to the main clutch is de-energized to perform disengagement control on the main clutch.

[0061] Wherein, when the solenoid valve (main clutch valve) corresponding to the main clutch is energized, the main clutch engages; when the solenoid valve (main clutch valve) corresponding to the main clutch is de-energized, the main clutch disengages.

[0062] In an alternative manner, it further includes:

[0063] When a stop switch signal is received while the solenoid valve (overhead bridge clutch valve) corresponding to the overhead bridge clutch of the combine harvester is energized, the solenoid valve (overhead bridge clutch valve) corresponding to the overhead bridge clutch is de-energized to perform disengagement control on the overhead bridge clutch; when the engagement signal of the overhead bridge clutch is received again, the solenoid valve corresponding to the overhead bridge clutch is energized to perform engagement control on the overhead bridge clutch.

[0064] Wherein, the stop switch signal is a signal generated when the driver clicks the stop switch button of the operation switch group of the combine harvester.

[0065] In an alternative manner, it further includes:

[0066] When the engagement signal of the unloading clutch of the combine harvester is received, if the combine harvester meets the preset unloading conditions, the unloading clutch is controlled to engage; if the combine harvester does not meet the preset unloading conditions, it is determined whether to control the unloading clutch to engage according to the unloading confirmation result.

[0067] Wherein, the preset unloading conditions are: the vehicle speed value of the combine harvester is less than the preset vehicle speed value and the unloading cylinder is in the retracted state. The vehicle speed value of the combine harvester is collected by a vehicle speed sensor. The preset vehicle speed value can be set according to the actual situation and is not limited here. It should be noted that the unloading clutch is controlled to engage by energizing the solenoid valve (unloading clutch valve) corresponding to the unloading clutch; the unloading clutch is controlled to disengage by de-energizing the solenoid valve (unloading clutch valve) corresponding to the unloading clutch.

[0068] In an alternative manner, it further includes:

[0069] When it is detected that the driver of the combine harvester leaves his position, the combine harvester is disabled. If the driver is not detected to return after a first preset time interval, the bridge clutch is controlled to be disengaged; if the driver is still not detected to return after a second preset time interval, the main clutch is controlled to be disengaged.

[0070] The first preset time is shorter than the second preset time. The vehicle controller determines whether the driver of the combine harvester leaves the seat through the seat pressure sensor. Figure 6 As shown, when the combine harvester is disabled, a pop-up window is displayed on the display to prompt "disengage the cross-bridge clutch after the set time"; if the driver is not detected returning to the position after the first preset time interval, the cross-bridge clutch is controlled to disengage, and a pop-up window is displayed on the display to prompt "disengage the main clutch after the set time".

[0071] In the present embodiment, it should be noted that the operating switch group on the combine harvester includes but is not limited to: main clutch engagement / disengagement switch, grain unloading clutch switch, emergency stop switch, and seat pressure switch. For the combine harvester, forced seat signal processing can also be performed. When a forced safety signal (such as maintenance mode) is detected, the vehicle is allowed to start by clicking the "in place" button of the seat pressure switch of the operating switch group on the combine harvester; by clicking the main clutch engagement switch of the operating switch group, the "input diagnosis" interface of the display screen lights up the "engagement signal" indicator light; after the solenoid valve corresponding to the main clutch is energized, the "output diagnosis" interface lights up the "main clutch engagement" status light. For high-speed alarm pop-up windows that cover other prompts, manual confirmation is required or the condition is lifted and then it is automatically closed. In addition, the display screen of this embodiment defaults to a 10-inch LCD screen.

[0072] Specifically, the technical solution of this embodiment verifies the start permission through multi-dimensional condition judgment linkage, thereby avoiding mechanical shock and system damage caused by non-neutral start-up; through dynamic speed control, the engine speed is gradually reduced to the safety threshold during high-speed separation to reduce the impact on the power system; a secondary trigger logic is designed to prevent illegal actions caused by false triggering of the combination signal before starting the vehicle; a pop-up window with double confirmation of the grain silo cover status and the grain lifting barrel limit is added before combination to avoid operational conflicts; the proposed time-sharing and graded separation strategy takes into account both safety and operation continuity; it realizes dynamic and safe binding of the grain unloading clutch and the vehicle speed, thereby improving the efficiency of diagnosis and operation guidance.

[0073] The technical solution of this embodiment can effectively solve the safety hazards caused by the traditional technology's reliance solely on the handle position to determine the starting conditions of the vehicle, make up for the deficiency of not conducting multi-dimensional verification in combination with the engine state, prevent illegal starting caused by sensor failures or instantaneous misoperations, and at the same time avoid the problem of incorrect actions being executed when the engagement signal is accidentally triggered before starting. This greatly improves the safety of the combine harvester operation and the reliability of the equipment. In addition, the technical solution of this embodiment reduces the impact on the power system by gradually reducing the engine speed to the safety threshold during high-speed separation through dynamic speed control; designs a secondary trigger logic to prevent illegal actions caused by accidental triggering of the engagement signal before starting; adds a double confirmation of the grain bin cover state and the elevator limit during combination to avoid operation conflicts; proposes a time-sharing and hierarchical separation strategy that takes into account both safety and operation continuity; realizes the dynamic safety binding of the unloading clutch and the vehicle speed, and improves the diagnosis and operation guidance efficiency.

[0074] Figure 7 FIG. 4 shows a schematic structural diagram of an embodiment of a combine harvester safety control device 200 provided by the present invention. As Figure 7 shown, the device 200 includes: a determination module 210 and a control module 220;

[0075] The determination module 210 is configured to: based on the handle position of the combine harvester, as well as the rotational speed value, battery voltage value, and excitation voltage value of the engine of the combine harvester, determine whether the combine harvester meets the starting conditions;

[0076] The control module 220 is configured to: when the combine harvester meets the starting conditions, if a target control signal of the main clutch of the combine harvester is received and the combine harvester meets the preset conditions corresponding to the target control signal, control the main clutch.

[0077] In an optional manner, the starting conditions are: the handle position is in the middle position, and at least one of the rotational speed value of the engine is not greater than a first preset rotational speed value, the battery voltage value is not greater than a preset voltage value, and the excitation voltage value is not greater than a preset excitation voltage value.

[0078] In an optional manner, the target control signal is: an engagement control signal or a separation control signal;

[0079] The preset conditions corresponding to the engagement control signal include: the grain bin cover angle sensor of the combine harvester is closed, the elevator limit switch is effective, and the rotational speed value of the engine is less than a second preset rotational speed value;

[0080] The preset conditions corresponding to the separation control signal include: the rotational speed value of the engine is less than a third preset rotational speed value.

[0081] In an alternative manner, the preset conditions corresponding to the engagement control signal further include: the grain bin cover of the combine harvester is closed, the limit signal of the grain elevator is valid, the rotational speed value of the engine is not less than the second preset rotational speed value, and the forced engagement flag is valid.

[0082] In an alternative manner, the control module 220 is specifically configured to:

[0083] When the target control signal is the engagement control signal, control the solenoid valve corresponding to the main clutch to be energized to perform engagement control on the main clutch;

[0084] When the target control signal is the disengagement control signal, control the solenoid valve corresponding to the main clutch to be de-energized to perform disengagement control on the main clutch.

[0085] In an alternative manner, it further includes: a cross auger control module; the cross auger control module is used for:

[0086] When receiving an emergency stop switch signal when the solenoid valve corresponding to the cross auger clutch of the combine harvester is energized, control the solenoid valve corresponding to the cross auger clutch to be de-energized to perform disengagement control on the cross auger clutch; when receiving the engagement signal of the cross auger clutch again, control the solenoid valve corresponding to the cross auger clutch to be energized to perform engagement control on the cross auger clutch.

[0087] In an alternative manner, it further includes: a grain unloading control module; the grain unloading control module is used for:

[0088] When receiving the engagement signal of the grain unloading clutch of the combine harvester, if the combine harvester meets the preset grain unloading conditions, control the grain unloading clutch to engage; if the combine harvester does not meet the preset grain unloading conditions, determine whether to control the grain unloading clutch to engage according to the grain unloading confirmation result; wherein, the preset grain unloading conditions are: the vehicle speed value of the combine harvester is less than the preset vehicle speed value and the grain elevator is in the retracted state.

[0089] In an alternative manner, it further includes: an out-of-position control module; the out-of-position control module is used for:

[0090] When detecting that the driver of the combine harvester is out of position, disable the combine harvester. If the driver is not detected to return after the first preset time interval, control the cross auger clutch to disengage; if the driver is still not detected to return after the second preset time interval, control the main clutch to disengage; wherein, the first preset time interval is less than the second preset time interval.

[0091] A safety control system for a combine harvester according to an embodiment of the present invention, the system includes: a vehicle controller; the vehicle controller is used for:

[0092] Based on the handle position of the combine harvester, as well as the rotational speed value, battery voltage value, and excitation voltage value of the engine of the combine harvester, determine whether the combine harvester meets the starting conditions;

[0093] After the combine harvester meets the starting conditions, if a target control signal for the main clutch of the combine harvester is received and the combine harvester meets the preset conditions corresponding to the target control signal, control the main clutch.

[0094] In an alternative embodiment, the starting conditions are: the handle position is in the middle position, and at least one of the rotational speed value of the engine is not greater than a first preset rotational speed value, the battery voltage value is not greater than a preset voltage value, and the excitation voltage value is not greater than a preset excitation voltage value.

[0095] In an alternative embodiment, the target control signal is: a combination control signal or a separation control signal;

[0096] The preset conditions corresponding to the combination control signal include: the grain bin cover angle sensor of the combine harvester is closed, the elevator limit switch is effective, and the rotational speed value of the engine is less than a second preset rotational speed value;

[0097] The preset conditions corresponding to the separation control signal include: the rotational speed value of the engine is less than a third preset rotational speed value.

[0098] In an alternative embodiment, the preset conditions corresponding to the combination control signal further include: the grain bin cover of the combine harvester is closed, the elevator limit signal is effective, the rotational speed value of the engine is not less than the second preset rotational speed value, and the forced combination flag is effective.

[0099] In an alternative embodiment, the vehicle controller is specifically configured to:

[0100] When the target control signal is the combination control signal, control the solenoid valve corresponding to the main clutch to be energized to perform combination control on the main clutch;

[0101] When the target control signal is the separation control signal, control the solenoid valve corresponding to the main clutch to be de-energized to perform separation control on the main clutch.

[0102] In an alternative embodiment, the vehicle controller is further configured to:

[0103] When the electromagnetic valve corresponding to the cross-bridge clutch of the combine harvester is powered on and receives an emergency stop switch signal, the electromagnetic valve corresponding to the cross-bridge clutch is controlled to lose power to separate the cross-bridge clutch; when the engagement signal of the cross-bridge clutch is received again, the electromagnetic valve corresponding to the cross-bridge clutch is controlled to be powered on to engage the cross-bridge clutch.

[0104] In an alternative manner, the vehicle controller is further configured to:

[0105] When the engagement signal of the unloading clutch of the combine harvester is received, if the combine harvester meets the preset unloading conditions, the unloading clutch is controlled to engage; if the combine harvester does not meet the preset unloading conditions, it is determined whether to control the unloading clutch to engage according to the unloading confirmation result; wherein, the preset unloading conditions are: the vehicle speed value of the combine harvester is less than the preset vehicle speed value and the unloading cylinder is in the retracted state.

[0106] In an alternative manner, the vehicle controller is further configured to:

[0107] When it is detected that the driver of the combine harvester leaves the position, the combine harvester is disabled. If the driver is not detected to return after the first preset time interval, the cross-bridge clutch is controlled to disengage; if the driver is still not detected to return after the second preset time interval, the main clutch is controlled to disengage; wherein, the first preset time interval is less than the second preset time interval.

[0108] It should be noted that the beneficial effects of the combine harvester safety control device and system provided in the above embodiments are the same as those of the combine harvester safety control method described above, and will not be elaborated here. In addition, when the device provided in the above embodiments implements its functions, only the above division of each functional module is used for illustration. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the system can be divided into different functional modules according to the actual situation to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be elaborated here.

[0109] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0110] The above description is only for the preferred embodiments of the present invention and the explanation of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the present invention is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, the technical solutions formed by mutually replacing the above features with the (but not limited to) technical features with similar functions disclosed in the present invention.

[0111] It should be noted that the terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and do not represent a limitation on a specific order or sequence. In appropriate cases, the order of use of similar objects may be interchanged so that the embodiments of this application described herein can be implemented in an order other than the illustrated or described order.

[0112] Those skilled in the art know that the present invention can be implemented as a system, a method, or a computer program product. Therefore, the present invention can be specifically implemented in the following forms, that is: it can be completely hardware, can also be completely software (including firmware, resident software, microcode, etc.), and can also be in the form of a combination of hardware and software, generally referred to as "circuit", "module", or "system" in this article. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, which contains computer-readable program code.

[0113] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A safety control method for a combine harvester, characterized in that, Including: Based on the handle position of the combine harvester, as well as the rotational speed value, battery voltage value, and excitation voltage value of the engine of the combine harvester, determine whether the combine harvester meets the starting conditions; After the combine harvester meets the starting conditions, if the target control signal of the main clutch of the combine harvester is received and the combine harvester meets the preset conditions corresponding to the target control signal, control the main clutch.

2. The safety control method of the combine harvester according to claim 1, wherein, The starting conditions are: the handle position is in the middle position, and at least one of the rotational speed value of the engine is not greater than the first preset rotational speed value, the battery voltage value is not greater than the preset voltage value, and the excitation voltage value is not greater than the preset excitation voltage value.

3. The safety control method of a combine harvester according to claim 1, characterized in that, The target control signal is: a combined control signal or a disengaging control signal; The preset conditions corresponding to the combined control signal include: the grain bin cover angle sensor of the combine harvester is closed, the grain elevator limit switch is effective, and the rotational speed value of the engine is less than the second preset rotational speed value; The preset conditions corresponding to the disengaging control signal include: the rotational speed value of the engine is less than the third preset rotational speed value.

4. The safety control method of the combine harvester according to claim 3, characterized in that, The preset conditions corresponding to the combined control signal further include: the grain bin of the combine harvester is closed, the grain elevator limit signal is effective, the rotational speed value of the engine is not less than the second preset rotational speed value, and the forced engagement flag is effective.

5. The safety control method of a combine harvester according to claim 3 or 4, characterized in that The steps of controlling the main clutch include: When the target control signal is the combined control signal, control the solenoid valve corresponding to the main clutch to be energized to perform combined control on the main clutch; When the target control signal is the disengaging control signal, control the solenoid valve corresponding to the main clutch to be de-energized to perform disengaging control on the main clutch.

6. The safety control method of a combine harvester according to claim 1, characterized in that Also including: When an emergency stop switch signal is received when the solenoid valve corresponding to the cross auger clutch of the combine harvester is energized, control the solenoid valve corresponding to the cross auger clutch to be de-energized to perform disengaging control on the cross auger clutch; when the engagement signal of the cross auger clutch is received again, control the solenoid valve corresponding to the cross auger clutch to be energized to perform combined control on the cross auger clutch.

7. The safety control method of the combine harvester according to claim 1, characterized in that, Also including: When the engagement signal of the unloading clutch of the combine harvester is received, if the combine harvester meets the preset unloading conditions, control the unloading clutch to engage; if the combine harvester does not meet the preset unloading conditions, determine whether to control the unloading clutch to engage according to the unloading confirmation result; wherein, the preset unloading conditions are: the vehicle speed value of the combine harvester is less than the preset vehicle speed value and the grain elevator is in the retracted state.

8. The safety control method of a combine harvester according to claim 6, characterized in that, Also including: When it is detected that the driver of the combine harvester leaves the position, disable the combine harvester. If the driver is not detected to return after the first preset time interval, control the cross auger clutch to disengage; If the driver is still not detected to return after the second preset time interval, control the main clutch to disengage; wherein, the first preset time interval is less than the second preset time interval.

9. A safety control device for a combine harvester, characterized in that, Including: A determination module and a control module; The determination module is configured to: determine whether the combine harvester meets the starting conditions based on the handle position of the combine harvester, as well as the rotational speed value, battery voltage value, and excitation voltage value of the engine of the combine harvester; The control module is configured to: when the combine harvester meets the starting conditions, if a target control signal for the main clutch of the combine harvester is received and the combine harvester meets the preset conditions corresponding to the target control signal, control the main clutch.

10. A safety control system for a combine harvester, characterized in that, including: a vehicle controller; The vehicle controller is configured to: determine whether the combine harvester meets the starting conditions based on the handle position of the combine harvester, as well as the rotational speed value, battery voltage value, and excitation voltage value of the engine of the combine harvester; when the combine harvester meets the starting conditions, if a target control signal for the main clutch of the combine harvester is received and the combine harvester meets the preset conditions corresponding to the target control signal, control the main clutch.

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