A safety control method, device and system for combine harvesters

Abstract

This invention relates to the field of safety control technology, specifically disclosing a safety control method, device, and system for combine harvesters. The method includes: determining whether the combine harvester meets starting conditions based on the position of the harvester's handle, as well as the engine speed, battery voltage, and excitation voltage; and controlling the main clutch if a target control signal for the main clutch is received and the harvester meets the preset conditions corresponding to the target control signal after the harvester meets the starting conditions. This invention effectively solves the safety hazards caused by traditional technologies that rely solely on handle position to determine starting conditions, compensates for the lack of multi-dimensional verification based on engine status, prevents illegal starting due to sensor malfunction or momentary misoperation, and avoids the problem of erroneous actions when the engagement signal is accidentally triggered before starting, thus improving the safety and reliability of combine harvester operation.

Description

Technical Field

[0001] This invention relates to the field of safety control technology, and in particular to a safety control method, device and system for combine harvesters. Background Technology

[0002] Safety control technology for combine harvesters is crucial for ensuring operational safety and equipment reliability. Traditional technologies primarily rely on mechanical interlocking devices and simple electrical switching logic for safety control. Current combine harvester safety control technologies lack sufficient start-up safety, depending solely on the handle position to determine start-up conditions without considering engine status for multi-dimensional verification. This fails to prevent illegal starts due to sensor malfunctions or momentary misoperation. Furthermore, combine harvester safety control technology lacks a secondary triggering mechanism; even if the pre-start signal is accidentally triggered, erroneous actions may still be executed.

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

[0004] To address the aforementioned technical problems, this invention provides a method, apparatus, and system for safety control of combine harvesters.

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

[0006] Based on the position of the combine harvester's handle, as well as the engine speed, battery voltage, and excitation voltage of the combine harvester, it is determined whether the combine harvester meets the start-up conditions.

[0007] When the combine harvester meets the start-up 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, the main clutch is controlled.

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

[0009] The method of this invention can effectively solve the safety hazards caused by relying solely on the position of the handle to determine the starting conditions in traditional technologies. It makes up for the shortcomings of not combining the engine status for multi-dimensional verification, and can prevent illegal starting caused by sensor failure or momentary misoperation. At the same time, it avoids the problem of executing incorrect actions when the connection signal is accidentally triggered before starting, which greatly improves the safety of combine harvester operation and the reliability of the equipment.

[0010] Based on the above scheme, the safety control method for combine harvesters of the present invention can be further improved as follows.

[0011] In one alternative approach, the starting conditions are: the handle position is in the neutral position, and the engine speed is not greater than a first preset speed value, the battery voltage is not greater than a preset voltage value, and the excitation voltage is not greater than a preset excitation voltage value.

[0012] In one alternative approach, the target control signal is either a combined control signal or a separate control signal;

[0013] The preset conditions corresponding to the combined control signal include: the grain bin cover angle sensor of the combine harvester is closed, the grain lifting cylinder limit switch is effective, and the engine speed is less than the second preset speed value.

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

[0015] In one alternative approach, the preset conditions corresponding to the combined control signal further include: the combine harvester's grain bin cover is closed, the grain lifting limit signal is valid, the engine speed is not less than the second preset speed value, and the forced engagement flag is valid.

[0016] In one alternative approach, the step of controlling the master clutch includes:

[0017] When the target control signal is the engagement control signal, the solenoid valve corresponding to the main clutch is energized to control the engagement of the main clutch.

[0018] When the target control signal is the separation control signal, the main clutch is separated by de-energizing the solenoid valve corresponding to the main clutch.

[0019] In one alternative approach, it also includes:

[0020] When the solenoid valve corresponding to the overpass clutch of the combine harvester is energized and receives an emergency stop switch signal, the solenoid valve corresponding to the overpass clutch is de-energized to disengage the overpass clutch; when the overpass clutch engagement signal is received again, the solenoid valve corresponding to the overpass clutch is energized to engage the overpass clutch.

[0021] In one alternative approach, it also includes:

[0022] When a signal for engagement 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, the unloading clutch is controlled to engage based on the unloading confirmation result; wherein, the preset unloading conditions are: the combine harvester's speed is less than the preset speed and the unloading hopper is in the retracted state.

[0023] In one alternative approach, it also includes:

[0024] When the operator of the combine harvester is detected to have left the position, the combine harvester is disabled. If the operator is not detected to have returned after a first preset time interval, the bridge clutch is disengaged. If the operator is still not detected to have returned after a second preset time interval, the main clutch is disengaged. The first preset time interval is shorter than the second preset time interval.

[0025] Secondly, the present invention provides a safety control device for a combine harvester, the technical solution of which is as follows:

[0026] Includes: a judgment module and a control module;

[0027] The determination module is used to determine whether the combine harvester meets the start-up conditions based on the handle position of the combine harvester, as well as the engine speed, battery voltage and excitation voltage of the combine harvester.

[0028] The control module is used to: when the combine harvester meets the start-up conditions, if it receives a target control signal for 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 the safety control device for a combine harvester according to the present invention are as follows:

[0030] The device of this invention can effectively solve the safety hazards caused by relying solely on the position of the handle to determine the starting conditions in traditional technologies. It makes up for the shortcomings of not combining the engine status for multi-dimensional verification, and can prevent illegal starting caused by sensor failure or momentary misoperation. At the same time, it avoids the problem of executing incorrect actions when the connection signal is accidentally triggered before starting, which greatly improves the safety of combine harvester operation and the reliability of the equipment.

[0031] Thirdly, the present invention provides a safety control system for a combine harvester, the technical solution of which is as follows:

[0032] Includes: a vehicle controller; the vehicle controller is used for:

[0033] Based on the position of the combine harvester's handle, as well as the engine speed, battery voltage, and excitation voltage of the combine harvester, it is determined whether the combine harvester meets the start-up conditions.

[0034] When the combine harvester meets the start-up 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, the main clutch is controlled.

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

[0036] The system of this invention can effectively solve the safety hazards caused by traditional technology that relies solely on the position of the handle to determine the starting conditions, and make up for the shortcomings of not combining the engine status for multi-dimensional verification. It can prevent illegal starting caused by sensor failure or momentary misoperation, and at the same time avoid the problem of executing incorrect actions when the connection signal is accidentally triggered before starting, which greatly improves the safety of combine harvester operation and the reliability of the equipment.

[0037] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0038] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

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

[0040] Figure 2 A flowchart for determining the conditions for starting the vehicle;

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

[0042] Figure 4 The second diagram of the master clutch control state;

[0043] Figure 5 A framework diagram for the safety control of combine harvesters;

[0044] Figure 6 This is a flowchart of the off-site handling process;

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

[0046] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0047] Figure 1 The diagram illustrates a flowchart of an embodiment of a combine harvester safety control method provided by the present invention. This combine harvester safety control method can be executed by the vehicle controller. Figure 1 As shown, it includes the following steps:

[0048] S1. Based on the position of the combine harvester's handle, as well as the engine speed, battery voltage, and excitation voltage of the combine harvester, determine whether the combine harvester meets the start-up conditions.

[0049] The combine harvester is a modern agricultural machine that integrates multiple functions such as harvesting, threshing, separating, and cleaning. The handle position is collected by a multi-functional handle sensor installed on the combine harvester; handle positions include, but are not limited to, center, forward, and reverse positions. The engine speed is collected by a speed sensor installed on the combine harvester. Battery voltage and excitation voltage can be collected via analog input pins on the vehicle controller.

[0050] The starting conditions are: the handle is in the neutral position, and the engine speed is not greater than a first preset speed value, the battery voltage is not greater than a preset voltage value, and the excitation voltage is not greater than a preset excitation voltage value. For example... Figure 2 As shown, specifically, when the handle is in the neutral position, if the combine harvester meets at least one of the following conditions: "engine speed is not greater than a first preset speed value, battery voltage is not greater than a preset voltage value, and excitation voltage is not greater than a preset excitation voltage value," then the combine harvester is deemed to meet the starting conditions. Otherwise, starting is prohibited, and the specific fault item is output through the combine harvester's display screen (instrument). If the handle is not in the neutral position, the combine harvester's display screen will output the message "The engine cannot start when the multi-function handle is not in neutral."

[0051] It should be noted that the first preset speed value is 400 rpm by default, the preset voltage value is 27V by default, and the preset excitation voltage value is 20V by default. The above thresholds can also be adjusted according to the actual situation, and no restrictions are set here.

[0052] S2. 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, the main clutch is controlled.

[0053] The target control signal can be either a combined control signal or a separate control signal. The preset conditions for the combined control signal include: the combine harvester's grain bin cover angle sensor is closed, the grain lifting limit switch is active, and the engine speed is less than a second preset speed value. The preset conditions for the separate control signal include: the engine speed is less than a third preset speed value.

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

[0055] It should be noted that, as Figure 4 As shown, both the grain silo cover angle sensor and the grain lifting cylinder limit switch are connected to the vehicle controller. The second preset speed value is 1500 rpm by default, and the third preset speed value is also 1500 rpm by default. These thresholds can be adjusted according to actual conditions, and no restrictions are set here. Furthermore, in S2, if the combine harvester does not meet the starting conditions, and a target control signal for the combine harvester's main clutch is received, the combine harvester will not perform any actions.

[0056] In one alternative approach, the preset conditions corresponding to the control signal further include: the combine harvester's grain bin cover is closed, the grain lifting limit signal is valid, the engine speed is not less than a second preset speed value, and the forced engagement flag is valid.

[0057] The forced engagement flag is set via CAN messages in the vehicle controller. The grain hopper cover status (open or closed) is collected by the grain hopper cover angle sensor, and the grain lifting cylinder limit signal (valid or invalid) is collected by the grain lifting cylinder limit switch. Furthermore, when the combine harvester's grain hopper cover is closed, the grain lifting cylinder limit signal is valid, the engine speed is not less than the second preset speed value, and the forced engagement flag is invalid (prohibited), the main clutch engagement will be refused, and a pop-up message "Please reduce the speed to below the set speed" will be displayed on the screen.

[0058] It should be noted that, as Figure 5As shown, firstly, the status of the grain silo cover is determined. If the grain silo cover is open (not closed), a pop-up window on the display screen displays the message "Grain silo cover not closed, confirm engagement of main clutch?". If the driver confirms to continue engaging the main clutch, the validity of the grain lifting hopper limit signal is checked. If the grain lifting hopper limit signal is invalid, another pop-up window on the display screen displays the message "Grain lifting hopper not returned to position, confirm to continue?". If the driver confirms to continue engaging the main clutch, the engine speed is checked to see if it is lower than the second preset speed value. If the engine speed is lower than the second preset speed value, the main clutch is engaged. If the engine speed is not lower than the second preset speed value and the forced engagement indicator is valid, the main clutch is engaged. If the engine speed is not lower than the second preset speed value and the forced engagement indicator is invalid, the main clutch is disengaged.

[0059] In one alternative approach, the step of controlling the master clutch includes:

[0060] When the target control signal is the engagement control signal, the solenoid valve corresponding to the main clutch is energized to engage 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 disengage the main clutch.

[0061] 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 one alternative approach, it also includes:

[0063] When the solenoid valve (overpass clutch valve) corresponding to the overpass clutch of the combine harvester is energized and receives an emergency stop switch signal, the solenoid valve (overpass clutch valve) corresponding to the overpass clutch is de-energized to disengage the overpass clutch; when the overpass clutch engagement signal is received again, the solenoid valve corresponding to the overpass clutch is energized to engage the overpass clutch.

[0064] The emergency stop switch signal is generated by the driver pressing the emergency stop switch button on the combine harvester's operating switch group.

[0065] In one alternative approach, it also includes:

[0066] When a signal for engagement of the unloading clutch of the combine harvester is received, if the combine harvester meets the preset unloading conditions, the unloading clutch is engaged; if the combine harvester does not meet the preset unloading conditions, the unloading clutch is engaged based on the unloading confirmation result.

[0067] The preset unloading conditions are: the combine harvester's speed is less than the preset speed value and the unloading hopper is in the retracted state. The combine harvester's speed is collected by a speed sensor. The preset speed value can be set according to actual conditions and is not limited here. It should be noted that the unloading clutch is engaged by energizing the solenoid valve (unloading clutch valve) corresponding to the unloading clutch; the unloading clutch is disengaged by de-energizing the solenoid valve (unloading clutch valve) corresponding to the unloading clutch.

[0068] In one alternative approach, it also includes:

[0069] When the operator of the combine harvester is detected to have left the position, the combine harvester is disabled. If the operator is not detected to have returned after a first preset time interval, the bridge clutch is disengaged. If the operator is still not detected to have returned after a second preset time interval, the main clutch is disengaged.

[0070] The first preset duration is shorter than the second preset duration. The vehicle controller uses seat pressure sensors to determine whether the combine harvester driver has left their seat. Figure 6 As shown, when the combine harvester is disabled, a pop-up window on the display screen prompts "Disengage the overpass clutch after the set time"; if the driver is not detected to return to his position after the first preset time interval, the overpass clutch is disengaged and a pop-up window on the display screen prompts "Disengage the main clutch after the set time".

[0071] In this embodiment, it should be noted that the operating switch group on the combine harvester includes, but is not limited to, the main clutch engagement / disengagement switch, the unloading clutch switch, the emergency stop switch, and the 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, starting the machine is allowed by clicking the "In Position" button on 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 "Engine Signal" indicator light on the "Input Diagnostics" interface of the display screen illuminates; after the solenoid valve corresponding to the main clutch is energized, the "Main Clutch Engagement" status light on the "Output Diagnostics" interface illuminates. For high-speed alarm pop-ups that overwrite other prompts, manual confirmation is required or the pop-up will automatically close after the conditions are met. Furthermore, the display screen in this embodiment is a 10-inch LCD screen by default.

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

[0073] The technical solution of this embodiment effectively solves the safety hazards caused by traditional technologies that rely solely on the handle position to determine starting conditions. It compensates for the shortcomings of not combining engine status for multi-dimensional verification, preventing illegal starting caused by sensor failure or momentary misoperation. It also avoids the problem of erroneous actions when the engagement signal is accidentally triggered before starting, greatly improving the safety and reliability of combine harvester operations. Furthermore, the technical solution of this embodiment uses dynamic speed control to gradually reduce the engine speed to a safe threshold during high-speed separation, reducing power system impact; it designs secondary trigger logic to prevent illegal actions caused by accidental triggering of the engagement signal before starting; it adds a double confirmation pop-up window for the grain bin cover status and the grain lifting cylinder limit before engagement to avoid operational conflicts; the proposed time-sharing and graded separation strategy balances safety and operational continuity; and it achieves dynamic safety binding between the unloading clutch and vehicle speed, improving diagnostic and operational guidance efficiency.

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

[0075] The determination module 210 is used to determine whether the combine harvester meets the start-up conditions based on the handle position of the combine harvester, as well as the engine speed, battery voltage and excitation voltage of the combine harvester.

[0076] The control module 220 is used to: when the combine harvester meets the start-up conditions, if it receives a target control signal for 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.

[0077] In one alternative approach, the starting conditions are: the handle position is in the neutral position, and the engine speed is not greater than a first preset speed value, the battery voltage is not greater than a preset voltage value, and the excitation voltage is not greater than a preset excitation voltage value.

[0078] In one alternative approach, the target control signal is either a combined control signal or a separate control signal;

[0079] The preset conditions corresponding to the combined control signal include: the grain bin cover angle sensor of the combine harvester is closed, the grain lifting cylinder limit switch is effective, and the engine speed is less than the second preset speed value.

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

[0081] In one alternative approach, the preset conditions corresponding to the combined control signal further include: the combine harvester's grain bin cover is closed, the grain lifting limit signal is valid, the engine speed is not less than the second preset speed value, and the forced engagement flag is valid.

[0082] In an alternative embodiment, the control module 220 is specifically used for:

[0083] When the target control signal is the engagement control signal, the solenoid valve corresponding to the main clutch is energized to control the engagement of the main clutch.

[0084] When the target control signal is the separation control signal, the main clutch is separated by de-energizing the solenoid valve corresponding to the main clutch.

[0085] In one alternative embodiment, the bridge control module is further included; the bridge control module is used for:

[0086] When the solenoid valve corresponding to the overpass clutch of the combine harvester is energized and receives an emergency stop switch signal, the solenoid valve corresponding to the overpass clutch is de-energized to disengage the overpass clutch; when the overpass clutch engagement signal is received again, the solenoid valve corresponding to the overpass clutch is energized to engage the overpass clutch.

[0087] In one alternative embodiment, the unloading control module is further included; the unloading control module is used for:

[0088] When a signal for engagement 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, the unloading clutch is controlled to engage based on the unloading confirmation result; wherein, the preset unloading conditions are: the combine harvester's speed is less than the preset speed and the unloading hopper is in the retracted state.

[0089] In an optional embodiment, the system further includes: a displacement control module; the displacement control module is used for:

[0090] When the operator of the combine harvester is detected to have left the position, the combine harvester is disabled. If the operator is not detected to have returned after a first preset time interval, the bridge clutch is disengaged. If the operator is still not detected to have returned after a second preset time interval, the main clutch is disengaged. The first preset time interval is shorter than the second preset time interval.

[0091] An embodiment of the present invention provides a safety control system for a combine harvester, the system comprising: a vehicle controller; the vehicle controller being used for:

[0092] Based on the position of the combine harvester's handle, as well as the engine speed, battery voltage, and excitation voltage of the combine harvester, it is determined whether the combine harvester meets the start-up conditions.

[0093] When the combine harvester meets the start-up 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, the main clutch is controlled.

[0094] In one alternative approach, the starting conditions are: the handle position is in the neutral position, and the engine speed is not greater than a first preset speed value, the battery voltage is not greater than a preset voltage value, and the excitation voltage is not greater than a preset excitation voltage value.

[0095] In one alternative approach, the target control signal is either a combined control signal or a separate control signal;

[0096] The preset conditions corresponding to the combined control signal include: the grain bin cover angle sensor of the combine harvester is closed, the grain lifting cylinder limit switch is effective, and the engine speed is less than the second preset speed value.

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

[0098] In one alternative approach, the preset conditions corresponding to the combined control signal further include: the combine harvester's grain bin cover is closed, the grain lifting limit signal is valid, the engine speed is not less than the second preset speed value, and the forced engagement flag is valid.

[0099] In one alternative approach, the vehicle controller is specifically used for:

[0100] When the target control signal is the engagement control signal, the solenoid valve corresponding to the main clutch is energized to control the engagement of the main clutch.

[0101] When the target control signal is the separation control signal, the main clutch is separated by de-energizing the solenoid valve corresponding to the main clutch.

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

[0103] When the solenoid valve corresponding to the overpass clutch of the combine harvester is energized and receives an emergency stop switch signal, the solenoid valve corresponding to the overpass clutch is de-energized to disengage the overpass clutch; when the overpass clutch engagement signal is received again, the solenoid valve corresponding to the overpass clutch is energized to engage the overpass clutch.

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

[0105] When a signal for engagement 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, the unloading clutch is controlled to engage based on the unloading confirmation result; wherein, the preset unloading conditions are: the combine harvester's speed is less than the preset speed and the unloading hopper is in the retracted state.

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

[0107] When the operator of the combine harvester is detected to have left the position, the combine harvester is disabled. If the operator is not detected to have returned after a first preset time interval, the bridge clutch is disengaged. If the operator is still not detected to have returned after a second preset time interval, the main clutch is disengaged. The first preset time interval is shorter 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 repeated here. Furthermore, the devices provided in the above embodiments are only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, 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 their specific implementation process is detailed in the method embodiments, and will not be repeated here.

[0109] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0110] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

[0111] It should be noted that the terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and represent a limitation on a specific order or sequence. Where appropriate, the order of use for similar objects can be interchanged so that the embodiments of this application described herein can be implemented in an order other than that shown or described.

[0112] Those skilled in the art will recognize that this invention can be implemented as a system, method, or computer program product. Therefore, this invention can be specifically implemented in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, this invention can also be implemented as a computer program product contained in one or more computer-readable media, which includes computer-readable program code.

[0113] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled 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, include: Based on the position of the combine harvester's handle, as well as the engine speed, battery voltage, and excitation voltage of the combine harvester, it is determined whether the combine harvester meets the start-up conditions. 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, the main clutch is controlled. The target control signal is either a combined control signal or a separate 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 lifting limit switch is effective, and the engine speed is less than the second preset speed value; the preset conditions corresponding to the separation control signal include: the engine speed is less than the third preset speed value.

2. The combine harvester safety control method according to claim 1, characterized in that, The starting conditions are: the handle is in the neutral position, and the engine speed is not greater than a first preset speed value, the battery voltage is not greater than a preset voltage value, and the excitation voltage is not greater than a preset excitation voltage value.

3. The combine harvester safety control method according to claim 1, characterized in that, The preset conditions corresponding to the combined control signal also include: the combine harvester's grain bin cover is closed, the grain lifting limit signal is valid, the engine speed is not less than the second preset speed value, and the forced engagement flag is valid.

4. The combine harvester safety control method according to claim 1 or 3, characterized in that, The steps for controlling the master clutch include: When the target control signal is the engagement control signal, the solenoid valve corresponding to the main clutch is energized to control the engagement of the main clutch. When the target control signal is the separation control signal, the main clutch is separated by de-energizing the solenoid valve corresponding to the main clutch.

5. The safety control method for a combine harvester according to claim 1, characterized in that, Also includes: When the solenoid valve corresponding to the overpass clutch of the combine harvester is energized and receives an emergency stop switch signal, the solenoid valve corresponding to the overpass clutch is de-energized to disengage the overpass clutch; when the overpass clutch engagement signal is received again, the solenoid valve corresponding to the overpass clutch is energized to engage the overpass clutch.

6. The safety control method for a combine harvester according to claim 1, characterized in that, Also includes: When a signal for engagement 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, the unloading clutch is controlled to engage based on the unloading confirmation result; wherein, the preset unloading conditions are: the combine harvester's speed is less than the preset speed and the unloading hopper is in the retracted state.

7. The combine harvester safety control method according to claim 5, characterized in that, Also includes: When the operator of the combine harvester is detected to have left the position, the combine harvester is disabled. If the operator is not detected to have returned after a first preset time interval, the bridge clutch is disengaged. If the operator is still not detected to have returned after a second preset time interval, the main clutch is disengaged. The first preset time interval is shorter than the second preset time interval.

8. A safety control device for a combine harvester, characterized in that, include: Decision module and control module; The determination module is used to determine whether the combine harvester meets the start-up conditions based on the handle position of the combine harvester, as well as the engine speed, battery voltage and excitation voltage of the combine harvester. The control module is used to: when the combine harvester meets the start-up conditions, if it receives a target control signal for 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. The target control signal is either a combined control signal or a separate 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 lifting limit switch is effective, and the engine speed is less than the second preset speed value; the preset conditions corresponding to the separation control signal include: the engine speed is less than the third preset speed value.

9. A safety control system for a combine harvester, characterized in that, include: Vehicle controller; The vehicle controller is used for: Based on the position of the combine harvester's handle, as well as the engine speed, battery voltage, and excitation voltage of the combine harvester, it is determined whether the combine harvester meets the start-up conditions. 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, the main clutch is controlled. The target control signal is either a combined control signal or a separate 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 lifting limit switch is effective, and the engine speed is less than the second preset speed value; the preset conditions corresponding to the separation control signal include: the engine speed is less than the third preset speed value.

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