Self-propelled electric heavy-duty vehicle

Abstract

The invention relates to the field of electric heavy machinery, and more particularly to a self-propelled electric heavy-duty vehicle and a self-propelled mobile power source. The proposed self-propelled electric heavy-duty vehicle comprises at least one electric motor and at least one means for receiving power. The means for receiving power is configured to be capable of receiving power from a self-propelled mobile power source during the joint movement of the self-propelled electric heavy-duty vehicle and the self-propelled mobile power source in order to power said at least one electric motor for the propulsion and operation of the self-propelled electric heavy-duty vehicle. The invention provides a simplified design and allows sustained operation and movement of the vehicle without the need to stop to recharge or replace a rechargeable battery or, for example, to replenish a supply of an active substance (hydrogen or gas) for the operation of a fuel cell.

Description

[0001] SELF-PROPELLED TRANSPORT AND TECHNOLOGICAL ELECTRIC MACHINE

[0002] FIELD OF TECHNOLOGY TO WHICH THE INVENTION RELATES

[0003] The present invention relates to the field of technological electric machines, and more specifically to a self-propelled transport and technological electric machine and a self-propelled mobile source of electric energy.

[0004] The invention can be applied in various fields of technology, in particular in agriculture and forestry, mineral extraction industries, public utilities and construction.

[0005] LEVEL OF TECHNOLOGY

[0006] The state of the art includes various self-propelled transport and technological electric machines (e.g. combines, tractors, self-propelled seeders, logging combines, mining combines, road milling machines, snow loaders), the actuation (to perform one or more target functions) and movement of which is carried out by means of electric energy from its own (located inside the machine, for example - built-in or quick-release) energy source, namely - from a storage battery. The disadvantage of such known machines is the limited period of continuous operation from its own energy source, long recharging time and large mass of the storage battery. Machines equipped with quick-release batteries are also known.The disadvantage of such machines is the complexity of the design, greater weight (due to additional elements that ensure quick removal of batteries), as well as the still remaining need to make regular stops in work to replace the battery at the place of work, or, for example, at a special station for replacing and charging batteries.

[0007] The technical problem solved by the present invention consists in creating a self-propelled transport and technological electric machine capable of operating for a long time, including in motion, without stopping for recharging or replacing batteries due to the possibility of obtaining electrical energy from a self-propelled mobile source of electrical energy.

[0008] ESSENCE OF THE INVENTION

[0009] According to the first aspect of the present invention, a self-propelled transport and technological electric machine is proposed, comprising: at least one electric motor, at least one means for receiving electric energy. The said at least one means for receiving electric energy is designed with the possibility of receiving electric energy from a self-propelled mobile source of electric energy during the joint movement of the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy for powering the said at least one electric motor for the movement and operation of the self-propelled transport and technological electric machine.According to this aspect, a self-propelled transport and technological electric machine has a relatively simple design, low weight (due to the absence of its own battery, fuel cell with a reserve of active substance or a power plant based on an internal combustion engine with a reserve of fuel for full operation) and the ability to operate for a long time and move without the need to stop for recharging or replacing the battery, or, for example, to replenish the reserve of active substance (hydrogen, gas) for the operation of the fuel cell.

[0010] According to one embodiment of the first aspect, the means for receiving electrical energy comprises an electrical connector configured to receive electrical energy from a self-propelled mobile source of electrical energy in a wired manner.

[0011] According to one embodiment of the first aspect, the means for receiving electrical energy is designed to receive electrical energy from a self-propelled mobile source of electrical energy in a wireless manner.

[0012] According to one embodiment of the first aspect, the self-propelled transport and technological electric machine additionally contains an energy storage device. The self-propelled transport and technological electric machine according to this embodiment has the ability to maintain autonomy and additionally increase the continuity of operation in the event of short-term disconnections from the self-propelled mobile source of electric energy for one reason or another, for example - when switching to another self-propelled mobile source of electric energy or bypassing obstacles, when the joint movement of the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy without interrupting the transmission of electric energy is impossible.

[0013] According to one embodiment of the first aspect, the self-propelled transport and technological electric machine further comprises a motion control system configured to control the motion of the self-propelled transport and technological electric machine to ensure coordination of the motion of the self-propelled transport and technological electric machine with the motion of the self-propelled mobile source of electric energy to ensure stable reception of electric energy from the self-propelled mobile source of electric energy. The mentioned motion control comprises at least one of the following: acceleration, deceleration, rotation, maximum speed limitation, acceleration limitation, deceleration limitation, rotation angle limitation. According to this embodiment, a more stable transmission of electric energy from the self-propelled mobile source of electric energy to the self-propelled transport and technological electric machine is ensured.Manual control by the operator is simplified.

[0014] According to one embodiment of the first aspect, the self-propelled transport and technological electric machine additionally comprises a sensor system, wherein the motion control system is connected to the sensor system and is configured to determine the position of the self-propelled mobile source of electric energy relative to the self-propelled transport and technological electric machine. According to this embodiment, a more coordinated joint movement of the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy are ensured and, due to this, a more stable transmission of electric energy from the self-propelled mobile source of electric energy to the self-propelled transport and technological electric machine.

[0015] According to one embodiment of the first aspect, the sensor system comprises at least one of the following: a video camera, a stereo camera, a lidar, an ultrasonic distance sensor, a mechanical sensor.

[0016] According to one embodiment of the first aspect, the self-propelled transport and technological electric machine additionally comprises a communication means, wherein the communication means is configured to transmit to the self-propelled mobile source of electric energy at least one of the following:

[0017] - information on the current parameters of the movement of the self-propelled transport and technological electric machine, wherein said parameters of the movement of the self-propelled transport and technological electric machine contain at least one of the following: speed, acceleration, deceleration, angle of rotation; - information on the permissible parameters of the movement of the self-propelled transport and technological electric machine, wherein said permissible parameters of the movement of the self-propelled transport and technological electric machine contain at least one of the following: maximum speed, maximum acceleration, maximum deceleration, maximum angle of rotation;

[0018] - information on the dimensions of the self-propelled transport and technological electric machine and the relative position between the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy. According to this embodiment, a more coordinated joint movement of the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy is ensured and, due to this, a more stable transmission of electric energy from the self-propelled mobile source of electric energy to the self-propelled transport and technological electric machine.

[0019] According to one embodiment of the first aspect, the self-propelled transport and technological electric machine additionally contains a communication means, wherein the communication means is designed with the possibility of receiving from the self-propelled mobile source of electrical energy:

[0020] - information about the current parameters of movement of the self-propelled mobile source of electric energy, wherein the said parameters of movement of the self-propelled mobile source of electric energy contain at least one of the following: speed, acceleration, deceleration, angle of rotation;

[0021] - information on the permissible parameters of movement of a self-propelled mobile source of electric energy, wherein the permissible parameters of movement of a self-propelled mobile source of electric energy contain at least one of the following: maximum speed, maximum acceleration, maximum deceleration, maximum turning angle;

[0022] - information on the dimensions of the self-propelled mobile source of electric energy and the relative position between the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy. According to this embodiment, a more coordinated joint movement of the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy is ensured and, due to this, a more stable transmission of electric energy from the self-propelled mobile source of electric energy to the self-propelled transport and technological electric machine. According to the second aspect of the present invention, a self-propelled mobile source of electric energy is proposed, comprising: at least one electric generator, at least one means of transmitting electric energy, made with the possibility of transmitting electric energy to the self-propelled transport and technological electric machine during movement.According to this aspect, a self-propelled transport and technological electric machine, the power supply of which is provided by a self-propelled mobile source of electric energy, has the ability to operate and move for a long time without the need to stop for recharging or replacing the battery, or, for example, to replenish the supply of active substance (hydrogen, gas) for the operation of the fuel cell.

[0023] According to one embodiment of the second aspect, said at least one electric generator is a chemical current source. According to one embodiment of the second aspect, the self-propelled mobile source of electric energy further comprises an internal combustion engine, wherein said at least one electric generator is an electromechanical generator driven by said internal combustion engine.

[0024] According to one embodiment of the second aspect, the means for transmitting electrical energy comprises an electrical connector designed to transmit electrical energy to the self-propelled transport and technological electric machine in a wired manner.

[0025] According to one embodiment of the second aspect, the means for transmitting electrical energy is designed to transmit electrical energy to the self-propelled transport and technological electric machine wirelessly.

[0026] According to one embodiment of the second aspect, the self-propelled mobile source of electric energy additionally comprises a motion control system configured to control the motion of the self-propelled mobile source of electric energy to ensure coordination of the motion of the self-propelled mobile source of electric energy with the motion of the self-propelled transport and technological electric machine to ensure stable transmission of electric energy to the self-propelled transport and technological electric machine, wherein said motion control comprises at least one of the following: acceleration, deceleration, rotation, maximum speed limitation, acceleration limitation, deceleration limitation, rotation angle limitation. According to this embodiment, a more stable transmission of electric energy from the self-propelled mobile source of electric energy to the self-propelled transport and technological electric machine is ensured.Manual control by the operator is simplified.

[0027] According to one embodiment of the second aspect, the self-propelled mobile source of electric energy additionally comprises a sensor system, wherein the motion control system is connected to the sensor system and is configured to determine the position of the self-propelled transport and technological electric machine relative to the self-propelled mobile source of electric energy. According to this embodiment, a more coordinated joint movement of the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy is ensured and, due to this, a more stable transmission of electric energy from the self-propelled mobile source of electric energy to the self-propelled transport and technological electric machine.

[0028] According to one embodiment of the second aspect, the sensor system comprises at least one of the following: a video camera, a stereo camera, a lidar, an ultrasonic distance sensor, a mechanical sensor.

[0029] According to one embodiment of the second aspect, the self-propelled mobile source of electric energy additionally comprises a communication means, wherein the communication means is configured to transmit to the self-propelled transport and technological electric machine at least one of the following:

[0030] - information about the current parameters of movement of the self-propelled mobile source of electric energy, wherein the said parameters of movement of the self-propelled mobile source of electric energy contain at least one of the following: speed, acceleration, deceleration, angle of rotation;

[0031] - information on the permissible parameters of movement of a self-propelled mobile source of electric energy, wherein the permissible parameters of movement of a self-propelled mobile source of electric energy contain at least one of the following: maximum speed, maximum acceleration, maximum deceleration, maximum turning angle;

[0032] - information on the dimensions of the self-propelled mobile source of electric energy and the relative position between the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy. According to this embodiment, a more coordinated joint movement of the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy is ensured and, due to this, a more stable transmission of electric energy from the self-propelled mobile source of electric energy to the self-propelled transport and technological electric machine.

[0033] According to one embodiment of the second aspect, the self-propelled mobile source of electric energy additionally comprises a communication means, wherein the communication means is configured to receive from the self-propelled transport and technological electric machine at least one of the following:

[0034] - information about the current parameters of movement of the self-propelled transport and technological electric machine, wherein the said parameters of movement of the self-propelled transport and technological electric machine contain at least one of the following: speed, acceleration, deceleration, angle of rotation;

[0035] - information on the permissible parameters of movement of the self-propelled transport and technological electric machine, wherein the said permissible parameters of movement of the self-propelled transport and technological electric machine contain at least one of the following: maximum speed, maximum acceleration, maximum deceleration, maximum turning angle;

[0036] - information on the dimensions of the self-propelled transport and technological electric machine and the relative position between the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy. According to this embodiment, a more coordinated joint movement of the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy is ensured and, due to this, a more stable transmission of electric energy from the self-propelled mobile source of electric energy to the self-propelled transport and technological electric machine.

[0037] DETAILED DESCRIPTION OF THE INVENTION

[0038] The following is a detailed description of the embodiments of the technical solutions proposed in accordance with this application.

[0039] Within the framework of this application, a self-propelled transport and technological electric machine is understood to be a self-propelled machine that performs a transport function and any one or more additional technological functions by using electric energy and one or more electric motors. It is assumed that the self-propelled transport and technological electric machine has a mover (wheels, a tracked mover, etc.) for setting the machine in motion and one or more working elements (units) for performing one or more target functions, one or more electric motors for setting the mover in motion and the said working elements (units) for performing one or more target functions.It is assumed that the self-propelled electric transport and technological machine is controlled by the operator directly or remotely, and additional automated and / or fully automatic control of both the machine movement and the working elements for performing one or more target functions is also possible. Specific examples of the self-propelled electric transport and technological machine, in particular, are: snow loader, grain harvester, tractor, self-propelled seeder, self-propelled agricultural sprayer / fertilizer spreader, multi-operational agricultural complex, logging combine, excavator, mining combine, road milling machine.

[0040] In the context of this application, a self-propelled mobile source of electric energy is understood to be a self-propelled vehicle that performs the function of storing and / or generating electric energy and transmitting this electric energy to a target object, which in the context of this application is a self-propelled transport and technological electric machine. An example of a self-propelled mobile source of electric energy, in particular, is a vehicle equipped with an electric energy generator and / or a storage battery, as well as one or more means of transmitting electric energy. A self-propelled mobile source of electric energy can be controlled by an operator directly or remotely, automated and fully automatic control of both the movement and the said one or more means of transmitting electric energy are also possible.

[0041] A self-propelled mobile source of electric energy may perform other functions (except for the function of a source of electric energy), related or not related to the technological process performed by a self-propelled transport and technological electric machine, such as: the function of transporting cargo (transporting materials / waste obtained as a result of work), a loading function. For example, a self-propelled mobile source of electric energy may be a forwarder (transporter-loader). In particular, a self-propelled mobile source of electric energy may perform the same function as a self-propelled transport and technological electric machine.For example, if a self-propelled electric transport and technological machine is an electric harvester, the self-propelled mobile source of electric energy may be another electric harvester having a battery with a capacity sufficient to power both machines and a means of transmitting electric energy to power the said electric harvester, or a harvester equipped with an internal combustion engine, a generator and a means of transmitting electric energy.

[0042] A self-propelled transport and technological electric machine according to the proposed invention contains one or more electric motors and at least one means for receiving electrical energy.

[0043] The mentioned one or more electric motors are intended to drive the propulsion unit and working elements of the self-propelled electric transport machine. For example, the self-propelled electric transport and technological machine may be a tractor containing a single electric motor and transmission. The electric motor converts electrical energy into mechanical rotational energy, due to which the tractor wheels and, for example, the tractor attachments connected via the power take-off shaft are driven. There may be several electric motors. For example, separate electric motors may be used for movement and for work (fulfillment of the target function).For example, a self-propelled transport and technological electric machine may be a self-propelled agricultural sprayer containing a traction electric motor for driving the machine and a pump electric motor designed to drive the equipment performing the target function (spraying liquid fertilizers). The electric motor for driving the self-propelled transport and technological electric machine may be a motor-wheel.

[0044] To perform the function of moving a self-propelled transport and technological electric machine, there may also be several electric motors. For example, a header with a wider grip is attached to a grain harvester, and its own propeller is installed on the header, which is driven by an additional electric motor. This allows you to reduce the traction load on the main engine during the movement of the grain harvester, while you can reduce the power of the main engine and reduce the weight of the combine.

[0045] The means for receiving electric energy is designed with the possibility of receiving electric energy from a self-propelled mobile source of electric energy during the joint movement of the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy. Electric energy is transmitted from the self-propelled mobile source of electric energy by wire or wireless means.

[0046] The self-propelled mobile source of electric energy contains a means of transmitting electric energy intended for transmitting electric energy to the self-propelled transport and technological electric machine during the joint movement of the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy. The means of transmitting electric energy corresponds to the means of receiving electric energy and together with it forms a system for transmitting electric energy from the self-propelled mobile source of electric energy to the self-propelled transport and technological electric machine.

[0047] In a particular case of implementation, electrical energy is transmitted from a self-propelled mobile source of electrical energy to a self-propelled transport and technological electric machine by wire, wherein the means of transmitting energy on the side of the self-propelled mobile source of electrical energy is an electrical cable equipped with a plug, and the means of receiving electrical energy is a socket located, for example, on the side of the self-propelled transport and technological electric machine.It is assumed that in such a case of implementation for stable transmission of electric energy during movement and operation, the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy perform joint movement in such a way, for example, as to prevent: excessive tension of the electric cable, excessive sagging of the electric cable, contact of the electric cable with moving parts of jointly moving machines and obstacles on the path of movement, etc. This is achieved, for example, by using a sliding suspension of the electric cable at a safe height along a cable equipped with an automatic winding mechanism.

[0048] There may be several means of receiving electric energy on one transport and technological electric machine. For example, a self-propelled transport and technological electric machine may be a forage harvester, which, in the process of performing the target function (collecting and unloading the harvested crop, for example, corn), may alternately or simultaneously unload the leafy mass onto a truck from the left and right side, and unload cobs or threshed grain in the stern. In this case, several trucks (self-propelled mobile sources of electric energy, additionally performing the function of transporting cargo), each connected through its own means of transmitting electric energy to one of the means of receiving electric energy of the combine, alternately or simultaneously provide continuous power supply of electric energy to one or more electric motors of the forage harvester.Disconnection of loaded and connection of trucks with an empty cargo compartment can be carried out on the move.

[0049] In a particular case of implementation, the same means of receiving / transmitting electric energy can perform both the function of receiving and transmitting electric energy. For example, if two trucks are simultaneously connected through similar means of receiving / transmitting electric energy to a forage harvester, and one of them (the first) has insufficient electric energy in the battery to complete the route to the charging station, then the other (second) truck transmits electric energy to recharge the battery of the first truck. In this case, electric energy is sequentially transmitted along the electric circuit of the forage harvester from one means of receiving / transmitting electric energy, connecting the second vehicle with the forage harvester, to another means of receiving / transmitting electric energy, connecting the forage harvester with the first vehicle.Thus, one of the similar means of receiving / transmitting electrical energy of the forage harvester performs the function of receiving, and the second performs the function of transmitting electrical energy.

[0050] In a particular case of implementation, electrical energy is transmitted from a self-propelled mobile source of electrical energy to a self-propelled transport and technological electric machine wirelessly, for example, by electromagnetic induction, or by microwave (UHF) energy transmission.

[0051] It is assumed that the self-propelled transport and technological electric machine according to the proposed invention does not have an internal combustion engine (ICE), a fuel system, an exhaust system and other auxiliary systems associated with the operation of the ICE. However, the presence of such elements, at least in the role of auxiliary energy sources for movement and / or work, is not excluded. For example, the self-propelled transport and technological electric machine can have a compact low-power auxiliary power unit based on an ICE with a small fuel reserve and an electric generator.Such a power plant, for example, can provide electric energy to a self-propelled transport and technological electric machine for a limited time in order to maintain the ability to move and operate independently in the event that it is impossible, for one reason or another, to provide power from a self-propelled mobile source of electric energy (for example, when performing a maneuver with a small turning radius or bypassing an obstacle in which joint movement is impossible or difficult).

[0052] The self-propelled transport and technological electric machine according to the proposed invention may have an energy storage device. The energy storage device may be an electrochemical battery, a supercapacitor, an energy storage device based on a super flywheel, etc. Like the auxiliary power unit mentioned above, the electric energy storage device may, for a limited time, provide the self-propelled transport and technological electric machine with electric energy to maintain the ability to move and operate independently in the event that it is impossible, for one reason or another, to provide power from the self-propelled mobile source of electric energy.

[0053] The control of both the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy, in a specific embodiment of the invention, can be carried out by operators (directly or remotely). In addition, motion control systems can participate in the control, which can be equipped with both the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy (either one of the machines or both machines). The motion control system can both "help" the operator control the machine and carry out completely autonomous control, without the operator's participation.

[0054] Since both the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy may have a motion control system, and these two motion control systems are not fundamentally different from each other (although specific implementations may be both the same and different), below, for simplicity, a description of the motion control system will be given regardless of the object on which it is installed. In this case, the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy moving together are called machines, and the machine on which the motion control system in question is located is called the machine in question, and the other of these two machines is called the other machine.

[0055] According to the proposed invention, the motion control system provides assistance in correcting and / or controlling the motion in order to ensure coordinated joint motion of the machines to ensure stable transmission of electric energy from the self-propelled mobile source of electric energy to the self-propelled transport and technological electric machine via the means for transmitting electric energy and the means for receiving electric energy. For example, the machine in question can be controlled in such a way as to prevent going beyond the range of permissible mutual positions between the machines. As another example, the machine in question can be controlled in such a way as to prevent the machine speed or the angle / radius of the machine from going beyond the values ​​permissible in a specific situation.For example, if the lateral interval between the machines exceeds the range of permissible lateral intervals, a command to change the steering angle of the wheels may be issued. As another example, if the distance between the machines is beyond the range of permissible distances, a command to increase speed or slow down / brake may be issued. The range of permissible mutual positions between the machines depends on the specific implementation of the means of receiving and transmitting electrical energy between the machines, their location, the dimensions of the machines, etc.

[0056] The range of permissible mutual positions between machines in this application is understood to be a set of relative positions that ensure stable transmission of electrical energy between the self-propelled transport and technological electric machine and the self-propelled mobile source of electrical energy. The range of permissible mutual positions depends on the specific implementations of the means of receiving and transmitting electrical energy and their locations on the self-propelled transport and technological electric machine and on the self-propelled mobile source of electrical energy, respectively.

[0057] The motion control system comprises at least a control unit and one or more actuators. The said one or more actuators may comprise: a steering drive, an electric motor speed controller, a brake system drive, etc.

[0058] The control unit comprises a processing unit and memory. The memory contains a control program and other information necessary for the correct implementation (execution) of the motion control algorithm. For example, the memory may contain information on the dimensions of the machine, the offset of the machine dimensions when performing maneuvers, the permissible parameters of the machine motion, the range of permissible mutual positions between the machines. The processing unit is connected to the memory and executes the control program for implementing the motion control algorithm. The processing unit may be a universal processor, a system on a chip, a specialized processor, etc. The memory may be connected to the processing unit via, for example, a data bus, or the memory may be built into the processing unit. The control unit may be connected to other elements (executive devices, sensors) via an input / output interface unit by wire or wirelessly.

[0059] The machine (both a self-propelled transport and technological electric machine and a self-propelled mobile source of electric energy) may contain a sensor system, wherein the motion control system is connected to the sensor system and is designed with the ability to determine the relative position between the machines. The sensor system contains at least one of the following: a video camera, a stereo camera, a lidar, an ultrasonic distance sensor, a mechanical sensor. The sensor system provides additional information for more accurate motion control, due to which a more coordinated joint motion of the machines is ensured and, due to this, a more stable transmission of electric energy.

[0060] As an example, the machine in question may have a sensor system containing one or more cameras. The one or more cameras are arranged so that another machine with which joint movement is performed falls into their joint field of view. The signal from the cameras is sent to the processing unit. The processing unit, using computer vision methods, recognizes the other machine in the signal, determines the relative (mutual) position between the machines and generates information about the relative position between the machines. Then, the information about the relative position between the machines is used to perform the algorithm for controlling the movement of the machine in question to ensure more coordinated joint movement. The information about the relative position between the machines is re-determined (updated) with the necessary frequency, which may depend on the nature of the work performed and the speed of movement.

[0061] As another example, the machine under consideration may have a sensor system comprising one or more mechanical sensors. For example, if electrical energy is transmitted via a freely hanging cable of a fixed length, the mechanical sensor may be an angle sensor measuring the sag angle of the cable. Based on the measurement of the sag angle of the cable, the motion control system can estimate the distance and, accordingly, the position between the machines and adjust the motion control in order to prevent, for example, an excessive decrease in the sag angle of the cable (which would create a risk of the cable breaking or becoming disconnected) or an excessive increase in the sag angle of the cable (which would create a risk of the cable touching parts of the machines or other objects).As another example, if the electrical energy is transmitted by means of a cable wound on a self-winding spring reel, or by means of a cable slidably suspended at a safe height on a rope stretched between machines and equipped with an automatic reeling mechanism, the mechanical sensor may be a strain gauge measuring the force on the spring of the cable reel or rope. In this case, the control system can, based on the readings of the strain gauge, estimate the length of the wire or rope pulled out of the reel and, thus, estimate the distance and position between the machines and correct the motion controls.It is assumed that the motion control algorithm implemented by the motion control system is adapted or configured taking into account the specific location of the means of receiving and transmitting electrical energy on the machines, which makes it possible, using information obtained even from simple mechanical sensors, to adjust the control in order to ensure joint motion with stable transmission of electrical energy.

[0062] Machines that perform joint movement and are equipped with movement control systems may also have communication facilities and exchange information related to joint movement, such as information on current movement parameters, information on relative position, information on permissible movement parameters, information on dimensions, thereby ensuring more coordinated joint movement and more stable transmission of electrical energy.

[0063] The communication means can provide communication between the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy by wire or wireless means. The communication means can contain a wireless communication module, a cellular communication module, etc. The communication means can contain an inductive communication module (wireless communication) or a wire communication module built into the means for receiving / transmitting electric energy. In the case of using communication modules built into the means for receiving / transmitting electric energy, more reliable (less susceptible to electromagnetic interference) and fast transmission of information between the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy is ensured, due to which more coordinated joint movement and more stable transmission of electric energy can be ensured.

[0064] In a specific exemplary embodiment, the machine in question is a self-propelled mobile source of electric energy, and the other machine is, respectively, a self-propelled transport and technological electric machine. Both machines are equipped with motion control systems and communication means. The self-propelled mobile source of electric energy is additionally equipped with a sensor system and, in joint movement, acts as a slave, i.e. follows the self-propelled transport and technological electric machine. The self-propelled transport and technological electric machine acts as a leader, moves "at its own discretion" (in accordance with the task being performed) and performs work in accordance with the target function.The motion control system of the self-propelled mobile source of electric energy, due to the sensor system, determines the relative position between the machines and carries out control, according to the algorithm, to follow the self-propelled transport and technological electric machine and prevent the exit from the range of permissible mutual positions between the machines and thereby ensure a more stable transmission of electric energy. Control is carried out by issuing the corresponding control signals to the actuators of the motion control system and may include, for example, acceleration (speed) control, deceleration (braking) control, steering angle control (turning radius).The motion control system of the self-propelled mobile source of electric energy can, using communication means, send information to the self-propelled transport and technological electric machine about the speed, acceleration / deceleration, dimensions, steering angle (turning radius) of the self-propelled mobile source of electric energy, maximum speed, maximum acceleration, maximum steering angle (minimum turning radius), etc.The control system of the movement of the self-propelled transport and technological electric machine can, only on the basis of the information obtained in this way, in accordance with the specified control program, without having a sensor system in its composition, correct the movement of the self-propelled transport and technological electric machine to ensure a more coordinated movement and a more stable transmission of electric energy from the self-propelled mobile source of electric energy to the self-propelled transport and technological electric machine. Several types of communication means can be used simultaneously or sequentially on one machine. As an example, cellular communication modules, wireless communication modules, such as Wi-Fi, wired communication modules built into the means of receiving / transmitting electric energy are installed on the self-propelled transport and technological electric machine and on the self-propelled mobile source of electric energy.The sensor systems of both machines use geolocation sensors to determine the geographic location of the machines. In particular, the self-propelled transport and technological electric machine can be a grain harvester, and the self-propelled mobile source of electric energy can be a truck. Both machines can be controlled by operators directly or remotely, and automated and fully automatic control of the movement of the machines is also possible. When the truck is at a great distance from the grain harvester, cellular modules are used to communicate with each other, through which information about the geographic location of the grain harvester is transmitted from the grain harvester to the truck, obtained using the geolocation sensor of the grain harvester sensor system.The truck control unit, using the received data on the geographical position of the grain harvester and the data on the geographical position of the truck received by the geolocation sensor of the truck sensor system, builds and transmits to the actuators of the truck movement control information on the route of approach of the truck to the grain harvester. When the distance between the truck and the grain harvester is reduced to a distance that allows the use of the Wi-Fi communication module, the exchange of information between the machines is switched to the WiFi communication modules. In this case, the communication using the cellular communication modules is not disconnected, but is used as a backup in case of loss of signal by the Wi-Fi communication modules.

[0065] Then, when the distance between the machines allows for the connection of the wired communication modules built into the means of receiving / transmitting electric energy, mutual positioning and connection of the wired communication modules of the truck and the grain harvester are performed. The connection can be performed manually (by the operator), in an automated or automatic mode. In this case, if the connection occurs in an automated or automatic mode, the Wi-Fi communication modules ensure the exchange of information on mutual positioning between the control units of the truck and the grain harvester. Automated or automatic connection can be performed using, for example, a robotic manipulator that executes commands from the control unit to combine / connect elements that provide direct transmission of electric energy (for example, electrical connectors).Once a wired connection is established, communication between the truck and the grain harvester is provided primarily through wired communication modules built into the electrical energy receiving / transmitting equipment.

[0066] As an example, a simple in design self-propelled transport and technological electric machine can be a snow loading machine, which contains a self-propelled frame, an operator's cabin, one electric motor, one means of receiving electric energy, a mechanical transmission, a snow collection system and a system for unloading snow onto a truck. An electric cable from the means of transmitting electric energy of the truck, which performs the function of a self-propelled mobile source of electric energy, is connected to the means of receiving electric energy of the snow loading machine, made, for example, in the form of a socket, via a connecting plug. The electric motor of the snow loading machine converts the electric energy received from the electric generator of the truck into mechanical rotational energy, due to which the wheels of the snow loading machine and the systems of collecting and unloading snow are driven through a mechanical transmission.The snow loader and the truck operate in a joint movement, whereby the snow loader collects snow from the road and unloads it into the truck's cargo compartment. The snow loader operator and the truck driver visually monitor and control the parameters of the joint movement, including for the purpose of maintaining a stable transmission of electrical energy from the truck to the snow loader.

[0067] As an example, a self-propelled transport and technological electric machine can be a self-propelled trolley for moving inside a pipeline (hereinafter referred to as a working trolley), which performs the target function of cleaning and applying a protective coating inside the pipeline. The design of the working trolley contains working elements for performing cleaning and coating operations, a container with a protective coating composition, an electric motor, a mover, a motion control system including a sensor system and communication means, a means for receiving electrical energy, and an energy storage device, such as a small-capacity electrochemical battery. The working trolley performs the target function inside the pipeline, moving together one after the other with the trolley, which performs the function of a self-propelled mobile source of electrical energy (hereinafter referred to as an energy trolley).The design of the energy cart contains an energy storage device, such as a high-capacity electrochemical battery, a motion control system that includes a sensor system and communication means, a means for transmitting electrical energy, a means for robotically connecting an electrical cable from the energy cart to the working cart, an electric motor and a mover.

[0068] During joint movement, the electric energy of the energy cart battery is transmitted to power its electric motor, and also through the means of transmitting electric energy to power the electric motor of the working cart. Electric energy is converted into mechanical energy, which drives the movers of both carts, as well as the working elements of the working cart and the means of robotic connection of the electric cable of the energy cart. In the event that the battery of the working cart is not fully charged, the electric energy of the battery of the energy cart can be used to charge the battery of the working cart.

[0069] During the joint forward movement of the trolleys, in the course of the performance of the target function, the working trolley moves in front of the power trolley. In this case, the control system of the working trolley receives information about the objects located ahead, mainly coming from its sensor system, processes the data and controls the route of the joint movement, as well as the performance of the target function by the working elements. The control systems of the working and power trolleys exchange data, for example, via an electric cable through which electrical energy is transmitted. The control system of the power trolley receives the parameters of the movement of the working trolley, receives information about the mutual position of the trolleys from its sensor system, and controls the movement of the power trolley in such a way as to prevent a collision with the working trolley, and at the same time provide the working trolley with a stable supply of electrical energy.In the event of failure of the elements of information processing of the control system of the working cart, during joint forward movement, in the course of performing the target function, the processing of information from the sensors of the working cart can be processed by the control system of the power cart.

[0070] If the electric energy reserve in the large-capacity battery of the energy cart runs out, the energy transmission is stopped, the electric cable is disconnected using the robotic connection means of the electric cable of the energy cart, the energy cart moves in the direction of the battery charging station. The working cart, due to the charge of its own small-capacity battery, can continue to perform the target function along the specified route for some time. Each cart is controlled by its own motion control system. The energy cart with the discharged battery is sent and connected to replace the energy cart with the charged battery.

[0071] When the target function is completed, the return of the working cart to the storage and maintenance point is performed by means of the energy transmitted from the power cart. In this case, the working cart does not turn around, since it is in a limited space inside the pipe, but moves in the opposite direction "in reverse" towards the storage and maintenance point. Receiving information for performing the route is preferably performed by means of the sensor system of the power cart, which moves in front of the working cart. In this case, obtaining information about objects located ahead in the direction of travel by the sensor system of the working cart may be difficult, since the view for the sensors may be blocked by the body of the power cart. The sensor system of the power cart transmits information about objects located ahead to the control system of the power cart for performing the joint route of travel.The working trolley sensor system transmits information about the relative positions of the trolleys to its own motion control system, which controls the movement of the working trolley in such a way as to prevent collision with the power trolley, and at the same time ensure the receipt of a stable power supply.

[0072] In a similar manner, the joint use of motion control systems and sensor systems of other versions of self-propelled transport and technological electric machines and self-propelled mobile sources of electric energy can be implemented during their joint movement and performance of the target function. Due to the joint use (joint operation) of motion control systems and sensor systems, the design of each individual machine (in the example under consideration - the working trolley and the energy trolley) can be simplified, since the number of sensors on an individual machine can be reduced. Or, without reducing the number of sensors, backup duplication of sensor systems is provided. A more stable transmission of electric energy is ensured.

Claims

CLAUSE OF THE INVENTION 1. A self-propelled transport and technological electric machine comprising: at least one electric motor, at least one means for receiving electric energy, designed with the possibility of receiving electric energy from a self-propelled mobile source of electric energy during the joint movement of the self-propelled transport and technological electric machine and the self-propelled mobile source of electric energy for powering the said at least one electric motor for the movement and operation of the self-propelled transport and technological electric machine.

2. A self-propelled transport and technological electric machine according to paragraph 1, in which the means for receiving electrical energy comprises an electrical connector designed with the possibility of receiving electrical energy from a self-propelled mobile source of electrical energy by wire.

3. A self-propelled transport and technological electric machine according to item 1, in which the means for receiving electrical energy is designed with the possibility of receiving electrical energy from a self-propelled mobile source of electrical energy in a wireless manner.

4. A self-propelled transport and technological electric machine according to item 1, additionally containing an energy storage device.

5. A self-propelled transport and technological electric machine according to claim 1, additionally containing a motion control system configured to control the motion of the self-propelled transport and technological electric machine to ensure coordination of the motion of the self-propelled transport and technological electric machine with the motion of the self-propelled mobile source of electric energy to ensure stable reception of electric energy from the self-propelled mobile source of electric energy, wherein said motion control comprises at least one of the following: acceleration, deceleration, turning, limiting maximum speed, limiting acceleration, limiting deceleration, limiting turning angle.

6. A self-propelled transport and technological electric machine according to item 5, additionally containing a sensor system, wherein the motion control system is connected to the sensor system and is designed with the possibility of determining the position of the self-propelled mobile source of electrical energy relative to the self-propelled transport and technological electric machine.

7. A self-propelled transport and technological electric machine according to claim 6, wherein the sensor system comprises at least one of the following: a video camera, a stereo camera, a lidar, an ultrasonic distance sensor, a mechanical sensor.

8. A self-propelled transport and technological electric machine according to item 6, additionally containing a communication means, wherein the communication means is designed with the possibility of transmitting to the self-propelled mobile source of electric energy at least one of the following: - information about the current parameters of movement of the self-propelled transport and technological electric machine, wherein the said parameters of movement of the self-propelled transport and technological electric machine contain at least one of the following: speed, acceleration, deceleration, angle of rotation; - information on the permissible parameters of movement of the self-propelled transport and technological electric machine, wherein the said permissible parameters of movement of the self-propelled transport and technological electric machine contain at least one of the following: maximum speed, maximum acceleration, maximum deceleration, maximum turning angle; - information on the dimensions of the self-propelled transport and technological electric machine and the relative position between the self-propelled transport and technological electric machine and the self-propelled mobile source of electrical energy.

9. A self-propelled transport and technological electric machine according to item 6, additionally containing a communication means, wherein the communication means is designed with the possibility of receiving from the self-propelled mobile source of electrical energy: - information about the current parameters of movement of the self-propelled mobile source of electric energy, wherein the said parameters of movement of the self-propelled mobile source of electric energy contain at least one of the following: speed, acceleration, deceleration, angle of rotation; - information on the permissible parameters of movement of a self-propelled mobile source of electric energy, wherein the permissible parameters of movement of a self-propelled mobile source of electric energy contain at least one of the following: maximum speed, maximum acceleration, maximum deceleration, maximum turning angle; - information on the dimensions of the self-propelled mobile source of electrical energy and the relative position between the self-propelled transport and technological electric machine and the self-propelled mobile source of electrical energy.

10. A self-propelled mobile source of electrical energy comprising: at least one electric generator, at least one means of transmitting electrical energy, designed with the possibility of transmitting electrical energy to a self-propelled transport and technological electric machine during movement.

11. A self-propelled mobile source of electrical energy according to claim 10, wherein said at least one electric generator is a chemical current source; 12. A self-propelled mobile source of electrical energy according to claim 10, additionally comprising an internal combustion engine, wherein said at least one electric generator is an electromechanical generator driven by said internal combustion engine.

13. A self-propelled mobile source of electrical energy according to paragraph 10, in which the means for transmitting electrical energy comprises an electrical connector designed with the possibility of transmitting electrical energy to the self-propelled transport and technological electric machine by wire.

14. A self-propelled mobile source of electrical energy according to paragraph 10, in which the means for transmitting electrical energy is designed with the possibility of transmitting electrical energy to a self-propelled transport and technological electric machine wirelessly.

15. A self-propelled mobile source of electric energy according to claim 10, further comprising a motion control system configured to control the motion of the self-propelled mobile source of electric energy to ensure coordination of the motion of the self-propelled mobile source of electric energy with the motion of the self-propelled transport and technological electric machine to ensure stable transmission of electric energy to the self-propelled transport and technological electric machine, wherein said motion control comprises at least one of the following: acceleration, deceleration, turning, limiting maximum speed, limiting acceleration, limiting deceleration, limiting turning angle.

16. A self-propelled mobile source of electrical energy according to item 15, additionally containing a sensor system, wherein the motion control system is connected to the sensor system and is designed with the possibility of determining the position of the self-propelled transport and technological electric machine relative to the self-propelled mobile source of electrical energy.

17. A self-propelled mobile source of electric energy according to claim 16, wherein the sensor system comprises at least one of the following: a video camera, a stereo camera, a lidar, an ultrasonic distance sensor, a mechanical sensor.

18. A self-propelled mobile source of electrical energy according to paragraph 16, additionally containing a communication means, wherein the communication means is designed with the possibility of transmitting to the self-propelled transport and technological electric machine at least one of the following: - information about the current parameters of movement of the self-propelled mobile source of electric energy, wherein the said parameters of movement of the self-propelled mobile source of electric energy contain at least one of the following: speed, acceleration, deceleration, angle of rotation; - information on the permissible parameters of movement of a self-propelled mobile source of electric energy, wherein the permissible parameters of movement of a self-propelled mobile source of electric energy contain at least one of the following: maximum speed, maximum acceleration, maximum deceleration, maximum turning angle; - information on the dimensions of the self-propelled mobile source of electrical energy and the relative position between the self-propelled transport and technological electric machine and the self-propelled mobile source of electrical energy.

19. A self-propelled mobile source of electrical energy according to paragraph 16, additionally containing a communication means, wherein the communication means is designed with the possibility of receiving from the self-propelled transport and technological electric machine at least one of the following: - information about the current parameters of movement of the self-propelled transport and technological electric machine, wherein the said parameters of movement of the self-propelled transport and technological electric machine contain at least one of the following: speed, acceleration, deceleration, angle of rotation; - information on the permissible parameters of movement of the self-propelled transport and technological electric machine, wherein the said permissible parameters of movement of the self-propelled transport and technological electric machine contain at least one of the following: maximum speed, maximum acceleration, maximum deceleration, maximum turning angle; - information on the dimensions of the self-propelled transport and technological electric machine and the relative position between the self-propelled transport and technological electric machine and the self-propelled mobile source of electrical energy.