CN213705100U - Self-propelled sprayer suspension system - Google Patents
Self-propelled sprayer suspension system Download PDFInfo
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- CN213705100U CN213705100U CN202022672906.1U CN202022672906U CN213705100U CN 213705100 U CN213705100 U CN 213705100U CN 202022672906 U CN202022672906 U CN 202022672906U CN 213705100 U CN213705100 U CN 213705100U
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Abstract
The application provides a self-propelled sprayer suspension system relates to shock attenuation technical field. Self-propelled sprayer suspension system includes: the information acquisition unit is arranged on the vehicle body and used for acquiring road condition information, crop information and vehicle body information and generating a first signal; the information processing unit is connected with the information acquisition unit and used for receiving and processing the first signal, obtaining the current road condition characteristics, the types and the heights of the crops and the vehicle body posture characteristics, and processing the first signal according to the road condition characteristics, the types and the heights of the crops and the vehicle body posture characteristics to obtain a driving signal; the suspension controller is connected with the information processing unit; and the suspension unit is arranged between the vehicle body and the wheel hub, the suspension unit is connected with the suspension controller, and the suspension controller controls the suspension unit to adjust the working state of the suspension unit based on the driving signal. The suspension system of the self-propelled sprayer can enable the self-propelled sprayer to stably travel on a corresponding road surface, and spraying precision is effectively improved.
Description
Technical Field
The application relates to the technical field of shock absorption, in particular to a suspension system of a self-propelled sprayer.
Background
The crop diseases and insect pests frequently occur in China every year, so that the yield of crops is reduced by about 10%, the quality and the economic benefit of the crops are influenced, and the sustainability of agricultural production in China is endangered, so that the prevention and the treatment of the diseases and the insect pests are an important means for ensuring the high and stable yield of modern agriculture. Spraying pesticide has become an important measure for preventing and controlling crop diseases and insect pests and improving crop yield. The self-propelled sprayer is widely applied at present due to the advantages of high efficiency, environmental protection and the like, can be used for almost all crops, is particularly suitable for high-stem crops, has high operation efficiency and accurate plant protection operation, thereby greatly reducing the labor intensity of farmers, protecting the farmers to the maximum extent and obviously improving the economic benefit.
In the prior art, the self-propelled sprayer needs to stably walk on the road surface in various complex environments due to the unique working characteristics of the self-propelled sprayer so as to ensure that the spraying device can stably walk along with the vehicle body to spray with high quality. Therefore, technicians design a suspension device with good buffering performance for the self-propelled sprayer.
However, although the self-propelled sprayer has a suspension apparatus with good performance, the suspension apparatus cannot adjust vibration damping performance with variable ground, and cannot actively adjust the operation of the suspension system according to the condition of the road surface on which the sprayer is traveling, so that the current suspension apparatus cannot ensure the stability of the self-propelled sprayer, and further cannot ensure the spraying accuracy.
SUMMERY OF THE UTILITY MODEL
A primary object of the present invention is to provide a self-propelled sprayer suspension system, which can solve the technical problems of the prior sprayer suspension system that the walking stability and the spraying precision cannot be satisfied.
In order to solve the above technical problem, an embodiment of the present application provides the following technical solutions:
in one aspect the application provides a sprayer suspension system comprising:
the information acquisition unit is arranged on the vehicle body and used for acquiring road condition information, crop information and vehicle body information and generating a first signal;
the information processing unit is connected with the information acquisition unit and used for receiving and processing the first signal, obtaining the current road condition characteristics, the types and the heights of the crops and the vehicle body posture characteristics, and processing the current road condition characteristics, the types and the heights of the crops and the vehicle body posture characteristics to obtain a driving signal;
a suspension controller connected to the information processing unit;
and the suspension unit is arranged between the vehicle body and the wheel hub, is connected with the suspension controller, and controls the suspension unit to adjust the working state of the suspension unit based on the driving signal.
The purpose of the utility model and the technical problem thereof can be further realized by adopting the following technical measures.
Optionally, in the foregoing sprayer suspension system, the information processing unit includes an operation module and a database module, and the operation module is connected to the information acquisition unit and the database module respectively;
the operation module obtains a road condition model corresponding to the current walking road surface based on the comparison of the road condition characteristics and the data in the database module, and forms a road condition signal; the operation module is used for comparing the information of the types and the heights of the crops with the data in the database module to obtain crop data information and form crop data signals; the operation module obtains vehicle body adjustment information based on the comparison of the vehicle body posture characteristics with the data in the database module, and forms a vehicle body adjustment signal;
the road condition signal, the crop data signal and the vehicle body adjusting signal are integrated with the driving signal.
Optionally, in the suspension system of the spraying machine, the information acquisition unit includes a camera component, an infrared height detection component, a laser radar scanning component, a non-contact road condition identification component, an acceleration sensor component, and a gyroscope component;
the camera shooting component and the infrared height detection component are used for collecting crop information; the camera shooting component, the laser radar scanning component and the non-contact type road surface condition identification component jointly detect and obtain the road condition information; the acceleration sensor component and the gyroscope component jointly detect and obtain vehicle body information.
Optionally, the sprayer suspension system is provided, wherein the camera shooting component is arranged on one side of the advancing direction of the vehicle body, and the lens faces the ground;
the infrared height detection component is arranged near the camera component, and the detection end faces the ground;
the laser radar scanning component is arranged at the bottom of one side of the advancing direction of the vehicle body;
the non-contact type road surface condition recognition component is arranged near the laser radar scanning component;
the acceleration sensor component and the gyroscope component are arranged in the middle of the bottom of the vehicle body.
Optionally, in the suspension system of the spraying machine, the number of the camera shooting components and the number of the infrared height detecting components are two, the two camera shooting components are respectively arranged on the left side and the right side of the outer wall of the cab of the vehicle body, and the two infrared height detecting components are respectively arranged adjacent to the two camera shooting components.
Optionally, the sprayer suspension system further comprises:
at least four acceleration sensors connected with the suspension controller, respectively arranged on the four suspension units under the vehicle body, and used for detecting the adjusted instantaneous acceleration or instantaneous speed of the suspension units and sending the instantaneous acceleration or instantaneous speed to the suspension controller;
and the four displacement sensors are connected with the suspension controller, are respectively arranged on the four suspension units below the vehicle body, and are used for detecting the self stroke of the buffer component of the suspension unit after adjustment and sending the self stroke to the suspension controller.
Optionally, the sprayer suspension system further comprises:
the speed detection unit is connected with the suspension controller and is used for detecting the current running speed of the suspension system of the self-propelled sprayer;
wherein the suspension controller controls an operating state of the suspension unit based on the driving signal, the traveling speed, and the current mass of the vehicle body.
Optionally, the sprayer suspension system described above, wherein the formula for obtaining the current mass of the vehicle body is:
wherein the rhorThe density ratio of the liquid medicine to the water is VxThe application amount per unit area, v is the current running speed of the self-propelled sprayer, L is the width of a spray rod of the self-propelled sprayer, and M is the application amount per unit area0The mass t is the mass of the self-propelled sprayer when the self-propelled sprayer is fully loadedpFor the duration of spraying the medicine
The quality of the liquid medicine sprayed by the self-propelled sprayer in unit time.
Borrow by above-mentioned technical scheme, the utility model discloses self-propelled sprayer suspension system has following advantage at least:
the embodiment of the utility model provides a self-propelled sprayer suspension system, it can gather current road conditions information, crops information and automobile body information through the information acquisition unit that sets up on the automobile body, and send to the information processing unit with the mode of first signal, the information processing unit can obtain current road conditions characteristic, the kind and the height of crops and automobile body gesture characteristic based on first signal processing, and further processing obtains drive signal, later send drive signal to the suspension controller, the suspension controller can make appropriate adjustment according to drive signal drive suspension unit this moment, namely according to current road conditions characteristic, the kind and the height of crops and automobile body gesture characteristic adjustment suspension unit's height, rigidity, damping size's working parameter, and so on, and then guarantee that the automobile body has suitable ground clearance, and make the automobile body can steady walking on current road surface, the spray rod of the spraying device on the vehicle body is further reduced to vibrate, swing and rotate, so that the spray rod is kept at a constant height, the spraying is more uniform, the drift is reduced, and the spraying precision is improved and guaranteed.
The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings.
Drawings
The above and other objects, features and advantages of exemplary embodiments of the present application will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the present application are illustrated by way of example and not by way of limitation in the figures of the accompanying drawings and in which like reference numerals refer to similar or corresponding parts and in which:
fig. 1 schematically shows an electrical connection diagram of a self-propelled sprayer suspension system;
fig. 2 schematically shows a schematic structural view of a self-propelled sprayer;
fig. 3 schematically shows a structural schematic diagram of a suspension unit of a suspension system of a self-propelled sprayer.
The reference numerals in fig. 1-3 are:
the system comprises an information acquisition unit 100, an information processing unit 200, a suspension controller 300, a suspension unit 400, a vehicle body 20, a cab 21, a chassis 22, a wheel hub 1, a traveling bracket 2, a steering support arm 3, a bearing seat 4, a rotating shaft 5, a swing arm 6, an energy accumulator 7, a proportional flow control valve 8, an acceleration sensor 9, a displacement sensor 10, a vehicle frame 11, a steering driving piece 12, a vibration damping part 13, a camera part 14, an infrared height detection part 15, a light radar scanning part 16, a non-contact road surface condition identification part 17, an acceleration sensor part 18 and a gyroscope part 19.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which this application belongs.
As shown in fig. 1 and 2, an embodiment of the present invention provides a suspension system for a self-propelled sprayer, including:
the information acquisition unit 100 is arranged on the vehicle body 20 and used for acquiring road condition information, crop information and vehicle body 20 information and generating a first signal;
an information processing unit 200, connected to the information acquisition unit 100, configured to receive and process the first signal, obtain a current road condition characteristic, a type and height of a crop, and an attitude characteristic of the vehicle body 20, and process the current road condition characteristic, the type and height of the crop, and the attitude characteristic of the vehicle body 20 to obtain a driving signal;
a suspension controller 300 connected to the information processing unit 200;
a suspension unit 400 disposed between the vehicle body 20 and the wheel hub, wherein the suspension unit 400 is connected to the suspension controller 300, and the suspension controller 300 controls the suspension unit 400 to adjust the operating state of the suspension unit 400 based on the driving signal.
Specifically, the self-propelled sprayer applied to the suspension system of the self-propelled sprayer provided by the embodiment of the invention is a four-wheel walking mechanism, and the suspension unit 400 is arranged between the wheel hub and the vehicle body 20 and is used for playing a role in damping; the automobile body 20 is the self-propelled sprayer and removes the part outside wheel hub, suspension unit 400, can include chassis 22, driver's cabin 21, driving system, the atomizer that sets up on chassis 22 etc. and specific structure is known for the technical staff, the embodiment of the utility model does not have the repeated description. The embodiment of the present invention provides a suspension system of a self-propelled sprayer, in which the structure of the vehicle body 20 and the structure of the suspension unit 400 are not limited, so to facilitate the description of the arrangement position of the information acquisition unit 100 in the suspension system of the self-propelled sprayer, the embodiment of the present invention provides a simplified diagram of a self-propelled sprayer, and the illustrated suspension unit 400 is illustrated in fig. 2 and 3.
The structure of each part of the suspension unit shown in fig. 3 is as follows: the device comprises a hub 1, a walking bracket 2, a steering supporting arm 3, a bearing seat 4, a rotating shaft 5, a swing arm 6, an energy accumulator 7, a proportional flow control valve 8, an acceleration sensor 9, a displacement sensor 10, a frame 11, a steering driving piece 12 and a damping part 13 (such as an air spring or a hydraulic oil cylinder).
The information collecting unit 100 may be composed of a plurality of detecting components, as long as it can collect and obtain the road condition information, crop information and vehicle body 20 information collected on the ground where the self-propelled sprayer is located, and may include, for example, a camera component 14, an infrared height detecting component 15, a laser radar scanning component 16, a non-contact road condition identifying component 17, an acceleration sensor component 18, a gyroscope component 19, and the like; the collected road condition information can indicate the characteristics of the road surface where the self-propelled sprayer is currently walking, the crop information can indicate the types of crops planted on the current ground and the current long height of the crops, and the vehicle body 20 information can indicate the posture characteristics such as whether the vehicle body 20 of the self-propelled sprayer is inclined or not and which direction the vehicle body 20 is inclined, and the information such as the specific inclination angle of the vehicle body 20. The information acquisition unit 100 may further include a signal generation component, configured to process the acquired information into a first signal and send the first signal to the information processing unit 200.
The information processing unit 200 may include a processor, such as a Digital Signal Processor (DSP), capable of processing the first signal processing to obtain the current road condition characteristics, the types and heights of the crops, and the posture characteristics of the vehicle body 20 included in the first signal; and the processor of the information processing unit 200 may process the driving signal based on the current road condition characteristics, the type and height of the crops, and the posture characteristics of the vehicle body 20, and the processing mode may be a pre-fabricated algorithm (the algorithm is known by the skilled person, the present invention is not limited), or may be a comparison between the obtained characteristics and the characteristics pre-stored in the database, and the processing mode corresponding to the obtained characteristics by the comparison is a part executed as the driving signal.
The suspension controller 300 may be a microprocessor, may be a single chip, the suspension controller 300 only needs to control the operation of the suspension unit 400 based on a driving signal, and may be connected to a driving component or an actuator of the suspension unit 400, and specifically, the suspension controller 300 may control a damping component of the suspension unit 400 by controlling an air source or a switch valve body (e.g., a proportional flow control valve) of the suspension unit 400, for example, by controlling an elongation, damping, and stiffness of the damping unit, so as to adjust working parameters of the suspension unit 400 such as height, stiffness, and damping size, and ensure that the vehicle body 20 has a proper ground clearance with the ground, and the vehicle body 20 can smoothly walk on the current road surface.
The embodiment of the utility model provides a self-propelled sprayer suspension system, it can gather current road conditions information, crops information and automobile body 20 information through information acquisition unit 100 that sets up on automobile body 20, and send to information processing unit 200 with the mode of first signal, information processing unit 200 can obtain current road conditions characteristic, the kind and the height of crops and automobile body 20 gesture characteristic based on first signal processing, and further processing obtains drive signal, later send drive signal to suspension controller 300, suspension controller 300 can make appropriate adjustment according to drive signal drive suspension unit 400 this moment, namely according to current road conditions characteristic, the kind and the height of crops and automobile body 20 gesture characteristic adjustment suspension unit 400's operating parameter such as height, rigidity, damping size, and then guarantee that automobile body 20 and ground have suitable ground clearance, and make automobile body 20 can be steady walking on current road surface, further reduce on the automobile body 20 spray device's spray lance and take place to vibrate, swing and rotate, make the spray lance keep at invariable height to let spout the medicine more even and reduce the drift, improve and guarantee the spraying precision.
In a specific implementation, the information processing unit 200 includes an operation module and a database module, and the operation module is connected to the information acquisition unit 100 and the database module respectively;
the operation module obtains a road condition model corresponding to the current walking road surface based on the comparison of the road condition characteristics and the data in the database module, and forms a road condition signal; the operation module is used for comparing the information of the types and the heights of the crops with the data in the database module to obtain crop data information and form crop data signals; the operation module obtains the adjustment information of the vehicle body 20 based on the comparison of the attitude characteristics of the vehicle body 20 with the data in the database module, and forms an adjustment signal of the vehicle body 20;
the road condition signal, the crop data signal and the vehicle body 20 adjusting signal are integrated with the driving signal.
Specifically, the operation module can be any treater that can carry out processing to data, for example can be microprocessor, and its algorithm of using knows for the technical staff, according to the utility model discloses practical needs can be specific design and need not the utility model of innovation, the event the embodiment of the utility model discloses the no redundancy is done. The database module can include a plurality of sub-modules, including the first sub-module of multiple road conditions model promptly, include the second sub-module of crop data information such as multiple crop kind and height, include the third sub-module of automobile body 20 adjustment information corresponding to multiple automobile body 20 gesture, wherein the crop data information in the second sub-module not only has characteristics such as the kind and the height of crop, still has the information how to drive the suspension work with this crop kind and height. Further, based on the road condition signal containing the road condition model information, the crop data signal containing the crop data information, and the vehicle body 20 adjustment signal containing the vehicle body 20 adjustment information, that is, based on the geometrically formed driving signal, the suspension unit 400 can be adaptively adjusted according to the current road condition and the crop condition.
It should be noted that the road condition model, the crop data information, the adjustment information of the vehicle body 20, and the like contained in the database are all data that are already obtained by a technician in the field, that is, the data in the database are directly taken by the technician for application.
As shown in fig. 1 and fig. 2, in a specific implementation, the information acquisition unit 100 includes an image pickup component 14, an infrared height detection component 15, a laser radar scanning component 16, a non-contact road surface condition recognition component 17, an acceleration sensor component 18, and a gyroscope component 19; the camera component 14 and the infrared height detection component 15 are used for collecting crop information; the image pickup component 14, the laser radar scanning component 16 and the non-contact type road surface condition identification component 17 jointly detect and obtain the road condition information; the acceleration sensor part 18 and the gyroscope part 19 jointly detect and obtain information of the vehicle body 20.
Further, the image pickup part 14 is provided on one side of the advancing direction of the vehicle body 20 with the lens facing the ground; the infrared height detection part 15 is arranged near the camera part 14, and the detection end faces the ground; the laser radar scanning component 16 is arranged at the bottom of one side of the advancing direction of the vehicle body 20; the non-contact road surface condition recognition section 17 is disposed in the vicinity of the laser radar scanning section 16; the acceleration sensor part 18 and the gyro part 19 are provided at a middle position of the bottom of the vehicle body 20.
Specifically, the two image pickup components 14 can be arranged on the outer wall of the cab 21 of the vehicle body 20, and are respectively arranged at the left side and the right side of the outer wall of the cab 21 and close to the front windshield, so that the image pickup components 14 obliquely facing the ground can clearly photograph the road surface on which the self-propelled spraying machine is to travel and clearly photograph and identify crops planted on the current ground; wherein the image pickup part 14 may be a CCD camera; further, an illumination member may be added to the imaging member 14, and for example, an LED lamp for illuminating the ground may be provided near the imaging member 14. The infrared height detection means 15 may be provided near the image pickup means 14, that is, on both the left and right sides of the outer wall of the cab 21, and the height of the crop on the current ground may be detected by the infrared height detection means 15. The lidar scanning unit 16 is provided at the bottom of the vehicle body 20, i.e. may be provided on the lower surface of the chassis 22, for detecting the degree of unevenness of the ground in front of which the self-propelled sprayer is currently travelling, so that in combination with the height of the crop, it is possible to know how to adjust the suspension unit 400. The non-contact type road surface condition recognition unit 17 is also provided on the lower surface of the chassis 22, and is used to detect whether water, ice, an ice-water mixture, snow, frost, or the like is present on the ground, and to obtain data that further affects the road surface condition, so that the suspension adjustment is more accurate. The gyroscope part 19 collects the roll angle, the pitch angle and the like of the vehicle body 20, the acceleration sensor detects the instantaneous acceleration of the vehicle body 20 in the direction vertical to the ground and the direction parallel to the ground, the characteristic of the posture of the vehicle body 20 can be obtained according to the two data, then the adjustment information of the vehicle body 20 can be obtained according to the comparison with the data in the database, and the vehicle body 20 is stabilized by adjusting the suspension unit 400.
In the concrete implementation, wherein the utility model provides a self-propelled sprayer suspension system still includes:
as shown in fig. 3, at least four acceleration sensors 9 connected to the suspension controller 300 and respectively provided on the four suspension units 400 under the vehicle body 20 for detecting the adjusted instantaneous acceleration or instantaneous velocity of the suspension units 400 and transmitting the instantaneous acceleration or instantaneous velocity to the suspension controller 300;
and at least four displacement sensors 10 connected to the suspension controller 300, respectively disposed on the four suspension units 400 under the vehicle body 20, and configured to detect a stroke of the suspension unit 400 after adjustment of a damping member thereof, and transmit the stroke to the suspension controller 300.
Specifically, the four acceleration sensors and the four displacement sensors may be disposed as shown in fig. 3 to detect the instantaneous acceleration or instantaneous velocity of each suspension unit 400 and to detect the self-travel of each suspension unit 400, and to feed these data back to the suspension controller 300, so that the suspension controller 300 can know whether the suspension unit 400 is adjusted in place and whether it is over-adjusted.
In addition, if the displacement sensor arranged on the suspension unit detects that the self stroke adjustment of the suspension unit is transited or seriously insufficient, an alarm signal can be sent out through the suspension controller, then the user is prompted to manually adjust the suspension unit through the alarm device, at the moment, the user can adjust the suspension unit through a manual adjustment mode, and the adjustment precision of the suspension unit is further ensured.
In the concrete implementation, wherein the utility model provides a self-propelled sprayer suspension system still includes:
a speed detection unit (not shown in the figure) connected with the suspension controller 300 and used for detecting the current running speed of the suspension system of the self-propelled sprayer;
wherein the suspension controller 300 controls the operation state of the suspension unit based on the driving signal, the traveling speed, and the current mass of the vehicle body 20.
Specifically, by further matching the traveling speed and the current mass of the vehicle body 20 with the detected driving signal, the suspension unit 400 can be more precisely controlled to adjust the operating state thereof. Can make self-propelled sprayer walking more steady on current road surface promptly, and then make spraying apparatus's spray lance more steady, the precision of spraying further improves.
Wherein, because the current mass of the vehicle body 20 is further increased as a parameter for controlling the working state of the suspension unit, the suspension controller 300 can control the suspension unit to be in a reasonable stiffness adjustment range based on the mass information of the vehicle body, and further can effectively prolong the service life of the suspension unit.
Further, the formula for obtaining the current mass of the vehicle body 20 is:
wherein the rhorThe density ratio of the liquid medicine to the water is 1.0-1.6, and V isxThe application amount per unit area, v is the current running speed of the self-propelled sprayer, L is the width of a spray rod of the self-propelled sprayer, and M is the application amount per unit area0The mass t is the mass of the self-propelled sprayer when the self-propelled sprayer is fully loadedpFor the duration of spraying the medicine
The quality of the liquid medicine sprayed by the self-propelled sprayer in unit time.
Specifically, by setting the above formula, as many influencing factors as possible during traveling of the self-propelled sprayer can be taken into consideration, and the accuracy of regulation and control on the suspension unit 400 can be further improved.
It will be appreciated that the relevant features of the devices described above may be referred to one another. In addition, "first", "second", and the like in the above embodiments are for distinguishing the embodiments, and do not represent merits of the embodiments.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. A self-propelled sprayer suspension system, comprising:
the information acquisition unit is arranged on the vehicle body and used for acquiring road condition information, crop information and vehicle body information and generating a first signal;
the information processing unit is connected with the information acquisition unit and used for receiving and processing the first signal, obtaining the current road condition characteristics, the types and the heights of the crops and the vehicle body posture characteristics, and processing the current road condition characteristics, the types and the heights of the crops and the vehicle body posture characteristics to obtain a driving signal;
a suspension controller connected to the information processing unit;
and the suspension unit is arranged between the vehicle body and the wheel hub, is connected with the suspension controller, and controls the suspension unit to adjust the working state of the suspension unit based on the driving signal.
2. The self-propelled sprayer suspension system of claim 1,
the information processing unit comprises an operation module and a database module, and the operation module is respectively connected with the information acquisition unit and the database module;
the operation module obtains a road condition model corresponding to the current walking road surface based on the comparison of the road condition characteristics and the data in the database module, and forms a road condition signal; the operation module is used for comparing the information of the types and the heights of the crops with the data in the database module to obtain crop data information and form crop data signals; the operation module obtains vehicle body adjustment information based on the comparison of the vehicle body posture characteristics with the data in the database module, and forms a vehicle body adjustment signal;
the road condition signal, the crop data signal and the vehicle body adjusting signal are integrated with the driving signal.
3. The self-propelled sprayer suspension system of claim 2,
the information acquisition unit comprises a camera shooting component, an infrared height detection component, a laser radar scanning component, a non-contact type road surface condition identification component, an acceleration sensor component and a gyroscope component;
the camera shooting component and the infrared height detection component are used for collecting crop information; the camera shooting component, the laser radar scanning component and the non-contact type road surface condition identification component jointly detect and obtain the road condition information; the acceleration sensor component and the gyroscope component jointly detect and obtain vehicle body information.
4. The self-propelled sprayer suspension system of claim 3,
the camera shooting component is arranged on one side of the advancing direction of the vehicle body, and the lens faces the ground;
the infrared height detection component is arranged near the camera component, and the detection end faces the ground;
the laser radar scanning component is arranged at the bottom of one side of the advancing direction of the vehicle body;
the non-contact type road surface condition recognition component is arranged near the laser radar scanning component;
the acceleration sensor component and the gyroscope component are arranged in the middle of the bottom of the vehicle body.
5. The self-propelled sprayer suspension system of claim 4,
the infrared height detection device comprises a vehicle body, a camera shooting component and infrared height detection components, wherein the camera shooting component and the infrared height detection components are two in number, the camera shooting component is arranged on the left side and the right side of the outer wall of a cab of the vehicle body, and the infrared height detection components are arranged adjacent to the camera shooting components.
6. The self-propelled sprayer suspension system of claim 1, further comprising:
at least four acceleration sensors connected with the suspension controller, respectively arranged on the four suspension units under the vehicle body, and used for detecting the adjusted instantaneous acceleration or instantaneous speed of the suspension units and sending the instantaneous acceleration or instantaneous speed to the suspension controller;
and the four displacement sensors are connected with the suspension controller, are respectively arranged on the four suspension units below the vehicle body, and are used for detecting the self stroke of the buffer component of the suspension unit after adjustment and sending the self stroke to the suspension controller.
7. The self-propelled sprayer suspension system of claim 1, further comprising:
the speed detection unit is connected with the suspension controller and is used for detecting the current running speed of the suspension system of the self-propelled sprayer;
wherein the suspension controller controls an operating state of the suspension unit based on the driving signal, the traveling speed, and the current mass of the vehicle body.
8. The self-propelled sprayer suspension system of claim 7,
the formula for obtaining the current mass of the vehicle body is as follows:
wherein the rhorThe density ratio of the liquid medicine to the water is VxThe application amount per unit area, v is the current running speed of the self-propelled sprayer, and L is selfSpray rod width M of walking type spraying machine0The mass t is the mass of the self-propelled sprayer when the self-propelled sprayer is fully loadedpFor the duration of spraying the medicine
The quality of the liquid medicine sprayed by the self-propelled sprayer in unit time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022672906.1U CN213705100U (en) | 2020-11-18 | 2020-11-18 | Self-propelled sprayer suspension system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022672906.1U CN213705100U (en) | 2020-11-18 | 2020-11-18 | Self-propelled sprayer suspension system |
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| CN213705100U true CN213705100U (en) | 2021-07-16 |
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| CN202022672906.1U Active CN213705100U (en) | 2020-11-18 | 2020-11-18 | Self-propelled sprayer suspension system |
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