Suspension system of self-propelled sprayer and control method thereof

Abstract

The present application provides a self-propelled sprayer suspension system and a control method thereof, which relate to the field of shock absorption technology. The self-propelled sprayer suspension system includes: an information acquisition unit, which is arranged on the vehicle body to collect road condition information, crop information and vehicle body information, and generate a first signal; an information processing unit, which is connected to the information acquisition unit, is used to receive and process the first signal, obtain the current road condition characteristics, the type and height of the crop and the vehicle body posture characteristics, and obtain the driving signal according to the road condition characteristics, the type and height of the crop and the vehicle body posture characteristics; a suspension controller, which is connected to the information processing unit; a suspension unit, which is arranged between the vehicle body and the wheel hub, and the suspension unit is connected to the suspension controller, and the suspension controller controls the suspension unit based on the driving signal to adjust the working state of the suspension unit. The self-propelled sprayer suspension system can enable the self-propelled sprayer to walk smoothly on the corresponding road surface, and effectively improve the accuracy of the spray.

Description

Technical Field

[0001] The present application relates to the field of shock absorption technology, and in particular to a self-propelled sprayer suspension system and a control method thereof. Background Art

[0002] Every year, crop diseases and insect pests frequently occur in my country, resulting in a 10% reduction in crop yields. This not only affects the quality and economic benefits of crops, but also threatens the sustainability of my country's agricultural production. Therefore, the prevention and control of diseases and insect pests is an important means to ensure high and stable yields in modern agriculture. Spraying has become an important measure to prevent and control crop diseases and insect pests and increase crop yields. Self-propelled sprayers, with their advantages of high efficiency and environmental protection, have been widely used. They can be used for almost all crops, especially tall crops. They have high operating efficiency and precise plant protection operations, which greatly reduces the labor intensity of farmers, protects farmers to the maximum extent, and significantly improves economic benefits.

[0003] In the prior art, due to its unique working characteristics, self-propelled sprayers need to be able to move steadily on roads in a variety of complex environments to ensure that the spray device can spray with high quality as the vehicle body moves steadily. Therefore, technicians have designed a suspension device with better buffering performance for the self-propelled sprayer.

[0004] However, although the self-propelled sprayer has a suspension device with good performance, the suspension device still cannot adjust the vibration reduction performance according to the changing ground surface, and cannot actively adjust the working condition of the suspension system according to the condition of the walking road surface. Therefore, the current suspension device still cannot guarantee the stability of the self-propelled sprayer, and thus cannot guarantee the accuracy of the spray. Summary of the invention

[0005] The main purpose of the present invention is to provide a self-propelled sprayer suspension system and a control method thereof, so as to solve the technical problem that the current sprayer suspension system cannot meet the walking stability and spraying accuracy.

[0006] In order to solve the above technical problems, the embodiments of the present application provide the following technical solutions:

[0007] On the one hand, the present application provides a sprayer suspension system, comprising:

[0008] An information collection unit is arranged on the vehicle body and is used to collect road condition information, crop information and vehicle body information, and generate a first signal;

[0009] an information processing unit connected to the information acquisition unit, configured to receive and process the first signal, obtain current road condition characteristics, the type and height of the crops, and the vehicle body posture characteristics, and obtain a driving signal according to the road condition characteristics, the type and height of the crops, and the vehicle body posture characteristics;

[0010] A suspension controller connected to the information processing unit;

[0011] A suspension unit is arranged between the vehicle body and the wheel hub, and the suspension unit is connected to the suspension controller. The suspension controller controls the suspension unit based on the driving signal to adjust the working state of the suspension unit.

[0012] The purpose of the present invention and the solution to its technical problems can be further achieved by adopting the following technical measures.

[0013] Optionally, in the aforementioned sprayer suspension system, the information processing unit includes a computing module and a database module, and the computing module is connected to the information acquisition unit and the database module respectively;

[0014] The computing module compares the road condition characteristics with the data in the database module to obtain a road condition model corresponding to the current road surface and forms a road condition signal; the computing module compares the information of the type and height of the crops with the data in the database module to obtain crop data information and form a crop data signal; the computing module compares the body posture characteristics with the data in the database module to obtain body adjustment information and form a body adjustment signal;

[0015] The road condition signal, the crop data signal and the vehicle body adjustment signal are integrated into the driving signal.

[0016] Optionally, in the aforementioned sprayer suspension system, the information acquisition unit includes a camera component, an infrared height detection component, a laser radar scanning component, a non-contact road condition recognition component, an acceleration sensor component and a gyroscope component;

[0017] Among them, the camera component and the infrared height detection component are used to collect crop information; the camera component, the laser radar scanning component and the non-contact road condition recognition component jointly detect and obtain the road condition information; the acceleration sensor component and the gyroscope component jointly detect and obtain vehicle body information.

[0018] Optionally, in the aforementioned sprayer suspension system, the camera component is arranged on one side of the forward direction of the vehicle body and the lens faces the ground;

[0019] The infrared height detection component is arranged near the camera component and the detection end faces the ground;

[0020] The laser radar scanning component is arranged at the bottom of one side of the vehicle body in the forward direction;

[0021] The non-contact road condition recognition component is arranged near the laser radar scanning component;

[0022] The acceleration sensor component and the gyro component are arranged at a middle position of the bottom of the vehicle body.

[0023] Optionally, in the aforementioned sprayer suspension system, the number of the camera components and the number of the infrared height detection components are both two, the two camera components are respectively arranged on the left and right sides of the outer wall of the cab of the vehicle body, and the two infrared height detection components are respectively arranged adjacent to the two camera components.

[0024] Optionally, the aforementioned sprayer suspension system further comprises:

[0025] at least four acceleration sensors connected to the suspension controller and respectively arranged on the four suspension units under the vehicle body, for detecting the instantaneous acceleration or instantaneous speed of the suspension unit after adjustment, and sending the instantaneous acceleration or instantaneous speed to the suspension controller;

[0026] At least four displacement sensors are connected to the suspension controller and are respectively arranged on the four suspension units under the vehicle body, for detecting the self-stroke of the buffer component of the suspension unit after adjustment, and sending the self-stroke to the suspension controller.

[0027] Optionally, the aforementioned sprayer suspension system further comprises:

[0028] A speed detection unit, the speed detection unit is connected to the suspension controller and is used to detect the current travel speed of the self-propelled sprayer suspension system;

[0029] The suspension controller controls the working state of the suspension unit based on the driving signal, the driving speed and the current mass of the vehicle body.

[0030] Optionally, in the aforementioned sprayer suspension system, the formula for obtaining the current mass of the vehicle body is:

[0031]

[0032] Among them, the r is the density ratio of the liquid medicine to water, the V x is the amount of pesticide applied per unit area, v is the current speed of the self-propelled sprayer, L is the width of the spray boom of the self-propelled sprayer, M0 is the mass of the self-propelled sprayer when fully loaded, and t p For spraying duration, It is the mass of liquid sprayed by the self-propelled sprayer per unit time.

[0033] On the other hand, the present application provides a control method for a self-propelled sprayer suspension system, which is used for the above self-propelled sprayer suspension system, comprising:

[0034] Collecting current road condition information, crop information, and vehicle body information, and forming a first signal;

[0035] Based on the first signal, current road condition characteristics, the type and height of the crops, and the vehicle body posture characteristics are obtained, and a driving signal is obtained according to the road condition characteristics, the type and height of the crops, and the vehicle body posture characteristics;

[0036] An operating state of the suspension unit is adjusted based on the driving signal.

[0037] Optionally, in the aforementioned control method of the sprayer suspension system, a preset time is set as a cycle interval, current road condition information, crop information and vehicle body information are recollected, and a first signal is formed;

[0038] Based on the first signal, current road condition characteristics, the type and height of the crops, and the vehicle body posture characteristics are obtained, and a driving signal is obtained according to the road condition characteristics, the type and height of the crops, and the vehicle body posture characteristics;

[0039] The suspension unit is controlled based on the driving signal to adjust the working state of the suspension unit.

[0040] By means of the above technical solution, the self-propelled sprayer suspension system and control method thereof of the present invention have at least the following advantages:

[0041] The self-propelled sprayer suspension system provided in the embodiment of the present invention can collect current road condition information, crop information and vehicle body information through an information collection unit arranged on the vehicle body, and send it to the information processing unit in the form of a first signal. The information processing unit can obtain the current road condition characteristics, the type and height of the crops and the vehicle body posture characteristics based on the first signal processing, and further process to obtain a driving signal, and then send the driving signal to the suspension controller. At this time, the suspension controller can drive the suspension unit to make appropriate adjustments according to the driving signal, that is, adjust the height, stiffness, damping size and other working parameters of the suspension unit according to the current road condition characteristics, the type and height of the crops and the vehicle body posture characteristics, thereby ensuring that the vehicle body has a suitable ground clearance from the ground, and enabling the vehicle body to move smoothly on the current road surface, further reducing the vibration, swing and rotation of the spray rod of the spray device on the vehicle body, so that the spray rod is kept at a constant height, so that the spraying is more uniform and the drift is reduced, thereby improving and ensuring the spraying accuracy.

[0042] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] By reading the detailed description below with reference to the accompanying drawings, the above and other purposes, features and advantages of the exemplary embodiments of the present application will become easy to understand. In the accompanying drawings, several embodiments of the present application are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0044] Figure 1 The electrical connection structure diagram of a self-propelled sprayer suspension system is schematically shown;

[0045] Figure 2 The schematic diagram of the structure of a self-propelled sprayer is shown schematically;

[0046] Figure 3 The structure diagram of a suspension unit of a self-propelled sprayer suspension system is schematically shown;

[0047] Figure 4 A flow chart of a control method for a suspension system of a self-propelled sprayer is schematically shown.

[0048] Figure 1-Figure 3 The labels are:

[0049] Information collection unit 100, information processing unit 200, suspension controller 300, suspension unit 400, vehicle body 20, cab 21, chassis 22, wheel hub 1, walking bracket 2, steering support arm 3, bearing seat 4, rotating shaft 5, swing arm 6, accumulator 7, proportional flow control valve 8, acceleration sensor 9, displacement sensor 10, frame 11, steering drive 12, vibration reduction component 13, camera component 14, infrared height detection component 15, optical radar scanning component 16, non-contact road condition recognition component 17, acceleration sensor component 18, gyroscope component 19. DETAILED DESCRIPTION

[0050] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0051] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which this application belongs.

[0052] Embodiment 1

[0053] like Figure 1 and Figure 2 As shown, a self-propelled sprayer suspension system proposed in Embodiment 1 of the present invention includes:

[0054] The information collection unit 100 is disposed on the vehicle body 20 and is used to collect road condition information, crop information and vehicle body 20 information, and generate a first signal;

[0055] The information processing unit 200 is connected to the information acquisition unit 100, and is used to receive and process the first signal, obtain the current road condition characteristics, the type and height of the crops, and the posture characteristics of the vehicle body 20, and obtain the driving signal according to the road condition characteristics, the type and height of the crops, and the posture characteristics of the vehicle body 20;

[0056] A suspension controller 300 connected to the information processing unit 200;

[0057] The suspension unit 400 is disposed between the vehicle body 20 and the wheel hub. The suspension unit 400 is connected to the suspension controller 300. The suspension controller 300 controls the suspension unit 400 to adjust the working state of the suspension unit 400 based on the driving signal.

[0058] Specifically, the self-propelled sprayer used in the self-propelled sprayer suspension system provided in the embodiment of the present invention is a four-wheel walking mechanism, and the suspension unit 400 is arranged between the wheel hub and the body 20 to play a shock absorbing role; the body 20 is the part of the self-propelled sprayer excluding the wheel hub and the suspension unit 400, and may include a chassis 22, a cab 21, a power system, a spray device arranged on the chassis 22, etc. The specific structure is known to technical personnel and will not be described in detail in the embodiment of the present invention. Among them, the self-propelled sprayer suspension system provided in the embodiment of the present invention does not limit the specific structure of the body 20 and the structure of the suspension unit 400, so in order to facilitate the description of the setting position of the information collection unit 100 in the self-propelled sprayer suspension system provided in the embodiment of the present invention, the embodiment of the present invention provides a simplified self-propelled sprayer Figure 2 , and an example suspension unit 400 Figure 3 .

[0059] Figure 3The various structural parts of the suspension unit shown are: wheel hub 1, running bracket 2, steering support arm 3, bearing seat 4, rotating shaft 5, swing arm 6, accumulator 7, proportional flow control valve 8, acceleration sensor 9, displacement sensor 10, frame 11, steering drive 12, and shock absorbing component 13 (such as air spring or hydraulic cylinder).

[0060] The information collection unit 100 may be composed of a plurality of detection components, as long as it can collect and obtain the road condition information, crop information and vehicle body 20 information of the ground where the current self-propelled sprayer is located, for example, it may include a camera component 14, an infrared height detection component 15, a laser radar scanning component 16, a non-contact road condition recognition component 17, an acceleration sensor component 18 and a gyroscope component 19, etc. The collected road condition information may indicate the characteristics of the road surface on which the current self-propelled sprayer is traveling, the crop information may indicate the types of crops currently planted on the ground and the current height of the crops, and the vehicle body 20 information may indicate the posture characteristics such as whether the current self-propelled sprayer body 20 is tilted and in which direction it is tilted, as well as information such as the specific tilt angle of the vehicle body 20. Among them, the information collection unit 100 may also include a signal generating component for processing the above-mentioned collected information into a first signal and sending it to the information processing unit 200.

[0061] The information processing unit 200 may include a processor capable of processing the first signal and obtaining the current road condition characteristics, the type and height of crops, and the posture characteristics of the vehicle body 20 contained in the first signal, such as a digital signal processor (DSP); and the processor of the information processing unit 200 can obtain a driving signal based on the current road condition characteristics, the type and height of crops, and the posture characteristics of the vehicle body 20. The processing method may be a prefabricated algorithm (the algorithm has been mastered by technical personnel and is not limited by the present invention), or it may be to compare the above-mentioned characteristics obtained with the characteristics pre-stored in a database, and the processing method corresponding to the characteristics obtained by the comparison is used as a part of the execution of the driving signal.

[0062] The suspension controller 300 can be a microprocessor or a single-chip microcomputer. The suspension controller 300 only needs to control the operation of the suspension unit 400 based on the drive signal, and can be connected to the drive component or actuator of the suspension unit 400. Specifically, the suspension controller 300 can control the shock absorbing component of the suspension unit 400 by controlling the air source or switch valve body (such as a proportional flow control valve) of the suspension unit 400. For example, by controlling the elongation, damping and stiffness of the shock absorbing unit, the height, stiffness, damping size and other working parameters of the suspension unit 400 can be adjusted to ensure that the vehicle body 20 has a suitable ground clearance from the ground and that the vehicle body 20 can move smoothly on the current road surface.

[0063] The self-propelled sprayer suspension system provided by the embodiment of the present invention can collect current road condition information, crop information and vehicle body 20 information through the information collection unit 100 arranged on the vehicle body 20, and send it to the information processing unit 200 in the form of a first signal. The information processing unit 200 can obtain the current road condition characteristics, the type and height of the crops and the posture characteristics of the vehicle body 20 based on the first signal processing, and further process to obtain the driving signal, and then send the driving signal to the suspension controller 300. At this time, the suspension controller 300 can drive the suspension unit 400 to make appropriate adjustments according to the driving signal, that is, adjust the height, stiffness, damping size and other working parameters of the suspension unit 400 according to the current road condition characteristics, the type and height of the crops and the posture characteristics of the vehicle body 20, thereby ensuring that the vehicle body 20 has a suitable ground clearance from the ground, and enabling the vehicle body 20 to walk smoothly on the current road surface, further reducing the vibration, swing and rotation of the spray rod of the spray device on the vehicle body 20, so that the spray rod is kept at a constant height, so that the spraying is more uniform and the drift is reduced, and the spraying accuracy is improved and guaranteed.

[0064] In a specific implementation, the information processing unit 200 includes a calculation module and a database module, and the calculation module is connected to the information collection unit 100 and the database module respectively;

[0065] The computing module compares the road condition characteristics with the data in the database module to obtain a road condition model corresponding to the current road surface and forms a road condition signal; the computing module compares the information of the type and height of the crops with the data in the database module to obtain crop data information and form a crop data signal; the computing module compares the posture characteristics of the vehicle body 20 with the data in the database module to obtain vehicle body 20 adjustment information and form a vehicle body 20 adjustment signal;

[0066] The road condition signal, the crop data signal and the vehicle body 20 adjustment signal are integrated into the driving signal.

[0067] Specifically, the operation module can be any processor capable of processing data, such as a microprocessor, and the algorithm used is known to technicians. According to the actual needs of the present invention, it can be specifically designed without the need for innovative inventions, so the embodiments of the present invention will not be repeated. The database module can include multiple submodules, namely, a first submodule including multiple road condition models, a second submodule including multiple crop data information such as crop types and heights, and a third submodule including vehicle body 20 adjustment information corresponding to multiple vehicle body 20 postures, wherein the crop data information in the second submodule not only has characteristics such as crop types and heights, but also has information on how to drive the suspension to work corresponding to the crop types and heights. Further, based on the road condition signal including the road condition model information, the crop data signal including the crop data information, and the vehicle body 20 adjustment signal including the vehicle body 20 adjustment information, that is, based on the driving signal formed by geometry, the suspension unit 400 can be adaptively adjusted to meet the current road conditions and crop conditions.

[0068] It should be noted that the road condition model, crop data information and vehicle body 20 adjustment information contained in the above database are all data already obtained by technicians in this field, that is, the data in the database are directly used by technicians.

[0069] like Figure 1 and Figure 2 As shown, in a specific implementation, the information acquisition unit 100 includes a camera 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; wherein the camera component 14 and the infrared height detection component 15 are used to collect crop information; the camera component 14, the laser radar scanning component 16 and the non-contact road surface condition recognition component 17 jointly detect and obtain the road condition information; the acceleration sensor component 18 and the gyroscope component 19 jointly detect and obtain the vehicle body 20 information.

[0070] Furthermore, the camera component 14 is arranged on one side of the forward direction of the vehicle body 20 and the lens is facing the ground; the infrared height detection component 15 is arranged near the camera component 14 and the detection end is facing the ground; the laser radar scanning component 16 is arranged at the bottom of one side of the forward direction of the vehicle body 20; the non-contact road condition recognition component 17 is arranged near the laser radar scanning component 16; the acceleration sensor component 18 and the gyroscope component 19 are arranged in the middle position of the bottom of the vehicle body 20.

[0071] Specifically, two camera components 14 can be provided and respectively provided on the outer wall of the cab 21 of the vehicle body 20, and located on the left and right sides of the outer wall of the cab 21 and close to the front windshield, so that the camera component 14 obliquely facing the ground can clearly photograph the road surface on which the self-propelled sprayer is to travel, and clearly photograph and identify the crops currently planted on the ground; wherein the camera component 14 can be a CCD camera; in addition, a lighting component can be added to the camera component 14, for example, an LED light illuminating the ground can be provided near the camera component 14. The infrared height detection component 15 can be provided near the camera component 14, that is, also provided on the left and right sides of the outer wall of the cab 21, and then the height of the crops on the ground can be detected by the infrared height detection component 15. The laser radar scanning component 16 is provided at the bottom of the vehicle body 20, that is, it can be provided on the lower surface of the chassis 22, and is used to detect the convexity and concavity of the ground in front of the current self-propelled sprayer to travel, so that in combination with the height of the crops, it is possible to know how to adjust the suspension unit 400. The non-contact road condition recognition component 17 is also arranged on the lower surface of the chassis 22, and is used to detect whether there is water, ice, ice-water mixture, snow or frost on the ground, and obtain data that further affects the road condition, so that the suspension adjustment is more accurate. The gyroscope component 19 collects the roll angle, pitch angle, etc. of the vehicle body 20, and the acceleration sensor detects the instantaneous acceleration of the vehicle body 20 in the direction perpendicular to the ground and in the direction parallel to the ground. According to these two data, the characteristics of the posture of the vehicle body 20 can be obtained, and then according to the above comparison with the data in the database, the adjustment information of the vehicle body 20 can be obtained, and then the suspension unit 400 is adjusted to make the vehicle body 20 stable.

[0072] In a specific implementation, the self-propelled sprayer suspension system provided by the embodiment of the present invention further includes:

[0073] like Figure 3 As shown, at least four acceleration sensors 9 are connected to the suspension controller 300 and are respectively arranged on the four suspension units 400 below the vehicle body 20, for detecting the instantaneous acceleration or instantaneous speed of the suspension unit 400 after adjustment, and sending the instantaneous acceleration or instantaneous speed to the suspension controller 300;

[0074] At least four displacement sensors 10 are connected to the suspension controller 300 and are respectively arranged on the four suspension units 400 under the vehicle body 20 to detect the self-stroke of the buffer component of the suspension unit 400 after adjustment and send the self-stroke to the suspension controller 300.

[0075] Specifically, the arrangement positions of the four acceleration sensors and the four displacement sensors can be as follows: Figure 3As shown, it is used to detect the instantaneous acceleration or instantaneous speed of each suspension unit 400, as well as the self-stroke of each suspension unit 400, and feed back these data to the suspension controller 300, so that the suspension controller 300 can understand whether the suspension unit 400 is adjusted in place and whether it is over-adjusted.

[0076] In addition, if the displacement sensor arranged on the suspension unit detects that the suspension unit's own stroke adjustment is excessive or seriously insufficient, an alarm signal can be sent out through the suspension controller, and then the alarm device prompts the user to manually adjust the suspension unit. At this time, the user can adjust the suspension unit through manual adjustment to further ensure the accuracy of the suspension unit adjustment.

[0077] In a specific implementation, the self-propelled sprayer suspension system provided by the embodiment of the present invention further includes:

[0078] A speed detection unit (not shown in the figure), which is connected to the suspension controller 300 and is used to detect the current driving speed of the self-propelled sprayer suspension system;

[0079] The suspension controller 300 controls the working state of the suspension unit based on the driving signal, the driving speed and the current mass of the vehicle body 20 .

[0080] Specifically, by further matching the driving speed and the current mass of the vehicle body 20 with the driving signal obtained by the detection, the suspension unit 400 can be more accurately controlled to adjust its working state, that is, the self-propelled sprayer can be made to travel more stably on the current road surface, thereby making the spraying boom of the spraying equipment more stable and further improving the spraying accuracy.

[0081] Among them, since the current mass of the vehicle body 20 is further added as a parameter for controlling the working state of the suspension unit, the suspension controller 300 can control the suspension unit to be within a reasonable stiffness adjustment range based on the mass information of the vehicle body, thereby effectively extending the service life of the suspension unit.

[0082] Furthermore, the formula for obtaining the current mass of the vehicle body 20 is:

[0083]

[0084] Among them, the r is the density ratio of the liquid medicine to water, which can be between 1.0 and 1.6. x is the amount of pesticide applied per unit area, v is the current speed of the self-propelled sprayer, L is the width of the spray boom of the self-propelled sprayer, M0 is the mass of the self-propelled sprayer when fully loaded, and t p For spraying duration, It is the mass of liquid sprayed by the self-propelled sprayer per unit time.

[0085] Specifically, by setting the above formula, as many influencing factors as possible when the self-propelled sprayer is moving can be taken into consideration, thereby further improving the control accuracy of the suspension unit 400.

[0086] Embodiment 2

[0087] Embodiment 2 of the present invention proposes a method as follows Figure 4 The control method of the sprayer suspension system shown is used for the self-propelled sprayer suspension system provided in the above embodiment 1, comprising:

[0088] 201. Collect current road condition information, crop information, and vehicle body information, and form a first signal;

[0089] 202. Obtaining current road condition characteristics, the type and height of crops, and vehicle body posture characteristics based on the first signal processing, and obtaining a driving signal according to the road condition characteristics, the type and height of crops, and the vehicle body posture characteristics processing;

[0090] 203. Adjust the working state of the suspension unit based on the driving signal.

[0091] Specifically, in combination with the content of Example 1, it can be known that the current road condition information, crop information and vehicle body information can be collected by the information collection unit, that is, the crop information is collected by the camera component and the infrared height detection component, the road condition information is obtained by jointly detecting the camera component, the lidar scanning component and the non-contact road condition recognition component, and the vehicle body information is obtained by jointly detecting the acceleration sensor component and the gyroscope component, and then these information are integrated to form a first signal.

[0092] The information processing unit then processes the first signal to obtain current road condition characteristics, crop types and heights, and vehicle body posture characteristics. The calculation module in the information processing unit compares the road condition characteristics with the data in the database module to obtain a road condition model corresponding to the current driving surface and forms a road condition signal; the calculation module compares the information on the types and heights of crops with the data in the database module to obtain crop data information and form a crop data signal; the calculation module compares the vehicle body posture characteristics with the data in the database module to obtain vehicle body adjustment information and form a vehicle body adjustment signal; then the road condition signal, the crop data signal, and the vehicle body adjustment signal are integrated into a drive signal.

[0093] After that, the suspension controller can control and adjust the suspension unit based on the drive signal, so that the suspension unit meets the current road conditions, crop types and growth status, and the status of the vehicle body, and adjust the height, stiffness, damping size and other working parameters of the suspension unit, thereby ensuring that the vehicle body has a suitable ground clearance from the ground, and that the vehicle body can move smoothly on the current road surface, further reducing the vibration, swing and rotation of the spray rod of the spray device on the vehicle body, and keeping the spray rod at a constant height, thereby making the spraying more uniform and reducing drift, thereby improving and ensuring the spraying accuracy.

[0094] The method provided in the embodiment of the present invention can be applied to the suspension system of a self-propelled sprayer, so that the suspension system of the self-propelled sprayer can collect current road condition information, crop information and vehicle body information through an information collection unit arranged on the vehicle body, and send it to the information processing unit in the form of a first signal. The information processing unit can obtain the current road condition characteristics, the type and height of the crops and the vehicle body posture characteristics based on the first signal processing, and further process to obtain a driving signal, and then send the driving signal to the suspension controller. At this time, the suspension controller can drive the suspension unit to make appropriate adjustments according to the driving signal, that is, adjust the height, stiffness, damping size and other working parameters of the suspension unit according to the current road condition characteristics, the type and height of the crops and the vehicle body posture characteristics, thereby ensuring that the vehicle body has a suitable ground clearance from the ground, and enabling the vehicle body to move smoothly on the current road surface, further reducing the vibration, swinging and rotation of the spray rod of the spray device on the vehicle body, so that the spray rod is kept at a constant height, so that the spraying is more uniform and the drift is reduced, and the spraying accuracy is improved and guaranteed.

[0095] In a specific implementation, a preset time is set as a cycle interval to re-collect current road condition information, crop information and vehicle body information, and form a first signal;

[0096] Based on the first signal, current road condition characteristics, the type and height of the crops, and the vehicle body posture characteristics are obtained, and a driving signal is obtained according to the road condition characteristics, the type and height of the crops, and the vehicle body posture characteristics;

[0097] The suspension unit is controlled based on the driving signal to adjust the working state of the suspension unit.

[0098] Specifically, by cyclically utilizing steps 201-203, it is possible to obtain road condition information, crop information, and vehicle body information in real time as the self-propelled sprayer moves, and adjust the suspension unit of the self-propelled sprayer in real time, so that the height, stiffness, damping size and other working parameters of the suspension unit meet the requirements of smooth driving of the vehicle body, and ensure that the vehicle body has a suitable ground clearance from the ground, thereby making the spraying more uniform and reducing drift, thereby improving and ensuring the spraying accuracy.

[0099] It is understandable that the related features in the above devices can be referenced to each other. In addition, the "first", "second" and the like in the above embodiments are used to distinguish the various embodiments, and do not represent the advantages and disadvantages of the various embodiments.

[0100] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known structures and technologies are not shown in detail so as not to obscure the understanding of this description.

[0101] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A self-propelled sprayer suspension system, characterized in that: include: An information collection unit is arranged on the vehicle body and is used to collect road condition information, crop information and vehicle body information, and generate a first signal; an information processing unit connected to the information acquisition unit, configured to receive and process the first signal, obtain current road condition characteristics, the type and height of the crops, and the vehicle body posture characteristics, and obtain a driving signal according to the road condition characteristics, the type and height of the crops, and the vehicle body posture characteristics; a suspension controller connected to the information processing unit; A suspension unit is arranged between the vehicle body and the wheel hub, the suspension unit is connected to 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 information processing unit includes a calculation module and a database module, and the calculation module is connected to the information collection unit and the database module respectively; The computing module compares the road condition characteristics with the data in the database module to obtain a road condition model corresponding to the current road surface and forms a road condition signal; the computing module compares the information of the type and height of the crops with the data in the database module to obtain crop data information and form a crop data signal; the computing module compares the body posture characteristics with the data in the database module to obtain body adjustment information and form a body adjustment signal; The road condition signal, the crop data signal and the vehicle body adjustment signal are integrated into the driving signal; Also includes: at least four acceleration sensors connected to the suspension controller and respectively arranged on the four suspension units under the vehicle body, for detecting the instantaneous acceleration or instantaneous speed of the suspension unit after adjustment, and sending the instantaneous acceleration or instantaneous speed to the suspension controller; At least four displacement sensors are connected to the suspension controller and are respectively arranged on the four suspension units under the vehicle body, for detecting the self-stroke of the buffer component of the suspension unit after adjustment, and sending the self-stroke to the suspension controller.

2. The self-propelled sprayer suspension system according to claim 1, characterized in that: The information collection unit includes a camera component, an infrared height detection component, a laser radar scanning component, a non-contact road condition recognition component, an acceleration sensor component and a gyroscope component; Among them, the camera component and the infrared height detection component are used to collect crop information; the camera component, the laser radar scanning component and the non-contact road condition recognition component jointly detect and obtain the road condition information; the acceleration sensor component and the gyroscope component jointly detect and obtain vehicle body information.

3. The self-propelled sprayer suspension system according to claim 2, characterized in that: The camera component is arranged on one side of the forward direction of the vehicle body with the lens facing 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 vehicle body in the forward direction; The non-contact road condition recognition component is arranged near the laser radar scanning component; The acceleration sensor component and the gyro component are arranged at a middle position of the bottom of the vehicle body.

4. The self-propelled sprayer suspension system according to claim 3, characterized in that: The number of the camera components and the infrared height detection components are both two, the two camera components are respectively arranged on the left and right sides of the outer wall of the cab of the vehicle body, and the two infrared height detection components are respectively arranged adjacent to the two camera components.

5. The self-propelled sprayer suspension system according to claim 1, characterized in that: Also includes: A speed detection unit, the speed detection unit is connected to the suspension controller and is used to detect the current travel speed of the self-propelled sprayer suspension system; The suspension controller controls the working state of the suspension unit based on the driving signal, the driving speed and the current mass of the vehicle body.

6. The self-propelled sprayer suspension system according to claim 1, characterized in that: The formula for obtaining the current mass of the vehicle body is: Among them, the r is the density ratio of the liquid medicine to water, the V x is the amount of pesticide applied per unit area, v is the current speed of the self-propelled sprayer, L is the width of the spray boom of the self-propelled sprayer, M0 is the mass of the self-propelled sprayer when fully loaded, and t p For spraying duration, It is the mass of liquid sprayed by the self-propelled sprayer per unit time.

7. A control method for a self-propelled sprayer suspension system, used for the self-propelled sprayer suspension system according to any one of claims 1 to 6, characterized in that: include: Collecting current road condition information, crop information, and vehicle body information, and forming a first signal; Based on the first signal, current road condition characteristics, the type and height of the crops, and the vehicle body posture characteristics are obtained, and a driving signal is obtained according to the road condition characteristics, the type and height of the crops, and the vehicle body posture characteristics; An operating state of the suspension unit is adjusted based on the driving signal.

8. The control method of the suspension system of the self-propelled sprayer according to claim 7, characterized in that: Setting a preset time as a cycle interval, recollecting current road condition information, crop information, and vehicle body information, and forming a first signal; Based on the first signal, current road condition characteristics, the type and height of the crops, and the vehicle body posture characteristics are obtained, and a driving signal is obtained according to the road condition characteristics, the type and height of the crops, and the vehicle body posture characteristics; The suspension unit is controlled based on the driving signal to adjust the working state of the suspension unit.

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