CN112976979B - Air suspension control method and device of high-ground-clearance spraying machine - Google Patents

Abstract

The invention discloses an air suspension control method and device of a high-clearance sprayer, which relate to the technical field of sprayer operation, can eliminate or weaken adverse effects on the performance operation of the whole sprayer to a greater extent, and further meet the requirements of the smoothness, the operating stability and the road friendliness of the sprayer, and the main technical scheme of the invention is as follows: calculating the time-varying property of the sprung mass in the processes of adding and spraying liquid by the spraying machine; acquiring different road surface information in the driving process of the spraying machine; and adjusting the opening of the throttle valve hole and simultaneously adjusting the height of the body of the spraying machine according to the time-varying property of the sprung mass and the road surface information.

Description

Air suspension control method and device for high ground clearance sprayer

technical field

The invention relates to the technical field of sprayer operation, in particular to an air suspension control method and device of a high ground clearance sprayer.

Background technique

It is very important to formulate the suspension control strategy of the sprayer chassis by analyzing the changing rules of the suspension parameters such as sprung mass and suspension height during the running process of the sprayer. The sprayer not only needs to be transported on ordinary roads, but also needs to complete the field spraying and plant protection operations.

At present, for two different working conditions, the requirements for suspension vibration reduction are also different. When transiting transportation, the vehicle speed is high (generally 20-40Km/h), and the road conditions are good (generally national roads, provincial roads, county roads, asphalt roads, cement roads, etc.), the driver's riding comfort and the whole machine The handling stability of the sprayer is a performance index that needs to be prioritized. At the same time, due to the large curb weight of the sprayer, it is necessary to take into account the road friendliness and reduce the impact and damage to the road surface. During plant protection operations, on the one hand, although the driving conditions of different plots are greatly affected by geographical landforms, soil wet viscosity, etc., the requirements for the whole machine are similar, that is, to minimize the dynamic load of the tires to prevent soil damage. Compaction and destruction. On the other hand, although the plant protection operation speed is low (no more than 20Km/h), the vibration of the body is not as severe as that of road transportation, but due to the complex field ground and the wide width of the boom, the slight inclination and vibration of the vehicle body will cause vibration of the boom. Vibration, swing and rotation greatly reduce the spraying effect, so the smoothness of the vehicle body is also an important factor to be considered in the process of plant protection operations. At the same time, the sprayer has a high ground clearance, a high center of gravity, and a large load, which is prone to rollover.

However, the complexity of the operating conditions of the sprayer and the time-varying of the sprung mass during the current operation will have a negative impact on the performance of the whole machine, and the existing air suspension control methods do not have better countermeasures.

SUMMARY OF THE INVENTION

The invention provides an air suspension control method and device for a high ground clearance sprayer, the main purpose of which is to realize the air suspension control of the high ground clearance sprayer by synthesizing the complexity of the sprayer's operating conditions and the time-varying quality of the sprung mass. The influence of the above factors on the performance of the whole machine can be largely eliminated or weakened, thereby meeting the requirements of the sprayer's driving smoothness, handling stability and road friendliness.

A first aspect of the present application provides an air suspension control method for a high ground clearance sprayer, the method comprising:

Calculate the time variation of sprung mass during the process of adding and spraying liquid to the sprayer;

Obtain different road information when the sprayer is driving;

According to the time-varying of the sprung mass and the road surface information, the opening degree of the throttle valve is adjusted and the vehicle height of the sprayer is adjusted at the same time.

In some modified embodiments of the first aspect of the present application, the time-varying calculation of the sprung mass during the process of adding and spraying liquid to the sprayer includes:

Obtain the sprung mass of the sprayer when it is unloaded;

Obtain the mass of the liquid pumped into the tank per unit time by the centrifugal pump;

Combining the atmospheric pressure and the absolute gas pressure in the air suspension, the time-varying mass of the sprung mass is calculated according to a preset formula.

In some modified embodiments of the first aspect of the present application, according to the time-varying of the sprung mass and the road surface information, adjusting the opening of the throttle valve and adjusting the body height of the sprayer at the same time includes:

In the process of spraying liquid or adding liquid, according to different road surface information, find the corresponding adjustment strategy of throttle valve hole opening degree to adjust the throttle valve hole opening degree;

During the operation of the sprayer spraying liquid or adding liquid, marking the first height value of the liquid and detecting the corresponding first vehicle body height value;

obtaining the second height value of the liquid according to a preset time interval;

judging whether the difference between the second height value and the first height value reaches a preset threshold;

If so, control the opening of the solenoid valve to adjust the opening degree of the throttle valve hole and adjust the vehicle height of the sprayer on the basis of the first vehicle height value.

A second aspect of the present application provides an air suspension control device for a high ground clearance sprayer, wherein the device includes:

The calculation unit is used to calculate the time-varying mass of the sprung mass during the process of adding and spraying liquid to the sprayer;

The acquisition unit is used to acquire different road surface information during the driving process of the sprayer;

The adjusting unit is used for adjusting the opening degree of the throttle valve and adjusting the vehicle height of the sprayer at the same time according to the time-varying of the sprung mass and the road surface information.

In some modified implementations of the second aspect of the present application, the computing unit includes:

The acquisition module is used to acquire the sprung mass of the sprayer when it is not loaded;

The acquisition module is also used to acquire the quality of the liquid pumped into the tank per unit time by the centrifugal pump;

The calculation module is used to calculate the time-varying mass of the sprung mass according to the preset formula in combination with the atmospheric pressure and the absolute gas pressure in the air suspension.

In some modified implementations of the second aspect of the present application, the adjustment unit includes:

The adjustment module is used to find the corresponding strategy for adjusting the opening degree of the throttle valve hole according to the information of different road surfaces to adjust the opening degree of the throttle valve hole during the operation of the sprayer spraying liquid or adding liquid;

The marking module is used for marking the first height value of the liquid and detecting the corresponding first vehicle body height value during the operation of the sprayer in spraying liquid or adding liquid;

an acquisition module, configured to acquire the second height value of the liquid according to a preset time interval;

a judgment module for judging whether the difference between the second height value and the first height value reaches a preset threshold;

The control module is used for judging that the difference between the second height value and the first height value reaches a preset threshold, and then controls the opening of the solenoid valve to adjust the opening of the throttle valve and based on the first vehicle height value Adjust the height of the sprayer above.

A third aspect of the present application provides a storage medium, the storage medium includes a stored program, wherein when the program is executed, a device where the storage medium is located is controlled to execute the above-mentioned air suspension control method for a high ground clearance sprayer.

A fourth aspect of the present application provides an electronic device, the device includes at least one processor, and at least one memory and a bus connected to the processor;

Wherein, the processor and the memory communicate with each other through the bus;

The processor is used for invoking the program instructions in the memory to execute the above-mentioned air suspension control method for a high ground clearance sprayer.

By the above-mentioned technical scheme, the technical scheme provided by the present invention has at least the following advantages:

The invention provides an air suspension control method and device for a sprayer with high ground clearance. The invention calculates the time-variation of sprung mass during the process of adding liquid and spraying liquid to the sprayer. According to the different road information, adjust the opening of the throttle valve and adjust the height of the sprayer at the same time. Compared with the prior art, the present invention solves the technical problems of not eliminating the complexity of the operating conditions of the fog machine and the influence of the time-varying factor of the sprung mass on the operation during the operation of the sprayer. The time-varying properties and sprung mass of the sprayer realizes the air suspension control of the sprayer with high ground clearance, which can largely eliminate or reduce the influence of the above factors on the performance of the whole machine, and then meet the requirements of the sprayer's driving smoothness, handling stability and road friendliness requirements.

The above description is only an overview of the technical solutions of the present invention, in order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand , the following specific embodiments of the present invention are given.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are for the purpose of illustrating preferred embodiments only and are not to be considered limiting of the invention. Also, the same components are denoted by the same reference numerals throughout the drawings. In the attached image:

1 is a flowchart of an air suspension control method for a high ground clearance sprayer provided by an embodiment of the present invention;

FIG. 2 is a flow chart of vehicle height adjustment control during a time-varying process of sprung mass according to an embodiment of the present invention;

3 is a schematic diagram of an air suspension control system according to an embodiment of the present invention;

4 is a block diagram of the composition of an air suspension control device for a high ground clearance sprayer provided by an embodiment of the present invention;

5 is a block diagram of the composition of another air suspension control device for a high ground clearance sprayer provided by an embodiment of the present invention;

FIG. 6 is an electronic device for controlling the air suspension of the high ground clearance sprayer according to an embodiment of the present invention.

Detailed ways

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present invention will be more thoroughly understood, and will fully convey the scope of the present invention to those skilled in the art.

The embodiment of the present invention provides an air suspension control method for a high ground clearance sprayer, as shown in FIG. 1 , and the embodiment of the present invention provides the following specific steps:

101. Calculate the time variation of the sprung mass during the process of adding and spraying liquid to the sprayer.

In the embodiment of the present invention, this step is refined as follows: obtaining the sprung mass of the sprayer when it is no-load, obtaining the liquid mass drawn into the tank by the centrifugal pump per unit time, combining the atmospheric pressure and the absolute gas pressure in the air suspension , according to the preset formula, calculate the time-varying of the sprung mass.

Exemplarily, when the sprayer is adding water and spraying, the sprung mass will change, which will cause a wide range of changes in vehicle height. Appropriate adjustment devices and control strategies are required to offset the impact of load changes on vehicle height, △ m _bs is the quality of the liquid medicine pumped into the medicine box per unit time by the centrifugal pump, and the calculation formula is as follows: formula (1):

Among them, γ is the density ratio of liquid medicine to water. Different types of liquid medicine have different standard concentrations, and γ is also different, generally ranging from 1.0 to 1.6; _VL is the unit area recommended by chemical manufacturers. The application rate of , in L/hm ² ; v is the traveling speed of the sprayer during plant protection operation, in m/s; L is the width of the boom, in m. Since the dosage and standard concentration of different liquid medicines per unit area are different, the quality of sprayed liquid medicines per unit time is also different.

In the process of plant protection operation, it is assumed that the sprayer is uniformly applied and has nothing to do with the running state of the vehicle. Let m _bp0 be the full-load sprung mass of the sprayer, in kg; time t _p is the spraying time, in s; △m _bp is the spray mass of the sprayer per unit time, in kg; then the sprung mass m _b can be expressed as is a piecewise function with respect to t _p as shown in formula (2).

From the mathematical model, the relationship between the sprung mass displacement and the internal pressure of the suspension has the following formula (3).

Taking the derivation of both sides of formula (3), the relationship between the variables of the air suspension during spraying can be obtained as the following formula (4):

In the same way, the relationship between the variables of the air suspension when the medicine is applied is as follows, and the following formula (5) is obtained:

Among them, in formula (4) and formula (5), m _bs0 is the sprung mass of the sprayer when it is not loaded, the unit is kg; Δm _bs is the mass of the liquid medicine pumped into the medicine box by the centrifugal pump per unit time, the unit is kg . P _a and P ₁ are atmospheric pressure and absolute gas pressure in any state in the air suspension, respectively, A _e is the effective area of the air suspension, W _g is the gravity generated by the sprung mass, Z _b is the body deflection, and Z _t is Unsprung mass deflection, C _s is the damping coefficient of the rubber air suspension itself, and g is the acceleration of gravity.

102. Obtain different road information during the driving process of the sprayer.

Among them, different pavement information is mainly for two different working conditions: transporting conditions on ordinary roads, and spraying and plant protection working conditions in the field.

In the embodiment of the present invention, it is exemplified that an industrial camera can be used to capture road image data during the driving process of the sprayer, and noise, random blur, translation, horizontal and vertical mirroring, and diagonal flip can be performed on the road image data. and other preprocessing methods such as data augmentation methods to augment the data, and then use the augmented pavement image information to obtain more and more abundant pavement image information as training samples to train the pavement model of the deep learning algorithm. It is used to process and output the corresponding road surface information according to the captured road surface image data during the driving process of the sprayer.

103. According to the time-varying sprung mass and road surface information, adjust the opening of the throttle valve and adjust the body height of the sprayer at the same time.

It should be noted that, in the embodiment of the present invention, the influence of different road conditions on the spraying operation is considered, and different road surface information is also used as a reference factor in the process of adjusting the height of the vehicle body. The throttle opening strategy, for example, can be adjusted according to different road surfaces to switch between [3.5mm, fully open], [4.5mm, fully open] or [5mm, fully open] to Adjust the system suspension stiffness damping.

Further, in addition to considering different road surface information, the influence of the time-varying sprung mass on the spraying operation should also be considered, and usually the time-varying effect of the sprung mass is more than that of road conditions, so it is relatively The priority should be higher.

In the embodiment of the present invention, in conjunction with the control flow chart of vehicle height adjustment during the time-varying process of sprung mass shown in FIG.

First, during the working process of the sprayer spraying liquid or adding liquid, the first height value of the liquid is marked and the corresponding first vehicle body height value is detected. It should be noted that the first height value marks an initial height value of the liquid, which is used to subsequently detect the change in the height of the liquid during spraying or adding liquid based on the initial height value. The first vehicle height value is Refers to the corresponding acquisition of the vehicle height value at this time while marking the first height value. In addition, the “first” and “second” mentioned in the embodiments of the present invention are only used to clearly distinguish between different liquid heights or vehicle heights. , there is no precedence for referring to things.

Second, according to a preset time interval, a second height value of the liquid is obtained, and it is determined whether the difference between the second height value and the first height value reaches a preset threshold value. The judging and comparing operation is equivalent to triggering the timing of whether to control the opening of the solenoid valve, and if so, control the opening of the solenoid valve to adjust the opening of the throttle valve and adjust the vehicle height of the sprayer based on the first vehicle height value.

It should be noted that, for example, when the sprayer is adding water and spraying, the sprung mass will change, which will cause a wide range of changes in the height of the vehicle body, and suitable adjustment devices and control strategies are required to offset the load changes on the vehicle body. However, if the height of the vehicle is adjusted too frequently, it will also have a negative impact on the performance of the sprayer. Therefore, the height value of the liquid medicine at the next moment is obtained by comparing the preset time interval, and then the height value is compared with the medicine liquid. A comparison operation is performed between the difference between the initial height values of the fluid and a preset threshold, and the comparison operation is used to trigger a judgment on whether the current vehicle height needs to be adjusted.

In the embodiment of the present invention, the combined control method of sensor and solenoid valve is adopted, and through appropriate control strategy and algorithm, not only can the vehicle height be accurately tracked, but also the vehicle body posture can be leveled and the suspension load can be adjusted. In view of the possible load imbalance during the operation of the sprayer, the embodiment of the present invention adopts the sensor to feed back the displacement signal of the air suspension, and controls the vehicle height, and the signals measured by the sensor are processed by Kalman filter.

Exemplarily, the relevant operations required for the vehicle height adjustment control during the time-varying process of the sprung mass are specifically stated as follows:

First, obtain the vibration differential equation of the suspension system as, the following formula (6):

为簧载质量的加速度与速度；

为非簧载质量的加速度与速度；

为地面激励速度。Among them, k _t , c _t are tire stiffness and damping; m _b , m _t are sprung and unsprung mass; x _b , x _t , w are sprung mass, unsprung mass and ground excitation displacement, a is The rate of change of the air suspension volume with height, calculated by fitting, is 0.06; V ₁₀ is the volume of the suspension at the initial equilibrium position, and V ₁₀ =0.33V ₂ ;

are the acceleration and velocity of the sprung mass;

are the acceleration and velocity of the unsprung mass;

Exciting velocity for the ground.

(陀螺仪，放置于车辆底盘中心位置)，并与目标值进行比较，再由控制器计算得到每个空气悬架的充/放气量，控制空气悬架，最终使喷雾机获得最佳的行驶平顺性和道路友好性。测得喷雾机在斜坡行驶时前、后方向和左、右方向的倾斜程度，并根据倾斜角度和轴距、轮距等计算得到调节量Dt，如下公式(7)：Secondly, the real-time body height xCOG (displacement sensor), sprung and unsprung acceleration, roll angle θ and pitch angle are obtained through corresponding sensors.

(The gyroscope, placed in the center of the vehicle chassis), and compared with the target value, and then the controller calculates the air charge/discharge amount of each air suspension, controls the air suspension, and finally makes the sprayer get the best driving Ride and road friendliness. Measure the inclination of the sprayer in the front, rear and left and right directions when driving on a slope, and calculate the adjustment amount Dt according to the inclination angle, wheelbase, wheelbase, etc., as shown in the following formula (7):

为陀螺仪测得的车身侧倾角和俯仰角，L、B_F分别为轴距和轮距。Among them, x _bij is the displacement of the four wheels, θ,

are the body roll angle and pitch angle measured by the gyroscope, and _L and BF are the wheelbase and wheelbase, respectively.

In addition, further, it should be noted that temperature has a great influence on the air suspension, the static stiffness of the air suspension under different temperature conditions, compare the influence of each parameter change on the static stiffness of the air suspension, and summarize the air suspension Stiffness changes with temperature. As the temperature decreases, the vertical and lateral static stiffness of the air suspension increases. For different parameters: when only the cord material parameters are changed, the vertical static stiffness and lateral static stiffness increase with the decrease of temperature; when only the rubber material parameters are changed, the vertical static stiffness first decreases and then increases, and the lateral static stiffness increases with the decrease of temperature . The increase in the volume of the additional air chamber reduces the sensitivity of the vertical static stiffness to temperature changes; the lateral static stiffness is the largest when the cord angle is 16°, and the smallest at 64°, and this trend is not affected by temperature.

In the embodiment of the present invention, an exemplary air suspension control system, as shown in FIG. 3, includes an air suspension, an air supply system, and a height control valve; the height control valve is used to detect the relative height of the vehicle body and the chassis; the air suspension The frame and the height control valve are connected to the air supply system; when the height of the body relative to the chassis changes, a pressure difference is generated between the left and right ends of the height control valve, and the air supply system supplies or releases gas to the control valve to restore both ends of the height control valve. 0 differential pressure.

The air suspension control system further includes an air storage tank, the air storage tank is in communication with the air supply system, and the air storage tank is also in communication with the height control valve and the atmosphere. The air suspension control system further includes a compressor, which is communicated with the air supply system and the air storage tank, respectively.

The height control valve detects the relative height of the vehicle body and the chassis; when the height control valve detects that the attitude of the vehicle is high, the height control valve opens, the air flows in the reverse direction to the air storage tank, and the air storage tank is exhausted to the atmosphere; When it is detected that the attitude is stable, the height control valve is closed, and the air supply system cannot be inflated; when the height control valve detects that the vehicle attitude is low, the height control valve is opened, and the air supply system supplies air to the air suspension.

When the air in the air storage tank is insufficient and the air suspension needs to adjust the attitude, the compressor directly pumps air into the air suspension.

When the gas in the air storage tank is insufficient, and the air suspension does not need to adjust the attitude, the compressor pumps air to the air storage tank.

When the gas in the air tank is sufficient and the air suspension needs to adjust the attitude, the air tank is used for pumping.

Including, encounter a variety of working road conditions.

The traditional suspension suspension structure is replaced with an air suspension, and the air supply system and other components complete the replacement of the entire suspension suspension. The control system controls the air suspension, the air supply system works, and then is leveled to the suspension to achieve the purpose of stabilizing the body posture. Suspension that can be adapted to the height of the vehicle in a timely manner according to road conditions.

The valve core switching of the solenoid valve can realize the active adjustment of the suspension height of the sprayer. Compared with the traditional mechanical height adjustment, it can select different body heights according to the different driving conditions of the sprayer. In the process of height adjustment, the air suspension exchanges air quality between the air suspension and the air storage tank through inflation or exhaust. Since the opening of the solenoid valve is certain, its opening time determines the quality of the exchanged gas, which in turn determines the adjustment height of the suspension. , the height adjustment of the sprayer air suspension is achieved by inflating and exhausting the suspension. During the spraying process of the sprayer, the mass of the car body changes with the change of the amount of liquid medicine in the medicine box, and the air suspension is deformed under the action of the car body load and its internal air pressure, which makes the height sensor swing rod installed on the upper and lower sides of the suspension. Synchronous wobble, the angle of wobble is converted into electrical pulse signal. The controller compares the real-time electrical pulse signal measured by the sensor with the initial signal, and then converts the difference between the current vehicle height and the target vehicle height into an electrical pulse signal and transmits it to the solenoid valve to determine that the solenoid valve spool is in the upper position ( Inflation) or lower position (exhaust), the duration of the pulse determines the duration of the spool position, so as to achieve vehicle height control by controlling the amount of gas charged into the suspension or released from the suspension.

To sum up, the embodiment of the present invention provides an air suspension control method for a high ground clearance sprayer. The embodiment of the present invention calculates the time-varying mass of the sprung mass during the process of adding liquid and spraying liquid to the sprayer. According to the time-varying load quality and different road surface information, adjust the opening of the throttle valve and adjust the body height of the sprayer at the same time. Compared with the prior art, to solve the technical problem that the complexity of the fog machine operating conditions and the influence of the time-varying factor of the sprung mass on the operation are not eliminated during the operation of the sprayer, the embodiment of the present invention is a comprehensive sprayer operating condition. The complexity and the time-varying of the sprung mass realize the air suspension control of the sprayer with high ground clearance, which can eliminate or reduce the influence of the above factors on the performance of the whole machine to a great extent, and then satisfy the driving smoothness and handling stability of the sprayer. and road friendliness requirements.

Further, as an implementation of the method shown in FIG. 1 , an embodiment of the present invention provides an air suspension control device for a high ground clearance sprayer. This apparatus embodiment corresponds to the foregoing method embodiments. For ease of reading, this apparatus embodiment will not repeat the details in the foregoing method embodiments one by one, but it should be clear that the apparatus in this embodiment can correspondingly implement the foregoing method embodiments. the entire contents of the example. The device is used to control the air suspension of the high ground clearance sprayer by integrating multiple factors, as shown in Figure 4. The device includes:

The calculation unit 31 is used to calculate the time-varying of the sprung mass during the process of adding liquid and spraying liquid to the sprayer;

an acquisition unit 32 for acquiring different road surface information during the driving process of the sprayer;

The adjusting unit 33 is used for adjusting the opening degree of the throttle valve and adjusting the vehicle height of the sprayer at the same time according to the time-varying of the sprung mass and the road surface information.

Further, as shown in Figure 5, the computing unit 31 includes:

The acquisition module 311 is used to acquire the sprung mass of the sprayer when it is not loaded;

The acquisition module 311 is also used to acquire the quality of the liquid pumped into the tank by the centrifugal pump per unit time;

The calculation module 312 is configured to calculate the time-varying of the sprung mass according to a preset formula in combination with the atmospheric pressure and the absolute gas pressure in the air suspension.

Further, as shown in FIG. 5 , the adjustment unit 33 includes:

The adjustment module 331 is used to find a corresponding adjustment strategy for the opening degree of the throttle valve hole according to different road surface information to adjust the opening degree of the throttle valve hole during the operation process of the sprayer spraying liquid or adding liquid;

The marking module 332 is used for marking the first height value of the liquid and detecting the corresponding first vehicle height value during the operation of the sprayer in the working condition of spraying liquid or adding liquid;

an obtaining module 333, configured to obtain the second height value of the liquid according to a preset time interval;

a judgment module 334, configured to judge whether the difference between the second height value and the first height value reaches a preset threshold;

The control module 334 is configured to determine that the difference between the second height value and the first height value reaches a preset threshold, and then control to open the solenoid valve to adjust the opening of the throttle valve and adjust the first vehicle height value at the first vehicle height value. Adjust the height of the sprayer on the basis.

The air suspension control device of the high-clearance sprayer includes a processor and a memory, and the above-mentioned calculation unit, acquisition unit, and adjustment unit are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to obtain the program unit. implement the corresponding function.

The processor includes a kernel, and the kernel calls the corresponding program unit from the memory. One or more kernels can be set. By adjusting the kernel parameters, the complexity of the operating conditions of the sprayer and the time-varying of the sprung mass can be integrated to realize the air suspension control of the sprayer with high ground clearance, which can eliminate or reduce the above factors to a great extent. The impact on the performance of the whole machine, and then meet the requirements of the sprayer's driving smoothness, handling stability and road friendliness.

An embodiment of the present invention provides a storage medium on which a program is stored, and when the program is executed by a processor, realizes the air suspension control method for the high ground clearance sprayer.

An embodiment of the present invention provides a processor for running a program, wherein when the program is running, the air suspension control method for the high ground clearance sprayer is executed.

An embodiment of the present invention provides an electronic device 40. As shown in FIG. 6, the device includes at least one processor 401, and at least one memory 402 and a bus 403 connected to the processor 401; wherein the processor 401 and the memory 402 pass through The bus 403 completes the mutual communication; the processor 401 is used for calling the program instructions in the memory 402 to execute the above-mentioned air suspension control method of the high ground clearance sprayer.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

In a typical configuration, a device includes one or more processors (CPUs), memory, and a bus. Devices may also include input/output interfaces, network interfaces, and the like.

Memory may include non-persistent memory in computer readable media, random access memory (RAM) and/or non-volatile memory, such as read only memory (ROM) or flash memory (flash RAM), the memory including at least one memory chip. Memory is an example of a computer-readable medium.

Computer-readable media includes both persistent and non-permanent, removable and non-removable media, and storage of information may be implemented by any method or technology. Information may be computer readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridges, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

It should also be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a series of elements includes not only those elements, but also Other elements not expressly listed, or which are inherent to such a process, method, article of manufacture, or apparatus are also included. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article of manufacture or apparatus that includes the element.

It will be appreciated by those skilled in the art that the embodiments of the present application may be provided as a method, a system or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The above are merely examples of the present application, and are not intended to limit the present application. Various modifications and variations of this application are possible for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the scope of the claims of this application.

Claims (6)

1. A method of controlling an air suspension of a high-clearance sprayer, the method comprising:

calculating the time-varying property of the sprung mass in the process of adding and spraying liquid by the spraying machine;

acquiring different road surface information in the driving process of the sprayer;

adjusting the opening of a throttle valve hole and simultaneously adjusting the height of the body of the spraying machine according to the time-varying property of the sprung mass and the road surface information;

according to the time-varying property of the sprung mass and the road surface information, the opening degree of the throttle valve hole is adjusted, and the height of the body of the spraying machine is adjusted at the same time, and the method comprises the following steps:

in the working process of the working condition that the sprayer sprays liquid or adds liquid, searching a corresponding strategy for adjusting the opening of the throttle valve hole according to different road surface information so as to adjust the opening of the throttle valve hole;

marking a first height value of liquid and detecting a corresponding first vehicle height value in the working process of spraying or adding liquid to a sprayer;

acquiring a second height value of the liquid according to a preset time interval;

judging whether the difference value between the second height value and the first height value reaches a preset threshold value or not;

and if so, controlling to open the electromagnetic valve to adjust the opening of the throttle valve hole and adjust the height of the spraying machine body on the basis of the first height value of the spraying machine body.

2. The method of claim 1, wherein calculating the time-varying behavior of the sprung mass during the dispensing and spraying of the liquid comprises:

acquiring the spring load mass of the sprayer when the sprayer is in no load;

acquiring the mass of liquid pumped into a tank in unit time by the centrifugal pump;

the time-varying property of the sprung mass is calculated according to a preset formula in combination with the atmospheric pressure and the absolute gas pressure in the air suspension.

3. An air suspension control device for a high-clearance sprayer, the device comprising:

the calculation unit is used for calculating the time-varying property of the sprung mass in the liquid adding and spraying processes of the spraying machine;

the acquisition unit is used for acquiring different road surface information in the driving process of the spraying machine;

the adjusting unit is used for adjusting the opening of the throttle valve hole and adjusting the height of the body of the spraying machine at the same time according to the time-varying property of the sprung mass and the road surface information;

the adjusting unit includes:

the adjusting module is used for searching a corresponding adjusting throttle valve opening strategy according to different road surface information to adjust the throttle valve opening in the working process of spraying liquid or adding liquid on the sprayer;

the marking module is used for marking a first height value of liquid and detecting a corresponding first vehicle height value in the working process of liquid spraying or liquid adding working conditions of the spraying machine;

the acquisition module is used for acquiring a second height value of the liquid according to a preset time interval;

the judging module is used for judging whether the difference value between the second height value and the first height value reaches a preset threshold value or not;

and the control module is used for judging that the difference value between the second height value and the first height value reaches a preset threshold value, controlling to open the electromagnetic valve to adjust the opening of the throttle valve hole and adjust the height of the spraying machine body on the basis of the first height value.

4. The apparatus of claim 3, wherein the computing unit comprises:

the acquisition module is used for acquiring the spring load mass of the sprayer in no-load;

the acquisition module is also used for acquiring the mass of the liquid pumped into the tank in unit time of the centrifugal pump;

and the calculating module is used for calculating the time-varying property of the sprung mass according to a preset formula by combining the atmospheric pressure and the absolute gas pressure in the air suspension.

5. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program, when running, controls an apparatus in which the storage medium is located to perform the air suspension control method of a high-clearance spraying machine according to any one of claims 1-2.

6. An electronic device, comprising at least one processor, and at least one memory, bus connected to the processor;

the processor and the memory complete mutual communication through the bus;

the processor is configured to invoke program instructions in the memory to perform the air suspension control method of the high-clearance sprayer according to any one of claims 1-2.

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