CN105557669B - A kind of spraying machine side is tumbled method for early warning and system - Google Patents

A kind of spraying machine side is tumbled method for early warning and system Download PDF

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CN105557669B
CN105557669B CN201510975133.5A CN201510975133A CN105557669B CN 105557669 B CN105557669 B CN 105557669B CN 201510975133 A CN201510975133 A CN 201510975133A CN 105557669 B CN105557669 B CN 105557669B
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spraying machine
mrow
fluid reservoir
msub
early warning
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CN105557669A (en
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陈度
孙冬
王书茂
王睿
张锋
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China Agricultural University
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China Agricultural University
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Catching Or Destruction (AREA)

Abstract

It tumbles method for early warning and system the invention discloses a kind of spraying machine side, this method includes：S1：The operation attitude information of spraying machine is obtained, the transverse load rate of transform LTR of the spraying machine is calculated according to the operation attitude information；S2：According to the liquid volume in the spraying machine fluid reservoir, the transverse load rate of transform LTR is modified, to obtain correcting transverse load rate of transform LTR '；S3：The amendment transverse load rate of transform LTR ' is judged whether in the range of default alarm threshold value, if so, alert, otherwise return to step S1.Spraying machine side provided by the invention is tumbled method for early warning and system, by obtaining spraying machine real time kinematics state, judges spraying machine job state type, and calculation side is tumbled early warning value, and then it is modified, improves the accuracy of early warning value.And by revised early warning value compared with preset threshold value of warning scope, determine whether to send sound-light alarm to driver by warning module, achieve the purpose that avoid side overthrow accident.

Description

A kind of spraying machine side is tumbled method for early warning and system
Technical field
It tumbles method for early warning and system the invention belongs to security technology area more particularly to a kind of spraying machine side.
Background technology
The harmfulness of self-propelled agricultural equipment side overthrow accident has caused the enough attention of society, and foreign countries generally adopt at present Anti- rolling protection system can only play passive protection to equipment, it is impossible to prevent accident at all.It finds according to statistics, The annual whole world is injured because of the overturn accident of agricultural equipment there are about 30000 people, serious or even dead.And the agriculture of accident occurs In industry equipment, based on self-propelled agricultural equipment, cause it that the main reason for side is tumbled occurs and be included in the larger ground of the gradient Upper break turn hits ground obstacle or the unsuitable work tool of traction etc..Further, since the main essence of operating personnel Power concentrates on the monitoring of operation process quality in itself, often ignores the security of operation process, and the side of agricultural equipment is made to tumble Accident rate remains high.
High-clearance self-propelled spraying machine have the characteristics that barycenter is high, barycenter variation greatly, operating environment it is complicated, running at high speed Or turned in hillside fields operation, cause body centroid transition larger due to carrying the effect of fluid reservoir inertia force, easily turn on one's side Or overthrow accident.Existing method for early warning and device for road vehicle or engineering machinery is difficult to directly apply to such as high-clearance Spraying machine is this kind of with the self-propelled agricultural equipment that barycenter is high, barycenter variation is frequent, working condition is changeable.
The content of the invention
The technical problems to be solved by the invention are the inclinations for how realizing self-propelled spraying machine under complex job environment Turn over early warning.
For the technical problem, tumble method for early warning the present invention provides a kind of spraying machine side, including：
S1：The operation attitude information of spraying machine is obtained, the transverse direction of the spraying machine is calculated according to the operation attitude information Load transfer rate LTR；
S2：According to the liquid volume in the spraying machine fluid reservoir, the transverse load rate of transform LTR is modified, with It obtains correcting transverse load rate of transform LTR '；
S3：The amendment transverse load rate of transform LTR ' is judged whether in the range of default alarm threshold value, if so, sending Warning message, otherwise return to step S1.
Preferably, the step S1 includes：
S11：According to the operation attitude information, the job state type of the spraying machine is judged；
S12：According to the job state type, the transverse load rate of transform LTR of the spraying machine is calculated.
Preferably, the step S11 includes：
The spraying machine is judged according to the travel speed of the spraying machine to run at high speed or low speed operation；
Judge that the spraying machine at the uniform velocity travels or ramp Turning travel for ramp according to the side acceleration of the spraying machine；
According to the side acceleration of the spraying machine with rolling whether angular direction unanimously judges the spraying machine in ramp Vert to or ramp flare turn to；
Judge the spraying machine at the uniform velocity climb and fall or speed change climb and fall according to the longitudinal acceleration of the spraying machine.
Preferably, the step S12 includes：
If the job state type of the spraying machine is that ramp at the uniform velocity travels,
If the job state type of the spraying machine is ramp introversion Turning travel,
If the job state type of the spraying machine is ramp flare Turning travel,
If the job state type of the spraying machine is that at the uniform velocity climb and fall travels,
If the job state type of the spraying machine is speed change climb and fall traveling,
If the job state type of the spraying machine is Turning travel of running at high speed,
Wherein, m be remove fluid reservoir after spraying machine quality, hiBe remove the spraying machine after fluid reservoir barycenter it is high Degree, T are that the left and right wheels of spraying machine away from, β are roll angle, and R is least radius when spraying machine is turned, and v is spraying machine travel speed, G is acceleration of gravity, lfFor front-wheel center to barycenter horizontal distance, lrFor trailing wheel center to barycenter horizontal distance, L is front and back wheel Away from axFor longitudinal acceleration, ayFor side acceleration,For spring carried mass angle of heel,For spring carried mass angle of heel angular speed,For suspension rate,For suspension damping coefficient.
Preferably, the step S2 is further included：
S21：Obtain the spraying machine fluid reservoir Chinese medicine liquid measure；
S22：According to formulaThe transverse load rate of transform is modified,
Wherein, myIt is fluid reservoir Chinese medicine liquid measure,It is spring carried mass roll angle acceleration, axIt is the longitudinal direction acceleration of spraying machine Degree, a be with the relevant correction factor of fluid reservoir quality, b is to be with the relevant correction factor of spring carried mass roll angle acceleration, c With the relevant correction factor of spraying machine longitudinal acceleration.
Preferably, the step S21 includes：
According to formula my=ρ V-qt calculate the spraying machine fluid reservoir Chinese medicine liquid measure my,
Wherein, the flow of fluid reservoir is when the liquid density in the fluid reservoir of the spraying machine is ρ, the spraying machine works Q, the liquid in the fluid reservoir is in predetermined time t1Volume V and from the predetermined time t1To current time t2The spray The working time of machine is t.
On the other hand, tumble early warning system the present invention provides a kind of spraying machine side, including：
Acquisition module, for obtaining the operation attitude information of spraying machine；
Computing module, for calculating the transverse load rate of transform LTR of the spraying machine according to the operation attitude information；
Correcting module, for the liquid volume in the spraying machine fluid reservoir, to the transverse load rate of transform LTR into Row is corrected, to obtain correcting transverse load rate of transform LTR '；
Judgment module, for judging the amendment transverse load rate of transform LTR ' whether in default alarm threshold value scope It is interior, if so, alert, otherwise, returns to acquisition module.
Preferably, the computing module is additionally operable to judge the spraying machine according to the operation attitude information of the spraying machine Job state type, and according to the job state type, calculate the transverse load rate of transform LTR of the spraying machine；
Specifically, the computing module spraying machine judged according to the travel speed of the spraying machine to run at high speed or Low speed operation judges that the spraying machine at the uniform velocity travels for ramp or ramp turns to row according to the side acceleration of the spraying machine It sails, according to the side acceleration of the spraying machine with rolling whether angular direction unanimously judges that the spraying machine turns to for ramp introversion Or ramp flare turns to, judge the spraying machine at the uniform velocity climb and fall or speed change according to the longitudinal acceleration of the spraying machine above and below Slope.
Preferably, the correcting module is additionally operable to obtain the spraying machine fluid reservoir Chinese medicine liquid measure, and according to formulaThe transverse load rate of transform is modified,
Wherein, myIt is fluid reservoir Chinese medicine liquid measure,It is spring carried mass roll angle acceleration, axIt is the longitudinal direction acceleration of spraying machine Degree, a be with the relevant correction factor of fluid reservoir quality, b is to be with the relevant correction factor of spring carried mass roll angle acceleration, c With the relevant correction factor of spraying machine longitudinal acceleration.
Preferably, the correcting module is according to formula my=ρ V-qt calculate the spraying machine fluid reservoir Chinese medicine liquid measure my,
Wherein, the flow of fluid reservoir is when the liquid density in the fluid reservoir of the spraying machine is ρ, the spraying machine works Q, the liquid in the fluid reservoir is in predetermined time t1Volume V and from the predetermined time t1To current time t2The spray The working time of machine is t.
Spraying machine side provided by the invention is tumbled method for early warning and system, by obtaining spraying machine real time kinematics state, is sentenced Disconnected spraying machine job state type, calculation side are tumbled early warning value, and then it is modified, improves the accuracy of early warning value. And by revised early warning value compared with preset threshold value of warning scope, determine whether to send out to driver by warning module Go out sound-light alarm, achieve the purpose that avoid side overthrow accident.In addition, this method and system be according to spraying machine real time kinematics state, Judge spraying machine job state type, early warning is made in advance to spraying machine side overthrow accident.Realize high-clearance self-propelled spray The early warning that side of the machine under complicated road surface service condition is tumbled.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair Some bright embodiments, for those of ordinary skill in the art, without creative efforts, can be with root Other attached drawings are obtained according to these attached drawings.
Fig. 1 is that the spraying machine side that one embodiment of the invention provides is tumbled method for early warning flow chart；
Fig. 2 is the schematic diagram of the operation attitude information for the spraying machine that one embodiment of the invention provides；
Fig. 3 is that the spraying machine side that one embodiment of the invention provides is tumbled early warning system structure diagram；
Fig. 4 is that the spraying machine side that further embodiment of this invention provides is tumbled the flow chart of method for early warning；
Fig. 5 is the spraying machine job state type decision flow chart that one embodiment of the invention provides.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art All other embodiments obtained without making creative work belong to the scope of protection of the invention.
Embodiment 1：
Fig. 1 is that spraying machine side provided in this embodiment is tumbled early warning flow chart, and referring to Fig. 1, which tumbles early warning Method, including：
S1：The operation attitude information of spraying machine is obtained, calculating the horizontal of the spraying machine according to the operation attitude information carries Lotus rate of transform LTR；
S2：According to the liquid volume in spraying machine fluid reservoir, obtained transverse load rate of transform LTR is modified, with To amendment transverse load rate of transform LTR '；
S3：Judge to correct transverse load rate of transform LTR ' whether in the range of default alarm threshold value, if so, sending alarm Information, otherwise return to step S1.
It should be noted that：The operation attitude information of spraying machine includes the travel speed, side acceleration, inclination of spraying machine Angle, pitch angle, longitudinal acceleration etc..
The transverse load rate of transform LTR of the spraying machine, the transverse load rate of transform are calculated according to the operation attitude information LTR can be according to operation attitude information, according to the calculation formula of a transverse load rate of transform LTR calculating or The job state type of the spraying machine is judged by the operation attitude information, further according to the job state type, calculates the spraying machine Transverse load rate of transform LTR.Transverse load rate of transform LTR is according to the current job state type real-time update of spraying machine 's.
Specifically, spraying machine is judged according to the travel speed of spraying machine to run at high speed or low speed operation；
Judge that spraying machine at the uniform velocity travels or ramp Turning travel for ramp according to the side acceleration of spraying machine；
According to the side acceleration of spraying machine with roll angular direction whether unanimously judge spraying machine for ramp introversion steering or Ramp flare turns to；
Judge spraying machine at the uniform velocity climb and fall or speed change climb and fall according to the longitudinal acceleration of spraying machine.
If the job state type of spraying machine is that ramp at the uniform velocity travels,
If the job state type of spraying machine is ramp introversion Turning travel,
If the job state type of spraying machine is ramp flare Turning travel,
If the job state type of spraying machine is that at the uniform velocity climb and fall travels,
If the job state type of spraying machine is speed change climb and fall traveling,
If the job state type of spraying machine is Turning travel of running at high speed,
Wherein, m be remove fluid reservoir after spraying machine quality, hiBe remove the spraying machine after fluid reservoir barycenter it is high Degree, T are that the left and right wheels of spraying machine away from, β are roll angle, and R is least radius when spraying machine is turned, and v is spraying machine travel speed, G is acceleration of gravity, lfFor front-wheel center to barycenter horizontal distance, lrFor trailing wheel center to barycenter horizontal distance, L is front and back wheel Away from axFor longitudinal acceleration, ayFor side acceleration,For spring carried mass angle of heel,For spring carried mass angle of heel angular speed,For suspension rate,For suspension damping coefficient.
Fig. 2 is the schematic diagram of the operation attitude information of spraying machine, and referring to Fig. 2, A is the fuselage of spraying machine, and A ' is spraying machine On fluid reservoir.H is the barycenter (center for being located at spraying machine in figure) of spraying machine A.hiIt is barycenter H to arbitrary three vehicles of spraying machine Wheel and the distance of plane (inclined-plane in Fig. 2) determined by the contact point on ground, T is the left and right wheels of spraying machine away from lfFor front-wheel Center is to barycenter horizontal distance, lrFor trailing wheel center to barycenter horizontal distance.With the inclined surface x0y of spraying machine with respect to the horizontal plane Coordinate system xyz is established, the 0 ' y ' of inclined surface x ' of tank with respect to the horizontal plane establish coordinate system x ' y ' z ' to spray.axLongitudinal direction accelerates Degree, is component of the traveling acceleration of spraying machine along x-axis.aySide acceleration is the traveling acceleration of spraying machine along y-axis Component.β is angle of the spraying machine along the rotation of x-axis for roll angle,It is spray tank along x ' for spring carried mass angle of heel The angle of the rotation of axis,It is spring carried mass angle of heel for spring carried mass angle of heel angular speedAngular speed.Correspondingly, pitching Angle is the angle that spraying machine is rotated along y-axis.For suspension rate,For suspension damping coefficient.
It should be noted that：Liquid volume in spraying machine fluid reservoir can be obtained by the detection device on fluid reservoir Can also be according to formula my=ρ V-qt are calculated.
In the formula, spraying machine fluid reservoir Chinese medicine liquid measure is my, the liquid density in the fluid reservoir of spraying machine is ρ, spray The flow of fluid reservoir is q when medicine machine works, the liquid in fluid reservoir is in predetermined time t1Volume V and from predetermined time t1To work as Preceding moment t2The working time of spraying machine is t.
In predetermined time t1When, the medicine liquid volume in liquid spraying can is V.Qt is represented from predetermined time t in the formula1To current Moment t2Liquid decrement in spray tank.
In general, when shape of the fluid reservoir for rule, can be calculated by the measurement to the liquid level in fluid reservoir Current amount of liquid in fluid reservoir.Specifically, can be that the liquid level of liquid current in fluid reservoir is carried out by monitoring device It measures or passes through formula my=ρ h0The quality of current liquid in fluid reservoir is calculated in S-qt.
In formula my=ρ h0In S-qt, spraying machine fluid reservoir Chinese medicine liquid measure is my, the liquid in the fluid reservoir of spraying machine is close The flow for spending fluid reservoir when working for ρ, spraying machine is q, fluid reservoir initial liquid level height is h0, fluid reservoir floor space is S, is added up Detection time is t.In accumulative detection time t, spraying machine is constantly in working condition, and the liquid in fluid reservoir is disappearing always Consumption.
According to the liquid volume in obtained current spraying machine fluid reservoir, according to formula The transverse load rate of transform is modified, wherein, myIt is fluid reservoir Chinese medicine liquid measure,It is spring carried mass roll angle acceleration, axIt is The longitudinal acceleration of spraying machine, a are to be and spring carried mass roll angle acceleration phase with the relevant correction factor of fluid reservoir quality, b The correction factor of pass, c are and the relevant correction factor of spraying machine longitudinal acceleration.The value of a, b and c are generally obtained by testing.
The amendment side being calculated is tumbled index, compared with being carried out in real time with default alarm threshold value scope, if alarming In threshold range, then it is assumed that there are rollover risk, alert (such as passes through audible alarm or light warning), otherwise, returns Step S1 is returned, continues to monitor spraying machine in real time.
Spraying machine side provided in this embodiment is tumbled method for early warning, by obtaining spraying machine real time kinematics state, judges to spray Medicine machine operation Status Type, calculation side are tumbled early warning value, and then it is modified, improves the accuracy of early warning value.It and will Revised early warning value determines whether to send sound to driver by warning module compared with preset threshold value of warning scope Light is alarmed, and achievees the purpose that avoid side overthrow accident.In addition, this method judges spraying machine according to spraying machine real time kinematics state Job state type makes early warning in advance to spraying machine side overthrow accident.High-clearance self-propelled spraying machine is realized in complexity The early warning that side under the service condition of road surface is tumbled.
Embodiment 2：
Fig. 3 is that spraying machine side provided in this embodiment is tumbled early warning system structure diagram, referring to Fig. 3, the spray pusher side Early warning system of tumbling A includes acquisition module A1, computing module A2, correcting module A3 and judgment module A4.
Wherein, acquisition module A1, for obtaining the operation attitude information of spraying machine；
Computing module A2, for calculating the transverse load rate of transform LTR of the spraying machine according to the operation attitude information；
Correcting module A3 for the liquid volume in the spraying machine fluid reservoir, repaiies transverse load rate of transform LTR Just, to obtain correcting transverse load rate of transform LTR '；
Judgment module A4, for judging to correct transverse load rate of transform LTR ' whether in the range of default alarm threshold value, If so, alert, otherwise returns to acquisition module A1, to judge again the real-time status of spraying machine.
Further, computing module is additionally operable to judge according to the operation attitude information of spraying machine the job state of spraying machine Type, and according to the job state type, calculate the transverse load rate of transform LTR of spraying machine；
Further, computing module according to the travel speed of spraying machine judges spraying machine to run at high speed or low speed operation, Judge that spraying machine at the uniform velocity travels or ramp Turning travel for ramp according to the side acceleration of spraying machine, according to the lateral of spraying machine Acceleration is with rolling whether angular direction unanimously judges that spraying machine turns to for ramp introversion steering or ramp flare, according to spraying machine Longitudinal acceleration judges spraying machine at the uniform velocity climb and fall or speed change climb and fall.
Further, correcting module is additionally operable to obtain spraying machine fluid reservoir Chinese medicine liquid measure, and according to formulaThe transverse load rate of transform is modified,
Wherein, myIt is fluid reservoir Chinese medicine liquid measure,It is spring carried mass roll angle acceleration, axIt is the longitudinal direction acceleration of spraying machine Degree, a be with the relevant correction factor of fluid reservoir quality, b is to be with the relevant correction factor of spring carried mass roll angle acceleration, c The no and relevant correction factor of spraying machine longitudinal acceleration.
Further, correcting module is according to formula my=ρ V-qt calculate the spraying machine fluid reservoir Chinese medicine liquid measure my,
Wherein, the liquid density in the fluid reservoir of spraying machine be ρ, spraying machine work when fluid reservoir flow be q, fluid reservoir In liquid in predetermined time t1Volume V and from predetermined time t1To current time t2The working time of the spraying machine is t.
Spraying machine side provided in this embodiment is tumbled early warning system, by obtaining spraying machine real time kinematics state, judges to spray Medicine machine operation Status Type, calculation side are tumbled early warning value, and then it is modified, improves the accuracy of early warning value.It and will Revised early warning value determines whether to send sound to driver by warning module compared with preset threshold value of warning scope Light is alarmed, and achievees the purpose that avoid side overthrow accident.In addition, the system judges spraying machine according to spraying machine real time kinematics state Job state type makes early warning in advance to spraying machine side overthrow accident.High-clearance self-propelled spraying machine is realized in complexity The early warning that side under the service condition of road surface is tumbled.
Embodiment 3：
Fig. 4 is that spraying machine side provided in this embodiment is tumbled the flow chart of method for early warning, referring to Fig. 4, obtains spraying machine After operation posture, its job state type is judged, according to 6 kinds of different job state types (above and below high speed steering, acceleration and deceleration Slope, at the uniform velocity climb and fall, ramp flare, ramp introversion and ramp are at the uniform velocity), the current transverse load mobility LTR of spraying machine is calculated, And LTR is modified according to the liquid level information of fluid reservoir, obtain modified transverse load mobility LTR '.Whether judge LTR ' In default threshold range, if so, send a warning, represent that spraying machine currently has the danger that side is tumbled, if it is not, then after Continuous Collecting operation attitude information.
Fig. 5 is spraying machine job state type decision flow chart provided in this embodiment, referring to such as Fig. 5, if spraying machine Travel speed is more than threshold value, and the job state type for illustrating spraying machine is high speed steering.If travel speed is less than or equal to threshold value, sentence Whether the side acceleration of disconnected spraying machine is less than a reference value, if so, the job state type of spraying machine be ramp at the uniform velocity, if not It is to continue to judge whether the angle of heel of spraying machine is more than a reference value, if so, side acceleration is consistent with rolling angular direction, it is slope Road introversion, side acceleration is inconsistent with rolling angular direction, is ramp introversion.If whether the angle of heel of spraying machine is less than or equal to base Quasi- value, judges whether the pitch angle of spraying machine is more than a reference value, if it is not, then spraying machine is in stable state, no side is tumbled Danger.Otherwise, judge whether the longitudinal acceleration of spraying machine is less than a reference value, be otherwise to become if so, being at the uniform velocity climb and fall Fast climb and fall.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this field For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.

Claims (10)

  1. The method for early warning 1. a kind of spraying machine side is tumbled, which is characterized in that including：
    S1：The operation attitude information of spraying machine is obtained, the transverse load of the spraying machine is calculated according to the operation attitude information Rate of transform LTR；
    S2：According to the liquid volume in the spraying machine fluid reservoir, the transverse load rate of transform LTR is modified, to obtain Correct transverse load rate of transform LTR '；
    S3：The amendment transverse load rate of transform LTR ' is judged whether in the range of default alarm threshold value, if so, sending alarm Information, otherwise return to step S1.
  2. The method for early warning 2. spraying machine side according to claim 1 is tumbled, which is characterized in that the step S1 includes：
    S11：According to the operation attitude information, the job state type of the spraying machine is judged；
    S12：According to the job state type, the transverse load rate of transform LTR of the spraying machine is calculated.
  3. The method for early warning 3. spraying machine side according to claim 2 is tumbled, which is characterized in that
    The step S11 includes：
    The spraying machine is judged according to the travel speed of the spraying machine to run at high speed or low speed operation；
    According to the side acceleration of the spraying machine judge the spraying machine be ramp at the uniform velocity directly to traveling or ramp Turning travel；
    According to the side acceleration of the spraying machine with rolling whether angular direction unanimously judges the spraying machine to vert in ramp To or ramp flare turn to；
    Judge the spraying machine at the uniform velocity climb and fall or speed change climb and fall according to the longitudinal acceleration of the spraying machine.
  4. The method for early warning 4. spraying machine side according to claim 3 is tumbled, which is characterized in that
    The step S12 includes：
    If the job state type of the spraying machine be ramp at the uniform velocity directly to traveling,
    <mrow> <mi>L</mi> <mi>T</mi> <mi>R</mi> <mo>=</mo> <mfrac> <mrow> <mn>2</mn> <msub> <mi>h</mi> <mi>i</mi> </msub> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;beta;</mi> </mrow> <mi>T</mi> </mfrac> <mo>;</mo> </mrow>
    If the job state type of the spraying machine is ramp introversion Turning travel,
    <mrow> <mi>L</mi> <mi>T</mi> <mi>R</mi> <mo>=</mo> <mfrac> <mrow> <mn>2</mn> <msub> <mi>h</mi> <mi>i</mi> </msub> <mrow> <mo>(</mo> <mi>g</mi> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;beta;</mi> <mo>-</mo> <mfrac> <msup> <mi>v</mi> <mn>2</mn> </msup> <mi>R</mi> </mfrac> <mo>)</mo> </mrow> </mrow> <mrow> <mi>T</mi> <mi>g</mi> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;beta;</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
    If the job state type of the spraying machine is ramp flare Turning travel,
    <mrow> <mi>L</mi> <mi>T</mi> <mi>R</mi> <mo>=</mo> <mfrac> <mrow> <mn>2</mn> <msub> <mi>h</mi> <mi>i</mi> </msub> <mrow> <mo>(</mo> <mi>g</mi> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;beta;</mi> <mo>+</mo> <mfrac> <msup> <mi>v</mi> <mn>2</mn> </msup> <mi>R</mi> </mfrac> <mo>)</mo> </mrow> </mrow> <mrow> <mi>T</mi> <mi>g</mi> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;beta;</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
    If the job state type of the spraying machine is that at the uniform velocity climb and fall travels,
    <mrow> <mi>L</mi> <mi>T</mi> <mi>R</mi> <mo>=</mo> <mfrac> <mrow> <mo>(</mo> <msub> <mi>l</mi> <mi>r</mi> </msub> <mo>-</mo> <msub> <mi>l</mi> <mi>f</mi> </msub> <mo>)</mo> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;beta;</mi> <mo>+</mo> <mn>2</mn> <msub> <mi>h</mi> <mi>i</mi> </msub> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;beta;</mi> </mrow> <mrow> <mi>L</mi> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;beta;</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
    If the job state type of the spraying machine is speed change climb and fall traveling,
    <mrow> <mi>L</mi> <mi>T</mi> <mi>R</mi> <mo>=</mo> <mfrac> <mrow> <mo>(</mo> <msub> <mi>l</mi> <mi>r</mi> </msub> <mo>-</mo> <msub> <mi>l</mi> <mi>f</mi> </msub> <mo>)</mo> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;beta;</mi> <mo>+</mo> <mn>2</mn> <msub> <mi>h</mi> <mi>i</mi> </msub> <mo>(</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;beta;</mi> <mo>+</mo> <mfrac> <msub> <mi>a</mi> <mi>x</mi> </msub> <mi>g</mi> </mfrac> <mo>)</mo> </mrow> <mrow> <mi>L</mi> <mi>cos</mi> <mi>&amp;beta;</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
    If the job state type of the spraying machine is Turning travel of running at high speed,
    Wherein, m be remove fluid reservoir after spraying machine quality, hiIt is the height of center of mass for removing the spraying machine after fluid reservoir, T is The left and right wheels of spraying machine are away from β is roll angle, and R is least radius when spraying machine is turned, and v is spraying machine travel speed, and g attaches most importance to Power acceleration, lfFor front-wheel center to barycenter horizontal distance, lrFor trailing wheel center to barycenter horizontal distance, L is wheel base, ax For longitudinal acceleration, ayFor side acceleration,For spring carried mass angle of heel,For spring carried mass angle of heel angular speed,It is outstanding Frame rigidity,For suspension damping coefficient.
  5. The method for early warning 5. spraying machine side according to claim 1 is tumbled, which is characterized in that the step S2 is further included：
    S21：Obtain the spraying machine fluid reservoir Chinese medicine liquid measure；
    S22：According to formulaThe transverse load rate of transform is modified,
    Wherein, myIt is fluid reservoir Chinese medicine liquid measure,It is spring carried mass roll angle acceleration, axIt is the longitudinal acceleration of spraying machine, a Be with the relevant correction factor of fluid reservoir quality, b is to be and spray with the relevant correction factor of spring carried mass roll angle acceleration, c The relevant correction factor of medicine machine longitudinal acceleration.
  6. The method for early warning 6. spraying machine side according to claim 5 is tumbled, which is characterized in that the step S21 includes：
    According to formula my=ρ V-qt calculate the spraying machine fluid reservoir Chinese medicine liquid measure my,
    Wherein, the liquid density in the fluid reservoir of the spraying machine be ρ, the spraying machine work when fluid reservoir flow be q, institute The liquid in fluid reservoir is stated in predetermined time t1Volume V and from the predetermined time t1To current time t2The spraying machine Working time is t.
  7. The early warning system 7. a kind of spraying machine side is tumbled, which is characterized in that including：
    Acquisition module, for obtaining the operation attitude information of spraying machine；
    Computing module, for calculating the transverse load rate of transform LTR of the spraying machine according to the operation attitude information；
    Correcting module for the liquid volume in the spraying machine fluid reservoir, is repaiied the transverse load rate of transform LTR Just, to obtain correcting transverse load rate of transform LTR '；
    Judgment module, for judging the amendment transverse load rate of transform LTR ' whether in the range of default alarm threshold value, if It is alert, otherwise, returns to acquisition module.
  8. The early warning system 8. spraying machine side according to claim 7 is tumbled, which is characterized in that the computing module is additionally operable to The job state type of the spraying machine is judged according to the operation attitude information of the spraying machine, and according to the job state class Type calculates the transverse load rate of transform LTR of the spraying machine；
    Specifically, the computing module according to the travel speed of the spraying machine judges the spraying machine to run at high speed or low speed Operation judges that the spraying machine at the uniform velocity directly turns to row for ramp to traveling or ramp according to the side acceleration of the spraying machine It sails, according to the side acceleration of the spraying machine with rolling whether angular direction unanimously judges that the spraying machine turns to for ramp introversion Or ramp flare turns to, judge the spraying machine at the uniform velocity climb and fall or speed change according to the longitudinal acceleration of the spraying machine above and below Slope.
  9. The early warning system 9. spraying machine side according to claim 7 is tumbled, which is characterized in that
    The correcting module is additionally operable to obtain the spraying machine fluid reservoir Chinese medicine liquid measure, and according to formula The transverse load rate of transform is modified,
    Wherein, myIt is fluid reservoir Chinese medicine liquid measure,It is spring carried mass roll angle acceleration, axIt is the longitudinal acceleration of spraying machine, a Be with the relevant correction factor of fluid reservoir quality, b is to be and spray with the relevant correction factor of spring carried mass roll angle acceleration, c The relevant correction factor of medicine machine longitudinal acceleration.
  10. The early warning system 10. spraying machine side according to claim 9 is tumbled, which is characterized in that
    The correcting module is according to formula my=ρ V-qt calculate the spraying machine fluid reservoir Chinese medicine liquid measure my,
    Wherein, the liquid density in the fluid reservoir of the spraying machine be ρ, the spraying machine work when fluid reservoir flow be q, institute The liquid in fluid reservoir is stated in predetermined time t1Volume V and from the predetermined time t1To current time t2The spraying machine Working time is t.
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