CN114427981A - Tire lift-off detection method and device for working machine, and working machine - Google Patents
Tire lift-off detection method and device for working machine, and working machine Download PDFInfo
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- CN114427981A CN114427981A CN202210055306.1A CN202210055306A CN114427981A CN 114427981 A CN114427981 A CN 114427981A CN 202210055306 A CN202210055306 A CN 202210055306A CN 114427981 A CN114427981 A CN 114427981A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/02—Tyres
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention provides a tire lift-off detection method and device for a working machine and the working machine, wherein the tire lift-off detection method for the working machine comprises the following steps: acquiring first angle information of a suspension arm of an axle and second angle information of a chassis; determining an angle difference according to the first angle information and the second angle information; and in the case that the angle difference is not less than a preset angle, judging that each tire of the working machine is in a ground-off state. The invention considers the influence of the inclination angle of the whole vehicle caused by uneven ground on the detection result, realizes accurate judgment of the off-ground state of the tire, and ensures the safety of arm support operation on the operation machinery.
Description
Technical Field
The present invention relates to the field of work machines, and in particular, to a method and an apparatus for detecting tire lift-off of a work machine, and a work machine.
Background
In a work machine having an arm support, a plurality of legs are generally provided around a body of the work machine. When the boom is used for work, in order to ensure stability of the entire vehicle, the vehicle body needs to be supported by the support legs so that the tires of the work machine are lifted off the ground. During operation, if the tires land, the tires may deform by being subjected to excessive forces, resulting in a risk of the work machine tipping over. In order to avoid this, it is necessary to detect the lift-off condition of the tires of the working machine before the boom performs the work, so as to determine whether the tires are completely lifted off the ground.
In the related art, the distance between the tire and the frame is mainly detected to realize automatic judgment of the ground-off condition of the tire. However, when the working machine works on the ground on different road conditions, the distance between the tire and the frame does not truly reflect the ground-off condition of the tire due to the influence of the working environment, and the ground-off condition of the tire cannot be accurately detected.
Disclosure of Invention
The invention provides a tire lift-off detection method and device for a working machine and the working machine, which are used for solving or improving the problem that the tire lift-off state is difficult to accurately detect at present.
The present invention provides a tire lift-off detection method for a working machine, including:
acquiring first angle information of a suspension arm of an axle and second angle information of a chassis;
determining an angle difference according to the first angle information and the second angle information;
and in the case that the angle difference is not less than a preset angle, judging that each tire of the working machine is in a ground-off state.
According to the present invention, there is provided a tire lift detection method for a working machine, wherein the step of determining an angle difference based on the first angle information and the second angle information includes: determining a plurality of angle difference values according to the difference between a plurality of first angle values corresponding to the first angle information and second angle values corresponding to the second angle information; taking a smallest one of the plurality of angle difference values as the angle difference; wherein the first angle values are inclination angles of suspension arms of axles of the working machine with respect to a horizontal plane, respectively.
According to the present invention, in the tire off-ground detection method for a working machine, the step of determining the angle difference based on the first angle information and the second angle information further includes: determining a first angle difference according to the first angle information and the second angle information of the suspension arm close to the front wheel; determining a second angle difference according to the first angle information and the second angle information of the suspension arm close to the rear wheel; the smaller one of the first and second angle differences is taken as the angle difference.
According to the present invention, there is provided a tire lift-off detection method for a working machine, further comprising: in the case where the angle difference is smaller than a preset angle, it is determined that all or part of the tires of the working machine are in a landing state.
According to the present invention, there is provided a tire lift-off detection method for a working machine, further comprising: and acquiring the vehicle type of the operation machinery, and determining the preset angle according to the vehicle type.
According to the present invention, there is provided a tire lift-off detection method for a working machine, further comprising: under the condition that a support leg of the working machine is supported on the horizontal ground and a tire is in a ground-off state, acquiring third angle information of a suspension arm of the axle relative to the horizontal ground; and determining the preset angle according to the third angle information.
According to the present invention, there is provided a tire lift-off detection method for a working machine, further comprising: and collecting the first angle information by adopting a first inclination angle sensor arranged on the suspension arm, and collecting the second angle information by adopting a second inclination angle sensor arranged on the chassis.
According to the present invention, there is provided a tire lift-off detection method for a working machine, further comprising: outputting first prompt information under the condition that the angle difference is not smaller than the preset angle, wherein the first prompt information is used for prompting that each tire of the working machine is in a ground-off state; and outputting second prompt information under the condition that the angle difference is smaller than the preset angle, wherein the second prompt information is used for prompting that all or part of tires of the working machine are in a landing state.
The present invention also provides a tire lift-off detection device for a working machine, including:
the acquisition module is used for acquiring first angle information of a suspension arm of an axle and second angle information of a chassis;
the determining module is used for determining an angle difference according to the first angle information and the second angle information;
and the diagnosis module is used for judging that each tire of the working machine is in a ground-off state under the condition that the angle difference is not smaller than a preset angle.
The present invention also provides a work machine comprising: the device comprises a first inclination angle sensor, a second inclination angle sensor and a controller; the first inclination angle sensor and the second inclination angle sensor are respectively connected with the controller, the first inclination angle sensor is installed on a suspension arm of an axle of the working machine, and the second inclination angle sensor is installed on a chassis of the working machine; the controller stores a computer program that, when executed by the controller, implements the steps of the tire lift detection method for a work machine according to any one of the above-described embodiments.
The present invention also provides an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the tire off-ground detection method for a work machine according to any one of the above methods when executing the computer program.
The present disclosure also provides a non-transitory computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements the steps of a method of tire lift detection for a work machine as described in any one of the above.
According to the tire lift-off detection method and device for the working machine and the working machine, the angle difference between the suspension arm and the chassis of the working machine relative to the horizontal plane is obtained, so that the actual inclination angle of the suspension arm relative to the ground is obtained through conversion, and therefore when the angle difference is not smaller than the preset angle, the tire of the working machine can be accurately judged to be in a lift-off state, and the working machine can conveniently carry out arm support operation under the stable support provided by the support legs. In the invention, the influence of the inclination angle of the whole vehicle caused by uneven ground on the detection result is considered, the off-ground state of the tire is accurately judged, and the safety of arm support operation on the operation machinery is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is one of the flow charts of a tire lift detection method for a working machine according to the present invention;
FIG. 2 is a schematic diagram of a mounting structure of a chassis, a suspension arm of a front axle, and a front wheel of a work machine according to the present invention;
FIG. 3 is a schematic view of the mounting structure of the chassis, the suspension arms of the rear axle and the rear wheels of the work machine according to the present invention;
FIG. 4 is a simplified schematic illustration of the inclination distribution of the suspension arm and chassis relative to horizontal ground provided by the present invention when the legs of the work machine are supported on horizontal ground;
FIG. 5 is a simplified schematic illustration of the inclination distribution of the suspension arm and chassis relative to the uphill surface provided by the present disclosure when the outrigger of the work machine is supported on the uphill surface;
FIG. 6 is a simplified schematic illustration of the inclination distribution of the suspension arm and chassis relative to the downhill surface provided by the present invention when the outrigger of the work machine is supported on the downhill surface;
fig. 7 is a schematic structural view of a tire lift detection device of a work machine according to the present invention;
FIG. 8 is a schematic diagram of an electronic device provided by the present invention;
reference numerals:
1: a chassis; 2: a support leg; 3: a suspension arm;
4: a tire; 41: a front wheel; 42: a rear wheel;
5: a rear axle; 11: a first tilt sensor; 12: a second tilt sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
In the related art, when the ground clearance of the tire is judged, a method is adopted in which one end of a travel switch is connected with an axle, the other end of the travel switch is connected with a detection pull rod, and the detection pull rod is connected with a frame through a spring. When the tire is not lifted off the ground, the detection pull rod is not stressed, the travel switch does not output a switch quantity signal, and when the tire is lifted off the ground, because enough relative distance is generated between the tire and the vehicle frame, the travel switch is triggered and outputs the switch quantity signal. In this way, the tire ground clearance state can be detected based on the on-off state of the travel switch.
However, since the trigger signal for detecting the tire lift-off is a switching value signal, the inclination angle of the entire vehicle cannot be considered during the detection, and if the construction ground has a certain inclination angle, the tire may not lift off but trigger the stroke switch to output the switching value signal, or the tire may lift off but not trigger the stroke switch to output the switching value signal, thereby affecting the safety of the construction operation of the working machine.
It is thus clear that the conventional method of detecting the state of the tire from the ground is not reliable, and it is difficult to ensure the accuracy of the detection result.
Based on the above technical state, a tire lift detection method, a tire lift detection device, and a work machine according to the present invention will be described below with reference to fig. 1 to 8.
As shown in fig. 1, the present embodiment provides a method for detecting tire lift of a work machine, where an execution subject of the method may be an onboard controller of the work machine, or may be a remote server, and the remote server is in communication connection with the onboard controller. The method comprises the following steps:
step 110, acquiring first angle information of a suspension arm of an axle and second angle information of a chassis;
and step 130, under the condition that the angle difference is not smaller than a preset angle, judging that each tire of the working machine is in a ground-off state, wherein the preset angle is determined according to the vehicle type of the working machine.
Specifically, the method shown in this embodiment obtains the angle difference between the suspension arm and the chassis of the working machine relative to the horizontal plane, and converts the actual inclination angle of the suspension arm relative to the ground, so that when the angle difference is not less than the preset angle, it can be accurately determined that each tire of the working machine is in the ground-off state, so that the working machine can perform boom operation under the stable support provided by the support legs.
Therefore, the influence of the inclination angle of the whole vehicle caused by uneven ground on the detection result is considered, the off-ground state of the tire is accurately judged, and the safety of arm support operation on the operation machinery is ensured.
It should be noted here that the first angle information shown in the present embodiment may be regarded as the inclination of the suspension arm of the axle of the work machine with respect to the horizontal plane; the second angle information may be considered an inclination of the chassis of the work machine relative to a horizontal plane.
Meanwhile, in the present embodiment, the tire lift detection of the working machine is performed when the outrigger of the working machine is supported on the ground. Here, the condition that the outrigger is supported on the ground means that the outrigger is switched from the original retracted state to the current extended state, so as to provide a supporting force for the chassis of the working machine. Obviously, to ensure the overall smoothness of the work machine, the body of the work machine is typically provided with a plurality of legs around the body, the legs including hydraulic cylinders as are known in the art.
When a chassis of the working machine ascends under the support of the support legs, due to the installation structure of the axle, under the action of the gravity of the wheels, the suspension arm of the axle deflects at a certain angle relative to the chassis, so that the suspension arm of the axle presents a certain angle change relative to the horizontal plane, and when the height of the construction ground is different, for example, when the working machine works on an ascending slope or a descending slope, the chassis presents a certain angle change relative to the horizontal plane.
As shown in fig. 2 and 3, the present embodiment may employ a first tilt sensor mounted on a corresponding suspension arm of the front axle or the rear axle to acquire first angle information, and employ a second tilt sensor mounted on a chassis of the work machine to acquire second angle information. The first tilt sensor may be a single-axis inclinometer, and the second tilt sensor may be a double-axis level.
In order to ensure the accuracy of the detection result, the first inclination angle sensor and the second inclination angle sensor are preferably two-axis inclination angle sensors, one of which is along the length direction of the working machine, and the other is along the width direction of the working machine.
As shown in fig. 2, fig. 2 illustrates a chassis 1, front wheels 41, and suspension arms 3 corresponding to the front wheels 41 of a working machine, and one first tilt angle sensor 11 is attached to the suspension arm 3 corresponding to the front wheel 41.
As shown in fig. 3, fig. 3 illustrates a chassis 1, a rear axle 5, a rear wheel 42, and suspension arms 3 corresponding to the rear wheel 42 of the working machine, the rear wheel 42 being connected to the rear axle 5, the rear axle 5 being connected to a cross beam on the chassis 1 via the suspension arms 3, at least one first tilt sensor 11 being mounted on the suspension arms 3, and a second tilt sensor 12 being mounted on the chassis 1.
In this embodiment, the first tilt sensor and the second tilt sensor may be respectively connected to the onboard controller in a communication manner, and the onboard controller may implement the tire lift-off detection method for the working machine according to the data fed back by the first tilt sensor and the second tilt sensor.
Since the working machine is usually provided with a plurality of wheels, each wheel is correspondingly provided with an axle, the embodiment can respectively mount a first inclination angle sensor on the suspension arm corresponding to the plurality of axles, and acquire the first angle information based on the information fed back by the plurality of first inclination angle sensors.
Meanwhile, for the working machine, the working machine generally has only one chassis, and the chassis and the body of the working machine are kept consistent in posture, so that the embodiment can acquire the second angle information through one second inclination angle sensor.
Further, since the inclination angles of the suspension arm and the chassis of the axle relative to the horizontal ground may present different forms under different road conditions of the working machine, the embodiment will be described with reference to fig. 4 to 6 as follows.
As shown in fig. 4, when the undercarriage 1 is stabilized by the support of the outriggers 2 when the outriggers 2 of the work machine are supported on a horizontal ground, it is considered that the inclination angle of the undercarriage 1 with respect to the horizontal plane is zero, and when the tires 4 are lifted off the ground, the inclination angle of the suspension arm 3 of the axle with respect to the horizontal ground can be changed based on the tensile force of the tires 4 on the axle. Thus, the present embodiment detects the inclination angle α of suspension arm 3 with respect to the horizontal ground0The angle difference shown in the above embodiment.
As shown in fig. 5, when the support legs 2 of the work machine are supported on an upward slope, the tires 4 are in a state of being lifted off the ground when the chassis 1 is stabilized by the support of the support legs 2. The inclination angles of the suspension arm 3 and the chassis 1 of the axle relative to the horizontal plane change relative to the horizontal ground working condition. The inclination angle α of the suspension arm 3 of the axle relative to the horizontal plane can be detected by a first inclination sensor2Detecting by a second inclination angle sensor to obtain that the inclination angle of the chassis 1 relative to the horizontal plane is beta2Then the angle difference shown in the above embodiment is α2And beta2The vector sum of (2). Since the working machine is parked on an uphill slope, the suspension arm 3 and the chassis 1 are deflected in the same direction (counter-clockwise) on a vertical plane in the direction of travel of the working machine, alpha2And beta2Both positive values, the angle difference shown in the above embodiments is specifically α2And beta2The difference therebetween.
As shown in fig. 6, when the outrigger 2 of the work machine is supported on a downhill slope that is inclined downward,when the chassis 1 is stabilized under the support of the legs 2, the tires 4 are in a ground-off state. The inclination angles of the suspension arm 3 and the chassis 1 of the axle relative to the horizontal plane change relative to the horizontal ground working condition. The inclination angle α of the suspension arm 3 of the axle relative to the horizontal plane can be detected by a first inclination sensor3Detecting by a second inclination angle sensor to obtain that the inclination angle of the chassis 1 relative to the horizontal plane is beta3Then the angle difference shown in the above embodiment is α3And beta3The vector sum of (1). Since the working machine is parked on an uphill slope, the suspension arm 3 and the chassis 1 are deflected in the opposite direction, on a vertical plane in the direction of travel of the working machine, alpha2Is a positive value, and beta2Both are positive values, and the angle difference shown in the above embodiment is specifically α3Absolute value of and beta3The difference in absolute value of. Since the angle values recorded at the work site are all positive values, the angle difference shown in the embodiment can also be regarded as alpha3And beta3The difference between them.
Further, for a work machine with a leg, for example: the distance between the axle and the chassis of the working machine and the ground is different due to different vehicle types of the working machine, so that the preset angle of the embodiment can be determined according to the vehicle type of the working machine. Obviously, the preset angles corresponding to the working machines of different vehicle types are different, and when the working machine is on a horizontal ground and the tires are in a ground-off state, the inclination angle of the suspension arm of the axle relative to the horizontal plane is used as the preset angle shown in the above embodiment.
Further, the determining the angle difference according to the first angle information and the second angle information as shown in the present embodiment includes, but is not limited to, the following steps:
determining a plurality of angle difference values according to the difference between a plurality of first angle values corresponding to the first angle information and second angle values corresponding to the second angle information; taking the smallest one of the plurality of angle difference values as the angle difference; the first angle values are inclination angles of suspension arms of a plurality of axles of the working machine relative to a horizontal plane respectively.
Specifically, since the working machine has a plurality of tires, the present embodiment can install one first tilt sensor on the suspension arm corresponding to a plurality of axles in a one-to-one correspondence manner, and can obtain a plurality of first angle values shown in the above embodiment based on the information fed back by the plurality of first tilt sensors, so that a plurality of angle difference values can be correspondingly obtained according to the difference between the plurality of first angle values and the second angle values, respectively.
In actual testing, in order to determine that all tires are in a ground-off state, the present embodiment may find the minimum value among a plurality of angle differences, that is, find one of all axles whose inclination angles of suspension arms with respect to the horizontal plane are the smallest. Therefore, when the smallest one of the angle difference values is larger than the preset angle, the tire closest to the ground among all the tires can be judged to be in the ground-off state, and therefore all the tires are in the ground-off state.
Further, the determining the angle difference according to the first angle information and the second angle information as shown in the present embodiment includes, but is not limited to, the following steps:
determining a first angle difference according to the first angle information and the second angle information of the suspension arm close to the front wheel; determining a second angle difference according to the first angle information and the second angle information of the suspension arm close to the rear wheel; the smaller one of the first and second angle differences is taken as the angle difference.
Specifically, according to the arrangement structure of each tire of the working machine, in order to simplify the workload of data processing during detection, the present embodiment can detect the ground-off state of the wheels (front wheels or rear wheels) near the front and rear ends of the working machine, and when determining that the wheels near the front and rear ends of the working machine are both in the ground-off state, it can be known that each wheel distributed in the middle area of the working machine is also necessarily in the ground-off state, so that the ground-off state of all tires can be determined conveniently.
It should be noted that the ground on which the working machine is parked in the embodiment refers to a flat road surface which may have a certain slope, and the embodiment may also detect the ground-off state of each tire by means of visual detection or auxiliary detection by means of visual observation of a worker, in case that there are a plurality of areas on the ground with uneven height.
Based on the configuration shown in the above embodiment, the method for detecting tire lift-off of a work machine according to the present embodiment further includes: in the case where the angle difference is smaller than the preset angle, it is determined that all or part of the tires of the working machine are in a landing state.
In order to accurately calibrate the ground-off state of the tire, the embodiment can acquire the third angle information of the suspension arm of the axle relative to the horizontal ground when the support leg of the working machine is supported on the horizontal ground and the tire is in the ground-off state; according to the third angle information, the preset angle shown in the above embodiment is determined.
The angle difference shown in the above embodiments is generally equal to a preset angle when the respective tires of the work machine are in a ground-off state, in consideration of the road surface condition on which the work machine is parked. If a load is applied to the tire, for example, a large piece of soil is attached to the tire, the angle difference shown in the above embodiment is larger than the predetermined angle.
Further, the tire lift-off detection method for a work machine according to the present embodiment further includes: under the condition that the angle difference is not smaller than the preset angle, outputting first prompt information, wherein the first prompt information is used for prompting that each tire of the working machine is in a ground-off state; and outputting second prompt information under the condition that the angle difference is smaller than the preset angle, wherein the second prompt information is used for prompting that all or part of tires of the working machine are in a landing state.
Specifically, when the angle difference is greater than or equal to the preset angle, the vehicle-mounted controller can control the relevant information prompt module on the working machine to send out first prompt information and timely inform workers on the site or at the far end that all tires of the working machine are lifted off the ground, and the workers can carry out arm support operation on the working machine.
Accordingly, when the angle difference is smaller than the preset angle, all or part of the tires of the working machine are in a landing state. In this case, since the vehicle may be in danger of tipping over due to deformation of the tires when the boom is operated, the vehicle controller may control the information prompting module to send out the second prompting information and inform the worker on the spot or at a remote location that the tires of the working machine are not completely lifted off the ground, and warn the worker to prohibit the boom from being operated.
The information prompting module may be a voice prompting module or a display module known in the art, and is not limited in detail herein.
The tire lift-off detection device for a working machine according to the present invention is described below, and the tire lift-off detection device for a working machine described below and the tire lift-off detection method for a working machine described above may be referred to in correspondence with each other.
As shown in fig. 7, the present embodiment also provides a tire lift detection device for a work machine, including the following modules:
the obtaining module 710 is configured to obtain first angle information of a suspension arm of an axle and second angle information of a chassis;
a determining module 720, configured to determine an angle difference according to the first angle information and the second angle information;
and the diagnosis module 730 is used for judging that each tire of the working machine is in a ground-off state under the condition that the angle difference is not smaller than a preset angle, and the preset angle is determined according to the vehicle type of the working machine.
Specifically, the device shown in this embodiment obtains the angle difference between the suspension arm and the chassis of the working machine relative to the horizontal plane when the support leg is supported on the ground, so as to convert the actual inclination angle of the suspension arm relative to the ground, and thus when the angle difference is not less than the preset angle, it can be accurately determined that each tire of the working machine is in a ground-off state, so that the working machine can perform boom operation under the stable support provided by the support leg. Therefore, the influence of the inclination angle of the whole vehicle caused by uneven ground on the detection result is considered, the off-ground state of the tire is accurately judged, and the safety of arm support operation on the operation machinery is ensured.
Preferably, the present embodiment also provides a working machine including: the device comprises a first inclination angle sensor, a second inclination angle sensor and a controller; the first inclination angle sensor and the second inclination angle sensor are respectively connected with the controller, the first inclination angle sensor is arranged on a suspension arm of an axle of the working machine, and the second inclination angle sensor is arranged on a chassis of the working machine; the controller stores a computer program that, when executed by the controller, implements the steps of the tire lift detection method for a work machine according to any one of the above.
Specifically, since the working machine according to the present embodiment can implement the method for detecting the tire off-ground of the working machine according to the above-mentioned embodiment, the working machine includes all the technical solutions of the above-mentioned embodiment, and therefore at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiment are achieved, and no further description is given here.
It should be noted that the controller shown in the present embodiment may include a single chip microcomputer or a PLC controller, which is well known in the art, and the controller may also be a running vehicle controller (Electronic Control Unit, ECU) on the working machine.
The working machine shown in the present embodiment may be a crane with a outrigger, a fire truck, a pump truck, etc., which are well known in the art, and are not particularly limited herein.
Fig. 8 illustrates a physical structure diagram of an electronic device, and as shown in fig. 8, the electronic device may include: a processor (processor)810, a communication Interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication Interface 820 and the memory 830 communicate with each other via the communication bus 840. Processor 810 may invoke logic instructions in memory 830 to perform a method of tire lift detection for a work machine, the method comprising: acquiring first angle information of a suspension arm of an axle and second angle information of a chassis; determining an angle difference according to the first angle information and the second angle information; and in the case that the angle difference is not less than a preset angle, judging that each tire of the working machine is in a ground-off state.
In addition, the logic instructions in the memory 830 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present disclosure also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, enable the computer to perform a method of tire lift detection for a work machine provided by the above methods, the method comprising: acquiring first angle information of a suspension arm of an axle and second angle information of a chassis; determining an angle difference according to the first angle information and the second angle information; and in the case that the angle difference is not less than a preset angle, judging that each tire of the working machine is in a ground-off state.
In yet another aspect, the present disclosure also provides a non-transitory computer-readable storage medium having stored thereon a computer program that, when executed by a processor, is implemented to perform the above-provided tire lift detection method for a work machine, the method including: acquiring first angle information of a suspension arm of an axle and second angle information of a chassis; determining an angle difference according to the first angle information and the second angle information; and in the case that the angle difference is not less than a preset angle, judging that each tire of the working machine is in a ground-off state.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for detecting the lift of a tire of a working machine, comprising:
acquiring first angle information of a suspension arm of an axle and second angle information of a chassis;
determining an angle difference according to the first angle information and the second angle information;
and in the case that the angle difference is not less than a preset angle, judging that each tire of the working machine is in a ground-off state.
2. The method for detecting tire lift off of a work machine according to claim 1, wherein the step of determining an angle difference from the first angle information and the second angle information includes:
determining a plurality of angle difference values according to the difference between a plurality of first angle values corresponding to the first angle information and second angle values corresponding to the second angle information;
taking a smallest one of the plurality of angle difference values as the angle difference;
wherein the first angle values are inclination angles of suspension arms of axles of the working machine with respect to a horizontal plane, respectively.
3. The method for detecting tire lift off of a work machine according to claim 2, wherein the step of determining an angle difference from the first angle information and the second angle information further comprises:
determining a first angle difference according to the first angle information and the second angle information of the suspension arm close to the front wheel;
determining a second angle difference according to the first angle information and the second angle information of the suspension arm close to the rear wheel;
the smaller one of the first and second angle differences is taken as the angle difference.
4. The method for detecting tire lift of a work machine according to claim 1, further comprising:
and determining that all or part of the tires of the working machine are in a landing state when the angle difference is smaller than the preset angle.
5. The work machine tire lift-off detection method according to any one of claims 1 to 4, further comprising: and acquiring the vehicle type of the operation machinery, and determining the preset angle according to the vehicle type.
6. The work machine tire lift-off detection method according to any one of claims 1 to 4, further comprising: under the condition that a support leg of the working machine is supported on the horizontal ground and a tire is in a ground-off state, acquiring third angle information of a suspension arm of the axle relative to the horizontal ground;
and determining the preset angle according to the third angle information.
7. The work machine tire lift-off detection method according to any one of claims 1 to 4, further comprising:
and collecting the first angle information by adopting a first inclination angle sensor arranged on the suspension arm, and collecting the second angle information by adopting a second inclination angle sensor arranged on the chassis.
8. The work machine tire lift-off detection method according to any one of claims 1 to 4, further comprising:
outputting first prompt information under the condition that the angle difference is not smaller than the preset angle, wherein the first prompt information is used for prompting that each tire of the working machine is in a ground-off state;
and outputting second prompt information under the condition that the angle difference is smaller than the preset angle, wherein the second prompt information is used for prompting that all or part of tires of the working machine are in a landing state.
9. A tire lift detection device for a working machine, comprising:
the acquisition module is used for acquiring first angle information of a suspension arm of an axle and second angle information of a chassis;
the determining module is used for determining an angle difference according to the first angle information and the second angle information;
and the diagnosis module is used for judging that each tire of the working machine is in a ground-off state under the condition that the angle difference is not smaller than a preset angle.
10. A work machine, comprising: the device comprises a first inclination angle sensor, a second inclination angle sensor and a controller; the first inclination angle sensor and the second inclination angle sensor are respectively connected with the controller, the first inclination angle sensor is installed on a suspension arm of an axle of the working machine, and the second inclination angle sensor is installed on a chassis of the working machine;
the controller stores a computer program that, when executed by the controller, implements the steps of the method for detecting lift of a tire of a work machine according to any one of claims 1 to 8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210055306.1A CN114427981B (en) | 2022-01-18 | 2022-01-18 | Tire lift detection method and device for working machine and working machine |
| PCT/CN2023/071986 WO2023138480A1 (en) | 2022-01-18 | 2023-01-13 | Tire off-ground detection method and apparatus for work machine, and work machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210055306.1A CN114427981B (en) | 2022-01-18 | 2022-01-18 | Tire lift detection method and device for working machine and working machine |
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| CN114427981A true CN114427981A (en) | 2022-05-03 |
| CN114427981B CN114427981B (en) | 2023-06-16 |
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| CN (1) | CN114427981B (en) |
| WO (1) | WO2023138480A1 (en) |
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| CN114872787A (en) * | 2022-05-31 | 2022-08-09 | 三一海洋重工有限公司 | Steering control method and device and electric flat car |
| WO2023138480A1 (en) * | 2022-01-18 | 2023-07-27 | 三一汽车制造有限公司 | Tire off-ground detection method and apparatus for work machine, and work machine |
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| Publication number | Publication date |
|---|---|
| CN114427981B (en) | 2023-06-16 |
| WO2023138480A1 (en) | 2023-07-27 |
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