CN114427981B - Tire lift detection method and device for working machine and working machine - Google Patents
Tire lift detection method and device for working machine and working machine Download PDFInfo
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- CN114427981B CN114427981B CN202210055306.1A CN202210055306A CN114427981B CN 114427981 B CN114427981 B CN 114427981B CN 202210055306 A CN202210055306 A CN 202210055306A CN 114427981 B CN114427981 B CN 114427981B
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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 detection method and device for a working machine and the working machine, wherein the tire lift 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 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-leaving state. According to the invention, the influence of the whole vehicle inclination angle generated by uneven ground on the detection result is considered, the accurate judgment of the ground-leaving state of the tire is realized, and the safety of the boom operation of the working machine is ensured.
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 of a work machine, and a work machine.
Background
In a work machine having an arm rest, a plurality of legs are generally provided around a vehicle body of the work machine. When the arm support works, in order to ensure the stability of the whole vehicle, the vehicle body needs to be supported by the support legs so that the tires of the working machine are lifted off the ground. During operation, if the tire lands, the tire may deform due to excessive force, resulting in a risk of tipping the work machine. To avoid this, it is necessary to detect the lift condition of the tires of the work machine before the boom performs the work to determine whether the tires are completely lifted off the ground.
In the related art, the automatic judgment of the tire ground clearance condition is realized mainly by detecting the distance between the tire and the frame. However, when the working machine works on the ground under different road conditions, the distance between the tire and the frame is not truly reflective of the ground clearance condition of the tire due to the influence of the working environment, resulting in failure to accurately detect the ground clearance condition of the tire.
Disclosure of Invention
The invention provides a tire lift-off detection method and device of a working machine and the working machine, which are used for solving or improving the problem that the current tire lift-off state is difficult to accurately detect.
The invention provides a tire lift-off detection method of a working machine, comprising 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 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-leaving state.
According to the tire lift detection method of the working machine provided by the invention, the step of determining the angle difference according to the first angle information and the second angle information comprises 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 differences as the angle difference; the plurality of first angle values are inclination angles of suspension arms of a plurality of axles of the working machine relative to a horizontal plane respectively.
According to the method for detecting the tire lift of the working machine provided by the invention, the step of determining the angle difference according to the first angle information and the second angle information further comprises 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 of the first angle difference and the second angle difference is taken as the angle difference.
The invention provides a tire lift-off detection method of a working machine, which further comprises the following steps: 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.
The invention provides a tire lift-off detection method of a working machine, which further comprises the following steps: and acquiring the vehicle type of the working machine, and determining the preset angle according to the vehicle type.
The invention provides a tire lift-off detection method of a working machine, which further comprises the following steps: acquiring third angle information of a suspension arm of the axle relative to the horizontal ground under the condition that the support leg of the working machine is supported on the horizontal ground and the tire is in a ground-leaving state; and determining the preset angle according to the third angle information.
The invention provides a tire lift-off detection method of a working machine, which further comprises the following steps: the first angle information is acquired by a first inclination sensor arranged on the suspension arm, and the second angle information is acquired by a second inclination sensor arranged on the chassis.
The invention provides a tire lift-off detection method of a working machine, which further comprises the following steps: outputting first prompt information when 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 leaving state; and outputting second prompt information when 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 invention also provides a tire lift-off detection device of the working machine, comprising:
the acquisition module is used for acquiring first angle information of a suspension arm of the axle and second angle information of the 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-leaving 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 first inclination angle sensor, the second inclination angle sensor and the 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 which, when executed by the controller, implements the steps of the tire lift detection method of the work machine according to any one of the above.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor when executing the computer program implements the steps of the method for detecting the lift-off of a tyre of a working machine as described in any one of the above.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a method of tyre lift detection of a work machine as described in any one of the above.
According to the tire ground clearance detection method and device for the working machine and the working machine, the actual inclination angle of the suspension arm relative to the ground is obtained through conversion by obtaining the angle difference between the suspension arm and the chassis of the working machine relative to the horizontal plane, so that each tire of the working machine can be accurately judged to be in a ground clearance state when the angle difference is not smaller than a preset angle, and the working machine can conveniently carry out arm support operation under the stable support provided by the support legs. The invention considers the influence of the whole vehicle inclination angle generated by uneven ground on the detection result, realizes the accurate judgment of the ground-leaving state of the tire, and ensures the safety of the boom operation of the working machine.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a tire lift detection method for a work machine according to the present disclosure;
FIG. 2 is a schematic view of the mounting structure of the chassis, suspension arms of the front axle and front wheels of the work machine provided by the present invention;
FIG. 3 is a schematic view of the mounting structure of the chassis, suspension arms of the rear axle and rear wheels of the work machine provided by the present invention;
FIG. 4 is a simplified schematic diagram of the tilt distribution of the suspension arm and chassis relative to a level ground when the legs of the work machine are supported on the level ground;
FIG. 5 is a simplified schematic illustration of the tilt distribution of the suspension arm and chassis relative to an incline surface of a work machine when the legs of the work machine are supported on the incline surface;
FIG. 6 is a simplified schematic diagram of the tilt distribution of the suspension arm and chassis relative to a downhill surface provided by the present invention when the leg of the work machine is supported on the downhill surface;
FIG. 7 is a schematic view of a tire lift detection apparatus for a work machine according to the present invention;
fig. 8 is a schematic structural 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: and a second tilt sensor.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the related art, when judging the ground-leaving condition of the tire, 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 detection pull rod is not stressed, the travel switch does not output a switching value signal, and when the tire is lifted off, the travel switch is triggered and outputs the switching value signal due to the fact that a sufficient relative distance is generated between the tire and the frame. Thus, the detection of the tire ground-off state can be realized based on the on-off state of the travel switch.
However, since the triggering signal for tire lift-off detection is a switching value signal, the inclination angle of the whole vehicle cannot be considered during detection, if the construction ground has a certain inclination angle, the tire may not lift off and then trigger the travel switch to output the switching value signal, or the tire may not lift off and then trigger the travel switch to output the switching value signal, thereby affecting the safety of the construction operation of the working machine.
As is clear from this, the conventional method of detecting the ground-off state of the tire is not reliable, and it is difficult to ensure the accuracy of the detection result.
Based on the foregoing technical situations, a tire lift detection method and apparatus for a working machine and the working machine of the present invention are described below with reference to fig. 1 to 8.
As shown in fig. 1, the present embodiment provides a tire lift detection method of a working machine, where the execution body of the method may be a vehicle-mounted controller of the working machine, or may be a remote server, and the remote server is communicatively connected to the vehicle-mounted 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 130, judging that each tire of the working machine is in a ground-leaving state under the condition that the angle difference is not smaller than a preset angle, wherein the preset angle is determined according to the vehicle type of the working machine.
Specifically, according to the method, the actual inclination angle of the suspension arm relative to the ground is obtained through conversion by obtaining the angle difference between the suspension arm and the chassis of the working machine relative to the horizontal plane, so that when the angle difference is not smaller than a preset angle, each tire of the working machine can be accurately judged to be in a ground-leaving state, and the working machine can conveniently carry out arm support operation under the stable support provided by the support legs.
Therefore, the invention considers the influence of the whole vehicle inclination angle generated by uneven ground on the detection result, realizes the accurate judgment of the ground-leaving state of the tire, and ensures the safety of the boom operation of the working machine.
It should be noted here that the first angle information shown in the present embodiment may be regarded as the inclination angle of the suspension arm of the axle of the work machine with respect to the horizontal plane; the second angle information may be considered as an inclination of the chassis of the work machine with respect to the horizontal plane.
Meanwhile, in the present embodiment, the tire lift detection of the work machine is performed in a case where the leg of the work machine is supported on the ground. Here, the condition that the leg is supported on the ground means that the leg is switched from the original retracted state to the extended state in which it is currently in, so as to provide a supporting force to the chassis of the working machine. Obviously, in order to ensure the smoothness of the whole work machine, a plurality of supporting legs are usually arranged around the body of the work machine, and the supporting legs comprise hydraulic cylinders known in the art.
When the chassis of the working machine ascends under the support of the supporting legs, the suspension arm of the axle deflects at a certain angle relative to the chassis under the action of the gravity of the wheels, so that the suspension arm of the axle can present a certain angle change relative to the horizontal plane, and when the heights of the construction floors are different, for example, when the working machine works on an ascending slope or a descending slope, the chassis can present a certain angle change relative to the horizontal plane.
As shown in fig. 2 and 3, the present embodiment may collect first angle information using a first tilt sensor mounted on a suspension arm corresponding to a front axle or a rear axle, and collect second angle information using a second tilt sensor mounted on a chassis of a work machine. The first inclination sensor can be a single-axis inclination meter, and the second inclination sensor can be a double-axis level meter.
Here, to ensure accuracy of the detection result, the first tilt sensor and the second tilt sensor are preferably biaxial tilt sensors, one of which is axially along the length direction of the working machine and the other of which is axially along the width direction of the working machine.
As shown in fig. 2, fig. 2 illustrates a chassis 1, a front wheel 41, and a suspension arm 3 corresponding to the front wheel 41 of the work machine, and one first tilt sensor 11 is mounted on 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 a suspension arm 3 corresponding to the rear wheel 42, the rear wheel 42 is connected to the rear axle 5, the rear axle 5 is connected to a cross member on the chassis 1 through the suspension arm 3, at least one first tilt sensor 11 is mounted on the suspension arm 3, and a second tilt sensor 12 is mounted on the chassis 1.
Here, in this embodiment, the first inclination sensor and the second inclination sensor may be respectively connected to the vehicle-mounted controller in a communication manner, and the vehicle-mounted controller may implement the tire lift detection method of the working machine shown in the foregoing embodiment according to the data fed back by the first inclination sensor and the second inclination sensor.
Because the working machine is generally provided with a plurality of wheels, and each wheel is correspondingly provided with an axle, the first inclination angle sensor can be respectively installed on the suspension arm corresponding to the axles, and the first angle information is acquired based on the information fed back by the first inclination angle sensors.
Meanwhile, for the working machine, the working machine generally has only one chassis, and the chassis and the vehicle body of the working machine are kept consistent in posture, so that the embodiment can acquire the second angle information through one second inclination sensor.
Further, since the suspension arm and the chassis of the axle may take different forms with respect to the horizontal ground under different road conditions, the present embodiment describes the acquisition of the angle difference shown in the above embodiment with reference to fig. 4 to 6 as follows.
As shown in fig. 4, when the leg 2 of the working machine is supported on the horizontal ground, the inclination angle of the chassis 1 with respect to the horizontal plane can be considered to be zero when the chassis 1 is stabilized under the support of the leg 2, and when the tire 4 is 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 pulling force of the tire 4 on the axle. Thus, the inclination angle α of the suspension arm 3 with respect to the horizontal ground detected in the present embodiment 0 Is the angular difference shown in the above embodiment.
As shown in fig. 5, when the chassis 1 is stabilized under the support of the leg 2 while the leg 2 of the work machine is supported on an upward slope surface of an incline, the tire 4 is in a ground-off state. The suspension arm 3 of the axle and the inclination of the chassis 1 relative to the horizontal plane will vary with respect to the horizontal ground conditions. The inclination angle α of the suspension arm 3 of the vehicle axle relative to the horizontal can be detected by a first inclination sensor 2 The inclination angle beta of the chassis 1 relative to the horizontal plane is detected by a second inclination angle sensor 2 The angle difference shown in the above embodiment is alpha 2 And beta 2 Vector sum of (d). Since the working machine is parked on the upward slope, the suspension arm 3 is deflected in the same direction (counterclockwise) as the chassis 1 on the vertical plane along the traveling direction of the working machine, and α is 2 And beta 2 All positive values, the angle difference shown in the above embodiment is specifically alpha 2 And beta 2 And (3) a difference.
As shown in fig. 6, when the chassis 1 is stabilized under the support of the leg 2 while the leg 2 of the work machine is supported on a slope downward, the tire 4 is in a ground-off state.The suspension arm 3 of the axle and the inclination of the chassis 1 relative to the horizontal plane will vary with respect to the horizontal ground conditions. The inclination angle α of the suspension arm 3 of the vehicle axle relative to the horizontal can be detected by a first inclination sensor 3 The inclination angle beta of the chassis 1 relative to the horizontal plane is detected by a second inclination angle sensor 3 The angle difference shown in the above embodiment is alpha 3 And beta 3 Vector sum of (d). Since the work machine is parked on the upper slope, the suspension arm 3 is deflected in the opposite direction to the chassis 1 on the vertical plane along the traveling direction of the work machine, and α is 2 Positive value, beta 2 All positive values, and the angle difference shown in the above embodiment is specifically alpha 3 Absolute value of (c) and beta 3 Is the difference between the absolute values of (a) and (b). Since the angle values recorded on the working site are all positive values, the angle difference shown in the embodiment can be identified as alpha 3 And beta 3 And (3) a difference.
Further, for work machines with legs, for example: because of different vehicle types of the working machines, the distances between the axles and the chassis of the working machines and the ground are different, and therefore the preset angle of the embodiment can be determined according to the vehicle types of the working machines. Obviously, the preset angles corresponding to the working machines of different vehicle types are different, and when the working machine is on the horizontal ground and the tires are in the off-ground state, the inclination angle of the suspension arm of the axle relative to the horizontal plane is taken as the preset angle shown in the embodiment.
Further, the determining the angle difference according to the first angle information and the second angle information 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 angle differences as the angle difference; the plurality of 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 may install one first inclination sensor on the suspension arm corresponding to the plurality of axles in a one-to-one correspondence manner, and obtain the plurality of first angle values shown in the above embodiment based on the information fed back by the plurality of first inclination sensors, so that a plurality of angle difference values may be obtained correspondingly according to differences between the plurality of first angle values and the second angle values, respectively.
In practical detection, in order to determine that all tires are in a ground-off state, the present embodiment can find the minimum value among a plurality of angle differences, that is, find the one with the minimum inclination angle of the suspension arms of all axles relative to the horizontal plane. Therefore, when the smallest angle among the angle differences is larger than the preset angle, the nearest one of all the tires to the ground is judged to be in the ground-leaving state, so that all the tires are indicated to be in the ground-leaving state.
Further, the determining the angle difference according to the first angle information and the second angle information 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 of the first angle difference and the second angle difference 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 may detect the ground-leaving state of the wheels (front wheels or rear wheels) near the front and rear ends of the working machine, and when it is determined that the wheels near the front and rear ends of the working machine are both in the ground-leaving state, it is known that each wheel distributed in the middle area of the working machine is also necessarily in the ground-leaving state, so that the ground-leaving states of all the tires can be determined conveniently.
It should be noted that, the ground on which the working machine in this embodiment rests refers to a flat road surface that may have a certain inclination, while there are protrusions with uneven heights on a plurality of areas on the ground, and this embodiment can also detect the ground-off state of each tire by means of visual detection, or can also perform auxiliary detection by means of visual observation by a worker.
Based on the foregoing embodiments, the tire lift detection method of the working 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.
Here, in order to accurately calibrate the ground-leaving state of the tire, in the embodiment, the third angle information of the suspension arm of the axle relative to the horizontal ground can be obtained when the support leg of the working machine is supported on the horizontal ground and the tire is in the ground-leaving state; the preset angle shown in the above embodiment is determined according to the third angle information.
The angle difference shown in the above-described embodiments is generally equal to a preset angle when each tire of the work machine is in a ground-off state in consideration of the road surface condition on which the work machine rests. If there is a load on the tire, for example, a large mass of soil adheres to the tire, the angle difference shown in the above embodiment is larger than the preset angle.
Further, the tire lift detection method of the working machine according to the present embodiment further includes: outputting first prompt information when the angle difference is not smaller than a preset angle, wherein the first prompt information is used for prompting that each tire of the working machine is in a ground leaving state; and outputting second prompt information when 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 a 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 on-site or remote staff that all tires of the working machine are separated from the ground, and the staff can perform 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. Under the condition, as the danger of tilting of the whole vehicle possibly caused by deformation of the tires when the arm support is operated, the vehicle-mounted controller controls the information prompt module to send out second prompt information so as to timely inform on-site or remote staff that each tire of the working machine is not completely separated from the ground and warn the staff to prohibit the arm support from being operated.
The information prompt module may be a voice prompt module or a display module, which are well known in the art, and is not specifically limited herein.
The following describes a tire lift detection device of a working machine provided by the present invention, and the tire lift detection device of the working machine described below and the tire lift detection method of the working machine described above may be referred to correspondingly to each other.
As shown in fig. 7, this embodiment also provides a tire lift detection device of a working machine, including the following modules:
the acquisition module 710 is configured to acquire 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 a diagnosis module 730, configured to determine that each tire of the working machine is in a ground-off state when the angle difference is not less than a preset angle, where the preset angle is determined according to a vehicle type of the working machine.
Specifically, in the device shown in this embodiment, when the support leg is supported on the ground, 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 converted, and when the angle difference is not smaller than a preset angle, each tire of the working machine can be accurately determined to be in a ground-leaving state, so that the working machine can perform boom operation under the stable support provided by the support leg. Therefore, the invention considers the influence of the whole vehicle inclination angle generated by uneven ground on the detection result, realizes the accurate judgment of the ground-leaving state of the tire, and ensures the safety of the boom operation of the working machine.
Preferably, the present embodiment also provides a work machine including: the first inclination angle sensor, the second inclination angle sensor and the 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 which, when executed by the controller, implements the steps of the tire lift detection method of the working machine according to any one of the above.
Specifically, since the working machine according to the present embodiment may implement the tire lift detection method of the working machine according to the foregoing embodiment, the working machine includes all the technical solutions of the foregoing embodiments, and therefore, at least the technical solutions of the foregoing embodiments have all the beneficial effects, which are not described in detail herein.
It should be noted here that the controller shown in this embodiment may include a single-chip microcomputer or a PLC controller as known in the art, and the controller may also be a traveling controller (Electronic Control Unit, ECU) on the work machine.
The working machine shown in the present embodiment may be a crane with a leg, a fire truck, a pump truck, or the like, which are known in the art, and is not particularly limited herein.
Fig. 8 illustrates a physical structure diagram of an electronic device, as shown in fig. 8, which may include: processor 810, communication interface (Communications Interface) 820, memory 830, and communication bus 840, wherein processor 810, communication interface 820, memory 830 accomplish communication with each other through 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 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-leaving state.
Further, the logic instructions in the memory 830 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention 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 which, when executed by a computer, enable the computer to perform a method of tyre lift detection for a work machine provided by the methods described above, 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 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-leaving state.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the above-provided 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 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-leaving state.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A tire lift detection method for a work 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;
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-leaving state;
further comprises: acquiring third angle information of a suspension arm of the axle relative to the horizontal ground under the condition that the support leg of the working machine is supported on the horizontal ground and the tire is in a ground-leaving state; and determining the preset angle according to the third angle information.
2. The method of detecting tire lift 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 the smallest one of the plurality of angle differences as the angle difference;
the plurality of first angle values are inclination angles of suspension arms of a plurality of axles of the working machine relative to a horizontal plane respectively.
3. The method of detecting tire lift 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 of the first angle difference and the second angle difference is taken as the angle difference.
4. The method for detecting tire lift of a work machine according to claim 1, further comprising:
and in the case that the angle difference is smaller than the preset angle, judging that all or part of the tires of the working machine are in a landing state.
5. The method for detecting tire lift of a working machine according to any one of claims 1 to 4, further comprising: and acquiring the vehicle type of the working machine, and determining the preset angle according to the vehicle type.
6. The method for detecting tire lift of a working machine according to any one of claims 1 to 4, further comprising:
the first angle information is acquired by a first inclination sensor arranged on the suspension arm, and the second angle information is acquired by a second inclination sensor arranged on the chassis.
7. The method for detecting tire lift of a working machine according to any one of claims 1 to 4, further comprising:
outputting first prompt information when 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 leaving state;
and outputting second prompt information when 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.
8. A tire lift detection device for a work machine, comprising:
the acquisition module is used for acquiring first angle information of a suspension arm of the axle and second angle information of the chassis;
the determining module is used for determining an angle difference according to the first angle information and the second angle information;
the diagnosis module is used for judging that each tire of the working machine is in a ground-leaving state under the condition that the angle difference is not smaller than a preset angle;
the angle determining module is used for acquiring third angle information of the suspension arm of the axle relative to the horizontal ground under the condition that the support leg of the working machine is supported on the horizontal ground and the tire is in a ground-leaving state, and determining the preset angle according to the third angle information.
9. A work machine, comprising: the first inclination angle sensor, the second inclination angle sensor and the 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 which, when executed by the controller, implements the steps of the tire lift detection method of a working machine according to any one of claims 1 to 7.
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 CN114427981A (en) | 2022-05-03 |
| CN114427981B true CN114427981B (en) | 2023-06-16 |
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| CN202210055306.1A Active CN114427981B (en) | 2022-01-18 | 2022-01-18 | Tire lift detection method and device for working machine and working machine |
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| CN (1) | CN114427981B (en) |
| WO (1) | WO2023138480A1 (en) |
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| CN114427981B (en) * | 2022-01-18 | 2023-06-16 | 三一汽车制造有限公司 | Tire lift detection method and device for working machine and working machine |
| CN114872787B (en) * | 2022-05-31 | 2023-06-13 | 三一海洋重工有限公司 | Steering control method and device and electric flat car |
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| CN114427981A (en) | 2022-05-03 |
| WO2023138480A1 (en) | 2023-07-27 |
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