WO2023138480A1 - 作业机械的轮胎离地检测方法、装置及作业机械 - Google Patents
作业机械的轮胎离地检测方法、装置及作业机械 Download PDFInfo
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- WO2023138480A1 WO2023138480A1 PCT/CN2023/071986 CN2023071986W WO2023138480A1 WO 2023138480 A1 WO2023138480 A1 WO 2023138480A1 CN 2023071986 W CN2023071986 W CN 2023071986W WO 2023138480 A1 WO2023138480 A1 WO 2023138480A1
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- angle
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- 238000001514 detection method Methods 0.000 title claims abstract description 37
- 239000000725 suspension Substances 0.000 claims abstract description 61
- 238000000034 method Methods 0.000 claims abstract description 38
- 238000004590 computer program Methods 0.000 claims description 16
- 238000004891 communication Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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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
Definitions
- the present application relates to the technical field of working machines, and in particular to a method and device for detecting tire clearance of working machines and working machines.
- a plurality of outriggers are provided around the body of the work machine.
- the jib When the jib is working, in order to ensure the stability of the whole vehicle, it is necessary to support the vehicle body through the outriggers so that the tires of the working machine are off the ground.
- the tire if the tire touches the ground, the tire may be deformed due to excessive force, resulting in the risk of the working machine tipping over.
- it is necessary to detect the ground-off status of the tires of the working machine before the boom performs operations, so as to determine whether the tires are completely off the ground.
- the automatic judgment of the tire off-ground condition is realized mainly by detecting the distance between the tire and the vehicle frame.
- the distance between the tire and the frame cannot truly reflect the ground-off status of the tire due to the influence of the working environment, resulting in the inability to accurately detect the ground-off status of the tire.
- the present application provides a tire-off-ground detection method and device for an operating machine, and the operating machine, which are used to solve or improve the current problem that it is difficult to accurately detect the ground-off state of a tire.
- the present application provides a method for detecting the ground clearance of a tire of an operating machine, including:
- the angle difference is not less than the preset angle, it is determined that each tire of the work machine is in the off-the-ground state.
- the step of determining the angle difference according to the first angle information and the second angle information includes: determining a plurality of angle differences according to the difference between a plurality of first angle values corresponding to the first angle information and a second angle value corresponding to the second angle information; taking the smallest one of the plurality of angle differences as the angle difference; wherein the plurality of first angle values are the inclination angles of the suspension arms of the plurality of axles of the operating machine relative to the horizontal plane.
- the step of determining the angle difference according to the first angle information and the second angle information further includes: determining the first angle difference according to the first angle information and the second angle information of the suspension arm close to the front wheel; determining the second angle difference according to the first angle information and the second angle information of the suspension arm close to the rear wheel; and using the smaller one of the first angle difference and the second angle difference as the angle difference.
- a method for detecting ground lift of a working machine tire provided in the present application, it further includes: when the angle difference is smaller than a preset angle, determining that all or part of the tires of the working machine are on the ground.
- a method for detecting tire clearance of an operating machine further includes: acquiring a model of the operating machine, and determining the preset angle according to the model.
- the method for detecting the tire lift-off of the working machine further includes: when the outrigger of the working machine is supported on the horizontal ground and the tire is in the ground-lifting state, acquiring third angle information of the suspension arm of the axle relative to the horizontal ground; and determining the preset angle according to the third angle information.
- the method further includes: collecting the first angle information by using a first inclination sensor installed on the suspension arm, and collecting the second angle information by using a second inclination sensor installed on the chassis.
- a tire lift detection method of an operating machine provided in the present application, it further includes: when the angle difference is not less than the preset angle, outputting first prompting information, the first prompting information being used to prompt that each tire of the working machine is in a ground lift state; when the angle difference is smaller than the preset angle, outputting second prompting information, the second prompting information being used to prompt that all or part of the tires of the working machine are in a landing state.
- the present application also provides a tire-off-the-ground detection device for a work machine, including:
- An acquisition module configured to acquire the first angle information of the suspension arm of the axle and the second angle information of the chassis
- a determining module configured to determine an angle difference according to the first angle information and the second angle information
- the diagnostic module is configured to determine that each tire of the working machine is in a state of being off the ground when the angle difference is not less than a preset angle.
- the present application also provides an operating machine, comprising: a first inclination sensor, a second inclination sensor, and a controller; the first inclination sensor and the second inclination sensor are respectively connected to the controller, the first inclination sensor is installed on the suspension arm of the axle of the operating machine, and the second inclination sensor is installed on the chassis of the operating machine; the controller stores a computer program, and when the computer program is executed by the controller, the steps of the method for detecting tire clearance of the operating machine as described in any one of the above are realized.
- the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and operable on the processor.
- the processor executes the computer program, it implements the steps of any one of the methods for detecting tire clearance of the working machine described above.
- the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of any method for detecting tire clearance of an operating machine described above are realized.
- the present application provides a tire lift detection method and device for an operating machine, and the operating machine.
- the actual inclination angle of the suspension arm relative to the ground is obtained through conversion, so that when the angle difference is not less than a preset angle, it can be accurately determined that each tire of the operating machine is in a state of lifting off the ground, so that the operating machine can perform boom operations under the stable support provided by the outriggers.
- the present application considers the influence of the inclination angle of the whole vehicle due to the uneven ground on the detection result, realizes the accurate judgment of the tire's off-the-ground state, and ensures the safety of the boom operation of the working machine.
- Fig. 1 is one of the schematic flow charts of the tire lift detection method of the working machine provided by the present application
- Fig. 2 is a schematic diagram of the installation structure of the chassis of the working machine provided by the application, the suspension arm of the front axle and the front wheel;
- Fig. 3 is a schematic diagram of the installation structure of the chassis of the working machine, the suspension arm of the rear axle and the rear wheel provided by the application;
- Fig. 4 is a simplified schematic diagram of the inclination distribution of the suspension arm and the chassis relative to the horizontal ground when the legs of the working machine are supported on the horizontal ground provided by the present application;
- Fig. 5 is a simplified schematic diagram of the inclination distribution of the suspension arm and the chassis relative to the uphill surface when the legs of the working machine are supported on the uphill surface provided by the present application;
- Fig. 6 is a simplified schematic diagram of the inclination distribution of the suspension arm and the chassis relative to the downhill surface provided by the present application when the outrigger of the working machine is supported on the downhill surface;
- FIG. 7 is a schematic structural view of a tire lift detection device for an operating machine provided by the present application.
- FIG. 8 is a schematic structural diagram of an electronic device provided by the present application.
- 1 chassis; 2: outrigger; 3: suspension arm; 4: tire; 41: front wheel; 42: rear wheel; 5: rear axle; 11: first inclination sensor; 12: second inclination sensor.
- the method adopted is to connect one end of the travel switch to the axle, and the other end of the travel switch to a detection pull rod, which is connected to the vehicle frame through a spring.
- the detection rod is not under force, and the travel switch does not output a switching signal, but when the tire is off the ground, due to the sufficient relative distance between the tire and the frame, This causes the limit switch to be triggered and output a digital signal. In this way, based on the switching state of the travel switch, the detection of the tire's ground-off state can be realized.
- the travel switch may be triggered to output a switch signal before the tire is off the ground, or the travel switch is not triggered to output a switch signal when the tire has left the ground, thereby affecting the safety of the construction operation of the working machine.
- this embodiment provides a method for detecting tire clearance of a working machine.
- the execution subject of the method may be an on-board controller of the working machine, or a remote server, and the remote server is connected to the on-board controller through communication.
- the method comprises the steps of:
- Step 110 obtaining the first angle information of the suspension arm of the axle and the second angle information of the chassis;
- Step 120 determining the angle difference according to the first angle information and the second angle information
- Step 130 when the angle difference is not less than a preset angle, it is determined that each tire of the working machine is in a state of being off the ground, and the preset angle is determined according to the model of the working machine.
- the method shown in this embodiment obtains the angle difference between the suspension arm of the work machine and the chassis relative to the horizontal plane to convert the actual tilt 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 work machine is off the ground, so that the work machine can perform boom operations under the stable support provided by the outriggers.
- the application considers the influence of the inclination angle of the whole vehicle due to uneven ground on the detection result, realizes the accurate judgment of the tire's off-the-ground state, and ensures the safety of the boom operation of the working machine.
- first angle information shown in this embodiment can be regarded as the inclination angle of the suspension arm of the axle of the work machine relative to the horizontal plane; the second angle information can be regarded as the inclination angle of the chassis of the work machine relative to the horizontal plane.
- the outriggers of the working machine when the outriggers of the working machine are supported on the ground, the tire lift detection of the working machine is performed.
- the case where the outriggers are supported on the ground means that the outriggers are supported by
- the original retracted state is switched to the current extended state, so as to provide support for the chassis of the working machine.
- a plurality of outriggers are usually provided around the body of the working machine, and the outriggers include hydraulic cylinders known in the art.
- the suspension arm of the axle When the chassis of the working machine rises under the support of the outriggers, based on the installation structure of the axle, under the gravity of the wheels, the suspension arm of the axle will deflect at a certain angle relative to the chassis, so that the suspension arm of the axle will show a certain angle change relative to the horizontal plane.
- the chassis When the height of the construction ground is different, for example, when the working machine is working on an uphill or downhill surface, the chassis will also show a certain angle change relative to the horizontal plane.
- the first inclination sensor installed on the corresponding suspension arm of the front axle or the rear axle can be used to collect the first angle information
- the second inclination sensor installed on the chassis of the working machine can be used to collect the second angle information.
- the first inclination sensor may be a single-axis inclinometer
- the second inclination sensor may be a two-axis level.
- both the first inclination sensor and the second inclination sensor are preferably dual-axis inclination sensors, one axis of the two-axis inclination sensor is along the length direction of the working machine, and the other axis is along the width direction of the working machine.
- FIG. 2 illustrates the chassis 1 of the working machine, the front wheels 41 and the suspension arms 3 corresponding to the front wheels 41 , and a first inclination sensor 11 is installed on the suspension arms 3 corresponding to the front wheels 41 .
- Fig. 3 has shown the chassis 1 of working machine, rear axle 5, rear wheel 42 and suspension arm 3 corresponding with rear wheel 42, rear wheel 42 is connected with rear axle 5, rear axle 5 is connected with the beam on the chassis 1 by suspension arm 3, at least one first inclination sensor 11 is housed on suspension arm 3, and second inclination sensor 12 is housed on chassis 1.
- the first inclination sensor and the second inclination sensor can be respectively connected in communication with the vehicle-mounted controller, and the vehicle-mounted controller can realize the tire lift detection method of the working machine shown in the above-mentioned embodiment according to the data fed back by the first inclination sensor and the second inclination sensor.
- a first inclination sensor can be respectively installed on the suspension arms corresponding to the multiple axles, and the first angle information can be obtained based on the information fed back by the multiple first inclination sensors.
- the work machine generally only has one chassis, and the attitude of the chassis and the body of the work machine is consistent, so this embodiment can pass a second inclination angle transmission
- the sensor collects the second angle information.
- this embodiment will describe the acquisition of the angle difference shown in the above embodiment as follows with reference to FIGS. 4 to 6 .
- the inclination angle of the chassis 1 relative to the horizontal plane is zero, and when the tire 4 is off the ground, based on the pulling force of the tire 4 on the axle, the inclination angle of the suspension arm 3 of the axle relative to the horizontal ground can be changed. Therefore, the inclination ⁇ 0 of the suspension arm 3 relative to the horizontal ground detected in this embodiment is the angle difference shown in the above embodiments.
- the inclination angles of the suspension arm 3 of the axle and the chassis 1 relative to the horizontal plane will all change.
- the inclination angle of the suspension arm 3 of the axle relative to the horizontal plane can be detected by the first inclination sensor as ⁇ 2
- the inclination angle of the chassis 1 relative to the horizontal plane can be detected by the second inclination sensor as ⁇ 2
- the angle difference shown in the above embodiment is the vector sum of ⁇ 2 and ⁇ 2 .
- the suspension arm 3 and the chassis 1 are equivalent to deflecting in the same direction (counterclockwise), so both ⁇ 2 and ⁇ 2 are positive values, and the angle difference shown in the above embodiment is specifically the difference between ⁇ 2 and ⁇ 2 .
- the inclination angles of the suspension arm 3 of the axle and the chassis 1 relative to the horizontal plane will all change.
- the inclination angle of the suspension arm 3 of the axle relative to the horizontal plane can be detected by the first inclination sensor as ⁇ 3
- the inclination angle of the chassis 1 relative to the horizontal plane can be detected by the second inclination sensor as ⁇ 3
- the angle difference shown in the above embodiment is the vector sum of ⁇ 3 and ⁇ 3 .
- the suspension arm 3 and the chassis 1 are equivalent to deflecting in the opposite direction, then ⁇ 2 is a positive value, and ⁇ 2 is both positive values. Since the angle values recorded at the job site are all positive values, the angle difference shown in this embodiment can also be identified as the difference between ⁇ 3 and ⁇ 3 .
- the determination of the angle difference according to the first angle information and the second angle information shown in this embodiment includes but not limited to the following steps:
- a plurality of angle difference values are determined; the smallest one of the plurality of angle difference values is used as the angle difference; wherein, the plurality of first angle values are the inclination angles of the suspension arms of the plurality of vehicle axles of the working machine respectively relative to the horizontal plane.
- one first inclination sensor can be installed on the suspension arms corresponding to the plurality of vehicle axles one by one, based on the information fed back by the plurality of first inclination sensors, the multiple first angle values shown in the above embodiment can be obtained, so that multiple angle differences can be correspondingly obtained according to the differences between the multiple first angle values and the second angle value.
- this embodiment can find the minimum value among multiple angle differences, that is, find the one with the smallest inclination angle of the suspension arms of all the axles relative to the horizontal plane.
- the preset angle it can be determined that among all the tires the one closest to the ground is in the off-the-ground state, thereby indicating that all the tires are in the off-the-ground state.
- the determination of the angle difference according to the first angle information and the second angle information shown in this embodiment includes but not limited to the following steps:
- this embodiment can detect the ground-off state of the wheels (front wheels or rear wheels) close to the front and rear ends of the working machine.
- the wheels front wheels or rear wheels
- the wheels distributed in the middle area of the working machine must also be in the off-ground state, so that the ground-off state of all tires can be conveniently determined.
- the ground on which the working machine is parked as shown in this embodiment refers to a flat road surface that may have a certain slope, and there are highly uneven protrusions in multiple areas on the ground.
- This embodiment can also detect the ground-off status of each tire by means of visual detection, and can also perform auxiliary detection through the naked eye of the staff.
- the method for detecting the tire liftoff of the working machine shown in this embodiment further includes: when the angle difference is smaller than the preset angle, determining that all or part of the tires of the working machine are on the ground.
- the third angle information of the suspension arm of the axle relative to the level ground can be obtained; according to the third angle information, the preset angle shown in the above-mentioned embodiment can be determined.
- the angle difference shown in the above embodiment is usually equal to the preset angle. If there is a load on the tire, for example, there is a large piece of mud attached to the tire, the angle difference shown in the above embodiment will be greater than the preset angle.
- the tire lift detection method of the working machine shown in this embodiment further includes: when the angle difference is not less than the preset angle, outputting first prompting information, the first prompting information is used to prompt that each tire of the working machine is in the ground lift state; when the angle difference is smaller than the preset angle, outputting second prompting information, the second prompting information is used to prompt that all or part of the tires of the working machine are in the landing state.
- the vehicle-mounted controller can be used to control the related information prompt module on the working machine to send out the first prompting information, so as to inform the on-site or remote staff in time that each tire of the working machine has left the ground, and the staff can perform boom operation on the working machine.
- the on-board controller can control the information prompt module to send out a second prompt message to promptly inform the on-site or remote staff that the tires of the working machine are not completely off the ground, and warn the staff not to operate the boom.
- the information prompt module can be a voice prompt module or a display module known in the art, No specific limitation is made here.
- the following is a description of the tire lift detection device for the working machine provided by the present application.
- the tire lift detection device for the working machine described below and the tire lift detection method for the working machine described above can be referred to in correspondence.
- this embodiment also provides a tire lift detection device for a working machine, which includes the following modules:
- An acquisition module 710 configured to acquire the first angle information of the suspension arm of the axle and the second angle information of the chassis
- a determination module 720 configured to determine an angle difference according to the first angle information and the second angle information
- the diagnostic module 730 is configured to determine that each tire of the working machine is off the ground when the angle difference is not less than a preset angle, and the preset angle is determined according to the model of the working machine.
- the device shown in this embodiment obtains the angle difference between the suspension arm of the working machine and the chassis relative to the horizontal plane when the outriggers are supported on the ground, and converts the actual angle of inclination of the suspension arm relative to the ground, so that when the angle difference is not less than the preset angle, it can accurately determine that each tire of the working machine is off the ground, so that the working machine can carry out the boom operation under the stable support provided by the outriggers.
- the application considers the influence of the inclination angle of the whole vehicle due to uneven ground on the detection result, realizes the accurate judgment of the tire's off-the-ground state, and ensures the safety of the boom operation of the working machine.
- this embodiment further provides an operating machine, comprising: a first inclination sensor, a second inclination sensor, and a controller; the first inclination sensor and the second inclination sensor are respectively connected to the controller, the first inclination sensor is installed on the suspension arm of the axle of the operating machine, and the second inclination sensor is installed on the chassis of the operating machine; the controller stores a computer program, and when the computer program is executed by the controller, the steps of the method for detecting tire clearance of the operating machine as described in any one of the above are realized.
- the working machine shown in this embodiment can implement the tire clearance detection method of the working machine shown in the above-mentioned embodiment
- the working machine includes all the technical solutions of the above-mentioned embodiment, and therefore, at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiment, and will not be repeated here.
- controller shown in this embodiment may include a single-chip microcomputer or a PLC controller known in the art, and the controller may also be a driving controller (Electronic Control Unit, ECU) on the working machine.
- ECU Electronic Control Unit
- the operating machine shown in this embodiment may be a crane with outriggers, a fire engine, a pump truck, etc. known in the art, and is not specifically limited here.
- the electronic device may include: a processor (processor) 810, a communication interface (Communications Interface) 820, a memory (memory) 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 complete mutual communication through the communication bus 840.
- the processor 810 may call the logical instructions in the memory 830 to execute the method for detecting the ground clearance of the tires of the work machine.
- the method includes: acquiring first angle information of the suspension arm of the axle and second angle information of the chassis; determining an angle difference according to the first angle information and the second angle information; and determining that each tire of the work machine is in a ground lift state when the angle difference is not less than a preset angle.
- the above logic instructions in the memory 830 may be implemented in the form of software functional units and when sold or used as an independent product, may be stored in a computer-readable storage medium.
- the technical solution of the present application can be embodied in the form of a software product in essence or the part that contributes to the prior art or a part of the technical solution.
- the computer software product is stored in a storage medium and includes several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the application.
- the aforementioned storage medium includes: various media that can store program codes such as U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk.
- the present application also provides a computer program product.
- the computer program product includes a computer program stored on a non-transitory computer-readable storage medium.
- the computer program includes program instructions.
- the computer can execute the method for detecting the ground clearance of the tires of the operation machine provided by the above methods.
- the method includes: acquiring the first angle information of the suspension arm of the axle and the second angle information of the chassis; determining the angle difference according to the first angle information and the second angle information; status.
- the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to perform the above-mentioned method for detecting the tire liftoff of the working machine, the method includes: obtaining the first angle information of the suspension arm of the axle and the second angle information of the chassis; according to the first angle information and the second angle information Determine the angle difference; when the angle difference is not less than a preset angle, it is determined that each tire of the working machine is in a state of being off the ground.
- the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may also be distributed to multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative effort.
- each implementation can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware.
- the computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions to make a computer device (which can be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.
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Abstract
一种作业机械的轮胎离地检测方法，包括：获取车桥的悬挂臂(3)的第一角度信息及底盘(1）的第二角度信息；根据第一角度信息与第二角度信息确定角度差；在角度差不小于预设角度的情况下，判定作业机械的各个轮胎(4)处于离地状态。该方法考虑因地面不平而产生的整车倾角对检测结果的影响，实现了对轮胎(4)离地状态的准确判断。还包括一种作业机械的轮胎离地检测装置和一种作业机械。
Description
相关申请的交叉引用
本申请要求于2022年01月18日提交的申请号为202210055306.1，发明名称为“作业机械的轮胎离地检测方法、装置及作业机械”的中国专利申请的优先权，其通过引用方式全部并入本文。
本申请涉及作业机械技术领域，尤其涉及一种作业机械的轮胎离地检测方法、装置及作业机械。
对于具有臂架的作业机械而言，通常在作业机械的车身的四周设置多个支腿。在臂架进行作业时，为了确保整车的稳定性，需要通过支腿承托起车身，以使得作业机械的轮胎离地。在作业的过程中，如果轮胎着地，轮胎可能因受力过大而变形，导致作业机械出现倾翻的风险。为避免这种情况的发生，需要在臂架执行作业前，对作业机械的轮胎的离地状况进行检测，以判断轮胎是否完全离地。
相关技术中，主要通过检测轮胎与车架之间的距离，来实现对轮胎离地状况的自动判断。然而，当作业机械在不同路况的地面作业时，受作业环境的影响，轮胎与车架之间的距离并不能真实地反映轮胎的离地状况，导致不能准确地对轮胎的离地状态进行检测。
发明内容
本申请提供一种作业机械的轮胎离地检测方法、装置及作业机械，用以解决或改善当前难以准确地对轮胎的离地状态进行检测的问题。
本申请提供一种作业机械的轮胎离地检测方法，包括：
获取车桥的悬挂臂的第一角度信息及底盘的第二角度信息；
根据所述第一角度信息与所述第二角度信息确定角度差；
在所述角度差不小于预设角度的情况下，判定作业机械的各个轮胎处
于离地状态。
根据本申请提供的一种作业机械的轮胎离地检测方法，所述根据所述第一角度信息与所述第二角度信息确定角度差的步骤，包括：根据所述第一角度信息对应的多个第一角度值分别与所述第二角度信息对应的第二角度值之差，确定多个角度差值；将所述多个角度差值当中最小的一者作为所述角度差；其中，所述多个第一角度值为所述作业机械的多个车桥的悬挂臂分别相对于水平面的倾斜角度。
根据本申请提供的一种作业机械的轮胎离地检测方法，所述根据所述第一角度信息与所述第二角度信息确定角度差的步骤，进一步包括：根据靠近前轮的悬挂臂的第一角度信息与所述第二角度信息，确定第一角度差；根据靠近后轮的悬挂臂的第一角度信息与所述第二角度信息，确定第二角度差；将所述第一角度差与所述第二角度差当中较小的一者作为所述角度差。
根据本申请提供的一种作业机械的轮胎离地检测方法，还包括：在所述角度差小于预设角度的情况下，判定作业机械的各个轮胎当中的全部或部分处于落地状态。
根据本申请提供的一种作业机械的轮胎离地检测方法，还包括：获取所述作业机械的车型，根据所述车型确定所述预设角度。
根据本申请提供的一种作业机械的轮胎离地检测方法，还包括：在作业机械的支腿支撑于水平地面上，以及轮胎处于离地状态的情况下，获取所述车桥的悬挂臂相对于水平地面的第三角度信息；根据所述第三角度信息，确定所述预设角度。
根据本申请提供的一种作业机械的轮胎离地检测方法，还包括：采用安装于所述悬挂臂的第一倾角传感器采集所述第一角度信息，采用安装于所述底盘的第二倾角传感器采集所述第二角度信息。
根据本申请提供的一种作业机械的轮胎离地检测方法，还包括：在所述角度差不小于所述预设角度的情况下，输出第一提示信息，所述第一提示信息用于提示所述作业机械的各个轮胎处于离地状态；在所述角度差小于所述预设角度的情况下，输出第二提示信息，所述第二提示信息用于提示所述作业机械的全部或部分轮胎处于落地状态。
本申请还提供一种作业机械的轮胎离地检测装置，包括：
获取模块，用于获取车桥的悬挂臂的第一角度信息及底盘的第二角度信息；
确定模块，用于根据所述第一角度信息与所述第二角度信息确定角度差；
诊断模块，用于在所述角度差不小于预设角度的情况下，判定作业机械的各个轮胎处于离地状态。
本申请还提供一种作业机械，包括：第一倾角传感器、第二倾角传感器及控制器；所述第一倾角传感器、所述第二倾角传感器分别与所述控制器连接，所述第一倾角传感器安装于所述作业机械的车桥的悬挂臂，所述第二倾角传感器安装于所述作业机械的底盘；所述控制器存储有计算机程序，所述计算机程序被所述控制器执行时，实现如上任一项所述的作业机械的轮胎离地检测方法的步骤。
本申请还提供一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上述任一种所述的作业机械的轮胎离地检测方法的步骤。
本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现如上述任一种所述的作业机械的轮胎离地检测方法的步骤。
本申请提供的一种作业机械的轮胎离地检测方法、装置及作业机械，通过获取作业机械的悬挂臂与底盘相对于水平面的角度差，以换算得到悬挂臂相对于地面的实际倾斜角度，从而在角度差不小于预设角度时，即可准确地判定作业机械的各个轮胎处于离地状态，以便作业机械在支腿提供的稳定的支撑下进行臂架作业。在此，本申请考虑到因地面不平而产生的整车倾角对检测结果的影响，实现了对轮胎的离地状态的准确判断，确保了对作业机械进行臂架操作的安全性。
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面
描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请提供的作业机械的轮胎离地检测方法的流程示意图之一；
图2是本申请提供的作业机械的底盘、前桥的悬挂臂及前轮的安装结构示意图；
图3是本申请提供的作业机械的底盘、后桥的悬挂臂及后轮的安装结构示意图；
图4是本申请提供的在作业机械的支腿支撑于水平地面时，悬挂臂及底盘相对于水平地面的倾角分布的简化示意图；
图5是本申请提供的在作业机械的支腿支撑于上坡面时，悬挂臂及底盘相对于上坡面的倾角分布的简化示意图；
图6是本申请提供的在作业机械的支腿支撑于下坡面时，悬挂臂及底盘相对于下坡面的倾角分布的简化示意图；
图7是本申请提供的作业机械的轮胎离地检测装置的结构示意图；
图8是本申请提供的电子设备的结构示意图；
附图标记：
1：底盘；2：支腿；3：悬挂臂；4：轮胎；41：前轮；42：后轮；5：后桥；11：第一倾角传感器；12：第二倾角传感器。
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
相关技术中，在对轮胎的离地状况进行判断时，采用的方法是，将行程开关的一端与车桥连接，行程开关的另一端与检测拉杆连接，检测拉杆通过弹簧与车架连接。在轮胎未离地时检测拉杆不受力，行程开关不输出开关量信号，而在轮胎离地时，由于轮胎与车架之间产生足够的相对距离，
这使得行程开关被触发并输出开关量信号。如此，基于行程开关的开关状态，可实现对轮胎离地状态的检测。
然而，由于上述进行轮胎离地检测的触发信号为开关量信号，在检测时无法考虑整车的倾斜角度，若施工地面有一定的倾斜角度，可能会导致轮胎没有离地就已经触发行程开关输出开关量信号，或者轮胎已经离地，但是没有触发行程开关输出开关量信号，从而影响到作业机械施工操作的安全性。
由此可知，现有的对轮胎的离地状态进行检测的方式并不可靠，难以确保检测结果的准确性。
基于上述技术现况，下面结合图1-图8描述本申请的一种作业机械的轮胎离地检测方法、装置及作业机械。
如图1所示，本实施例提供一种作业机械的轮胎离地检测方法，该方法的执行主体可以是作业机械的车载控制器，也可以是远程服务器，远程服务器与车载控制器通讯连接。所述方法包括如下步骤：
步骤110，获取车桥的悬挂臂的第一角度信息及底盘的第二角度信息；
步骤120，根据第一角度信息与第二角度信息确定角度差；
步骤130，在角度差不小于预设角度的情况下，判定作业机械的各个轮胎处于离地状态，预设角度是根据作业机械的车型确定的。
具体地，本实施例所示的方法通过获取作业机械的悬挂臂与底盘相对于水平面的角度差，以换算得到悬挂臂相对于地面的实际倾斜角度，从而在角度差不小于预设角度时，即可准确地判定作业机械的各个轮胎处于离地状态，以便作业机械在支腿提供的稳定的支撑下进行臂架作业。
由此，本申请考虑因地面不平而产生的整车倾角对检测结果的影响，实现了对轮胎的离地状态的准确判断，确保了对作业机械进行臂架操作的安全性。
在此应指出的是，本实施例所示的第一角度信息可认为是作业机械的车桥的悬挂臂相对于水平面的倾角；第二角度信息可认为是作业机械的底盘相对于水平面的倾角。
与此同时，本实施例是在作业机械的支腿支撑于地面上的情况下，进行作业机械的轮胎离地检测。在此，支腿支撑于地面上的情况是指支腿由
原有的回缩状态切换至当前所处的伸长状态，以便对作业机械的底盘提供支撑力。显然，为了确保作业机械整车的平稳性，作业机械的车身的四周通常设有多个支腿，支腿包括本领域公知的液压缸。
当作业机械的底盘在支腿的支撑下上升时，基于车桥的安装结构，在车轮的重力作用下，车桥的悬挂臂会相对于底盘发生一定角度的偏转，使得车桥的悬挂臂相对于水平面会呈现出一定的角度变化，而在施工地面出现高度不同时，例如，作业机械在上坡面或下坡面进行作业时，底盘相对于水平面也会呈现出一定的角度变化。
如图2与图3所示，本实施例可采用安装于前桥或后桥相应的悬挂臂上的第一倾角传感器采集第一角度信息，采用安装于作业机械的底盘的第二倾角传感器采集第二角度信息。其中，第一倾角传感器可以为单轴的倾角仪，第二倾角传感器可以为双轴的水平仪。
在此，为确保检测结果的准确性，第一倾角传感器与第二倾角传感器均优选为双轴倾角传感器，双轴倾角传感器的其中一个轴向沿作业机械的长度方向，另一个轴向沿作业机械的宽度方向。
如图2所示，图2示意了作业机械的底盘1、前轮41及与前轮41对应的悬挂臂3，在前轮41所对应的悬挂臂3上装有一个第一倾角传感器11。
如图3所示，图3示意了作业机械的底盘1、后桥5、后轮42及与后轮42对应的悬挂臂3，后轮42与后桥5连接，后桥5通过悬挂臂3与底盘1上的横梁连接，在悬挂臂3上装有至少一个第一倾角传感器11，在底盘1上装有第二倾角传感器12。
在此，本实施例可以将第一倾角传感器与第二倾角传感器分别与车载控制器通讯连接，车载控制器根据第一倾角传感器与第二倾角传感器反馈的数据，实现上述实施例所示的作业机械的轮胎离地检测方法。
由于作业机械上通常设有多个车轮，每个车轮均对应地配设有车桥，从而本实施例可在多个车桥对应的悬挂臂上分别安装一个第一倾角传感器，基于多个第一倾角传感器反馈的信息，获取第一角度信息。
与此同时，对于作业机械而言，作业机械一般只有一个底盘，且底盘与作业机械的车身的姿态保持一致，从而本实施例可通过一个第二倾角传
感器采集第二角度信息。
进一步地，由于作业机械在不同的路况下，车桥的悬挂臂及底盘相对于水平地面的倾角会呈现出不同的形态，本实施例结合图4至图6对上述实施例所示的角度差的获取进行如下说明。
如图4所示，在作业机械的支腿2支撑于水平地面上时，当底盘1在支腿2的支护下稳定时，可认为底盘1相对于水平面的倾斜角度为零度，而在轮胎4离地时，基于轮胎4对车桥的拉力作用，可使得车桥的悬挂臂3相对于水平地面的倾角发生变化。因此，本实施例检测得到的悬挂臂3相对于水平地面的倾角α0为上述实施例所示的角度差。
如图5所示，在作业机械的支腿2支撑于倾斜向上的上坡面时，当底盘1在支腿2的支护下稳定时，轮胎4处于离地状态。相对于水平地面的工况而言，车桥的悬挂臂3与底盘1相对于水平面的倾角均会发生变化。在此，可通过第一倾角传感器检测得到车桥的悬挂臂3相对于水平面的倾角为α2，通过第二倾角传感器检测得到底盘1相对于水平面的倾角为β2，则上述实施例所示的角度差为α2与β2的矢量和。由于作业机械停放于上坡面，在沿着作业机械的行驶方向所在的竖直面上，悬挂臂3与底盘1相当于沿着相同的方向(逆时针)偏转，则α2与β2均为正值，上述实施例所示的角度差具体为α2与β2之差。
如图6所示，在作业机械的支腿2支撑于倾斜向下的下坡面时，当底盘1在支腿2的支护下稳定时，轮胎4处于离地状态。相对于水平地面的工况而言，车桥的悬挂臂3与底盘1相对于水平面的倾角均会发生变化。在此，可通过第一倾角传感器检测得到车桥的悬挂臂3相对于水平面的倾角为α3，通过第二倾角传感器检测得到底盘1相对于水平面的倾角为β3，则上述实施例所示的角度差为α3与β3的矢量和。由于作业机械停放于上坡面，在沿着作业机械的行驶方向所在的竖直面上，悬挂臂3与底盘1相当于沿着相反方向偏转，则α2为正值，而β2均为正值，上述实施例所示的角度差具体也为α3的绝对值与β3的绝对值之差。由于作业现场记录的角度值均为正值，从而本实施例所示的角度差也可认定为α3与β3之差。
进一步地，对于带有支腿的作业机械，例如：消防车、挖掘机、起重机、泵车等，由于这些作业机械的车型不同，作业机械的车桥及底盘离地
面的距离均存在差异性，从而本实施例可根据作业机械的车型确定上述实施例的预设角度。显然，不同车型的作业机械所对应的预设角度不同，在作业机械处于水平地面上，且轮胎处于离地状态时，将车桥的悬挂臂相对于水平面的倾角做为上述实施例所示的预设角度。
进一步地，本实施例所示的根据第一角度信息与第二角度信息确定角度差，包括但不限于如下步骤：
根据第一角度信息对应的多个第一角度值分别与第二角度信息对应的第二角度值之差，确定多个角度差值；将多个角度差值当中最小的一者作为角度差；其中，多个第一角度值为作业机械的多个车桥的悬挂臂分别相对于水平面的倾斜角度。
具体地，由于作业机械具有多个轮胎，本实施例可在多个车桥对应的悬挂臂上一一对应地安装一个第一倾角传感器，基于多个第一倾角传感器反馈的信息可得到上述实施例所示的多个第一角度值，从而依据多个第一角度值分别与第二角度值之差，可对应地得到多个角度差值。
在实际检测中，为了确定所有的轮胎都处于离地状态，本实施例可在多个角度差值当中找出最小值，即找出所有车桥的悬挂臂相对于水平面的倾角最小的一者。由此，在多个角度差值当中最小的一者大于预设角度时，即可判断所有轮胎当中离地面最近的一个处于离地状态，从而表明所有的轮胎均处于离地状态。
进一步地，本实施例所示的根据第一角度信息与第二角度信息确定角度差，包括但不限于如下步骤：
根据靠近前轮的悬挂臂的第一角度信息与所述第二角度信息，确定第一角度差；根据靠近后轮的悬挂臂的第一角度信息与所述第二角度信息，确定第二角度差；将所述第一角度差与所述第二角度差当中较小的一者作为所述角度差。
具体地，根据作业机械的各个轮胎的布置结构，为简化检测时数据处理的工作量，本实施例可对靠近作业机械前、后两端的车轮(前轮或后轮)的离地状态进行检测，在判定靠近作业机械前、后两端的车轮均处于离地状态时，可知分布于作业机械中部区域的各个车轮也必然处于离地状态，从而可便捷地对所有的轮胎的离地状态进行判定。
在此应指出的是，本实施例所示的作业机械所停靠的地面指的是可能具有一定斜度的平整路面，而对于地面上多个区域存在高度不平的凸起，本实施例还可借助视觉检测的方式对各个轮胎的离地状态进行检测，也可通过工作人员肉眼观察的方式进行辅助检测。
基于上述实施例所示的方案，本实施例所示的作业机械的轮胎离地检测方法，还包括：在角度差小于预设角度的情况下，判定作业机械的各个轮胎当中的全部或部分处于落地状态。
在此，为了对轮胎的离地状态进行准确地标定，本实施例可在作业机械的支腿支撑于水平地面上，以及轮胎处于离地状态的情况下，获取车桥的悬挂臂相对于水平地面的第三角度信息；根据第三角度信息，确定上述实施例所示的预设角度。
考虑到作业机械停靠的路面状况，在作业机械的各个轮胎处于离地状态时，上述实施例所示的角度差通常等于预设角度。若轮胎上存在负载，例如，在轮胎上附着有大块的泥土，上述实施例所示的角度差会大于预设角度。
进一步地，本实施例所示的作业机械的轮胎离地检测方法，还包括：在角度差不小于预设角度的情况下，输出第一提示信息，第一提示信息用于提示作业机械的各个轮胎处于离地状态；在角度差小于预设角度的情况下，输出第二提示信息，第二提示信息用于提示作业机械的全部或部分轮胎处于落地状态。
具体地，在角度差大于或等于预设角度时，可通过车载控制器控制作业机械上的相关信息提示模块发出第一提示信息，以及时告知现场或远端的工作人员，作业机械的各个轮胎均已经离地，工作人员可以对作业机械进行臂架操作。
相应地，在角度差小于预设角度时，作业机械的各个轮胎当中的全部或部分处于落地状态。在此情况下，由于在操作臂架时，可能会因为轮胎的变形导致整车出现倾翻的危险，从而可通过车载控制器控制信息提示模块发出第二提示信息，以及时告知现场或远端的工作人员，作业机械的各个轮胎未完全离地，并警示工作人员禁止操作臂架。
其中，信息提示模块可以为本领域公知的语音提示模块或显示模块，
在此不做具体限定。
下面对本申请提供的作业机械的轮胎离地检测装置进行描述，下文描述的作业机械的轮胎离地检测装置与上文描述的作业机械的轮胎离地检测方法可相互对应参照。
如图7所示，本实施例还提供一种作业机械的轮胎离地检测装置，包括如下模块：
获取模块710，用于获取车桥的悬挂臂的第一角度信息及底盘的第二角度信息；
确定模块720，用于根据第一角度信息与第二角度信息确定角度差；
诊断模块730，用于在角度差不小于预设角度的情况下，判定作业机械的各个轮胎处于离地状态，预设角度是根据作业机械的车型确定的。
具体地，本实施例所示的装置通过获取在支腿支撑于地面上时，作业机械的悬挂臂与底盘相对于水平面的角度差，以换算得到悬挂臂相对于地面的实际倾斜角度，从而在角度差不小于预设角度时，即可准确地判定作业机械的各个轮胎处于离地状态，以便作业机械在支腿提供的稳定的支撑下进行臂架作业。由此，本申请考虑因地面不平而产生的整车倾角对检测结果的影响，实现了对轮胎的离地状态的准确判断，确保了对作业机械进行臂架操作的安全性。
优选地，本实施例还提供一种作业机械，包括：第一倾角传感器、第二倾角传感器及控制器；第一倾角传感器、第二倾角传感器分别与控制器连接，第一倾角传感器安装于作业机械的车桥的悬挂臂，第二倾角传感器安装于作业机械的底盘；控制器存储有计算机程序，计算机程序被控制器执行时，实现如上任一项所述的作业机械的轮胎离地检测方法的步骤。
具体地，由于本实施例所示的作业机械可实现上述实施例所示的作业机械的轮胎离地检测方法，则作业机械包括了上述实施例的全部技术方案，因此，至少具有上述实施例的技术方案所带来的所有有益效果，在此不再一一赘述。
在此应指出的是，本实施例所示的控制器可以包括本领域公知的单片机或PLC控制器，控制器也可以为作业机械上的行车控制器(Electronic Control Unit，ECU)。
本实施例所示的作业机械可以为本领域公知的带有支腿的起重机、消防车、泵车等，在此不做具体限定。
图8示例了一种电子设备的实体结构示意图，如图8所示，该电子设备可以包括：处理器(processor)810、通信接口(Communications Interface)820、存储器(memory)830和通信总线840，其中，处理器810，通信接口820，存储器830通过通信总线840完成相互间的通信。处理器810可以调用存储器830中的逻辑指令，以执行作业机械的轮胎离地检测方法，该方法包括：获取车桥的悬挂臂的第一角度信息及底盘的第二角度信息；根据所述第一角度信息与所述第二角度信息确定角度差；在所述角度差不小于预设角度的情况下，判定作业机械的各个轮胎处于离地状态。
此外，上述的存储器830中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
另一方面，本申请还提供一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，计算机能够执行上述各方法所提供的作业机械的轮胎离地检测方法，该方法包括：获取车桥的悬挂臂的第一角度信息及底盘的第二角度信息；根据所述第一角度信息与所述第二角度信息确定角度差；在所述角度差不小于预设角度的情况下，判定作业机械的各个轮胎处于离地状态。
又一方面，本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现以执行上述各提供的作业机械的轮胎离地检测方法，该方法包括：获取车桥的悬挂臂的第一角度信息及底盘的第二角度信息；根据所述第一角度信息与所述第二角度信息
确定角度差；在所述角度差不小于预设角度的情况下，判定作业机械的各个轮胎处于离地状态。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。
Claims (10)
- 一种作业机械的轮胎离地检测方法，包括：获取车桥的悬挂臂的第一角度信息及底盘的第二角度信息；根据所述第一角度信息与所述第二角度信息确定角度差；在所述角度差不小于预设角度的情况下，判定作业机械的各个轮胎处于离地状态。
- 根据权利要求1所述的作业机械的轮胎离地检测方法，其中，所述根据所述第一角度信息与所述第二角度信息确定角度差的步骤，包括：根据所述第一角度信息对应的多个第一角度值分别与所述第二角度信息对应的第二角度值之差，确定多个角度差值；将所述多个角度差值当中最小的一者作为所述角度差；其中，所述多个第一角度值为所述作业机械的多个车桥的悬挂臂分别相对于水平面的倾斜角度。
- 根据权利要求2所述的作业机械的轮胎离地检测方法，其中，所述根据所述第一角度信息与所述第二角度信息确定角度差的步骤，进一步包括：根据靠近前轮的悬挂臂的第一角度信息与所述第二角度信息，确定第一角度差；根据靠近后轮的悬挂臂的第一角度信息与所述第二角度信息，确定第二角度差；将所述第一角度差与所述第二角度差当中较小的一者作为所述角度差。
- 根据权利要求1所述的作业机械的轮胎离地检测方法，其中，还包括：在所述角度差小于所述预设角度的情况下，判定作业机械的各个轮胎当中的全部或部分处于落地状态。
- 根据权利要求1至4任一所述的作业机械的轮胎离地检测方法，其中，还包括：获取所述作业机械的车型，根据所述车型确定所述预设角度。
- 根据权利要求1至4任一所述的作业机械的轮胎离地检测方 法，，还包括：在作业机械的支腿支撑于水平地面上，以及轮胎处于离地状态的情况下，获取所述车桥的悬挂臂相对于水平地面的第三角度信息；根据所述第三角度信息，确定所述预设角度。
- 根据权利要求1至4任一所述的作业机械的轮胎离地检测方法，还包括：采用安装于所述悬挂臂的第一倾角传感器采集所述第一角度信息，采用安装于所述底盘的第二倾角传感器采集所述第二角度信息。
- 根据权利要求1至4任一所述的作业机械的轮胎离地检测方法，还包括：在所述角度差不小于所述预设角度的情况下，输出第一提示信息，所述第一提示信息用于提示所述作业机械的各个轮胎处于离地状态；在所述角度差小于所述预设角度的情况下，输出第二提示信息，所述第二提示信息用于提示所述作业机械的全部或部分轮胎处于落地状态。
- 一种作业机械的轮胎离地检测装置，包括：获取模块，用于获取车桥的悬挂臂的第一角度信息及底盘的第二角度信息；确定模块，用于根据所述第一角度信息与所述第二角度信息确定角度差；诊断模块，用于在所述角度差不小于预设角度的情况下，判定作业机械的各个轮胎处于离地状态。
- 一种作业机械，包括：第一倾角传感器、第二倾角传感器及控制器；其中，所述第一倾角传感器、所述第二倾角传感器分别与所述控制器连接，所述第一倾角传感器安装于所述作业机械的车桥的悬挂臂，所述第二倾角传感器安装于所述作业机械的底盘；所述控制器存储有计算机程序，所述计算机程序被所述控制器执行时，实现如权利要求1至8任一项所述的作业机械的轮胎离地检测方法的步骤。
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| CN114427981A (zh) * | 2022-01-18 | 2022-05-03 | 三一汽车制造有限公司 | 作业机械的轮胎离地检测方法、装置及作业机械 |
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