CN111323107A - Truck overload monitoring method based on laser sensor - Google Patents
Truck overload monitoring method based on laser sensor Download PDFInfo
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- CN111323107A CN111323107A CN202010188855.7A CN202010188855A CN111323107A CN 111323107 A CN111323107 A CN 111323107A CN 202010188855 A CN202010188855 A CN 202010188855A CN 111323107 A CN111323107 A CN 111323107A
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- elevation data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
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- Traffic Control Systems (AREA)
Abstract
The invention discloses a truck overload monitoring method based on a laser sensor, which is based on a laser ranging sensor and a resolving model between elevation data and cargo carrying rate to process the relation between the elevation data and a load nominal value, and has good adaptability and high precision.
Description
Technical Field
The invention relates to a truck overload monitoring technology, in particular to a truck overload monitoring method based on a laser sensor.
Background
Overload becomes the first killer of the highway, the highway and bridge facilities are seriously damaged, the social influence is severe, and the life and property safety of people is damaged. In recent years, policies promote the installation work of road weighing detection equipment, and although overload management effects are quite effective, some drivers can escape from inspection by detouring; and traffic accidents such as axle breakage, tire burst, side turning, steering disorder, brake failure and the like are caused in the process that a driver drives the road surface weighing detection equipment because the driver does not know the vehicle is overloaded. The road surface weighing detection equipment is a mode of after-the-fact monitoring, and can not prevent the overload phenomenon from occurring from the source. Therefore, there is a need for an in-vehicle overload monitoring system that can detect excessive or no overload when the cargo is loaded.
There are also vehicle-mounted overload monitoring systems in the prior art, but these systems all adopt height sensors, and the design structure is complicated, for example, height sensors are arranged between the vehicle frame, the front support, the rear support, the leaf spring and the vehicle axle, and the vehicle frame, and some height sensors need a shell, a rotating shaft, two photoelectric couplers, a shading disc, a connecting rod, a pull rod and the like. However, due to the structural characteristics of the height sensors, the influence of different centroids on the elevation data caused by different cargo placement conditions is not considered by the technologies. The feasibility of application in overload monitoring is considered along with the development of the laser ranging sensor.
Disclosure of Invention
Therefore, the invention aims to provide a truck overload monitoring method based on a laser sensor, which is based on a high-reliability laser measurement technology, settles the relation between the height of a plate spring (or a suspension) and the load capacity by measuring elevation data, solves the problem that no protective measures are taken after the truck is overloaded at the early stage of the on-road operation, and realizes the safety guarantee of the on-road operation.
The technical scheme adopted by the invention for solving the technical problems is as follows: a truck overload monitoring method based on a laser sensor collects elevation data of a front end plate spring/a rear end plate suspension of a truck by arranging the laser ranging sensor, and calculates the load capacity by using a load calculation model as follows:
Y＝A+BX1+CX2
wherein Y is a nominal value of the load, X1For height data, X, of leaf springs/suspensions at the front axle of a truck2The height data of the plate spring/suspension at the axle of the rear end of the truck is obtained through fitting of multiple test calibration data, wherein A, B, C is a fitting coefficient.
The elevation data and X of the plate spring/suspension at four positions of the left front end, the right front end, the left rear end and the right rear end of the truck are collected1Taking the average value of the sum of the left front end elevation data and the right front end elevation data, X2And taking the average value of the left rear end elevation data sum and the right rear end elevation data sum.
Further, the X of the truck in the no-load state, the half-load state and the full-load state is acquired1、X2The value of A, B, C is obtained.
Still further, at least the elevation data under 2-3 different counterweights are collected under the half-load state and the full-load state respectively.
And further, at least respectively acquiring elevation data of 2-3 different longitudinal mass center positions under the same counterweight in a half-load state and a full-load state.
Further, two groups of load calculation models are designed according to the state of the engine, one group is a calculation model in the idle state of the engine, the other group is a calculation model in the flameout state of the engine, A, B, C values are calibrated in the two states respectively, and corresponding calculation models are started in different engine states respectively.
Further, the load calculation model is calibrated for the second time by collecting load data sent by roadside or road surface weighing detection equipment in the transportation process.
Compared with the prior art, the invention has the following remarkable beneficial effects: the invention adopts the laser ranging technology, the laser ranging sensor is arranged at the bottom of the vehicle body to collect the distance between the laser emitter and the vehicle axle, and the plate spring or the suspension can bring different deformations under the condition of different loads, and correspondingly shows the change of the height, so the height distance between the laser emitter and the plate spring/the suspension is measured, and the real-time cargo carrying rate can be calculated through test calibration and regression analysis. Because the laser ranging sensor is convenient to install and not limited by the vehicle type, the adaptability is strong, the structure of the vehicle body does not need to be changed, and the laser sensor is relatively accurate. Therefore, the truck overload monitoring method based on the laser sensor is an overload monitoring technology with high reliability.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Figure 1 is a schematic view of the system of the present invention installed on a truck.
FIG. 2 is a diagram of the relationship between the various modules of the system.
Fig. 3 is a schematic view of the mounting position of the laser range sensor when viewed from the front of the vehicle body.
Fig. 4 is a schematic view of the mounting position of the laser distance measuring sensor when viewed from the vehicle body side.
Detailed Description
The present invention is described in detail below with reference to the drawings and examples, but it should be understood by those skilled in the art that the following examples are not intended to limit the technical solutions of the present invention, and any equivalent changes or modifications made within the spirit of the technical solutions of the present invention should be considered as falling within the protection scope of the present invention.
As shown in fig. 1 and 2, the present invention is based on an overload monitoring system implementing monitoring method, the system is provided with a laser ranging sensor 1 and an overload monitoring module 10 integrated in a vehicle control system, the overload monitoring module 10 includes a signal processor 2, a single chip microcomputer 3, a storage battery 4, a buzzer 5 and a display module 6, the laser ranging sensor 1 is connected with the overload monitoring module 10 through a data line 11, and transmits collected data to the monitoring module.
As shown in fig. 3 and 4, the present invention uses laser ranging sensors to measure elevation data, and the elevation data are respectively installed right above the foremost and rearmost axles 7 of the truck (for a half-loading type, installed above the outer ends of the left and right axle halves, and for a full-loading type, installed above the left and right ends of the same axle).
Further, the laser distance measuring sensor 1 is installed right above the position where the axle 7 carries the leaf spring/suspension 8 and the axle 9, because the position where the axle 7 carries the leaf spring/suspension 8 and the axle 9 is a position where heavy deformation is applied, that is, where the double noise is most sensitive, and the sensor is installed near this position to measure the deformation height more accurately.
Furthermore, 2 laser ranging sensors can be arranged above the foremost axle and are arranged on a cab bottom plate; 2 laser ranging sensors can be arranged above the last axle and are arranged on the bottom plate of the carriage, and laser emitting ports are suspended downwards. The laser ranging sensor 1 expresses the height variation by measuring the distance H (shown in fig. 3) between the laser emitting point and the leaf spring/suspension.
Because the laser ranging sensor 1 is suspended at the bottom of the vehicle body and is fixed, the position has large space, is easy to install, is not influenced by any vehicle body structure, does not influence any vehicle body structure, does not need to change the vehicle body structure, is suitable for any vehicle type and has strong adaptability. And the laser ranging sensor is high in measurement accuracy.
The laser ranging sensor 1 is connected with the signal processor 2, the signal processor 2 comprises a signal amplifier and an A/D converter, the amplification and A/D conversion functions of laser acquisition signals are mainly achieved, and data signals measured by the laser ranging sensor 1 are converted into electric signals to be sent to the single chip microcomputer 3.
The single chip microcomputer 3 is preset with a load calculating model, and can calculate load data according to the elevation data measured by the laser ranging sensor 1.
Further, an overload threshold (generally, a factory calibration of the vehicle) is set in the single chip microcomputer 3, and when the load data exceeds the overload threshold, the buzzer 5 gives an early warning, and the display module 6 also gives an early warning display.
Furthermore, a communication interface 12 is reserved in the single chip microcomputer 3, the communication interface is mainly connected with a vehicle-road cooperation module or a driving auxiliary system, and roadside or road surface weighing detection equipment sends weight data in the actual transportation process for carrying out secondary calibration on a weighing calculation model in the single chip microcomputer.
The accumulator 4 is used to charge the module; the display module 6 is mainly used for displaying the loading capacity and giving an early warning to the driver in case of overload.
The invention provides a truck overload monitoring method based on a laser ranging sensor, which is realized by depending on the following load resolving model:
Y＝A+BX1+CX2
wherein Y is a nominal value of load (cargo carrying rate), X1For measured elevation data of the leaf springs (or suspensions) at the front axle of a truck, X2The measured elevation data of the plate spring (or suspension) at the rear axle of the truck is A, B, C fitting coefficients, and the fitting coefficients are obtained through linear fitting of multiple groups of test data.
Under a certain load condition, the load capacity is calculated by using a load calculation model of the relationship between elevation data and the load capacity, wherein the elevation data (namely the distance between a laser emission center and a leaf spring or a suspension) of the leaf spring (or the suspension) at the front end axle of the truck and the elevation data (namely the distance between the laser emission center and the leaf spring or the suspension) at the rear end axle of the truck are acquired by a laser ranging sensor.
On one hand, signal redundancy is considered, on the other hand, the transverse distribution characteristic of load is considered, measurement errors caused by unbalance loading are avoided, furthermore, laser monitoring is respectively arranged at the left end and the right end above the axle at the foremost end of the vehicle, the heights of leaf springs/suspensions at the left end and the right end of the axle are respectively monitored, and then the average value of the elevation data at the left end and the right end is X1，
x1,x2The plate spring/suspension elevation data are collected by laser ranging sensors at the left end and the right end above a vehicle shaft at the foremost end of the vehicle. Similarly, laser monitoring is respectively arranged at the left end and the right end above the axle at the rearmost end of the vehicle, the heights of the leaf springs/suspensions at the left end and the right end of the axle are respectively monitored, and then the average value of the elevation data at the left end and the right end is obtained to be X2，
x3,x4The plate spring/suspension elevation data are collected by laser ranging sensors at the left end and the right end above an axle at the rearmost end of the vehicle.
According to the method, the load data is solved by adopting a typical linear model, so that the method has better extensionality, and verification proves that if a multi-time function model, an exponential function model or a mixed model is adopted, the method has no better extension characteristic in actual use, and the method can possibly give a false alarm when the truck is actually overloaded. Further, the invention collects typical data to carry out fitting, and respectively collects X under no-load state1、X2Value, X in half-load condition1、X2Value, X in full load condition1、X2The value is obtained. The A, B, C values were obtained from three sets of data according to the equation, but to obtain a linear fit, Y is made to be A + BX1+CX2More accurate fitting of the medium A, B, C coefficients generally requires data for three loading conditions, and at least elevation data for 2-3 different counterweights at half-load and full-load conditions, respectively, and/or 2-3 different longitudinal centroid positions for the same counterweight, as follows: 1) under the state of half load, two counterweights are taken, and two groups of X are measured1、X2A value; under the full load state, two counterweights are taken and two groups of X are measured1、X2A value; 2) in the half-load state, one type of counterweight is taken, but the counterweight is provided with two types of gravity center positions on the vehicle, and a group X is measured at each position1、X2A value; in the full-load state, one type of counterweight is taken, but the gravity center position of the counterweight on the vehicle is also provided with two types, and each position is measured by a group X1、X2The value is obtained. The more measurement data is designed, the more accurate the calculated A, B, C value is.
Furthermore, the state of the engine has certain influence on the measurement, and the engine has vibration during idling and has certain influence on the measurement of the sensor; the problem of engine vibration does not exist during flameout, so that load calculation models of the vehicle in an idle state and a flameout state are different and need to be calibrated respectively, and for one vehicle, at leastPrestoring two groups of load calculation models, wherein one group of load calculation models is a calculation model in an idle state of the engine and is recorded as: y is1＝A1+B1X11+C1X12，Y1、X11、X12、A1、B1、C1Respectively representing corresponding parameters of the engine in an idling state; one set is the calculation model under the engine flameout state, and is recorded as: y is2＝A2+B2X21+C2X22，Y2、X21、X22、A2、B2、C2Respectively representing respective parameters in the engine-off state, A1、B1、C1、A2、B2、C2Calibration needs to be performed in a corresponding state.
By separately obtaining coefficients A in the idle state and the flameout state of the vehicle1、B1、C1/A2、B2、C2The calculation models under two engine states can be obtained, the laser ranging sensor measures real-time elevation data during each loading by using the two models, the current loading capacity is obtained through calculation according to the engine states, and if the numerical value exceeds a threshold value, the current loading capacity is determined to be overload.
The following is an example:
the elevation signals under three loading conditions under the flameout state of the vehicle are acquired through tests and are shown in the following table in unit of meter.
TABLE 1 test results in flameout condition
Let Y be 0, 0.5, 1 as the nominal load values in the three loading states of no load, half load and full load. By solving the model Y ═ A + BX1+CX2And solving to obtain coefficients of A-8.5162, B-3.1978 and C-6.4201, and recording the coefficients into the single chip microcomputer.
Assuming that the current left front, right front, left rear and right rear elevations of the vehicle are 0.744m, 0.751m, 0.821m and 0.826m, the load at this time is calculated to be 0.8389, and the load condition is not overloaded.
Assuming that the current left front, right front, left rear and right rear elevations of the vehicle are 0.687m, 0.694m, 0.721m and 0.718m, the nominal value of the load at the moment is 1.6888 through calculation, the load condition is overload, and the system single chip can send information to a display module and a buzzer to give an early warning to a driver.
It should be noted that the above embodiment is only one specific embodiment of the present invention, and the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.
Claims (7)
1. A truck overload monitoring method based on a laser sensor is characterized by comprising the following steps: according to the method, the laser ranging sensors are arranged to acquire elevation data of front-end and rear-end plate springs/suspensions of the truck, and the following load resolving model is used for resolving the load:
Y＝A+BX1+CX2
wherein Y is a nominal value of the load, X1For height data, X, of leaf springs/suspensions at the front axle of a truck2The height data of the plate spring/suspension at the axle of the rear end of the truck is obtained through multiple test fitting, and A, B, C is a fitting coefficient.
2. The truck overload monitoring method based on the laser sensor as claimed in claim 1, wherein: height data X of four leaf springs/suspensions at the left front end, the right front end, the left rear end and the right rear end of the truck are collected1Taking the average value of the sum of the left front end elevation data and the right front end elevation data, X2And taking the average value of the left rear end elevation data sum and the right rear end elevation data sum.
3. The truck overload monitoring method based on the laser sensor as claimed in claim 1 or 2, wherein: by collecting X of the truck in the no-load state, half-load state and full-load state1、X2The value of A, B, C is obtained.
4. The truck overload monitoring method based on the laser sensor as claimed in claim 3, wherein: at least, elevation data under 2-3 different counterweights in a half-load state and a full-load state are collected.
5. The truck overload monitoring method based on the laser sensor as claimed in claim 3, wherein: at least respectively collecting elevation data of 2-3 different longitudinal mass center positions under the same balance weight in a half-load state and a full-load state.
6. The truck overload monitoring method based on the laser sensor as claimed in claim 1 or 2, wherein: two groups of load calculation models are designed according to the state of the engine, one group is a calculation model under the idling state of the engine, the other group is a calculation model under the flameout state of the engine, A, B, C values are calibrated under the two states respectively, and corresponding calculation models are started under different engine states respectively.
7. The truck overload monitoring method based on the laser sensor as claimed in claim 1, wherein: and carrying out secondary calibration on the load resolving model by acquiring load data sent by roadside or road surface weighing detection equipment in the transportation process.
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| CN202010188855.7A CN111323107A (en) | 2020-03-17 | 2020-03-17 | Truck overload monitoring method based on laser sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115096419A (en) * | 2022-05-13 | 2022-09-23 | 武汉工程大学 | Vehicle load measuring device and method and vehicle |
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| CN104949746A (en) * | 2015-05-06 | 2015-09-30 | 长安大学 | Vehicular non-contact vehicle load mass dynamic monitoring device and detecting method thereof |
| CN106768238A (en) * | 2017-01-17 | 2017-05-31 | 沈阳风驰网际科技有限公司 | For the method for railway freight-car check weighing |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201859004U (en) * | 2010-10-29 | 2011-06-08 | 中国重汽集团柳州运力专用汽车有限公司 | Light weight measuring device |
| CN203100855U (en) * | 2013-02-26 | 2013-07-31 | 长沙理工大学 | Automotive load capacity self-testing device |
| CN203203676U (en) * | 2013-03-29 | 2013-09-18 | 杭州绿健科技有限公司 | Muck trolley load-carrying detection system |
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| CN115096419A (en) * | 2022-05-13 | 2022-09-23 | 武汉工程大学 | Vehicle load measuring device and method and vehicle |
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Application publication date: 20200623 |