CN115406514B - Load measurement system and method for unmanned vehicle - Google Patents
Load measurement system and method for unmanned vehicle Download PDFInfo
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- CN115406514B CN115406514B CN202211359409.3A CN202211359409A CN115406514B CN 115406514 B CN115406514 B CN 115406514B CN 202211359409 A CN202211359409 A CN 202211359409A CN 115406514 B CN115406514 B CN 115406514B
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G23/00—Auxiliary devices for weighing apparatus
- G01G23/18—Indicating devices, e.g. for remote indication; Recording devices; Scales, e.g. graduated
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Abstract
The invention discloses a load measuring system and method for an unmanned vehicle, wherein the system comprises weighing frames, weighing sensors, weighing wheels, supporting wheels, a signal processor and supporting guide rails, the two weighing frames are symmetrically arranged in the middle of a chassis of the unmanned vehicle, the two weighing sensors are symmetrically arranged below the two weighing frames, the two weighing wheels are symmetrically arranged below the two weighing sensors, the two supporting wheels are symmetrically arranged below the two weighing frames, the two supporting wheels are electrically connected with the signal processor, the supporting guide rails are arranged on a road surface of a platform, and the weighing wheels and the supporting wheels slide on the supporting guide rails during parking. When passengers get on the vehicle, the load bearing sensor on the weighing frame deforms to output voltage or current signals to the signal processor for data processing, and once the overload door is forbidden to be closed, the overload condition of the automatic driving vehicle when the passengers get on the vehicle at the berth can be pre-warned and warned, so that the normal load of the vehicle is ensured, and the safety of the personnel using the vehicle is ensured.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a load measuring system and method for an unmanned vehicle.
Background
In an unmanned vehicle, vehicle overload can pose a potential hazard, as overload can result in: the vehicle cannot keep a preset speed, and a braking system of the vehicle cannot stop within a specified safe stopping distance; overloading results in fatigue failure or deformation of the vehicle structure. Therefore, the weight detection is added on the vehicle, which is important for the safety of the vehicle running.
Therefore, how to provide a load measurement system and method for an unmanned vehicle is a problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a load measurement system and method for an unmanned vehicle, which adopts a weighing sensor technology to construct a weighing platform by using a support rail design at a berth so as to realize the prejudgment of the weight of a vehicle passenger, can give an early warning and alarm to the overload condition of an automatically driven vehicle when the passenger gets in the berth, and ensure the normal vehicle load so as to ensure the safety of the personnel using the vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme:
a load measurement system for an unmanned vehicle, comprising: the system comprises weighing frames, weighing sensors, weighing wheels, supporting wheels, a signal processor and supporting guide rails, wherein the two weighing frames are symmetrically arranged in the middle of a chassis of the unmanned vehicle, the two weighing sensors are arranged below the two weighing frames, the two weighing wheels are symmetrically arranged below the two weighing sensors, the two supporting wheels are symmetrically arranged below the two weighing frames, the signal processor is arranged below the chassis of the vehicle and positioned on the outer sides of the weighing wheels, the two weighing sensors are electrically connected with the signal processor, the supporting guide rails are arranged on a platform pavement, and the weighing wheels and the supporting wheels slide on the supporting guide rails during parking.
Preferably, two the difference of weighing wheel difference distance platform face height is less than 1mm, two the supporting wheel is less than 3mm apart from the difference of platform face height respectively, the weighing frame is less than from platform face height h1 the supporting wheel is from platform face height h2, and the difference of h1 and h2 is greater than 10mm.
Preferably, the weighing wheel and the supporting wheel are both rubber wheels.
A load measurement method for an unmanned vehicle, the method being implemented based on the system, the method comprising:
the method comprises the steps that an unmanned vehicle runs onto each platform support guide rail, a signal processor reads numerical values of each weighing sensor in no-load and full-load states corresponding to each platform, gain and offset corresponding to each weighing sensor at each support guide rail are established, and the signal processor stores full-load values, gain and offset corresponding to each weighing sensor at each support guide rail;
when the unmanned vehicle runs normally, the weighing wheels and the supporting wheels form a stress surface when the vehicle runs on the supporting guide rail, the weighing sensor receives the weight change of passengers and deforms to output voltage or current signals to the signal processor, the signal processor reads the data of the weighing sensor, the weight of the passengers on the vehicle at the moment is calculated through the prestored gain and offset corresponding to the supporting guide rail, and the weight of the passengers on the vehicle at the moment is compared with the set full load value to monitor whether the passengers are overloaded or not.
Compared with the prior art, the load measuring system and method for the unmanned vehicle can give an early warning and alarm to the overload condition of the passenger of the automatic driving vehicle at the berth when the passenger takes a vehicle, and ensure the normal load of the vehicle so as to ensure the safety of the personnel using the vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a load measurement system for an unmanned vehicle.
Fig. 2 is a force-bearing schematic diagram of the load measuring system.
The device comprises a weighing frame 1, a weighing frame 2, a weighing sensor 3, a weighing wheel 4, a supporting wheel 5, a signal processor 6 and a supporting guide rail.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The embodiment of the invention discloses a load measuring system for an unmanned vehicle, which comprises the following components as shown in figure 1: the automatic parking system comprises weighing frames 1, weighing sensors 2, weighing wheels 3, supporting wheels 4, a signal processor 5 and supporting guide rails 6, wherein the two weighing frames 1 are symmetrically arranged in the middle of a chassis of the unmanned vehicle, the two supporting wheels 4 are symmetrically arranged below the two weighing frames 1, the two weighing sensors 2 are symmetrically arranged below the two weighing frames 1, the two weighing wheels 3 are symmetrically arranged below the two weighing sensors 2, the two weighing sensors 2 are electrically connected with the signal processor 5, the supporting guide rails 6 are arranged at a platform road surface, the weighing wheels 3 and the supporting wheels 4 slide onto the supporting guide rails during parking, in order to ensure that the four wheels which are not turned on side still completely fall on the ground, the wheels are not influenced by a suspension system and are not mainly stressed, the weighing wheels and the supporting wheels are respectively in complete contact with the supporting guide rails, at the moment, the two weighing wheels and the two supporting wheels 4 form a stressed surface, the weighing sensors are deformed to output voltage or current signals to the signal processor for data processing when passengers get on the vehicle, and once the vehicle is overloaded, the vehicle is closed and the vehicle is forbidden to be visually observed.
In this embodiment, as shown in fig. 2, the difference between the two weighing wheels 3 and the platform surface is less than 1mm, the difference between the two supporting wheels 4 and the platform surface is less than 3mm, the difference between the weighing wheels 3 and the platform surface is less than the difference between the supporting wheels 4 and the platform surface, the difference is greater than 10mm, when the vehicle is loaded on the supporting rail, the weighing wheels and the supporting wheels form a stressed surface, and the weighing wheels are the main stressed points due to the difference in height from the ground, thereby causing the deformation of the weighing sensor.
In this embodiment, weighing wheel 3 and supporting wheel 4 are rubber wheels, guarantee that the vehicle has minimum frictional force to the supporting rail on the vehicle simultaneously to the supporting rail in-process weighing wheel and supporting wheel play the effect of direction.
In the present embodiment, the signal processor 5 installed at the bottom of the vehicle supplies power to the load cell 2, the signal processor 5 receives a signal from the load cell 2, and the signal processor 5 transmits information to the car controller by means of bus transmission. Specifically, the signal processor 5 respectively receives two paths of weighing sensor signals to process, the two paths of signals are simultaneously processed when the sensors are normal, when one of the sensors breaks down, the signal processor can automatically shield the weighing sensor with the fault, and the weighing sensor with the fault uses the signal transmitted by the normal weighing sensor to process the weight signal and simultaneously report the fault information of the weighing sensor to the car controller.
The embodiment of the invention discloses a load measuring method for an unmanned vehicle, which comprises the following steps:
the method comprises the steps that an unmanned vehicle runs to a support guide rail 6 of each platform, a signal processor 5 reads the numerical value of each weighing sensor 2 when the unmanned vehicle is empty or full corresponding to each platform, the gain and the offset corresponding to each weighing sensor 2 at each support guide rail are established, and the signal processor stores the full load value, the gain and the offset corresponding to each weighing sensor at each support guide rail;
when the unmanned vehicle runs normally, the weighing wheels 3 and the supporting wheels 4 slide on the supporting guide rails 6 of the road surface of each station, the weighing wheels 3 and the supporting wheels 4 form a stress surface, and the weighing sensor 2 receives weight change from passengers and deforms to output voltage or current signals to the signal processor 5. The signal processor 5 reads the weighing sensor data, calls the corresponding gain and offset of the support guide rail to calculate the weight of the passengers on the vehicle at the moment, and compares the weight with the set full load value to monitor whether the vehicle is overloaded or not.
In this embodiment, since the installation error of the weighing device on the vehicle and the installation error of the support rail on the berth road may cause the corresponding gain and offset to be different on different platforms, the calibration is required at each platform to establish the corresponding gain and offset of different platforms.
In the embodiment, the computer terminal sets the signal processor 5 and the two weighing sensors 2 in a one-to-one correspondence through the CAN bus message. The setup requires two steps to work properly. The first part is basic settings, including definitions of message formats and CAN bus IDs, etc.; the second part is calibration, which defines the mathematical relationship between the output readings and the electrical readings obtained by the weighing sensors, when the trolley runs on the supporting guide rail at the platform, the signal processor respectively reads the AD conversion data cA and cB when the trolley is unloaded and fully loaded, automatically calculates the gain K and the offset F0 corresponding to each weighing sensor, and writes the gain and the offset into the signal processor through the CAN bus.
Wherein, the mathematical relation expression is as follows:
gain value K = (fB-fA)/(cB-cA)
Offset F0= (cA x K) -fA
K denotes a gain, F0 denotes an offset, fA denotes a weight (kg) at no load, fB denotes a weight (kg) at full load, cA denotes AD conversion data corresponding to no load, and cB denotes AD conversion data corresponding to full load.
Under the condition of only carrying out two-point calibration without considering the temperature, the signal processor reads the electric signal of the weighing sensor in real time and carries out AD conversion to obtain data F Code The amount of change Δ F of the sensor (i.e., the weight of the passenger) is calculated by the formula:
ΔF=(F code × K)–F0
F Code And the AD conversion data corresponding to the weighing sensor acquired in real time is shown, wherein delta F represents the weight of the passenger, and F0 represents the offset.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (3)
1. A load measurement system for an unmanned vehicle, comprising: the system comprises weighing frames, weighing sensors, weighing wheels, supporting wheels, a signal processor and supporting guide rails, wherein the two weighing frames are symmetrically arranged in the middle of a chassis of the unmanned vehicle;
the difference between the two weighing wheels and the height of the platform road surface is smaller than 1mm, the difference between the two supporting wheels and the height of the platform road surface is smaller than 3mm, the height h1 of the weighing wheels from the platform road surface is smaller than the height h2 of the supporting wheels from the platform road surface, and the difference between h1 and h2 is larger than 10mm.
2. A load measuring system for an unmanned vehicle according to claim 1, wherein the weighing wheels and the support wheels are rubber wheels.
3. A load measuring method for an unmanned vehicle, the method being implemented based on the system of claim 1, characterized by comprising:
the unmanned vehicle is moved to a supporting guide rail at the road surface of each platform, a signal processor reads the numerical value of each weighing sensor when the unmanned vehicle is in no load and full load corresponding to each platform, and each weighing sensor is established at each platformGain and offset corresponding to a support rail ， The signal processor saves the corresponding full load value, gain and offset of each weighing sensor at each supporting guide rail;
when the unmanned vehicle runs normally, the weighing wheel and the supporting wheel form a stress surface when the vehicle runs on the supporting guide rail, the weighing sensor receives the weight change from passengers and deforms to output voltage or current signals to the signal processor, the signal processor reads the data of the weighing sensor, the weight of the passengers on the vehicle at the moment is calculated through the prestored gain and offset corresponding to the supporting guide rail, and the weight of the passengers on the vehicle at the moment is compared with the set full load value to monitor whether the passengers are overloaded or not;
specifically, a mathematical relation between the output reading of each weighing sensor and the electric reading obtained by each weighing sensor is established, when the trolley runs to a support guide rail at the position of a platform road surface, the signal processor respectively reads AD conversion data cA and cB in no-load and full-load, automatically calculates a gain K and an offset F0 corresponding to each weighing sensor, and writes the gain and the offset into the signal processor through a CAN bus;
wherein, the mathematical relation expression is as follows:
gain K = (fB-fA)/(cB-cA)
Offset F0= (cA x K) -fA
K represents a gain, F0 represents an offset, fA represents a weight at no load, fB represents a weight at full load, cA represents AD conversion data corresponding to no load, and cB represents AD conversion data corresponding to full load;
under the condition of only carrying out two-point calibration without considering the temperature, the signal processor reads the electric signal of the weighing sensor in real time and carries out AD conversion to obtain data F Code The amount of change Δ F of the load cell, i.e., the weight of the passenger, is calculated by the formula:
ΔF＝(F code ×K)–F0
F Code And the AD conversion data corresponding to the weighing sensor acquired in real time is shown, wherein delta F represents the weight of the passenger, and F0 represents the offset.
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| CN202211359409.3A CN115406514B (en) | 2022-11-02 | 2022-11-02 | Load measurement system and method for unmanned vehicle |
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| CN202211359409.3A CN115406514B (en) | 2022-11-02 | 2022-11-02 | Load measurement system and method for unmanned vehicle |
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| CN115406514B true CN115406514B (en) | 2023-02-14 |
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