CN105865607A - Dynamic weighing correction method of vehicle weighing module - Google Patents
Dynamic weighing correction method of vehicle weighing module Download PDFInfo
- Publication number
- CN105865607A CN105865607A CN201610275074.5A CN201610275074A CN105865607A CN 105865607 A CN105865607 A CN 105865607A CN 201610275074 A CN201610275074 A CN 201610275074A CN 105865607 A CN105865607 A CN 105865607A
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- vehicle
- weighing module
- acceleration
- mounted weighing
- weight
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G23/00—Auxiliary devices for weighing apparatus
- G01G23/01—Testing or calibrating of weighing apparatus
-
- 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
Abstract
The invention provides a dynamic weighing correction method of a vehicle weighing module. The method is used for correcting vehicle weight detected when a vehicle runs. Firstly, a vehicle-mounted weighing module provided with a gyroscope sensor, a storage unit and a processing unit is provided, installed on the vehicle and used for detecting the weight of the vehicle, an angular variation correction coefficient A and an acceleration correction coefficient B are calculated through the processing unit according to a deviation angle theta O, the lateral force coefficient kx in the X-axis direction, the lateral force coefficient ky in the Y-axis direction, acceleration components ax, ay and az, gravity acceleration g and the included angle theta, detection weight S of the vehicle at a certain dynamic moment is obtained through the vehicle-mounted weighing module, and the actual weight G of the vehicle is calculated through the formula satisfying G=S/(A*B). The dynamic weighing correction method of the vehicle weighing module is simple in computation principle, high in operating speed and high in detection precision.
Description
Technical field
The present invention relates to the dynamic weighing modification method of a kind of vehicle-mounted Weighing module.
Background technology
Along with the quick growth of logistic industry, the situation of vehicle overload overload gets more and more, increasingly severe.Country takes series of measures for this situation, such as weight metering charging etc..And taking the premise of these measures is can accurately to detect the weight of vehicle.
Weighing to measure known to field to use the mode separated with transport condition of weighing vehicle-mounted at present, the mode i.e. carrying out measuring under vehicle stationary state realizes, and mainly obtains a certain degree of application on specific engineering truck more.But being affected by many factors owing to vehicle load in dynamic running process weighs, such as acceleration, running gradient etc., existing metering system not can solve.
In view of this, it is necessary to existing vehicle-mounted Weighing method is improved, to solve the problems referred to above.
Summary of the invention
It is an object of the invention to provide the dynamic weighing modification method of a kind of vehicle-mounted Weighing module, to solve the problem that existing vehicle-mounted weighing technique cannot accurately measure vehicle dynamic weight.
For achieving the above object, the invention provides the dynamic weighing modification method of a kind of vehicle-mounted Weighing module, the vehicle weight detected during in order to travel vehicle is modified, first one is provided to have gyro sensor, memory element and the vehicle-mounted Weighing module of processing unit, described vehicle-mounted Weighing module is arranged on vehicle, in order to the weight of vehicle is detected, set forward/backward direction when described vehicle is horizontal as X-axis, left and right directions is Y-axis, above-below direction is Z axis, the vertical direction of gyro sensor and angle of deviation Φ 0 of described Z axis when described cell stores has described vehicle to be horizontal, the sideway force coefficient kx of gyro sensor X-direction and the sideway force coefficient ky of gyro sensor Y direction；
Secondly, by gyro sensor obtain vehicle a certain dynamic time be engraved in the component of acceleration a of X-axis, Y-axis and Z axisx、ay、az, gravity acceleration g and the angle Φ of vertical direction and Z axis at described a certain dynamic moment gyro sensor；
Angle of deviation Φ is utilized by processing unit0, the sideway force coefficient kx of X-direction, the sideway force coefficient ky of Y direction, component of acceleration ax、ay、az, gravity acceleration g and angle Φ be calculated angular variation correction factor A and acceleration correction coefficient B；
Vehicle sense weight S in the described a certain dynamic moment is obtained by vehicle-mounted Weighing module；
Equation below: G=S/ (A*B) is used to be calculated actual weight G of vehicle.
As a further improvement on the present invention, the sideway force coefficient kx of described X-direction and the sideway force coefficient ky of Y direction demarcates acquisition after vehicle-mounted Weighing module has produced, and calibration process is as follows:
Making described vehicle-mounted Weighing module load the weight of constant weight, the weight of described weight is less than the range of described vehicle-mounted Weighing module；
Control described vehicle-mounted Weighing module along X-direction accelerated motion, and record acceleration ax1The interior code value C exported with vehicle-mounted Weighing modulex1；
Control described vehicle-mounted Weighing module along X-direction with another acceleration accelerated motion, and record acceleration ax0The interior code value C exported with vehicle-mounted Weighing modulex0；
Control described vehicle-mounted Weighing module along Y direction accelerated motion, and record acceleration ay1The interior code value C exported with vehicle-mounted Weighing moduley1；
Control described vehicle-mounted Weighing module along Y direction with another acceleration accelerated motion, and record acceleration ay0The interior code value C exported with vehicle-mounted Weighing moduley0；
Utilize formula kx=(Cx1-Cx0)/(ax1-ax0)、ky=(Cy1-Cy0)/(ay1-ay0) obtain the sideway force coefficient kx of X-direction and the sideway force coefficient ky of Y direction.
As a further improvement on the present invention, formula θ=Φ-Φ is utilized0, draw the actual shifts angle θ of gyro sensor when the gyro sensor relative vehicle in described a certain dynamic moment is horizontal.
As a further improvement on the present invention, angular variation correction factor A utilizes formula A=cos θ+kx*sin θ to be calculated by processing unit.
As a further improvement on the present invention, acceleration correction coefficient B utilizes B=(kx*ax+ky*ay+gz)/g to be calculated by processing unit.
The invention has the beneficial effects as follows: the dynamic weighing modification method of the vehicle-mounted Weighing module of the present invention, being modified the weight weighed in vehicle operation, solve angular variation and the impact of acceleration weighing weight simultaneously, principle of operation is simple, the speed of service is fast, and accuracy of detection is high.
Detailed description of the invention
In order to make the object, technical solutions and advantages of the present invention clearer, describe the present invention below in conjunction with specific embodiment.
The dynamic weighing modification method of the vehicle-mounted Weighing module of the present invention, the vehicle weight detected during in order to travel vehicle on slope is modified, and implementation step is as follows:
First a kind of vehicle-mounted Weighing module with gyro sensor, memory element and processing unit is provided, described vehicle-mounted Weighing module is arranged on vehicle, in order to the weight of vehicle is detected, set forward/backward direction when described vehicle is horizontal as X-axis, left and right directions is Y-axis, above-below direction is Z axis, the vertical direction of gyro sensor and angle of deviation Φ of described Z axis when described cell stores has described vehicle to be horizontal0, the sideway force coefficient kx of gyro sensor X-direction and the sideway force coefficient ky of gyro sensor Y direction.
Secondly, by gyro sensor obtain vehicle a certain dynamic time be engraved in the component of acceleration a of X-axis, Y-axis and Z axisx、ay、az, local gravitational acceleration g and the angle Φ of vertical direction and Z axis at described a certain dynamic moment gyro sensor.
Utilize formula θ=Φ-Φ0, draw the actual shifts angle θ of gyro sensor when the gyro sensor relative vehicle in described a certain dynamic moment is horizontal.
Wherein, it is considered to angle of deviation Φ0Primarily to solve the error that gyro sensor produces when mounted.
Angle of deviation Φ is utilized by processing unit0, the sideway force coefficient kx of X-direction, the sideway force coefficient ky of Y direction, component of acceleration ax、ay、az, gravity acceleration g and angle Φ be calculated angular variation correction factor A and acceleration correction coefficient B.
Wherein, angular variation correction factor A utilizes formula A=cos θ+kx*sin θ to be calculated by processing unit, and acceleration correction coefficient B utilizes B=(kx*ax+ky*ay+gz)/g to be calculated by processing unit.
The formulation process of angular variation correction factor A is as follows:
The vehicle-mounted Weighing module being loaded with thing block is placed on the inclined-plane that inclination angle is α, and described thing block is G by gravity1, gravity G1Component in the power being perpendicular to inclined-plane and be parallel to inclined-plane is respectively F1And F2, F1=G1* cos α, F2=G1*sinα.Vehicle-mounted Weighing module detects that the power being perpendicular to inclined-plane and the power being parallel to inclined-plane are respectively W1And W2, sense weight S1= W1+W2.Understand W1= F1, and gyro sensor can be made to produce a distortion power owing to being parallel to the power on inclined-plane, the data causing gyro sensor to detect produce deviation, understand W according to experiment2= kx*F2, the sideway force coefficient kx of X-direction is parallel direction power and changes coefficient.
Therefore S1=G1*cos α+kx* G1*sin α, therefore G1=S1/(cos α+kx*sin α).
Although vehicle all has inclination angle with X-axis, Y-axis and Z axis, but the tiltangleθ of the vertical direction of reality only sensor and Z axis can produce impact to the measurement result of gyro sensor, it can be considered that G1=S1/(cos θ+kx*sin θ), therefore A=cos θ+kx*sin θ.
The formulation process of acceleration correction coefficient B is as follows:
The vehicle-mounted Weighing module being loaded with the weight that quality is m gives it the gun with acceleration a on inclined-plane, and gyro sensor detects that local acceleration is g, and acceleration a is respectively a at X-axis, Y-axis, the component of acceleration of Z axisx、ay、az.Then weight A/W G2=mg。
If not considering the angle skew impact on the weight of detection, the most described vehicle-mounted Weighing module detection gravity is S2=kx*m*ax+ky*m*ay+m*az, in X-axis and Y-axis, acceleration force can produce twisting resistance to gyro sensor, therefore needs to consider the sideway force coefficient kx and the sideway force coefficient ky of Y direction of X-direction.
Can be obtained from above: G2= S2/(kx*ax+ky*ay+az)/g, therefore can obtain acceleration correction coefficient B=(kx*ax+ky*ay+gz)/g.
Vehicle sense weight S in the described a certain dynamic moment is obtained by vehicle-mounted Weighing module；
Actual corners offset correction coefficient A and acceleration correction coefficient B are not independent effect institute sense weight, use equation below: G=S/ (A*B) to be calculated actual weight G of vehicle.
The sideway force coefficient kx of described X-direction and the sideway force coefficient ky of Y direction demarcates acquisition after vehicle-mounted Weighing module has produced, and calibration process is as follows:
Making described vehicle-mounted Weighing module load the weight of constant weight, the weight of described weight, less than the range of described vehicle-mounted Weighing module, typically chooses the weight that weight is range half.
Control described vehicle-mounted Weighing module along X-direction accelerated motion, and record acceleration ax1The interior code value C exported with vehicle-mounted Weighing modulex1。
Control described vehicle-mounted Weighing module along X-direction with another acceleration accelerated motion, and record acceleration ax0The interior code value C exported with vehicle-mounted Weighing modulex0。
Control described vehicle-mounted Weighing module along Y direction accelerated motion, and record acceleration ay1The interior code value C exported with vehicle-mounted Weighing moduley1。
Control described vehicle-mounted Weighing module along Y direction with another acceleration accelerated motion, and record acceleration ay0The interior code value C exported with vehicle-mounted Weighing moduley0。
Utilize formula kx=(Cx1-Cx0)/(ax1-ax0)、ky=(Cy1-Cy0)/(ay1-ay0) obtain the sideway force coefficient kx of X-direction and the sideway force coefficient ky of Y direction.
The dynamic weighing modification method of the vehicle-mounted Weighing module of the present invention, is modified the weight weighed in vehicle operation, solves angular variation and the impact of acceleration weighing weight simultaneously, and principle of operation is simple, and the speed of service is fast, and accuracy of detection is high.
Above example is only in order to illustrate technical scheme and unrestricted, although the present invention being described in detail with reference to preferred embodiment, it will be understood by those within the art that, technical scheme can be modified or equivalent, without deviating from the spirit and scope of technical solution of the present invention.
Claims (5)
1. the dynamic weighing modification method of a vehicle-mounted Weighing module, the vehicle weight detected during in order to travel vehicle is modified, it is characterized in that: first provide one to have gyro sensor, memory element and the vehicle-mounted Weighing module of processing unit, described vehicle-mounted Weighing module is arranged on vehicle, in order to the weight of vehicle is detected, set forward/backward direction when described vehicle is horizontal as X-axis, left and right directions is Y-axis, above-below direction is Z axis, the vertical direction of gyro sensor and angle of deviation Φ of described Z axis when described cell stores has described vehicle to be horizontal0, the sideway force coefficient kx of gyro sensor X-direction and the sideway force coefficient ky of gyro sensor Y direction；
Secondly, by gyro sensor obtain vehicle a certain dynamic time be engraved in the component of acceleration a of X-axis, Y-axis and Z axisx、ay、az, gravity acceleration g and the angle Φ of vertical direction and Z axis at described a certain dynamic moment gyro sensor；
Angle of deviation Φ is utilized by processing unit0, the sideway force coefficient kx of X-direction, the sideway force coefficient ky of Y direction, component of acceleration ax、ay、az, gravity acceleration g and angle Φ be calculated angular variation correction factor A and acceleration correction coefficient B；
Vehicle sense weight S in the described a certain dynamic moment is obtained by vehicle-mounted Weighing module；
Use equation below: G=S/ (A*B)
It is calculated actual weight G of vehicle.
The dynamic weighing modification method of vehicle-mounted Weighing module the most according to claim 1, it is characterised in that: the sideway force coefficient kx of described X-direction and the sideway force coefficient ky of Y direction demarcates acquisition after vehicle-mounted Weighing module has produced, and calibration process is as follows:
Making described vehicle-mounted Weighing module load the weight of constant weight, the weight of described weight is less than the range of described vehicle-mounted Weighing module；
Control described vehicle-mounted Weighing module along X-direction accelerated motion, and record acceleration ax1The interior code value C exported with vehicle-mounted Weighing modulex1；
Control described vehicle-mounted Weighing module along X-direction with another acceleration accelerated motion, and record acceleration ax0The interior code value C exported with vehicle-mounted Weighing modulex0；
Control described vehicle-mounted Weighing module along Y direction accelerated motion, and record acceleration ay1The interior code value C exported with vehicle-mounted Weighing moduley1；
Control described vehicle-mounted Weighing module along Y direction with another acceleration accelerated motion, and record acceleration ay0The interior code value C exported with vehicle-mounted Weighing moduley0；
Utilize formula kx=(Cx1-Cx0)/(ax1-ax0)、ky=(Cy1-Cy0)/(ay1-ay0) obtain the sideway force coefficient kx of X-direction and the sideway force coefficient ky of Y direction.
The dynamic weighing modification method of vehicle-mounted Weighing module the most according to claim 2, it is characterised in that: utilize formula θ=Φ-Φ0, draw the actual shifts angle θ of gyro sensor when the gyro sensor relative vehicle in described a certain dynamic moment is horizontal.
The dynamic weighing modification method of vehicle-mounted Weighing module the most according to claim 3, it is characterised in that: angular variation correction factor A utilizes formula A=cos θ+kx*sin θ to be calculated by processing unit.
The dynamic weighing modification method of vehicle-mounted Weighing module the most according to claim 2, it is characterised in that: acceleration correction coefficient B utilizes B=(kx*ax+ky*ay+gz)/g to be calculated by processing unit.
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| CN107314803A (en) * | 2017-06-30 | 2017-11-03 | 汤建华 | A kind of agricultural machinery vehicle-mounted weighing system and its Weighing method |
| CN107607182A (en) * | 2017-08-04 | 2018-01-19 | 广西大学 | A kind of truck weighing system and Weighing method |
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| CN110398280A (en) * | 2019-07-26 | 2019-11-01 | 天泽信息产业股份有限公司 | It is a kind of measure vehicular load car-mounted terminal and measurement, calculation method |
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| CN112798089A (en) * | 2020-12-30 | 2021-05-14 | 北京万集科技股份有限公司 | Dynamic weighing method and dynamic weighing device for vehicle |
| CN114485877A (en) * | 2022-01-25 | 2022-05-13 | 常州纺织服装职业技术学院 | Weighing system and method for weighing compensation by combining inertia measurement module |
| CN114577318A (en) * | 2022-01-25 | 2022-06-03 | 常州纺织服装职业技术学院 | Vehicle-mounted weighing module and sensing method thereof |
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| CN107314803A (en) * | 2017-06-30 | 2017-11-03 | 汤建华 | A kind of agricultural machinery vehicle-mounted weighing system and its Weighing method |
| CN107607182A (en) * | 2017-08-04 | 2018-01-19 | 广西大学 | A kind of truck weighing system and Weighing method |
| CN107702773A (en) * | 2017-09-07 | 2018-02-16 | 歌尔股份有限公司 | Heavy burden measurement apparatus, method and heavy burden equipment |
| CN107702773B (en) * | 2017-09-07 | 2020-01-03 | 歌尔股份有限公司 | Load measuring device and method and load equipment |
| CN110398280A (en) * | 2019-07-26 | 2019-11-01 | 天泽信息产业股份有限公司 | It is a kind of measure vehicular load car-mounted terminal and measurement, calculation method |
| CN112067099B (en) * | 2020-11-11 | 2021-03-12 | 天津美腾科技股份有限公司 | Error adjusting method and constant feeder |
| CN112067099A (en) * | 2020-11-11 | 2020-12-11 | 天津美腾科技股份有限公司 | Error adjusting method and constant feeder |
| CN112798089A (en) * | 2020-12-30 | 2021-05-14 | 北京万集科技股份有限公司 | Dynamic weighing method and dynamic weighing device for vehicle |
| CN112798089B (en) * | 2020-12-30 | 2023-09-15 | 北京万集科技股份有限公司 | Dynamic weighing method and dynamic weighing device for vehicle |
| CN114485877A (en) * | 2022-01-25 | 2022-05-13 | 常州纺织服装职业技术学院 | Weighing system and method for weighing compensation by combining inertia measurement module |
| CN114577318A (en) * | 2022-01-25 | 2022-06-03 | 常州纺织服装职业技术学院 | Vehicle-mounted weighing module and sensing method thereof |
| CN114485877B (en) * | 2022-01-25 | 2023-09-05 | 常州纺织服装职业技术学院 | Weighing system and method for weighing compensation by combining inertial measurement module |
| CN114577318B (en) * | 2022-01-25 | 2023-12-19 | 常州纺织服装职业技术学院 | Vehicle-mounted weighing module and sensing method thereof |
| CN115540987A (en) * | 2022-09-19 | 2022-12-30 | 蚌埠高灵传感系统工程有限公司 | Dynamic vehicle overload detection method and control device based on load sensor |
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