CN105865607B - The dynamic weighing modification method of vehicle-mounted Weighing module - Google Patents
The dynamic weighing modification method of vehicle-mounted Weighing module Download PDFInfo
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- CN105865607B CN105865607B CN201610275074.5A CN201610275074A CN105865607B CN 105865607 B CN105865607 B CN 105865607B CN 201610275074 A CN201610275074 A CN 201610275074A CN 105865607 B CN105865607 B CN 105865607B
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- 238000005303 weighing Methods 0.000 title claims abstract description 81
- 238000002715 modification method Methods 0.000 title claims description 12
- 230000001133 acceleration Effects 0.000 claims abstract description 48
- 238000012937 correction Methods 0.000 claims abstract description 19
- 238000000034 method Methods 0.000 claims abstract description 12
- 238000012545 processing Methods 0.000 claims abstract description 12
- 230000005484 gravity Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 abstract description 5
- 238000009472 formulation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 102000003712 Complement factor B Human genes 0.000 description 1
- 108090000056 Complement factor B Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
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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
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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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Abstract
本发明提供了一种车载称重模块的动态称重修正方法，用以对车辆行驶时所检测的车辆重量进行修正，首先提供一种具有陀螺仪传感器、存储单元和处理单元的车载称重模块，所述车载称重模块设置于车辆上，用以对车辆的重量进行检测，通过处理单元利用偏差角Φ0、X轴方向的侧向力系数kx、Y轴方向的侧向力系数ky、加速度分量ax、ay、az、重力加速度g及夹角Φ计算得到角偏移修正系数A和加速度修正系数B，通过车载称重模块获取车辆在所述某一动态时刻的检测重量S，采用公式G=S/(A*B)计算得到车辆的实际重量G。本发明的车载称重模块的动态称重修正方法，运算原理简单，运行速度快，检测精度高。The invention provides a dynamic weighing correction method for a vehicle-mounted weighing module, which is used to correct the vehicle weight detected when the vehicle is running. First, a vehicle-mounted weighing module with a gyroscope sensor, a storage unit and a processing unit is provided , the vehicle-mounted weighing module is arranged on the vehicle to detect the weight of the vehicle, and the processing unit utilizes the deviation angle Φ 0 , the lateral force coefficient kx in the X-axis direction, the lateral force coefficient ky in the Y-axis direction, Acceleration components a x , a y , a z , gravitational acceleration g and included angle Φ are calculated to obtain angular offset correction coefficient A and acceleration correction coefficient B, and the detected weight S of the vehicle at a certain dynamic moment is obtained through the on-board weighing module , using the formula G=S/(A*B) to calculate the actual weight G of the vehicle. The dynamic weighing correction method of the vehicle-mounted weighing module of the present invention has simple operation principle, fast operation speed and high detection accuracy.
Description
Technical field
The present invention relates to a kind of dynamic weighing modification methods of vehicle-mounted Weighing module.
Background technique
With the rapid growth of logistic industry, vehicle overload overload the case where it is more and more, it is increasingly severe.Country is directed to
Such case takes a series of measures, such as weight metering charging.And take these measures premise be can be to the weight of vehicle
Accurately detected.
The mode for mostly using weighing to separate with driving status is measured well known to vehicle-mounted weighing field at present, i.e., it is quiet in vehicle
The mode only measured under state is realized, and a degree of application is mainly obtained on specific engineering truck.But due to
Load weighing of the vehicle in dynamic running process is influenced by many factors, such as acceleration, running gradient, existing measurement side
Formula not can solve.
In view of this, it is necessary to existing vehicle-mounted weighing method be improved, to solve the above problems.
Summary of the invention
The purpose of the present invention is to provide a kind of dynamic weighing modification methods of vehicle-mounted Weighing module, existing vehicle-mounted to solve
Weighing technique can not accurately measure the problem of vehicle dynamic weight.
To achieve the above object, the present invention provides a kind of dynamic weighing modification methods of vehicle-mounted Weighing module, to right
Vehicle weight detected is modified when vehicle driving, and provide a kind of has gyro sensor, storage unit and place first
The vehicle-mounted Weighing module of unit is managed, the vehicle-mounted Weighing module is set on vehicle, detects to the weight to vehicle, if
Forward/backward direction when the fixed vehicle is in a horizontal position is X-axis, and left and right directions is Y-axis, and up and down direction is Z axis, described
Storage unit stores the angle of deviation Φ of the vertical direction of gyro sensor and the Z axis when vehicle is in a horizontal position
0, the sideway force coefficient ky of the sideway force coefficient kx of gyro sensor X-direction and gyro sensor Y direction；
Secondly, by gyro sensor obtain vehicle a certain dynamic moment X-axis, Y-axis and Z axis component of acceleration
ax、ay、az, gravity acceleration g and in the vertical direction of a certain dynamic moment gyro sensor and the angle Φ of Z axis；
Angle of deviation Φ is utilized through the processing unit0, the sideway force coefficient kx of X-direction, Y direction sideway force coefficient
Ky, component of acceleration ax、ay、az, gravity acceleration g and angle Φ angular variation correction factor A and acceleration correction system is calculated
Number B；
Vehicle is obtained in the sense weight S at a certain dynamic moment by vehicle-mounted Weighing module；
Using following formula: the actual weight G of vehicle is calculated in G=S/ (A*B).
As a further improvement of the present invention, the sideway force coefficient kx of the X-direction and the sideway force coefficient of Y direction
Ky demarcates acquisition after the completion of vehicle-mounted Weighing module produces, and calibration process is as follows:
Make the weight of the vehicle-mounted Weighing module load constant weight, the weight of the weight is no more than the vehicle-mounted weighing
The range of module；
It controls the vehicle-mounted Weighing module to accelerate along the x axis, and records acceleration ax1It is defeated with vehicle-mounted Weighing module
Interior code value C outx1；
The vehicle-mounted Weighing module is controlled along the x axis with the accelerated motion of another acceleration, and records acceleration ax0And vehicle
Carry the interior code value C of Weighing module outputx0；
It controls the vehicle-mounted Weighing module to accelerate along the y axis, and records acceleration ay1It is defeated with vehicle-mounted Weighing module
Interior code value C outy1；
The vehicle-mounted Weighing module is controlled along the y axis with the accelerated motion of another acceleration, and records acceleration ay0And vehicle
Carry the interior code value C of Weighing module outputy0；
Utilize formula kx=(Cx1-Cx0)/(ax1-ax0)、ky=(Cy1-Cy0)/(ay1-ay0) find out the lateral force system of X-direction
The sideway force coefficient ky of number kx and Y direction.
As a further improvement of the present invention, formula θ=Φ-Φ is utilized0, obtain the gyroscope at a certain dynamic moment
The actual shifts angle θ of gyro sensor when sensor relative vehicle is in a horizontal position.
As a further improvement of the present invention, angular variation correction factor A utilizes formula A=cos θ+kx* through the processing unit
Sin θ is calculated.
As a further improvement of the present invention, acceleration correction coefficient B utilizes B=(kx*ax+ky*ay+ through the processing unit
Gz)/g is calculated.
The beneficial effects of the present invention are: the dynamic weighing modification method of vehicle-mounted Weighing module of the invention, runs vehicle
The weight weighed in the process is modified, while solving the influence of angular variation and acceleration weighing weight, principle of operation letter
Single, the speed of service is fast, and detection accuracy is high.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, combined with specific embodiments below to the present invention
It is described in detail.
The dynamic weighing modification method of vehicle-mounted Weighing module of the invention, to detected when driving on slope to vehicle
Vehicle weight is modified, and implementation step is as follows:
A kind of vehicle-mounted Weighing module with gyro sensor, storage unit and processing unit, the vehicle are provided first
It carries Weighing module to be set on vehicle, detects, set when the vehicle is in a horizontal position to the weight to vehicle
Forward/backward direction is X-axis, and left and right directions is Y-axis, and up and down direction is Z axis, and the storage unit stores the vehicle and is in
The angle of deviation Φ of the vertical direction of gyro sensor and Z axis when horizontal position0, gyro sensor X-direction side
To the sideway force coefficient ky of force coefficient kx and gyro sensor Y direction.
Secondly, by gyro sensor obtain vehicle a certain dynamic moment X-axis, Y-axis and Z axis component of acceleration
ax、ay、az, local gravitational acceleration g and in the vertical direction of a certain dynamic moment gyro sensor and the folder of Z axis
Angle Φ.
Utilize formula θ=Φ-Φ0, show that the gyro sensor relative vehicle at a certain dynamic moment is in horizontal position
The actual shifts angle θ of gyro sensor when setting.
Wherein, consider angle of deviation Φ0Primarily to solving the error that gyro sensor generates during installation.
Angle of deviation Φ is utilized through the processing unit0, the sideway force coefficient kx of X-direction, Y direction sideway force coefficient
Ky, component of acceleration ax、ay、az, gravity acceleration g and angle Φ angular variation correction factor A and acceleration correction system is calculated
Number B.
Wherein, angular variation correction factor A is calculated using formula A=cos θ+kx*sin θ through the processing unit, acceleration
Correction factor B utilizes B=(kx*ax+ky*ay+gz)/g to be calculated through the processing unit.
The formulation process of angular variation correction factor A is as follows:
The vehicle-mounted Weighing module for being loaded with object block is placed on the inclined-plane that inclination angle is α, and the object block is G by gravity1, weight
Power G1It is respectively F in the component perpendicular to inclined-plane and the power for being parallel to inclined-plane1And F2, F1=G1* cos α, F2=G1*sinα.Vehicle-mounted title
It is respectively W that molality block, which detects the power perpendicular to inclined-plane and is parallel to the power on inclined-plane,1And W2, sense weight S1= W1+W2.Know W1
= F1, and the power due to being parallel to inclined-plane can make gyro sensor generate a distortion power, and gyro sensor is caused to detect
Data generate deviation, according to experiment W2= kx*F2, the sideway force coefficient kx of X-direction is that parallel direction power changes system
Number.
Therefore S1=G1*cos α+kx* G1*sin α, therefore G1=S1/(cos α+kx*sin α).
Although vehicle and X-axis, Y-axis and Z axis have an inclination angle, the practical only vertical direction of sensor and Z axis incline
Bevel angle θ can have an impact the measurement result of gyro sensor, it can be considered that G1=S1/(cos θ+kx*sin θ), therefore
A= cosθ+kx*sinθ。
The formulation process of acceleration correction coefficient B is as follows:
The vehicle-mounted Weighing module for being loaded with the weight that quality is m is given it the gun on inclined-plane with acceleration a, gyro sensors
Device detects that local acceleration is g, and acceleration a is respectively a in the component of acceleration of X-axis, Y-axis, Z axisx、ay、az.Then weight is real
Border gravity G2=mg。
If not considering influence of the angle offset to the weight of detection, the vehicle-mounted Weighing module detection gravity is S2=kx*
m*ax+ky*m*ay+m*az, acceleration force can generate twisting resistance to gyro sensor in X-axis and Y-axis, therefore need to consider X-axis side
To sideway force coefficient kx and Y direction sideway force coefficient ky.
It can be obtained from above: G2= S2/(kx*ax+ky*ay+az)/g, therefore available acceleration correction coefficient B=(kx*ax+
ky*ay+gz)/g。
Vehicle is obtained in the sense weight S at a certain dynamic moment by vehicle-mounted Weighing module；
Actual corners offset correction coefficient A and acceleration correction coefficient B are not independent effect institute sense weight, using such as
Lower formula: the actual weight G of vehicle is calculated in G=S/ (A*B).
The sideway force coefficient kx of the X-direction and the sideway force coefficient ky of Y direction have been produced in vehicle-mounted Weighing module
It is obtained at rear calibration, calibration process is as follows:
Make the weight of the vehicle-mounted Weighing module load constant weight, the weight of the weight is no more than the vehicle-mounted weighing
The range of module is general to choose the weight that weight is range half.
It controls the vehicle-mounted Weighing module to accelerate along the x axis, and records acceleration ax1It is defeated with vehicle-mounted Weighing module
Interior code value C outx1。
The vehicle-mounted Weighing module is controlled along the x axis with the accelerated motion of another acceleration, and records acceleration ax0And vehicle
Carry the interior code value C of Weighing module outputx0。
It controls the vehicle-mounted Weighing module to accelerate along the y axis, and records acceleration ay1It is defeated with vehicle-mounted Weighing module
Interior code value C outy1。
The vehicle-mounted Weighing module is controlled along the y axis with the accelerated motion of another acceleration, and records acceleration ay0And vehicle
Carry the interior code value C of Weighing module outputy0。
Utilize formula kx=(Cx1-Cx0)/(ax1-ax0)、ky=(Cy1-Cy0)/(ay1-ay0) find out the lateral force system of X-direction
The sideway force coefficient ky of number kx and Y direction.
The dynamic weighing modification method of vehicle-mounted Weighing module of the invention carries out the weight weighed in vehicle operation
Amendment, while solving the influence of angular variation and acceleration weighing weight, principle of operation is simple, and the speed of service is fast, detection essence
Degree is high.
The above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to preferred embodiment to this hair
It is bright to be described in detail, those skilled in the art should understand that, it can modify to technical solution of the present invention
Or equivalent replacement, without departing from the spirit and scope of the technical solution of the present invention.
Claims (4)
1. a kind of dynamic weighing modification method of vehicle-mounted Weighing module, vehicle weight progress detected when to vehicle driving
Amendment, it is characterised in that: a kind of vehicle-mounted weighing mould with gyro sensor, storage unit and processing unit is provided first
Block, the vehicle-mounted Weighing module are set on vehicle, detect to the weight to vehicle, set the vehicle and are in level
Forward/backward direction when position is X-axis, and left and right directions is Y-axis, and up and down direction is Z axis, and the storage unit stores described
The angle of deviation Φ of the vertical direction of gyro sensor and Z axis when vehicle is in a horizontal position0, gyro sensor X-axis
The sideway force coefficient kx in the direction and sideway force coefficient ky of gyro sensor Y direction；
Secondly, by gyro sensor obtain vehicle a certain dynamic moment X-axis, Y-axis and Z axis component of acceleration ax、
ay、az, gravity acceleration g and in the vertical direction of a certain dynamic moment gyro sensor and the angle Φ of Z axis；
Angle of deviation Φ is utilized through the processing unit0, the sideway force coefficient kx of X-direction, Y direction sideway force coefficient ky, accelerate
Spend component ax、ay、az, gravity acceleration g and angle Φ angular variation correction factor A and acceleration correction coefficient B is calculated；
Vehicle is obtained in the sense weight S at a certain dynamic moment by vehicle-mounted Weighing module；
Using following formula: the actual weight G of vehicle is calculated in G=S/ (A*B).
2. the dynamic weighing modification method of vehicle-mounted Weighing module according to claim 1, it is characterised in that: the X-axis side
To sideway force coefficient kx and the sideway force coefficient ky of Y direction acquisition is demarcated after the completion of vehicle-mounted Weighing module produces, demarcate
Process is as follows:
Make the weight of the vehicle-mounted Weighing module load constant weight, the weight of the weight is no more than the vehicle-mounted Weighing module
Range；
It controls the vehicle-mounted Weighing module to accelerate along the x axis, and records acceleration ax1With the output of vehicle-mounted Weighing module
Interior code value Cx1；
The vehicle-mounted Weighing module is controlled along the x axis with the accelerated motion of another acceleration, and records acceleration ax0With vehicle-mounted title
The interior code value C of molality block outputx0；
It controls the vehicle-mounted Weighing module to accelerate along the y axis, and records acceleration ay1With the output of vehicle-mounted Weighing module
Interior code value Cy1；
The vehicle-mounted Weighing module is controlled along the y axis with the accelerated motion of another acceleration, and records acceleration ay0With vehicle-mounted title
The interior code value C of molality block outputy0；
Utilize formula kx=(Cx1-Cx0)/(ax1-ax0), ky=(Cy1-Cy0)/(ay1-ay0) find out the sideway force coefficient of X-direction
The sideway force coefficient ky of kx and Y direction.
3. the dynamic weighing modification method of vehicle-mounted Weighing module according to claim 2, it is characterised in that: utilize formula θ
=Φ-Φ0, obtain the gyro sensors when gyro sensor relative vehicle at a certain dynamic moment is in a horizontal position
The actual shifts angle θ of device.
4. the dynamic weighing modification method of vehicle-mounted Weighing module according to claim 3, it is characterised in that: angular variation amendment
Coefficient A is calculated using formula A=cos θ+kx*sin θ through the 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 |
| CN107607182B (en) * | 2017-08-04 | 2019-12-13 | 广西大学 | truck weighing system and weighing method |
| 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 |
| 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 |
| 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 |
| CN115540987B (en) * | 2022-09-19 | 2023-07-14 | 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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