CN109000749A - A kind of the oil mass detection method and its fuel tank of engineering truck - Google Patents
A kind of the oil mass detection method and its fuel tank of engineering truck Download PDFInfo
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- CN109000749A CN109000749A CN201810431919.4A CN201810431919A CN109000749A CN 109000749 A CN109000749 A CN 109000749A CN 201810431919 A CN201810431919 A CN 201810431919A CN 109000749 A CN109000749 A CN 109000749A
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- cabinet
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- oil mass
- engineering truck
- quantity transducer
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F17/00—Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies
Abstract
The present invention provides a kind of oil mass detection method of engineering truck, and the fuel tank of the engineering truck includes cabinet, and detection bar is provided in the cabinet, and buoy is slidably connected in the detection bar, fuel-quantity transducer and angular transducer are additionally provided on the cabinet；The distance of distance and the fuel-quantity transducer and the cabinet between the plane of symmetry that its width direction is arranged symmetrically of the distance between inner chamber bottom surface of the fuel-quantity transducer and the cabinet, the fuel-quantity transducer and the cabinet between the plane of symmetry that its length direction is arranged symmetrically all is definite value；The numerical value that the pitch angle and roll angle numerical value that the control system of engineering truck is obtained according to angular transducer measurement obtain fuel-quantity transducer measurement is modified, obtain oil correct depth, and calculate acquisition actual oil mass, accurately the level position that buoy measures can be modified according to the tilt angle of fuel tank, it is more accurate to calculate the oil mass data obtained.
Description
Technical field
The present invention relates to a kind of oil mass detection method and fuel tank, the oil mass detection method of especially a kind of engineering truck and its
Fuel tank.
Background technique
During the work time, operator can attach great importance to oil mass data to engineering truck, to guarantee to complete all kinds of operations
Therefore task would generally be provided with oil mass detection device on engineering truck.
Traditional oil mass detection device generally includes to be arranged vertically at the detection bar in fuel tank and is slidably connected at detection bar
On buoy, buoy can change with the change of liquid level, by sliding of the buoy in detection bar so that resistance value generates change
Change, the location information of buoy can be thus obtained by resistance value, calculates acquisition oil mass in conjunction with the cross-sectional area of fuel tank.This
Kind oil mass detection method is calculated according to the position of buoy completely, but engineering truck is during the work time, shape context
Typically more complicated, vehicle is easy to appear situations such as tilting forward and back or tilting, and fuel tank can also tilt therewith, pitch angle occur
And roll angle, and the liquid level in fuel tank is then horizontal plane, when this position where will lead to buoy is not that fuel tank is horizontal positioned
Liquid level position, with its be according to calculate obtain oil mass data it is more inaccurate, influence the judgement of operator.
In view of this, the applicant conducts in-depth research the oil mass detection method and its fuel tank of engineering truck, then
There is this case generation.
Summary of the invention
The purpose of the present invention is to provide a kind of oil mass detection sides of the accurate engineering truck of oil mass data of acquisition
Method and its fuel tank.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of oil mass detection method of engineering truck, the fuel tank of the engineering truck includes cabinet, and the cabinet is in its length
Direction and width direction are all arranged symmetrically, and the detection bar with its plane perpendicular is provided in the cabinet, is slided in the detection bar
It is dynamic to be connected with the buoy swum on liquid level, it is additionally provided on the cabinet positioned at the top of the box for detecting the buoy
The fuel-quantity transducer of location information and bottom surface for detecting the cabinet pitch angle with respect to the horizontal plane and roll angle
Angular transducer；The distance between inner chamber bottom surface of the fuel-quantity transducer and the cabinet, the fuel-quantity transducer and described
Distance and the fuel-quantity transducer and the cabinet of the cabinet between the plane of symmetry that its length direction is arranged symmetrically are in its width
The distance between plane of symmetry that degree direction is arranged symmetrically all is definite value；The control system of engineering truck is according to the angular transducer
It measures the numerical value that the pitch angle obtained and roll angle numerical value obtain fuel-quantity transducer measurement to be modified, obtains oil mass and repair
Positive depth, and be to obtain actual oil mass according to calculating with the oil correct depth.
As an improvement of the present invention, the plane of symmetry and the cabinet that the cabinet is arranged symmetrically in its length direction exist
The intersection between the plane of symmetry that its width direction is arranged symmetrically forms the centre symmetry line of the cabinet, the control system of engineering truck
System be modified with calculation method the following steps are included:
S1 establishes rectangular coordinate system in space as origin using the point where one of corner of the cabinets cavity, institute
Stating the intersection point between the intracorporal liquid level of case and the centre symmetry line is M point, when the intracorporal oil liquid volume of case is fixed value,
Coordinate value of the M point on the rectangular coordinate system in space is also fixed value；
S2, the pitch angle and roll angle numerical value obtained according to angular transducer measurement, which calculates, obtains institute under current state
State the coordinate value of each corner of cabinet；
S3 calculates the coordinate value for obtaining the M point according to the numerical value that fuel-quantity transducer measurement obtains；
S4 is calculated according to the coordinate value of the M point and is obtained oil correct depth, and using the oil correct depth as foundation
It calculates and obtains actual oil mass.
As an improvement of the present invention, the inner cavity of the cabinet in a rectangular parallelepiped shape, has eight corners；In step S1
In, the reducing condition that state in the horizontal plane is the cabinet is placed with the cabinet, eight corners of the cabinet are restoring
Coordinate value under state is respectively P1[0 0 0]、P2[a 0 0]、P3[a b 0]、P4[0 b 0]、P5[0 0 c]、P6[a 0
c]、P7[a b c]、P8[0 b c], wherein a, b and c are constant, and the inner chamber bottom surface of the cabinet is located at the space right-angle
On XOY plane in coordinate system.
As an improvement of the present invention, in step s 2, according to formula Xnew=R (y, θ) * X and Xnew=R (x, γ) * X
The coordinate value for calculating each corner of cabinet under acquisition current state is respectively as follows:
P′1[0 0 0]、
P′2[a*cosθ 0 -a*sinθ]、
P′3[a*cosθ+b*sinθ*sinγ b*cosγ -a*sinθ-b*cosθ*sinγ]、
P′4[b*sinθ*sinγ b*cosγ -b*cosθ*sinγ]、
P′5[-sinθ*cosγ*c c*sinγ c*cosθ*cosγ]、
P′6[a*cosθ-sinθ*cosγ*c c*sinγ -a*sinθ+c*cosθ*sinγ]、
P′7[a*cosθ+b*sinθ*sinγ-sinθ*cosγ*c b*cosγ+c*sinγ -a*sinθ-b*cosθ*
sinγ+c*cosθ*cosγ]、
P′8[b*sinθ*sinγ-sinθ*cosγ*c b*cosγ+c*sinγ -b*cosθ*sinγ+c*cosθ*
Cos γ],
Wherein, θ is the pitch angle that fuel-quantity transducer measurement obtains, and γ turns over for what fuel-quantity transducer measurement obtained
Roll angle, R (y, θ) areR (x, γ) isX is on the cabinet under reducing condition
The coordinate value at any point, XnewFor the coordinate value at any point on cabinet described under current state.
As an improvement of the present invention, in step s3, the detected buoy of the fuel-quantity transducer and institute
Stating the distance between inner cavity top of cabinet is lf, coordinate value (the X Y for obtaining the M point is then calculated according to the following formula
Z):
Wherein,
As an improvement of the present invention, in step s 4, it calculates between the bottom surface of the cabinet and the centre symmetry line
Intersection point O 'fCoordinate value
The oil correct depth is
As an improvement of the present invention, the actual oil mass is according to formulaIt calculates and obtains, wherein Δ h
For preset step height, SkFor the cross-sectional area of the cabinet at preset step height, thenFor institute
State oil correct depth.
A kind of fuel tank of engineering truck, including cabinet, the cabinet are all arranged symmetrically in its length direction and width direction,
It is provided with the detection bar with its plane perpendicular in the cabinet, is slidably connected in the detection bar and swims in floating on liquid level
Mark, be additionally provided on the cabinet positioned at the top of the box be used to detect the buoy position information fuel-quantity transducer and
For detecting the angular transducer of the bottom surface of cabinet pitch angle with respect to the horizontal plane and roll angle；The fuel-quantity transducer
What the distance between inner chamber bottom surface of the cabinet, the fuel-quantity transducer and the cabinet were arranged symmetrically in its length direction
The distance between plane of symmetry and the fuel-quantity transducer and the cabinet are between the plane of symmetry that its width direction is arranged symmetrically
Distance be all definite value.
It as an improvement of the present invention, further include connecting respectively with the fuel-quantity transducer and angular transducer communication
The control system connect, the control system include the pitch angle and roll angle number for being obtained according to angular transducer measurement
The corrected Calculation unit that is modified of numerical value that value obtains fuel-quantity transducer measurement and based on according to described correct
The data for calculating unit calculate the volume computing unit of actual oil mass.
By adopting the above technical scheme, the invention has the following advantages:
By setting fuel-quantity transducer and angular transducer, accurately buoy can be measured according to the tilt angle of fuel tank
Level position is modified, and it is more accurate to calculate the oil mass data obtained.
Detailed description of the invention
Fig. 1 is the schematic view of the mounting position of fuel-quantity transducer in embodiment；
Fig. 2 is the schematic diagram of the rectangular coordinate system in space and each corner location established in embodiment；
Fig. 3 is the position view of each plane of symmetry and centre symmetry line in a space rectangular coordinate system in embodiment；
Fig. 4 is the schematic diagram that fuel tank is rotated around the Y-axis of rectangular coordinate system in space in embodiment；
Fig. 5 is the schematic diagram that fuel tank is rotated around the X-axis of rectangular coordinate system in space in embodiment；
Fig. 6 meets rotation schematic diagram around the X-axis and Y-axis of rectangular coordinate system in space for fuel tank in embodiment；
Fig. 7 is position view of the fuel-quantity transducer on rectangular coordinate system in space in embodiment.
Specific embodiment
The present invention is described further in the following with reference to the drawings and specific embodiments.
The oil mass detection method of engineering truck provided in this embodiment, needs to preset the Oiltank structure of engineering truck,
I.e. the present embodiment also provides a kind of fuel tank of engineering truck simultaneously, as shown in Figure 1, and referring to shown in Fig. 2-Fig. 7, the fuel tank packet
The cabinet 10 that inner cavity has corner is included, cabinet 10 is all arranged symmetrically in its length direction and width direction, i.e., cabinet 10 has two
A vertical arrangement and the orthogonal plane of symmetry, in order to express easily, in the present embodiment, by cabinet 10 in its width direction pair
Claim the plane of symmetry of arrangement to be labeled as plane of symmetry S1, cabinet 10 is labeled as the plane of symmetry in the plane of symmetry that its length direction is arranged symmetrically
S2, the plane of symmetry S1 that the plane of symmetry S2 and cabinet 10 that cabinet 10 is arranged symmetrically in its length direction are arranged symmetrically in its width direction
Between intersection formed cabinet 10 centre symmetry line.In normal state, the bottom surface of 10 inner cavity of cabinet is horizontally disposed.It is preferred that
, in the present embodiment, 10 inner cavity of cabinet of fuel tank in a rectangular parallelepiped shape, has eight corners, wherein in cabinet 10
Four corners on the face of bottom of chamber are followed successively by P counterclockwise1、P2、P3、P4, four sides on the inner cavity top surface of cabinet 10
Angle is followed successively by P counterclockwise5、P6、P7、P8, and P1And P5On the same sideline of 10 inner cavity of cabinet.
It is provided with the detection bar 11 with its plane perpendicular in cabinet 10, slidably connects and is swum on liquid level in detection bar 11
Buoy 12, be additionally provided on cabinet 10 at the top of cabinet 10 for detect the fuel-quantity transducer 13 of 12 location information of buoy with
And the angular transducer (not shown) of the pitch angle with respect to the horizontal plane of the bottom surface for detection box 10 and roll angle,
In, fuel-quantity transducer 13 can obtain the sensor of 12 location information of buoy for tradition by detection resistance, in the present embodiment,
Fuel-quantity transducer 13 is the sensor of the distance between inner cavity top for detecting buoy 12 and cabinet 10, and is located at detection bar
11 and 10 inner cavity top surface of cabinet intersection position at.In addition, the cavity heights of cabinet 10, fuel-quantity transducer 13 and cabinet 10 it is interior
The distance of the distance between bottom of chamber face, fuel-quantity transducer 13 and cabinet 10 between the plane of symmetry S2 that its length direction is arranged symmetrically
And the distance of fuel-quantity transducer 13 and cabinet 10 between the plane of symmetry S1 that its width direction is arranged symmetrically all is definite value.
Fuel tank provided in this embodiment further includes the control with fuel-quantity transducer 13 and angular transducer communication connection respectively
System (not shown), the control system include the pitch angle and roll angle numerical value for being obtained according to angular transducer measurement
The corrected Calculation unit that is modified of numerical value that obtained to the measurement of fuel-quantity transducer 13 and for according to corrected Calculation unit
The volume computing unit of data calculating actual oil mass.
The oil mass detection method of engineering truck provided in this embodiment is that the control system of engineering truck is according to angle sensor
The numerical value that the pitch angle and roll angle numerical value that device measurement obtains obtain the measurement of fuel-quantity transducer 13 is modified, and is obtained oil mass and is repaired
Positive depth, and be foundation calculating acquisition actual oil mass with the oil correct depth, specifically, with reference to shown in Fig. 1-Fig. 7, engineering truck
Control system be modified with calculation method the following steps are included:
S1, as shown in Figures 2 and 3, with one of corner of 10 inner cavity of cabinet (in this embodiment for P1) where point
Rectangular coordinate system in space is established as origin, that is, rectangular coordinate system in space to be hinged on to one of them of 10 inner cavity of cabinet
On corner.Using the state of fuel tank placement in the horizontal plane as the reducing condition of fuel tank, in a reduction state, the bottom of 10 inner cavity of cabinet
Face is located at the XOY plane of the rectangular coordinate system in space, and one of side is located at the ZOY plane of the rectangular coordinate system in space, oil
The coordinate value of cabinet 10 inner cavity eight corner of case in a reduction state is respectively P1[0 0 0]、P2[a 0 0]、P3[a b 0]、
P4[0 b 0]、P5[0 0 c]、P6[a 0 c]、P7[a b c]、P8[0 b c], wherein a, b and c are preset normal
Number, in addition, in a reduction state, the intersection point of centre symmetry line and 10 inner chamber bottom surface of cabinet is Of(a/2, b/2,0), central symmetry
Line and the intersection point of 10 inner cavity top surface of cabinet are Od(a/2,b/2,c)。
With the liquid level in fuel tank and the intersection point between centre symmetry line for M point, when the oil liquid volume in fuel tank is fixed value
When, coordinate value of the M point on rectangular coordinate system in space is also fixed value, specifically, cabinet 10 is relative to rectangular coordinate system in space
Any rotation can be broken into rotation of the cabinet 10 relative to the X-axis of rectangular coordinate system in space, Y-axis and Z axis, due to cabinet
Liquid level position when 10 Z axis rotation relative to rectangular coordinate system in space in fuel tank can't generate variation, negligible；Such as
Shown in Fig. 4, after fuel tank rotates predetermined angular around Y-axis, liquid level (horizontally disposed dotted line in figure) before rotation and postrotational
There are intersection l between liquid level (dotted line being in tilted layout in figure)1, and intersection l1It is subordinated to plane of symmetry S1；Likewise, such as Fig. 5 institute
Show, the liquid level (horizontally disposed dotted line in figure) and postrotational liquid level after fuel tank rotates predetermined angular around X-axis, before rotation
There are intersection l between (dotted line being in tilted layout in figure)2, and intersection l2It is subordinated to plane of symmetry S2；As shown in fig. 6, in other words,
When cabinet 10 is rotated around X-axis and Y-axis simultaneously, can be considered as first around Y-axis rotate after rotate further around X-axis, in this process, friendship
Line l1With intersection l2Intersection point position always do not become, which is M point.
S2, the pitch angle for obtaining cabinet 10 is measured according to angular transducer and roll angle numerical value is calculated and obtained under current state
The coordinate value of each corner of cabinet 10, wherein current state is a certain moment in engineering truck use process, and pitch angle is to work as
The angle that fuel tank is rotated around the Y-axis of rectangular coordinate system in space under preceding state, roll angle are fuel tank under current state around space right-angle
The angle of the X-axis rotation of coordinate system.Specifically, it can be seen that, the pitch angle of cabinet 10 becomes by the coordinate transform theory of robotics
Change is equivalent to cabinet 10 and rotates around Y-axis, then has formula Xnew=R (y, θ) * X can calculate postrotational coordinate, the rolling of cabinet 10
Angle variation is equivalent to cabinet 10 and rotates around X-axis, then has formula Xnew=R (x, γ) * X calculates postrotational coordinate, according to above-mentioned two
The coordinate value that a formula calculates the available each corner of current state lower box 10 is respectively as follows:
P′1[0 0 0]、
P′2[a*cosθ 0 -a*sinθ]、
P′3[a*cosθ+b*sinθ*sinγ b*cosγ -a*sinθ-b*cosθ*sinγ]、
P′4[b*sinθ*sinγ b*cosγ -b*cosθ*sinγ]、
P′5[-sinθ*cosγ*c c*sinγ c*cosθ*cosγ]、
P′6[a*cosθ-sinθ*cosγ*c c*sinγ -a*sinθ+c*cosθ*sinγ]、
P′7[a*cosθ+b*sinθ*sinγ-sinθ*cosγ*c b*cosγ+c*sinγ -a*sinθ-b*cosθ*
sinγ+c*cosθ*cosγ]、
P′8[b*sinθ*sinγ-sinθ*cosγ*c b*cosγ+c*sinγ -b*cosθ*sinγ+c*cosθ*
Cos γ],
Wherein, θ is the pitch angle that fuel-quantity transducer measurement obtains, and γ turns over for what fuel-quantity transducer measurement obtained
Roll angle, R (y, θ) areR (x, γ) isX is any on reducing condition lower box
The coordinate value of a bit, XnewFor the coordinate value of corresponding points on current state lower box 10.
S3 calculates the coordinate value for obtaining M point according to the numerical value that fuel-quantity transducer measurement obtains.
Since no matter how fuel tank rotates, in oil level be parallel with the XOY plane of rectangular coordinate system in space always
, it is therefore desirable to solve obtain being located on oil level a little then demand obtains plane where oil level in rectangular coordinate system in space
In plane equation.
Since buoy 12 is swum on liquid level, the coordinate points where can approximately thinking buoy 12 are located at oil level institute
Plane on.Assuming that the distance of fuel-quantity transducer 13 and cabinet 10 between the plane of symmetry S2 that its length direction is arranged symmetrically is
m2, the distance of fuel-quantity transducer 13 and cabinet 10 between the plane of symmetry S1 that its width direction is arranged symmetrically is m1, then according to step
It is as follows that the formula provided in S2 can calculate the position of fuel-quantity transducer 13 in a space rectangular coordinate system under available current state:
Assuming that the coordinate of buoy 12 is Pf(xf, yf, zf), the detected buoy 12 of fuel-quantity transducer 13 and cabinet 10
The distance between inner cavity top is lf, then under current state, Accordingly
It can be in the hope of
And the plane equation where oil level is z=zf。
Calculate according to the formula provided in step S2 can obtain under current state in centre symmetry line and cabinet 10
The intersection point of chamber top surface is Due to intersection point O 'dInevitable position
In in centre symmetry line, and according toIt is found that the direction vector of centre symmetry line isIt can be worked as accordingly
The linear equation of centre symmetry line in a space rectangular coordinate system is as follows under preceding state:
X' in above-mentioned formulad、y'd、z'dFor O'dCoordinate value, x1'、y'1、z1' and x'5、y'5、z'5Respectively step S2
The cabinet of middle fuel tank 10 P after angular transformation1' and P5' coordinate value.
Since M point is the oil level in fuel tank and the intersection point between centre symmetry line, by z=zfBring above-mentioned straight line into
In equation, the calculation formula that can obtain the coordinate value of M point is as follows, and coordinate value (the X Y for obtaining M point can be calculated according to the formula
Z):
Wherein,
Fuel head invariant point is M (X, Y, Z).
S4 is calculated according to the coordinate value of the M point and is obtained oil correct depth, and using the oil correct depth as foundation
It calculates and obtains actual oil mass.
Specifically, centre symmetry line and cabinet 10 under current state can be obtained by calculate according to the formula provided in step S2
The intersection point of inner chamber bottom surface is
Then the oil level height under reducing condition isThe height is oil correct depth, i.e. oil correct depth isOil correct depth is actual oil mass multiplied by the cabinet cross-sectional area under reducing condition.
Preferably, actual oil mass can also be according to formulaIt calculates and obtains, wherein Δ h is preset
Step height, SkFor the cross-sectional area of the cabinet at preset step height, thenIt is deep for the oil correct
Degree.
The present invention is described in detail above in conjunction with specific embodiment, but embodiments of the present invention and is not only limited
In above embodiment, those skilled in the art can make various modifications to the present invention according to the prior art, these are belonged to
Protection scope of the present invention.
Claims (9)
1. a kind of oil mass detection method of engineering truck, which is characterized in that the fuel tank of the engineering truck includes cabinet, the cabinet
It is all arranged symmetrically in its length direction and width direction, the detection bar with its plane perpendicular, the inspection is provided in the cabinet
The buoy swum on liquid level is slidably connected on measuring staff, is additionally provided on the cabinet positioned at the top of the box for detecting
The fuel-quantity transducer of the location information of the buoy and the pitch angle of bottom surface with respect to the horizontal plane for detecting the cabinet
With the angular transducer of roll angle；The distance between inner chamber bottom surface of the fuel-quantity transducer and the cabinet, the oil mass pass
Sensor and the cabinet distance and the fuel-quantity transducer between the plane of symmetry that its length direction is arranged symmetrically and described
Distance of the cabinet between the plane of symmetry that its width direction is arranged symmetrically all is definite value；The control system of engineering truck is according to
The numerical value that the pitch angle and roll angle numerical value that angular transducer measurement obtains obtain fuel-quantity transducer measurement is modified,
Oil correct depth is obtained, and is to obtain actual oil mass according to calculating with the oil correct depth.
2. the oil mass detection method of engineering truck as described in claim 1, which is characterized in that the cabinet is in its length direction
Intersection of the plane of symmetry and the cabinet being arranged symmetrically between the plane of symmetry that its width direction is arranged symmetrically forms the cabinet
Centre symmetry line, the control system of engineering truck be modified with calculation method the following steps are included:
S1 establishes rectangular coordinate system in space, the case using the point where one of corner of the cabinets cavity as origin
Intersection point between intracorporal liquid level and the centre symmetry line is M point, described when the intracorporal oil liquid volume of case is fixed value
Coordinate value of the M point on the rectangular coordinate system in space is also fixed value；
S2, the pitch angle and roll angle numerical value obtained according to angular transducer measurement, which calculates, obtains the case under current state
The coordinate value of each corner of body；
S3 calculates the coordinate value for obtaining the M point according to the numerical value that fuel-quantity transducer measurement obtains；
S4 is calculated according to the coordinate value of the M point and is obtained oil correct depth, and is according to calculating with the oil correct depth
Obtain actual oil mass.
3. the oil mass detection method of engineering truck as claimed in claim 2, which is characterized in that the inner cavity of the cabinet is in rectangular
Body shape has eight corners；In step sl, the reduction that state in the horizontal plane is the cabinet is placed with the cabinet
State, the coordinate value of eight corners of the cabinet in a reduction state is respectively P1[0 0 0]、P2[a 0 0]、P3[a b 0]、
P4[0 b 0]、P5[0 0 c]、P6[a 0 c]、P7[a b c]、P8[0 b c], wherein a, b and c are constant, the cabinet
Inner chamber bottom surface be located on the XOY plane in the rectangular coordinate system in space.
4. the oil mass detection method of engineering truck as claimed in claim 3, which is characterized in that in step s 2, according to formula
Xnew=R (y, θ) * X and Xnew=R (x, γ) * x calculates the coordinate value difference for obtaining each corner of cabinet under current state
Are as follows:
P′1[0 0 0]、
P′2[a*cosθ 0 -a*sinθ]、
P′3[a*cosθ+b*sinθ*sinγ b*cosγ -a*sinθ-b*cosθ*sinγ]、
P′4[b*sinθ*sinγ b*cosγ -b*cosθ*sinγ]、
P′5[-sinθ*cosγ*c c*sinγ c*cosθ*cosγ]、
P′6[a*cosθ-sinθ*cosγ*c c*sinγ-a*sinθ+c*cosθ*sinγ]、
P′7[a*cosθ+b*sinθ*sinγ-sinθ*cosγ*c b*cosγ+c*sinγ -a*sinθ-b*cosθ*sinγ+
c*cosθ*cosγ]、
P′8[b*sin θ * sin γ-sin θ * cos γ * c b*cos γ+c*sin γ-b*cos θ * sin γ+c*cos θ * cos γ],
Wherein, θ is the pitch angle that fuel-quantity transducer measurement obtains, and γ is the rolling that fuel-quantity transducer measurement obtains
Angle, R (y, θ) areR (x, γ) isX is that the cabinet is taken up an official post under reducing condition
It anticipates any coordinate value, XnewFor the coordinate value at any point on cabinet described under current state.
5. the oil mass detection method of engineering truck as claimed in claim 4, which is characterized in that in step s3, the oil mass
The distance between inner cavity top of the detected buoy of sensor and the cabinet is lf, then count according to the following formula
Calculate the coordinate value (X Y Z) for obtaining the M point:
Wherein,
6. the oil mass detection method of engineering truck as claimed in claim 5, which is characterized in that in step s 4, described in calculating
Intersection point O ' between the bottom surface of cabinet and the centre symmetry linefCoordinate valueThe oil
Measuring Corrected Depth is
7. the oil mass detection method of engineering truck as claimed in claim 2, which is characterized in that the actual oil mass is according to formulaIt calculates and obtains, wherein Δ h is preset step height, SkIt is described at preset step height
The cross-sectional area of cabinet, thenFor the oil correct depth.
8. a kind of fuel tank of engineering truck, including cabinet, which is characterized in that the cabinet its length direction and width direction all
It is arranged symmetrically, the detection bar with its plane perpendicular is provided in the cabinet, is slidably connected in the detection bar and swims in liquid
Buoy on face is additionally provided on the cabinet in the fuel-quantity transducer for the location information for detecting the buoy and for detecting
The angular transducer of the bottom surface of cabinet pitch angle with respect to the horizontal plane and roll angle；The fuel-quantity transducer and the case
The plane of symmetry that the distance between inner chamber bottom surface of body, the fuel-quantity transducer and the cabinet are arranged symmetrically in its length direction it
Between distance between the plane of symmetry that its width direction is arranged symmetrically of distance and the fuel-quantity transducer and the cabinet all
For definite value.
9. the fuel tank of engineering truck as claimed in claim 8, which is characterized in that further include respectively with the fuel-quantity transducer and
The control system of the angular transducer communication connection, the control system include for being obtained according to the angular transducer measurement
Pitch angle and roll angle numerical value the corrected Calculation unit that is modified of numerical value that fuel-quantity transducer measurement is obtained with
And the volume computing unit for calculating actual oil mass according to the data of the corrected Calculation unit.
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| CN109655126A (en) * | 2019-01-15 | 2019-04-19 | 广州极飞科技有限公司 | For determining the method and apparatus of amount of liquid and plant protection equipment in container |
| CN110514268A (en) * | 2019-08-12 | 2019-11-29 | 江门市大长江集团有限公司 | The oil mass of vehicle determines method, apparatus and computer equipment |
| CN110986883A (en) * | 2019-12-31 | 2020-04-10 | 三一重机有限公司 | Inclination angle detection device and inclination angle detection method |
| CN113267230A (en) * | 2021-05-19 | 2021-08-17 | 三一重机有限公司 | Method for measuring volume of liquid in liquid tank and engineering machinery |
| CN113324614A (en) * | 2021-05-31 | 2021-08-31 | 三一重机有限公司 | Method and device for measuring liquid level in liquid tank and engineering machinery |
| CN114166312A (en) * | 2021-10-25 | 2022-03-11 | 深圳市发掘科技有限公司 | Vehicle oil quantity measuring method and device, computer equipment and storage medium |
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| CN109655126A (en) * | 2019-01-15 | 2019-04-19 | 广州极飞科技有限公司 | For determining the method and apparatus of amount of liquid and plant protection equipment in container |
| CN110514268A (en) * | 2019-08-12 | 2019-11-29 | 江门市大长江集团有限公司 | The oil mass of vehicle determines method, apparatus and computer equipment |
| CN110986883A (en) * | 2019-12-31 | 2020-04-10 | 三一重机有限公司 | Inclination angle detection device and inclination angle detection method |
| CN110986883B (en) * | 2019-12-31 | 2022-03-01 | 三一重机有限公司 | Inclination angle detection device and inclination angle detection method |
| CN113267230A (en) * | 2021-05-19 | 2021-08-17 | 三一重机有限公司 | Method for measuring volume of liquid in liquid tank and engineering machinery |
| CN113324614A (en) * | 2021-05-31 | 2021-08-31 | 三一重机有限公司 | Method and device for measuring liquid level in liquid tank and engineering machinery |
| CN113324614B (en) * | 2021-05-31 | 2023-10-10 | 三一重机有限公司 | Measuring method, measuring device and engineering machinery for liquid level in liquid tank |
| CN114166312A (en) * | 2021-10-25 | 2022-03-11 | 深圳市发掘科技有限公司 | Vehicle oil quantity measuring method and device, computer equipment and storage medium |
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