CN111964765A - High measurement accuracy semitrailer vehicle-mounted weight detection system - Google Patents
High measurement accuracy semitrailer vehicle-mounted weight detection system Download PDFInfo
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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
- G01G19/086—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles wherein the vehicle mass is dynamically estimated
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
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- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
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Abstract
The invention discloses a semitrailer vehicle-mounted weight detection system with high measurement precision, which comprises a measurement module, a control module, a power supply module and a feedback module, the measuring module comprises a laser ranging module and a strain measuring module which are respectively used for measuring the bearing weight of the axle part and the traction pin part of the semitrailer, the control module is used for processing the data collected by the measuring module and calculating the bearing weight of the semitrailer, the power supply module is used for providing stable voltage for the whole system, the feedback module comprises a display module, a GPS positioning module, an audible and visual alarm module and a GPRS module, the invention provides a distance measuring module protection device, which can realize functions of vehicle overload, side inclination or abnormal change reminding of load capacity, real-time information uploading to a cloud platform and the like, and is used for ensuring the precision of the weight detection system. The weight detection system is simple to operate, and has the advantages of high measurement precision, easy acquisition of measured numerical values and no need of vehicle modification.
Description
Technical Field
The invention relates to the technical field of semi-trailer vehicle-mounted weight detection, in particular to a semi-trailer vehicle-mounted weight detection system with high measurement precision.
Technical Field
Along with the rapid development of economy, the logistics industry of China develops rapidly, wherein the road transportation occupies a certain proportion in the transportation industry, most of the bulk goods for road transportation depend on the semitrailer, the semitrailer needs to be driven to the wagon balance for weighing when the weight of the transported goods is required to be known, and the semitrailer needs to be queued for waiting when being weighed, so that the weighing efficiency is not high, the semitrailer is limited by the wagon balance place, and the weighing can not be carried out at any time.
In addition, when the semitrailer transports goods, some drivers often overload the vehicle for economic effect, which not only damages the road surface to cause economic loss, but also causes collapse of bridges and viaducts, and seriously threatens the life safety of the drivers and other people. Some drivers may steal goods during the cargo transportation process or change goods through goods sharing or goods changing for the sake of privacy, and these problems cannot be avoided if no car following personnel are left during the cargo transportation process.
Disclosure of Invention
In order to solve the problems in the technical background, the semi-trailer vehicle-mounted weight detection system with high measurement precision is designed, the semi-trailer vehicle-mounted weight detection system can weigh at any time, can detect the weight of vehicle-mounted goods in real time, has the function of warning and reminding when the vehicle is overloaded, unbalanced or the load capacity is abnormally changed, can position the vehicle in real time, record the information such as the running track and the speed of the vehicle, and can upload the working information of the vehicle-mounted weight detection system to a cloud platform for storage, and a background monitoring center and a user mobile phone end can check the information in real time.
The technical scheme adopted by the invention for solving the technical problem is that the semi-trailer vehicle-mounted weight detection system with high measurement precision is characterized by comprising four parts, namely a measurement module, a control module, a power supply module and a feedback module.
The measuring module comprises a laser ranging module and a strain measuring module, wherein the laser ranging module is used for measuring the bearing weight of the axle of the semitrailer, the strain measuring module is used for measuring the bearing weight of the towing pin of the semitrailer, and the sum of the bearing weights of the axle and the towing pin is the integral bearing weight of the semitrailer.
The laser ranging module is composed of a laser displacement sensor and a ranging module protection device, wherein the laser displacement sensor is a high-precision laser displacement sensor and is arranged in the ranging module protection device.
The protection device of the ranging module is composed of an upper base, a lower base and a connecting device, a laser displacement sensor is installed in the middle of the upper base, the lower base is installed on the central point of the uppermost leaf spring of the steel plate springs on the two sides of each axle at the rear portion of the semitrailer, the upper base is installed at the bottom of the frame right above the lower base, and the connecting device is connected with the upper base and the lower base.
Go up base and base down and be the cylinder echelonment, connecting device is made by the scalable soft materials of adiacticity for go up base and base down, range module protection device can completely cut off light, blocks the interference of silt to laser displacement sensor measurement accuracy during the vehicle traveles, improves laser displacement sensor's measurement accuracy.
The strain measurement module comprises strain sensor and AD conversion module, and the sensor is vertical symmetry to be installed and is close to towing pin department at the frame, strain sensor is high accuracy full-bridge foil gage, has saved the step of group bridge, and AD conversion module is connected to the foil gage, and AD conversion module converts the analog signal that the foil gage was gathered into the digital signal that control module can be used for the calculation.
The control module is communicated with the measuring module through a CAN communication protocol, reads and calculates data collected by a sensor in the measuring module to obtain the load capacity of the axle part and the towing pin part of the semitrailer, further obtain the integral load capacity of the semitrailer, and then controls the auxiliary module to realize corresponding functions according to information such as the load capacity of the semitrailer.
The power module comprises solar cell panel and battery, and solar cell panel charges for the battery, and the battery provides steady voltage for entire system. The solar energy mobile phone system has the advantages that the independent storage battery is selected to supply power for the whole system, the solar cell panel is used for charging the storage battery, the system can work normally no matter whether the vehicle is started or not, and information such as weight, position and speed of the vehicle can be uploaded to the cloud platform in real time to be accessed by a monitoring center or a mobile phone end of a user at any time.
The feedback module consists of a display module, a GPS positioning module, an audible and visual alarm module and a GPRS module, and the feedback module is used for realizing the functions of displaying the vehicle-mounted weight in real time, positioning the vehicle position, reminding the vehicle of overload, side inclination or abnormal change of the load capacity, uploading relevant information to the cloud platform in real time and the like. The sound-light alarm module consists of an alarm indicator light and a buzzer, and works together with the display module to remind a driver when the vehicle is overloaded, heeled or the load capacity is abnormally changed.
According to the calibration method, the vehicle-mounted weight detection system can normally work after being calibrated, and the distance measurement module and the strain measurement module are calibrated independently during calibration. In order to ensure the calibration accuracy, the calibration process is completed on the horizontal ground. The laser displacement sensor is used for measuring the sinking amount of the steel plate spring of the semitrailer, and the rigidity of each steel plate spring of the semitrailer can be obtained through calibration; the strain sensor is used for measuring strain values at the traction pin of the semitrailer, and coefficients corresponding to the strain sensors can be obtained through calibration. And inputting the obtained rigidity of the steel plate spring and the coefficient corresponding to the strain sensor into a vehicle-mounted weight detection system, and finishing the calibration work.
The semi-trailer vehicle-mounted weight detection system has two working modes of static weighing and dynamic detection. When the control module judges that the vehicle is static according to the information collected by the GPS module, the system is in a static weighing working mode; when the control module judges that the vehicle moves according to the information collected by the GPS module, the system is in a dynamic detection working mode.
In conclusion, the beneficial effects of the invention are as follows:
(1) according to the semi-trailer vehicle-mounted weight detection system with high measurement precision, the control module can obtain the load capacity of the whole semi-trailer according to data collected by the laser ranging module and the strain measurement module in the measurement module.
(2) According to the semitrailer vehicle-mounted weight detection system with high measurement precision, the laser displacement sensor in the laser ranging module is arranged in the ranging module protection device, so that the measurement precision can be improved.
(3) The invention discloses a semitrailer vehicle-mounted weight detection system with high measurement precision, and provides a calibration method.
(4) The semi-trailer vehicle-mounted weight detection system with high measurement precision has two working modes of static weighing and dynamic measurement, so that the weight detection system can be used under the working conditions of static and moving of a vehicle.
Drawings
FIG. 1 is a schematic structural component view of a semitrailer vehicle-mounted weight detection system of the present invention;
FIG. 2 is a schematic view of a distance measuring module protection device of the semitrailer vehicle-mounted weight detecting system of the invention;
FIG. 3 is a schematic view of the installation position of a laser displacement sensor of the semitrailer vehicle-mounted weight detecting system of the invention;
FIG. 4 is a schematic view of the installation position of the distance measuring module protection device of the semitrailer vehicle-mounted weight detecting system of the present invention;
FIG. 5 is a schematic view of the mounting position of a strain sensor of the semi-trailer vehicle-mounted weight detection system of the invention;
FIG. 6 is a flow chart of the static weighing operation mode of the semi-trailer vehicle-mounted weight detection system of the present invention.
Detailed description of the invention
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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in figure 1, the high-measurement-precision semitrailer vehicle-mounted weight detection system is composed of a measurement module, a control module, a power supply module and a feedback module. The measuring module comprises a laser ranging module and a strain measuring module. The laser ranging module is composed of a laser displacement sensor and a ranging module protection device, wherein the laser displacement sensor is a high-precision laser displacement sensor and is arranged in the ranging module protection device.
The laser ranging module is used for measuring the bearing weight of the axle part of the semitrailer, the strain measurement module is used for measuring the bearing weight of the traction pin part of the semitrailer, and the sum of the bearing weights of the axle and the traction pin is the integral bearing weight of the semitrailer.
As shown in fig. 2, the protection device of the ranging module is composed of an upper base, a lower base and a connecting device, wherein the upper base and the lower base are in a cylindrical ladder shape, the bottom surface of the cylindrical part with a larger radius is used for fixing, as shown in fig. 3, the laser displacement sensor is arranged at the central position of the bottom surface of the cylindrical part with a smaller radius of the upper base, and the diameters of the cylindrical parts with smaller radii of the upper base and the lower base are 5-7 times larger than that of the sensor so as to deal with the relative movement of the measuring position.
In order to measure accurately, the bottom surface of the cylindrical part with smaller radius of the lower base of the ranging module protection device shown in fig. 2 should be painted white, the connecting device is made of lightproof telescopic soft materials, is installed on the arc-shaped surface of the smaller cylinder of the upper base and the lower base and is used for connecting the upper base and the lower base, and the length of the connecting device can be changed along with the change of the distance between the upper base and the lower base. Distance measuring module protection device can completely cut off light, blocks that the vehicle is gone in silt to the interference of laser displacement sensor measurement accuracy, improves laser displacement sensor's measurement accuracy.
During design, the laser displacement sensor and the inner surface of the upper base are fixed together, then the connecting device and the lower base are installed, and the device which is assembled is arranged in the hand of a user, so that the measurement precision is guaranteed, and the installation steps of installation personnel are reduced.
As shown in fig. 4, the lower base of the distance measuring module protection device is respectively installed on the central point of the uppermost leaf spring of the leaf springs on the two sides of each axle at the rear part of the semitrailer, and the upper base is installed on the frame right above the lower base.
The strain measurement module comprises strain sensor and AD conversion module, as shown in figure 5, the strain measurement module is vertically and symmetrically installed at the position, close to the towing pin, of the frame, the strain sensor is a high-precision full-bridge strain gauge, the step of bridging is omitted, and the strain measurement module is connected with the AD conversion module. The AD conversion module converts the analog signals collected by the strain gauge into digital signals which can be used for calculation by the control module.
The control module is communicated with the measuring module through a CAN communication protocol, reads data collected by a sensor in the measuring module, calculates data collected by a laser ranging module and a strain measuring module in the measuring module to obtain the load capacity of the axle part and the traction pin part of the semitrailer, further obtains the integral bearing capacity of the semitrailer, and then controls the auxiliary module to realize corresponding functions according to information such as the bearing capacity of the semitrailer. The CAN communication protocol is adopted for data communication, so that the use of wire harnesses in the system CAN be greatly reduced, the anti-interference performance is strong, and the error correction is easy.
The power module comprises solar cell panel and battery, and solar cell panel charges for the battery, and the battery provides steady voltage for entire system. The solar energy battery panel is used for charging the storage battery, the system can work normally no matter whether the vehicle is started or not, and information such as weight and position of the vehicle can be uploaded to the cloud platform in real time so as to be accessed by a monitoring center or a mobile phone end of a user at any time.
The feedback module consists of a display module, a GPS positioning module, an audible and visual alarm module and a GPRS module, and the feedback module is used for realizing the functions of displaying the vehicle-mounted weight in real time, positioning the vehicle position, reminding the vehicle of overload, side inclination or abnormal change of the load capacity, uploading relevant information to the cloud platform in real time and the like. The sound-light alarm module consists of an alarm indicator light and a buzzer, and works together with the display module to remind a driver when the vehicle is overloaded, heeled or the load capacity is abnormally changed.
A calibration method is characterized in that the laser ranging module and the strain measurement module are calibrated independently during calibration. In order to ensure the calibration accuracy, the calibration process is completed on the horizontal ground. The distance measurement module is used for measuring the sinking amount of the steel plate spring of the semitrailer and obtaining the rigidity of each steel plate spring of the semitrailer through calibration; the strain measurement module is used for measuring strain values at the traction pin of the semitrailer, and coefficients corresponding to each strain sensor can be obtained through calibration. And inputting the obtained rigidity of the steel plate spring and the coefficient corresponding to the strain sensor into a vehicle-mounted weight detection system, and finishing the calibration work.
Taking a three-axle semitrailer as an example, the specific calibration process is as follows:
after the vehicle load capacity detection system is installed on a vehicle, the vehicle is driven to the horizontal ground, the sensors are numbered, the sensors are longitudinally arranged from front to back, the left side of the position close to a traction pin of a semitrailer is provided with a 1 # strain sensor, the right side of the position close to the traction pin of the semitrailer is provided with a 2 # strain sensor, the left side of a first axle of the semitrailer is provided with a 1 # laser displacement sensor, the right side of the first axle of the semitrailer is provided with a 2 # laser displacement sensor, the left side of a second axle is provided with a 3 # laser displacement sensor, the right side of the second axle is provided with a 4 # laser displacement sensor, the left side of a third axle is provided with a 5 # laser displacement sensor. And x is a value from 1 to 6 and represents the serial numbers of the six laser displacement sensors and the corresponding leaf springs.
The calibration process of the laser displacement sensor is as follows:
(1) respectively measuring the load capacity of wheels at two sides of each axle of the semitrailer by using a weighing instrument when the semitrailer is unloaded to obtain Gx0The laser displacement sensor measures data for the first time to obtain lx0。
(2) Applying a certain amount of evenly distributed weight on the semitrailer, and repeating the step (1) to obtain the loading capacity G of the wheels at two sides of each axle after loadingx1And the data l measured by the laser displacement sensor for the second timex1。
(3)Gx1Minus Gx0Load capacity G assigned to each wheelxI.e. the load distributed by the leaf springWeight Gx(ii) a Subtracting the data measured for the second time from the data measured for the first time by the laser displacement sensor to obtain the sinking amount l of each steel plate springxIs formulated as:
Gx＝Gx1-Gx0
lx＝lx1-lx0
(4) using formula Gx＝kx·lxThe stiffness of each steel plate spring can be obtained, the load capacity of each steel plate spring can be obtained by the following formula, and the load capacities are added to obtain the load capacities of the three axle parts of the semitrailer:
G1＝k1l1
G2＝k2l2
G3＝k3l3
G4＝k4l4
G5＝k5l5
G6＝k6l6
m1＝G1+G2+G3+G4+G5+G6
in the formula: m is1The load capacity of three axles of the semitrailer; g1～G6The load capacity is the load capacity of six steel plate springs; k is a radical of1～k6The stiffness is six leaf springs; l1～l6The corresponding sinking amount of the six steel plate springs when bearing the load is obtained.
The calibration process of the strain sensor is as follows:
the total load capacity of the vehicle subtracts the load capacity of the three axles measured by the axle load meter, and the load capacity of the semitrailer towing pin can be obtained. Uniformly distributing loads from no-load to full load according to the gradient of 0.1 ton, and respectively recording the load capacity of the traction pin and the data of the two corresponding strain sensors after each load1、2Half of the load capacity of the traction pin is the load capacity corresponding to one strain sensor, and the load capacity is calculated by utilizing a cubic fitting methodCoefficient a of two strain sensors1x、a2xCalculating the load capacity of the traction pin part by using the following formula:
in the formula: m is2The load capacity of the traction pin part of the semitrailer;1is the reading of a strain sensor number 1,2reading of a No. 2 strain sensor; a is11、a12、a13、a14Coefficient corresponding to strain sensor No. 1, a21、a22、a23、a24The coefficient is corresponding to the strain sensor No. 2.
Inputting the calculated rigidity of each steel plate spring and the coefficient of each strain sensor into a control module, finishing the calibration work, and calculating the load capacity by the weighing system by using the following formula:
m＝m1+m2
in the formula: m is the total load capacity of the semitrailer, m1The carrying capacity of three axles of the semitrailer, m2The load capacity of the semitrailer towing pin.
The semi-trailer weighing detection system has two working modes of static weighing and dynamic detection. When the GPS module judges that the vehicle is static, the system is in a static weighing working mode; when the GPS module judges that the vehicle moves, the system is in a dynamic detection working mode.
As shown in fig. 6, the work flow of the semi-trailer vehicle load capacity detection system for static weighing is as follows:
the system is started, the power supply module provides stable voltage for the whole set of system, the system is initialized, and the system enters a static weighing mode when the control module judges that the vehicle is static according to the information collected by the GPS module. The semi-trailer load-free data acquisition method comprises the steps that a measurement module carries out first-time data acquisition when a semi-trailer is in no-load state, acquired data are sent to a control module to be stored, in the loading process of the semi-trailer, the measurement module carries out first-time data acquisition at intervals of 0.5 seconds and sends the data to the control module, and the control module obtains the load-bearing weight of the semi-trailer according to the latest acquired data and the first-time acquired data of the measurement module each time.
During the vehicle loading process: if the control module detects that the reading difference value of the sensors on the two sides of the semitrailer is larger than a certain numerical value, a display module in the feedback module displays the word of 'vehicle unbalance loading', and an indicator lamp and a buzzer in the alarm module work simultaneously to remind a driver; if the control module detects that the bearing weight of the semitrailer is greater than the limit value, the display module displays the word of 'vehicle overload', and an alarm indicator lamp and a buzzer in the alarm module work simultaneously to alarm and remind a driver.
The GPRS module sends the vehicle-mounted weight information obtained by calculation of the control module and information such as whether the vehicle is unbalanced, overloaded and the position of the vehicle to the cloud platform in real time for storage.
The dynamic detection work flow of the semi-trailer load detection system is as follows:
when the control module detects that the position of the vehicle changes according to the information collected by the GPS module, the system enters a dynamic detection working mode. Since the vehicle is dynamic, the value detected by the measuring module fluctuates within a range, so that a weight range is set. The measuring module collects data once every 0.2 seconds, the control module stores the data, an average value is calculated every 5 seconds, if the obtained average value is not processed in a set weight range, if the obtained average value is not in the set weight range, the display module displays a weight abnormity character, and the alarm module starts to work.
The GPRS module uploads information such as whether the driving track, the speed and the bearing weight of the vehicle are abnormal or not to the cloud platform in real time.
Claims (10)
1. The semi-trailer vehicle-mounted weight detection system with high measurement precision is characterized by comprising a measurement module, a control module, a power supply module and a feedback module.
2. The semi-trailer vehicle-mounted weight detection system according to claim 1, characterized in that the measurement module comprises a laser ranging module and a strain measurement module, wherein the laser ranging module is used for measuring the bearing weight of the axle, the strain measurement module is used for measuring the bearing weight of the towing pin, and the sum of the bearing weights of the axle and the towing pin is the bearing weight of the whole semi-trailer.
3. The semi-trailer vehicle-mounted weight detection system according to claim 2, characterized in that the laser ranging module is composed of a laser displacement sensor and a ranging module protection device, and can collect the sinking amount of the steel plate spring, and the laser displacement sensor is a high-precision laser displacement sensor and is arranged in the ranging module protection device.
4. The semi-trailer vehicle-mounted weight detection system according to claim 3, characterized in that the distance measurement module protection device comprises an upper base, a lower base and a connecting device, the laser displacement sensor is installed in the middle of the upper base, the lower base is respectively installed on the central point of the uppermost leaf spring of the leaf springs on the two sides of each axle at the rear part of the semi-trailer, the upper base is installed at the bottom of the frame right above the lower base, and the connecting device connects the upper base and the lower base.
5. The semi-trailer vehicle-mounted weight detection system according to claim 2, characterized in that the strain measurement module is composed of a strain sensor and an AD conversion module, the strain sensor and the AD conversion module are longitudinally and symmetrically arranged on the frame near the traction pin, and the strain sensor is a high-precision full-bridge strain gauge.
6. The semi-trailer vehicle-mounted weight detection system according to claim 1, characterized in that the control module communicates with the measurement module through a CAN communication protocol, reads data collected by a sensor in the measurement module, calculates the bearing weight of the semi-trailer, and controls the auxiliary module to realize corresponding functions according to information such as the bearing weight of the semi-trailer.
7. The semi-trailer vehicle-mounted weight detection system according to claim 1, characterized in that the power module comprises a solar panel and a storage battery, the solar panel charges the storage battery, and the storage battery provides stable voltage for the whole system.
8. The semi-trailer vehicle-mounted weight detection system according to claim 1, characterized in that the feedback module comprises a display module, a GPS positioning module, an audible and visual alarm module and a GPRS module, and the module can realize functions of vehicle-mounted weight real-time display, vehicle position positioning, vehicle overload, heeling or abnormal load change reminding, information real-time uploading to a cloud platform and the like.
9. The semitrailer vehicle-mounted weight detecting system according to claim 1, characterized in that a calibration method is provided, the laser ranging module and the strain measuring module are separately calibrated during calibration, the rigidity of steel plate springs on two sides of each axle of the semitrailer and the corresponding coefficient of each strain sensor can be determined, and the obtained data is input into the vehicle-mounted weight detecting system to complete the calibration.
10. The semi-trailer vehicle-mounted weight detection system according to claim 1, characterized in that the weight detection system has two working modes of static weighing and dynamic detection, and the two working modes process the data acquired by the measurement module in real time to realize corresponding functions.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113884171A (en) * | 2021-08-12 | 2022-01-04 | 无锡尚合达智能科技有限公司 | Method and system for vehicle-mounted real-time measurement of vehicle load |
| CN114563071A (en) * | 2022-02-28 | 2022-05-31 | 郑州业伟实业有限公司 | Automatic monitoring device for truck load weighing |
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| CN111649812A (en) * | 2020-06-17 | 2020-09-11 | 山东理工大学 | Semi-trailer vehicle-mounted weighing system |
| CN214471261U (en) * | 2020-09-17 | 2021-10-22 | 山东理工大学 | High measurement accuracy semitrailer vehicle-mounted weight detection system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113884171A (en) * | 2021-08-12 | 2022-01-04 | 无锡尚合达智能科技有限公司 | Method and system for vehicle-mounted real-time measurement of vehicle load |
| CN114563071A (en) * | 2022-02-28 | 2022-05-31 | 郑州业伟实业有限公司 | Automatic monitoring device for truck load weighing |
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