CN112079217A - Elevator car load real-time detection system and method - Google Patents
Elevator car load real-time detection system and method Download PDFInfo
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- CN112079217A CN112079217A CN202011071447.XA CN202011071447A CN112079217A CN 112079217 A CN112079217 A CN 112079217A CN 202011071447 A CN202011071447 A CN 202011071447A CN 112079217 A CN112079217 A CN 112079217A
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- 238000011897 real-time detection Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 22
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 39
- 239000010959 steel Substances 0.000 claims abstract description 39
- 230000005489 elastic deformation Effects 0.000 claims abstract description 17
- 238000006243 chemical reaction Methods 0.000 claims abstract description 8
- 230000006698 induction Effects 0.000 claims description 17
- 230000003993 interaction Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 5
- 230000000149 penetrating effect Effects 0.000 abstract description 2
- 238000005303 weighing Methods 0.000 description 11
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 239000000806 elastomer Substances 0.000 description 2
- 230000005483 Hooke's law Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3492—Position or motion detectors or driving means for the detector
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
- B66B3/02—Position or depth indicators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The invention relates to a real-time detection system and a real-time detection method for elevator car loads, which comprises an induced part, a load detection part and a load detection part, wherein the induced part is arranged in the whole hoistway in a penetrating way, and each flat layer forms a unique absolute position code; the sensing part is arranged on the lift car and can sense absolute position information of the sensed part; the data processing module is connected with the sensing part in a wired or wireless mode, receives absolute position information sensed by the sensing part, compares the absolute position of each flat layer when the lift car is in no load with the absolute position of the corresponding flat layer when a person is in load in real time in a subtraction mode through the comparator to obtain the offset of the current flat layer position of the lift car, calculates the elastic deformation of the steel wire rope according to the offset, and calculates the load of the current lift car in a conversion mode.
Description
Technical Field
The invention relates to the technical field of elevators, in particular to a real-time detection system and a real-time detection method for elevator car loads.
Background
In an elevator system, at the moment when an elevator starts a brake to be opened, due to the fact that the weight of a lift car of the elevator is unequal to that of a counterweight, the elevator easily slips or shakes instantly, and the riding comfort is seriously affected.
In order to solve the problem and improve the running stability and riding comfort of the elevator, the conventional common scheme is that a weighing device is added, a weight sensor is installed on an elevator car or a rope head of a steel wire rope, the load condition of the elevator is collected and fed back to an elevator control system, and the control system calculates the compensation torque required when the elevator is started according to the fed-back load information, so that the problem of starting car sliding or instantaneous shaking is solved, but the method is complex in installation and high in cost, and causes great burden to enterprises;
the invention relates to a real-time detection system and a real-time detection method for elevator car loads, which comprises an induced part, a detection part and a detection part, wherein the induced part penetrates through the whole hoistway, and each unique absolute position code is formed on each flat layer; the sensing part is arranged on the lift car and can sense absolute position information of the sensed part; the data processing module is connected with the sensing part in a wired or wireless mode, receives absolute position information sensed by the sensing part, performs subtraction comparison on the absolute position of each flat layer when the lift car is in no-load and the absolute position of the corresponding flat layer when the lift car is loaded by a person in real time through the comparator to obtain the offset of the current flat layer position of the lift car, calculates the elastic deformation of the steel wire rope according to the offset, and converts and calculates the load of the current lift car;
the system and the method avoid the complex structure that a weight sensor is arranged at the rope end of the elevator car or the steel wire rope in the elevator system and a weighing device is added for real-time car load in the prior art, and simultaneously overcome the problems that the car of the elevator is easy to slip or shake instantly and the riding comfort is seriously influenced due to unequal weight of the car and a counterweight at the moment when the elevator starting internal contracting brake is opened caused by the delay of the side weighing mode in the prior art.
Disclosure of Invention
The invention aims to solve the technical problems that how to avoid the complex structure that a weight sensor is arranged at the rope end of an elevator car or a steel wire rope in an elevator system for real-time car load and a weighing device is added in the prior art, and simultaneously, the problems that the car of the elevator and the weight of a counterweight are not equal at the moment when an elevator starting internal contracting brake is opened due to the delay of a side weighing mode in the prior art, the car is easy to slip or shake instantly, and the riding comfort is seriously influenced are solved.
In order to solve the technical problem, the invention provides a real-time detection system for elevator car load, which comprises: the induced part is arranged in the whole hoistway in a penetrating way, and forms respective unique absolute position codes on each flat layer; the sensing part is arranged on the lift car and can sense absolute position information of the sensed part; the data processing module is connected with the sensing part in a wired or wireless mode, receives absolute position information sensed by the sensing part, performs subtraction comparison on the absolute position of each flat layer when the lift car is in no load and the absolute position of the corresponding flat layer when a person is loaded in real time through a comparator in real time to obtain the offset delta L of the current flat layer position of the lift car, calculates the elastic deformation of the steel wire rope according to the offset delta L, and calculates the load of the current lift car in a conversion mode;
furthermore, the induced part is a magnetic tape with magnetic poles, and the magnetic tape forms absolute position codes specific to each flat layer of the elevator car through different magnetic pole lengths in an arrangement and combination mode; the induction part is composed of a plurality of magnetic sensors, unique absolute position information of any flat layer position of the well is obtained by analyzing magnetic pole combinations with different lengths on the magnetic tape, the unique absolute position information is converted into a digital signal to be output, and the digital signal is transmitted to the data processing module in a wired or wireless mode.
Furthermore, the sensed part is a steel belt with holes, and the steel belt forms the specific absolute position code of each flat layer of the lift car through different hole type combinations; the induction part is composed of a plurality of magnetic sensors, unique absolute position information of any flat layer position of the shaft is obtained by analyzing different hole type combinations on the steel belt through induction, the unique absolute position information is converted into a digital signal to be output, and the digital signal is transmitted to the data processing module in a wired or wireless mode.
Furthermore, the sensed part is a code band with two-dimensional codes, and the code band forms specific absolute position codes of each flat layer of the lift car through different two-dimensional code combinations; the induction part is composed of a plurality of magnetic sensors, unique absolute position information of any flat layer position of the shaft is obtained by analyzing different hole type combinations on the steel belt through induction, the unique absolute position information is converted into a digital signal to be output, and the digital signal is transmitted to the data processing module in a wired or wireless mode.
Further, a formula for calculating the load of the current elevator car by converting the elastic deformation of the steel wire rope according to the offset delta L is shown as follows (please supplement the formula, and the name of the formula code):
and the elevator control module is used for carrying out information interaction with the data processing module in real time, receiving the timely load of the current flat layer of the elevator car calculated by the data processing module in real time, and adjusting the real-time torque output power of the elevator car traction machine in real time according to the timely load.
Further, the invention also relates to a real-time detection method for the load of the elevator car, which comprises the following steps:
forming respective unique absolute position codes on each flat layer of the elevator car, and identifying each flat layer position of the elevator car according to the unique absolute position codes of each flat layer;
recording and storing each flat layer position of the elevator car in no-load operation state, and forming a database in a memory for a comparator to call;
and step three, in the actual running process of the elevator, the comparator compares the current leveling position information of the elevator car received by the receiver with the leveling position information of the car position in the no-load state recorded in the database to obtain the offset delta L of the current leveling position of the car, the elastic deformation of the steel wire rope is calculated according to the offset delta L, and the load of the current elevator car is converted and calculated.
And further, the elevator control module and the data processing module carry out information interaction in real time, receive the timely load of the current flat floor of the elevator car calculated by the data processing module in real time, and adjust the real-time torque output power of the elevator car traction machine in real time according to the timely load.
Furthermore, the calculation method for calculating the current load of the elevator car (03) by calculating the elastic deformation conversion of the steel wire rope (07) according to the offset delta L comprises the following steps:
setting the elastic coefficient of a steel wire rope to be k, and setting the elastic deformation of the steel wire rope to be L0 under the condition that the car is unloaded, wherein the load at the moment is G0 ═ kXL 0; when the car load changes, the amount of deformation L1 of the wire rope due to the change in the load is estimated from the offset amount detected by the sensor, and the load occurring on the car can be calculated as G1 ═ k × (L0+ L1).
The system and the method avoid the complex structure that a weight sensor is arranged at the rope end of the elevator car or the steel wire rope in the elevator system and a weighing device is added for real-time car load in the prior art, and simultaneously overcome the problems that the car of the elevator is easy to slip or shake instantly and the riding comfort is seriously influenced due to unequal weight of the car and a counterweight at the moment when the elevator starting internal contracting brake is opened caused by the delay of the side weighing mode in the prior art.
Drawings
Fig. 1 is a schematic diagram of the construction of the elevator car load real-time detection system of the invention.
Fig. 2 is a logic diagram of steps of the elevator car load real-time detection method of the invention.
Description of the reference numerals
01 sensed part by sensed part 02
03 car 04 hoistway
05 flat layer 06 data processing module
07 steel wire rope 08 traction machine
09 Elevator counterweight 10 Elevator guide Rail
11 Elevator control module
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or modify equivalent embodiments, without affecting the spirit of the invention, using the methods and techniques disclosed above, without departing from the scope of the invention.
Referring to fig. 1, the elevator car load real-time detecting system of the present invention comprises: a sensed part 01 which penetrates the whole hoistway 04 and forms a unique absolute position code for each flat layer 05; a sensing part 02 which is provided in the car 03 and can sense absolute position information of the sensed part 01; the data processing module 06 is connected with the sensing part 02 in a wired or wireless mode, receives absolute position information sensed by the sensing part 02, compares the absolute position of each flat layer when the lift car 03 is empty with the absolute position of the corresponding flat layer when a person is loaded in real time in a subtraction manner through a comparator, obtains the offset delta L of the current flat layer position of the lift car, calculates the elastic 07 deformation of the steel wire rope according to the offset delta L, and calculates the load of the current lift car 03 in a conversion manner;
the car load detection system can avoid the complex structure of adding a weighing device in the prior art, and overcomes the problems that the car of the elevator and the counterweight 09 of the elevator are not equal in weight at the moment when the starting band-type brake of the elevator is opened due to the delay of the side weighing mode in the prior art, so that the car is easy to slip or shake instantly, and the riding comfort is seriously influenced, and the sensed part 01 can be arranged on the guide rail 10 of the elevator or can be separately arranged along the hoistway 04.
In one embodiment, the sensed part 01 is a magnetic tape with magnetic poles, and the magnetic tape forms absolute position codes which are specific to each flat layer 05 of the elevator car through different magnetic pole lengths in an arrangement and combination mode; the corresponding induction part 02 is composed of a plurality of magnetic sensors, unique absolute position information of any flat layer 05 position of the well 04 is obtained by analyzing magnetic pole combinations with different lengths on the magnetic tape, and is converted into a digital signal to be output and transmitted to the data processing module 06 in a wired or wireless mode.
The other alternative embodiment is that the sensed part 01 is a steel belt with holes, and the steel belt forms the unique absolute position code of each flat layer 05 of the elevator car through different hole type combinations; the induction part 02 is composed of a plurality of magnetic sensors, obtains the unique absolute position information of any flat layer 05 position of the shaft 04 by induction analysis of different hole pattern combinations on the steel belt, converts the unique absolute position information into a digital signal to be output, and transmits the digital signal to the data processing module 06 in a wired or wireless mode.
In the third embodiment, the sensed part 01 is a code belt with two-dimensional codes, and the code belt forms specific absolute position codes of each flat layer 05 of the elevator car through different two-dimensional code combinations; the induction part 02 is composed of a plurality of magnetic sensors, obtains the unique absolute position information of any flat layer 05 position of the shaft 04 by induction analysis of different hole pattern combinations on the steel belt, converts the unique absolute position information into a digital signal to be output, and transmits the digital signal to the data processing module 06 in a wired or wireless mode.
The system of the present invention does not exclude other embodiments of the sensed part 01 as long as unique encoding of the positions of different levels is achieved and sensed by the sensor 02.
The concrete algorithm demonstration of the system for calculating the load of the current elevator car 03) by converting and calculating the elastic deformation of the steel wire rope 07 according to the offset delta L is as follows:
according to Hooke's law, a linear elastomer exists with F ═ k × DeltaL (where F is represented by N; k is the stiffness coefficient of the linear elastomer and is represented by N/m; DeltaL is the elastic deformation after being stressed and is represented by m)
Setting the elastic coefficient of a steel wire rope to be k, and setting the elastic deformation of the steel wire rope to be L0 under the condition that the car is unloaded, wherein the load at the moment is G0 ═ kXL 0;
when the car load changes, the amount of deformation L1 of the wire rope due to the change in the load is estimated from the offset amount detected by the sensor, and the load occurring on the car can be calculated as G1 ═ k × (L0+ L1).
In order to transmit the real-time load to the traction machine, timely regulate and control the output torque force of the traction machine and prevent the car slipping phenomenon caused by the unbalance of the load and the elevator counterweight 09, the invention also comprises an elevator control module 11 which carries out information interaction with the data processing module 06 in real time, receives the timely load of the current flat layer 05 of the car calculated by the data processing module 06 in real time, adjusts the real-time torque output power of the traction machine 08 of the elevator car according to the timely load in real time, compensates the unbalance difference of the load and the elevator counterweight 09, and enables the car to run stably without shaking.
Referring to fig. 2, the invention also relates to a real-time detection method for the load of the elevator car, which comprises the following steps:
firstly, forming a respective unique absolute position code on each flat layer 05 of the elevator car 03, and identifying each flat layer position of the elevator car 03 in an induction manner according to the unique absolute position code of each flat layer;
recording and storing each flat layer position of the elevator car in no-load operation state under the 03 no-load operation state of the elevator car, and forming a database in a memory for calling of a comparator;
and step three, in the actual running process of the elevator, the comparator compares the current leveling position information of the elevator car received by the receiver with the leveling position information of the car position in the no-load state recorded in the database to obtain the offset delta L of the current leveling position of the elevator car, the elastic deformation of the steel wire rope 07 is calculated according to the offset delta L, the current load of the elevator car 03 is calculated through conversion, and the algorithm for calculating the current load of the elevator car 03 through conversion of the elastic deformation of the steel wire rope 07 according to the offset delta L is as described above.
As described above, in order to transmit the real-time load to the traction machine, adjust and control the output torque force of the traction machine in time, and prevent the car slipping phenomenon caused by the imbalance of the load and the elevator counterweight 09, the invention further comprises a fourth step of performing information interaction between the elevator control module 11 and the data processing module 06 in real time, receiving the real-time load of the current flat floor of the car calculated by the data processing module in real time, and adjusting the real-time torque output power of the traction machine 08 of the elevator car in real time according to the real-time load.
The technical effects achieved by the elevator car load real-time detection system and the method thereof provided by the invention are further explained by combining the specific embodiments. By the elevator car load real-time detection system and the elevator car load real-time detection method, a complex structure of adding a weighing device in the prior art can be omitted, and the problems that car slipping or instant shaking is easily caused and the riding comfort is seriously influenced due to unequal weight of the elevator car and the elevator counterweight 09 at the moment of opening an elevator starting band-type brake caused by the delay of a side weighing mode in the prior art are solved.
The above are merely preferred embodiments of the present invention, and are not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An elevator car load real-time detection system, comprising:
a sensed part (01) which penetrates the whole hoistway (04) and forms a unique absolute position code on each flat layer (05);
a sensing part (02) which is arranged on the lift car (03) and can sense the absolute position information of the sensed part (01);
and the data processing module (06) is connected with the sensing part (02) in a wired or wireless mode, receives absolute position information sensed by the sensing part (02), compares the absolute position of each flat layer when the lift car (03) is unloaded with the absolute position of the corresponding flat layer when people are loaded in real time in a subtraction manner through a comparator to obtain the offset delta L of the current flat layer position of the lift car, deduces the elastic (07) deformation of the steel wire rope according to the offset delta L, and converts and calculates the current load of the lift car (03).
2. The elevator car load real-time detection system of claim 1, wherein the sensed part (01) is a magnetic tape with magnetic poles, and the magnetic tape forms absolute position codes specific to each flat layer (05) of the car through different magnetic pole lengths; the induction part (02) consists of a plurality of magnetic sensors, unique absolute position information of any flat layer (05) position of the well (04) is obtained by analyzing magnetic pole combinations with different lengths on the magnetic tape, and the unique absolute position information is converted into a digital signal to be output and transmitted to the data processing module (06) in a wired or wireless mode.
3. The elevator car load real-time detection system according to claim 1, characterized in that the sensed part (01) is a steel belt with holes, and the steel belt forms absolute position codes specific to each flat layer (05) of the car through different hole pattern combinations; the induction part (02) consists of a plurality of magnetic sensors, obtains unique absolute position information of any flat layer (05) position of the shaft (04) by analyzing different hole type combinations on the steel belt through induction, converts the unique absolute position information into a digital signal to be output, and transmits the digital signal to the data processing module (06) in a wired or wireless mode.
4. The elevator car load real-time detection system of claim 1, wherein the sensed part (01) is a code belt with two-dimensional codes, and the code belt forms absolute position codes specific to each flat layer (05) of the car through different two-dimensional code combinations; the induction part (02) consists of a plurality of magnetic sensors, obtains unique absolute position information of any flat layer (05) position of the shaft (04) by analyzing different hole type combinations on the steel belt through induction, converts the unique absolute position information into a digital signal to be output, and transmits the digital signal to the data processing module (06) in a wired or wireless mode.
5. The elevator car load real-time detection system according to claim 1, wherein the calculation method for calculating the current load of the elevator car (03) by calculating the elastic deformation conversion of the steel wire rope (07) according to the offset Δ L comprises the following steps:
setting the elastic coefficient of a steel wire rope to be k, and setting the elastic deformation of the steel wire rope to be L0 under the condition that the car is unloaded, wherein the load at the moment is G0 ═ kXL 0; when the car load changes, the amount of deformation L1 of the wire rope due to the change in the load is estimated from the offset amount detected by the sensor, and the load occurring on the car can be calculated as G1 ═ k × (L0+ L1).
6. The elevator car load real-time detection system according to one of claims 1 to 5, characterized by further comprising an elevator control module (11) which performs information interaction with the data processing module (06) in real time, receives the timely load of the current flat floor (05) of the elevator car calculated by the data processing module (06) in real time, and adjusts the real-time torque output power of the elevator car traction machine (08) in real time according to the timely load.
7. A real-time detection method for elevator car load comprises the following steps:
firstly, forming a respective unique absolute position code on each flat layer (05) of the elevator car (03), and identifying each flat layer position of the elevator car (03) by induction according to the unique absolute position code of each flat layer;
recording and storing each flat layer position of the elevator car (03) in no-load running state, and forming a database in a memory for a comparator to call;
and step three, in the actual running process of the elevator, the comparator compares the current leveling position information of the elevator car received by the receiver with the leveling position information of the car position in the no-load state recorded in the database to obtain the offset delta L of the current leveling position of the elevator car, the elastic deformation of the steel wire rope (07) is calculated according to the offset delta L, and the load of the current elevator car (03) is calculated through conversion.
8. The method of detecting elevator car load in real time as set forth in claim 7, further comprising: and fourthly, the elevator control module (11) and the data processing module (06) carry out information interaction in real time, receive the timely load of the current flat floor of the elevator car calculated by the data processing module in real time, and adjust the real-time torque output power of the elevator car traction machine (08) in real time according to the timely load.
9. The method for detecting the load of the elevator car in real time according to the claim 7 or 8, characterized in that the method for calculating the current load of the elevator car (03) by converting the elastic deformation of the steel wire rope (07) according to the offset Δ L comprises the following steps:
setting the elastic coefficient of a steel wire rope to be k, and setting the elastic deformation of the steel wire rope to be L0 under the condition that the car is unloaded, wherein the load at the moment is G0 ═ kXL 0; when the car load changes, the amount of deformation L1 of the wire rope due to the change in the load is estimated from the offset amount detected by the sensor, and the load occurring on the car can be calculated as G1 ═ k × (L0+ L1).
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| CN202011071447.XA CN112079217A (en) | 2020-10-09 | 2020-10-09 | Elevator car load real-time detection system and method |
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| CN202011071447.XA CN112079217A (en) | 2020-10-09 | 2020-10-09 | Elevator car load real-time detection system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1665737A (en) * | 2003-04-07 | 2005-09-07 | 三菱电机株式会社 | Weighing device for elevator |
| CN105523457A (en) * | 2015-12-08 | 2016-04-27 | 广州日滨科技发展有限公司 | Elevator weighting method and device |
| CN107399650A (en) * | 2017-08-17 | 2017-11-28 | 卢卫民 | A kind of lift car position detecting device |
| CN108423507A (en) * | 2018-03-09 | 2018-08-21 | 日立电梯（中国）有限公司 | The self-checking unit and its self checking method of the detecting system of car absolute position |
| CN212558945U (en) * | 2020-10-09 | 2021-02-19 | 上海昶屹机电科技有限公司 | Elevator car load real-time detection system |
-
2020
- 2020-10-09 CN CN202011071447.XA patent/CN112079217A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1665737A (en) * | 2003-04-07 | 2005-09-07 | 三菱电机株式会社 | Weighing device for elevator |
| CN105523457A (en) * | 2015-12-08 | 2016-04-27 | 广州日滨科技发展有限公司 | Elevator weighting method and device |
| CN107399650A (en) * | 2017-08-17 | 2017-11-28 | 卢卫民 | A kind of lift car position detecting device |
| CN108423507A (en) * | 2018-03-09 | 2018-08-21 | 日立电梯（中国）有限公司 | The self-checking unit and its self checking method of the detecting system of car absolute position |
| CN212558945U (en) * | 2020-10-09 | 2021-02-19 | 上海昶屹机电科技有限公司 | Elevator car load real-time detection system |
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