CN112945363A - Vehicle self-load precision measurement method based on double sensors - Google Patents
Vehicle self-load precision measurement method based on double sensors Download PDFInfo
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- CN112945363A CN112945363A CN201911255775.2A CN201911255775A CN112945363A CN 112945363 A CN112945363 A CN 112945363A CN 201911255775 A CN201911255775 A CN 201911255775A CN 112945363 A CN112945363 A CN 112945363A
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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
Abstract
The invention discloses a vehicle self-load precision measurement method based on double sensors, and belongs to the technical field of vehicle load measurement. According to the method, double sensors are used, a high-precision tilt sensor and an acceleration sensor are integrated, and sensor measurement data are transmitted to a cloud end through an LIN bus; the measuring method comprises the steps that the integrated sensor is attached to one end or two ends of a main sheet of the spring steel plate, and the LIN main controller is attached to the bottom of a carriage close to the sensor; according to the same structure of the left suspension and the right suspension and the load distribution of the front suspension and the rear suspension, the actual self-load of the truck can be obtained by carrying out derivation calculation on the truck load and the corresponding angles of the spring steel plates; meanwhile, due to various influence factors in the goods loading process and the driving process of the truck, the carriage jolts, and the acceleration sensor can filter the interference, so that the data reliability is ensured. The high-precision sensor and the low-cost LIN bus are adopted, data are transmitted to the cloud, and the high-precision LIN bus has the advantages of being high in precision, low in cost, convenient to install and monitor.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted self-measurement technologies, in particular to a vehicle self-load precision measurement method based on double sensors.
Background
As is well known, most of vehicle traffic accidents and road and bridge damage accidents are caused by the problem of vehicle overload, so that for the field of trucks with ultrahigh accident rate, in the process of transporting cargos, the weight detection of the cargos is a very important work, and the weight detection system has a vital significance for the safe transportation of the trucks, the safety of roads and the operation management of enterprises; at present, in order to control the overload problem, some vehicles are provided with weight detection devices, most of the weight detection devices measure the weight of the vehicles through strain gauges, ultrasonic waves and infrared distance measurement, the measurement devices are complex to install, the structure of the truck can be damaged, the measurement accuracy is far lower than that of an inclination angle sensor, larger errors are achieved, and the application value of the overload detection device is reduced.
Disclosure of Invention
In order to solve the technical problems, the invention provides the double-sensor-based vehicle self-load precision measurement method which can fully consider the problems of measurement precision, dynamic disturbance and actual installation and has high precision and low cost.
The measuring method comprises the following steps:
mounting all the components on a truck, determining the mounting number and position of the integrated sensor according to the actual condition and the intention of a truck owner, and attaching the LIN transceiver to the bottom of a carriage close to the sensor;
when the truck begins to load, the self-load of the truck changes, the truck steel plate spring deforms accordingly, the tilt angle sensor and the acceleration sensor work, the tilt angle sensor detects the bending angle of the spring steel plate, and the acceleration sensor detects the dynamic load change of the truck, so that the dynamic interference is eliminated;
the signal is transmitted to the LIN receiver through the LIN bus; the LIN bus is a low-cost serial communication network defined for a distributed electronic system of an automobile, is transmitted by a single wire, is externally provided with a power line, a grounding wire and a data wire, has the length of 40 meters, is an automobile standard wire, is suitable for various automobile types and is convenient for actual wiring;
and performing data fusion on the angle and the acceleration at the cloud end, and calculating the corresponding self-load of the truck to enable equipment such as a mobile phone, a computer and the like to acquire load information from the cloud end.
Preferably, the inclination angle sensor adopts a high-precision sensor chip, when an ordinary truck is fully loaded, the angle change of the steel plate spring can reach 6-20 degrees, the precision of the high-precision chip is up to one thousandth, the length and the width of the core sensor are within 1cm, the height of the core sensor is within 0.5cm, the structure of a truck body does not need to be damaged during installation, and the device is directly attached to the steel plate spring.
Preferably, the system uses an acceleration sensor to measure the dynamic load of the truck and the loading time of the truck.
Preferably, the system uses the LIN bus to transmit data, and the transmission rate is 20 Kbit/s.
Preferably, the system is connected to a cloud end, the cloud end processes measured data, and the angular velocity and the acceleration measured by the sensor are used for calculating the self-load of the truck.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention utilizes the dual sensors of the tilt angle sensor and the acceleration sensor, calculates the self-load of the truck through the angle change of the spring steel plate of the truck, adopts the high-precision tilt angle sensor to measure the angle, adopts the acceleration sensor to eliminate the interference, has flexible installation position and number of the sensors, has no rigid requirement, is convenient to install, does not damage the structure of the truck body, and is convenient for actual operation;
2. the LIN bus is selected for communication, is a low-cost serial communication network, is suitable for application without high requirements on the bandwidth and the performance of the network, can meet the requirements of the invention by using the LIN bus, and greatly reduces the cost;
3. the invention is connected to the cloud end, data operation is carried out at the cloud end, the burden of the single chip microcomputer is lightened, type selection and data transmission are easier, the cloud end can be connected to a vehicle owner and a traffic department to conveniently, quickly and real-timely monitor the truck loading capacity, and the vehicle owner can conveniently monitor the truck loading capacity by self and related departments.
Drawings
FIG. 1 is a schematic diagram of the detection principle of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The method is based on a tilt sensor and an acceleration sensor, utilizes an LIN bus to transmit data, and transmits the data to a cloud end through a DTU, and comprises the following steps:
mounting all the components on a truck, determining the mounting number and position of the integrated sensor according to the actual condition and the intention of a truck owner, and attaching the LIN transceiver to the bottom of a carriage close to the sensor;
when the truck begins to load, the self-load of the truck changes, the truck steel plate spring deforms accordingly, the tilt angle sensor and the acceleration sensor work, the tilt angle sensor detects the bending angle of the spring steel plate, the acceleration sensor detects the dynamic load change of the truck, and dynamic interference is eliminated;
the signal is transmitted to an LIN receiver through an LIN bus, the LIN bus is a low-cost serial communication network defined aiming at a distributed electronic system of the automobile, single-wire transmission is carried out, a power wire, a grounding wire and a data wire are arranged outside the LIN bus, the length of the data wire reaches 40 meters, the LIN bus is a standard line of the automobile, and the LIN bus is suitable for various automobile types and convenient for actual wiring;
and data fusion is carried out on the angle and the acceleration at the cloud end, the corresponding self-load weight of the truck is calculated, the system cost is reduced, the calculation efficiency is improved, the high accuracy can be kept, and the load weight information can be acquired from the cloud end by devices such as a mobile phone and a computer.
Inclination sensor adopts the sensor chip of high accuracy, when ordinary freight train is fully loaded, leaf spring angle change can reach 6-20, the chip accuracy of high accuracy is up to thousandth, ensure the measuring result reliability, do not have rigid requirement to sensor mounted position, measurement angle wide range, can satisfy the system demand completely, the core sensor is long, it is wide within 1cm, it is high within 0.5cm, small in size, convenient actual installation, and need not to destroy the body structure during installation, it can directly to attach the device on leaf spring.
The system uses the acceleration sensor to measure the dynamic load of the truck and the loading time of the truck, the truck can generate pseudo overweight due to the impact of the goods on the truck body and the acceleration generated by road bump when the truck is loaded, the acceleration sensor can provide data information for eliminating disturbance, filter unreliable data and keep the accuracy of the loading information of the truck.
The system adopts the LIN bus to transmit data, the LIN bus is an automobile standard line, all automobile types can be installed, signals of a plurality of integrated sensors can be received at the same time, the user requirement of installing a plurality of sensors is met, the transmission rate is 20Kbit/s, the system requirement can be met, and meanwhile, the production cost is greatly reduced. Has strong economic applicability.
The system is connected to the cloud end, the cloud end processes measured data, the angular velocity and the acceleration measured by the sensor are calculated to obtain the self-load of the truck, the cloud end data processing is convenient to achieve, monitoring of the self-load of the truck in multiple directions is facilitated, and the mobile phone end and the computer end can obtain the self-load information of the truck from the cloud end.
To describe the measurement method more specifically, the detailed description is made in conjunction with the tilt sensor, the acceleration sensor, and the cloud computing.
First, dip angle sensor
All install leaf spring as buffer between car body and the shaft, according to its structure, when the freight train load changes, the spring steel board can produce corresponding elastic deformation, and this elastic deformation causes the steel sheet to take place the amount of deflection change of variation in size from both sides to the centre, so the tangent line of every point of steel sheet all can take place corresponding inclination and change, utilizes inclination sensor to measure certain point inclination size, changes and the freight train load capacity according to each point inclination, establishes a model: the actual self-load of the truck can be obtained according to the load distribution of the front suspension and the rear suspension and the model, wherein the left suspension and the right suspension are identical in structure;
the inclination angle sensor is a high-precision sensor based on MEMS, the measurement range is-90 degrees to +90 degrees, two lines and two sides are noticed during installation, the two sides, namely the sensor installation surface and the spring surface of a truck steel plate are completely abutted, the two lines, namely the sensor axis is parallel to the spring steel plate axis of the truck, and an included angle cannot be generated;
the physical model is a relation between inclination angle change and truck self-load, the inclination angle of the spring steel plate when the truck is in no-load is measured, the current steel plate inclination angle is detected in real time during loading, and the real-time truck self-load is obtained according to the inclination angle change.
Two, acceleration sensor
The acceleration sensor can detect sudden change and size change of acceleration, and can judge the starting time and the ending time of truck loading according to the signals;
the load of the vehicle on the road surface has two main expressions, namely a steady-state load and a dynamic load, wherein the generation of the dynamic load has great uncertainty, thereby causing the complexity of weighing the vehicle; among them, vibration is the main form affecting the accuracy of dynamic load measurement, and the cause of vehicle vibration is rather complicated; there are many causes of vehicle vibration, such as impact of cargo on a vehicle compartment during loading, unevenness of a road surface, elasticity of tires, chattering of engine operation, and instability of driver's operation; the complexity of the vibration source determines the complexity of the vehicle to road load;
in order to overcome the influence caused by the uncertain factors and the inertial impact, thereby really mastering the rule of the load measuring signal, and in order to realize the high-precision truck self-load dynamic measurement, an acceleration compensation dynamic disturbance method is adopted; and signal change suppression caused by various interferences is filtered, and the influence of dynamic load is eliminated.
Third, cloud computing
The sensor signal is transmitted to the cloud end by the DTU, and the DTU is a wireless data transmission unit and is specially used for converting serial port data into IP data or converting the IP data into the serial port data and transmitting the serial port data through a wireless communication network; the DTU transmission rate is mainly defined according to the baud rate of serial port communication, and meanwhile, the 4GDTU is generally more than 1M/s by taking the speed of a wireless network into consideration, so that the data transmission requirement of the method is met, a 5G network is put into use at present, the 5G network communication rate is about 10 times of that of the 4G network, and the DTU of the 5G network has higher rate, so that the timeliness of data transmission is ensured;
because the inclination angle changes of different vehicle types are different from the corresponding load capacity, the measured data and the existing big data are analyzed and matched at the cloud end, a series of data processing is carried out according to the model, a more accurate and reliable truck self-load information value is obtained, the information is fed back to a vehicle owner, and the vehicle owner makes further decision according to real-time information.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (5)
1. The method for precisely measuring the self-load of the vehicle based on the double sensors is characterized in that the method is based on the double sensors integrated by the tilt sensor and the acceleration sensor, data are transmitted to a cloud terminal through an LIN bus, and the method comprises the following steps:
(1) mounting all the components on a truck, determining the mounting number and position of the integrated sensor according to the actual condition and the intention of a truck owner, and attaching the LIN transceiver to the bottom of a carriage close to the sensor;
(2) when the truck begins to load, the self-load of the truck changes, the truck steel plate spring deforms accordingly, the tilt angle sensor and the acceleration sensor work, the tilt angle sensor detects the bending angle of the spring steel plate, and the acceleration sensor detects the dynamic load change of the truck, so that the dynamic interference is eliminated;
(3) the signal is transmitted to an LIN receiver through an LIN bus, the LIN bus is a low-cost serial communication network defined aiming at an automobile distributed electronic system, single-wire transmission is carried out, a power wire, a grounding wire and a data wire are arranged outside the LIN bus, and the length of the data wire reaches 40 meters;
(4) and performing data fusion on the angle and the acceleration at the cloud end, and calculating the corresponding self-load of the truck to enable equipment such as a mobile phone, a computer and the like to acquire load information from the cloud end.
2. The dual-sensor based vehicle self-weight precision measurement method according to claim 1, characterized in that: the inclination angle sensor adopts a high-precision sensor chip, when an ordinary truck is fully loaded, the angle change of the steel plate spring can reach 6-20 degrees, the precision of the high-precision chip can reach one thousandth, the length and the width of the core sensor are within 1cm, the height of the core sensor is within 0.5cm, the structure of a truck body does not need to be damaged during installation, and the device is directly attached to the steel plate spring.
3. The dual-sensor based vehicle self-weight precision measurement method according to claim 1, characterized in that: the system uses an acceleration sensor to measure the dynamic load of the truck and the loading time of the truck.
4. The dual-sensor based vehicle self-weight precision measurement method according to claim 1, characterized in that: the system adopts LIN bus to transmit data, and the transmission rate is 20 Kbit/s.
5. The dual-sensor based vehicle self-weight precision measurement method according to claim 1, characterized in that: the system is connected to the cloud end, the cloud end processes measured data, and the angular speed and the acceleration measured by the sensor are calculated to obtain the self-load of the truck.
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Cited By (2)
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| CN113984164A (en) * | 2021-10-26 | 2022-01-28 | 上海吉七物联网科技有限公司 | Tonnage detection method and device based on vehicle leaf spring double acceleration sensors |
| CN114111990A (en) * | 2021-12-07 | 2022-03-01 | 南京智鹤电子科技有限公司 | Vehicle load monitoring method, monitoring device and control system |
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