CN113290699B - Method, processor, device and mixer truck for determining the weight of a material - Google Patents
Method, processor, device and mixer truck for determining the weight of a material Download PDFInfo
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- 239000000463 material Substances 0.000 title claims abstract description 165
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000003756 stirring Methods 0.000 claims abstract description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 33
- 230000005484 gravity Effects 0.000 claims description 25
- 230000001133 acceleration Effects 0.000 claims description 11
- 238000012935 Averaging Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 8
- 238000005303 weighing Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000005314 correlation function Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
- B28C5/4203—Details; Accessories
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Abstract
The invention relates to the technical field of mixer trucks, and discloses a method, a processor, a device and a mixer truck for determining the weight of a material, wherein the method is applied to the mixer truck, the mixer truck comprises a mixing drum for loading the material and a supporting piece for supporting the mixing drum, and the method comprises the following steps: determining the supporting force applied by the supporting piece to the stirring drum; and determining the corresponding weight according to the supporting force based on the relationship between the pre-stored weight of the material and the supporting force. By adopting the scheme of the invention, the accuracy of the material weight result can be improved.
Description
Technical Field
The invention relates to the technical field of mixer trucks, in particular to a method, a processor, a device and a mixer truck for determining the weight of a material.
Background
In the prior art, in order to determine the amount of materials (for example, concrete) actually loaded by a mixer truck so as to realize more accurate multi-stage material discharge or judge whether accumulated materials exist in a tank of the mixer truck, a pressure sensor is usually adopted to determine the actual loading amount of the materials in the mixer truck, and then a method for determining the weight of the materials by adopting the pressure sensor has the problem that the material weight result is not accurate enough.
Disclosure of Invention
The invention aims to provide a method, a processor, a device and a mixer truck for determining the weight of a material, and aims to solve the problem that the material weight result is not accurate enough in the existing method for determining the weight of the material.
In order to achieve the above object, a first aspect of the present invention provides a method for determining the weight of a material, applied to a mixer truck, the mixer truck comprising a mixing drum for loading the material, and a support for supporting the mixing drum, the method comprising:
determining the supporting force applied by the supporting piece to the stirring drum;
and determining the corresponding weight according to the supporting force based on the relationship between the pre-stored weight of the material and the supporting force.
In the embodiment of the invention, the supporting part comprises at least one riding wheel, and the supporting part is provided with a first pressure sensor for detecting a first pressure applied to the riding wheel by the mixing drum; determining the supporting force exerted by the support on the mixing drum, comprising: acquiring a first pressure detected by a first pressure sensor; the supporting force is determined according to the first pressure.
In the embodiment of the invention, the supporting part further comprises a bracket for supporting the riding wheel, and the supporting part is provided with a second pressure sensor for detecting a second pressure applied to the bracket by the riding wheel; determining a supporting force exerted by the support on the mixing drum, comprising: acquiring a second pressure detected by a second pressure sensor; and determining the supporting force according to the second pressure and the pre-stored stress angle parameters of the riding wheel.
In the embodiment of the invention, the determination of the supporting force according to the second pressure and the pre-stored stress angle parameter of the riding wheel comprises the following steps of (1):
formula (1) of N1 ═ Fa × cos θ
Wherein N1 is the supporting force, Fa is the second pressure, and theta is the force angle parameter.
In the embodiment of the invention, the mixer truck also comprises a speed reducer for driving the mixing drum, and the speed reducer is connected with the mixing drum; the relationship between the weight of the pre-stored material and the supporting force is determined by the following steps: determining a relationship between a first horizontal distance between the center of the speed reducer and the center of gravity of the material and the weight of the material; and determining a pre-stored relationship between the weight of the material and the supporting force according to the relationship between the first horizontal distance and the weight of the material, the preset parameter of the mixer truck and the gravity acceleration.
In the embodiment of the invention, the preset parameters comprise a stress angle parameter, the weight of the mixing drum, a second horizontal distance between the gravity center of the mixing drum and the center of the speed reducer, and a distance between the riding wheel and the center of the speed reducer; determining a relationship between the weight of the prestored material and the supporting force according to the relationship between the first horizontal distance and the weight of the material, the preset parameter of the mixer truck and the gravitational acceleration, including determining the relationship between the weight of the prestored material and the supporting force according to the following formula (2):
wherein m1 is the weight of material, N1 is the holding power, theta is atress angle parameter, L is the distance of riding wheel to the center of speed reducer, m2 is the weight of churn, L2 is the second horizontal distance of the focus of churn to the center of speed reducer, L1 is the first horizontal distance of the center of speed reducer to the focus of material, g is acceleration by gravity.
In an embodiment of the present invention, the relationship between the first horizontal distance and the weight of the material satisfies the following formula (3):
wherein ρ is the density of the material, m1 is the weight of the material, v is the volume of the material, x is the abscissa value of the center of gravity of the material, and L1 is the first horizontal distance.
In an embodiment of the invention, the determining of the relationship between the first horizontal distance and the weight of the material comprises: acquiring weight values of a plurality of groups of materials and corresponding first horizontal distance values; and determining the relation between the first horizontal distance and the weight of the material based on a fitting method according to the plurality of groups of weight values and the first horizontal distance value.
In an embodiment of the present invention, the method further comprises: and correcting the weight based on a preset correction factor to obtain the corrected weight of the material.
In an embodiment of the present invention, the determining of the correction factor includes: determining the quotient of the actual weight and the corresponding weight of the plurality of groups of materials; and averaging the multiple quotient values to obtain the correction factor.
A second aspect of the invention provides a processor for use in a mixer truck, the mixer truck comprising a mixing drum for loading a material, and a support for supporting the mixing drum, the processor being configured to perform a method for determining the weight of the material according to the above.
A third aspect of the invention provides apparatus for determining the weight of a material, comprising: the supporting force determining device is used for determining the supporting force applied by the supporting piece to the stirring drum; and a processor according to the above.
A fourth aspect of the present invention provides a mixer truck, comprising: the mixing drum is used for loading materials; the supporting piece is used for supporting the stirring cylinder; and means for determining the weight of the material according to the above.
According to the technical scheme, the supporting force applied to the mixing drum by the supporting piece is determined, and the corresponding weight is determined according to the supporting force through the pre-stored relation between the weight of the material and the supporting force. According to the structural characteristics of the mixer truck, the moment balance principle is utilized, the relation between the supporting force applied to the mixing drum by the supporting piece and the loading amount of the mixer truck is predetermined and stored, the supporting force applied to the mixing drum by the supporting piece is further determined, the weight of the material in the corresponding mixing drum is determined according to the supporting force, the accuracy of determining the weight result of the material is improved, and the automatic weighing of the mixer truck is realized.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 schematically illustrates a flow diagram of a method for determining the weight of a material in an embodiment of the invention;
FIG. 2 is a schematic diagram illustrating a force analysis of the riding wheel and the mixing drum according to an embodiment of the present invention;
FIG. 3 is a schematic diagram showing the force analysis of the riding wheel and the mixing drum in another embodiment of the invention;
FIG. 4 is a schematic diagram illustrating a force analysis of the riding wheel and the stand according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a center of gravity of a mixing drum in a coordinate system according to an embodiment of the present invention;
FIG. 6 is a schematic illustration of a representation of mixer truck parameters in an embodiment of the present invention;
fig. 7 schematically shows a block diagram of an apparatus for determining the weight of a material in an embodiment of the invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 schematically shows a flow diagram of a method for determining the weight of a material in an embodiment of the invention. In an embodiment of the present invention, as shown in fig. 1, a method for determining the weight of a material is provided, which is described by way of example as being applied to a processor of a mixer truck, the mixer truck including a mixing drum for loading the material, and a support for supporting the mixing drum, the method may include the steps of:
step S102, determining the supporting force applied by the supporting piece to the mixing drum.
It can be understood that the support member can support the mixing drum, the mixing drum is used for loading materials (such as concrete) required by practical application scenes, the support member generates upward supporting force perpendicular to the contact surface direction on the mixing drum after being contacted with the mixing drum, and similarly, the mixing drum generates downward pressure perpendicular to the contact surface direction on the support member because the force action is mutual.
In particular, the processor may detect and determine the supporting force exerted by the support member on the mixing drum by a pressure sensor or other device mounted inside the support member, wherein the pressure sensor or other device may be placed on the riding wheel or the rail or the background, as long as the supporting force exerted by the support member on the mixing drum is obtained.
And step S104, determining the corresponding weight according to the supporting force based on the relationship between the pre-stored weight of the material and the supporting force.
It is understood that the relationship between the weight of the material and the supporting force is predetermined and stored, wherein the weight of the material and the supporting force may be in a one-to-one correspondence relationship, for example, corresponding correspondence table data may be determined according to the accuracy requirement, and the loading amount (i.e. the weight of the material) corresponding to the supporting force data may be stored in a table form, and the relationship between the weight of the material and the supporting force may also be a functional relationship or a specific algorithm model.
Specifically, the processor may obtain the weight of the material corresponding to the supporting force through the determined supporting force based on a pre-stored relationship between the weight of the material and the supporting force, and may obtain the loading amount or an approximate value thereof through a table look-up method, for example, through a table look-up method according to the measured supporting force data of the riding wheel.
According to the method for determining the weight of the material, the supporting force applied to the mixing drum by the supporting piece is determined, and the corresponding weight is determined according to the supporting force through the pre-stored relationship between the weight of the material and the supporting force. According to the method, the structural characteristics of the mixer truck are utilized, the moment balance principle is utilized, the relation between the supporting force applied to the mixing drum by the supporting piece and the loading capacity of the mixer truck is predetermined and stored, the supporting force applied to the mixing drum by the supporting piece is further determined, the weight of the material in the corresponding mixing drum is determined according to the supporting force, the accuracy of determining the weight result of the material is improved, and the automatic weighing of the mixer truck is realized.
In one embodiment, the support comprises at least one idler, the support being provided with a first pressure sensor for detecting a first pressure applied by the mixing drum to the idler; determining the supporting force exerted by the support on the mixing drum, comprising: acquiring a first pressure detected by a first pressure sensor; the supporting force is determined according to the first pressure.
It will be appreciated that the support member comprises an idler, wherein the number of idlers may be one or more. The supporting piece is provided with a first pressure sensor, wherein the first pressure sensor can also be arranged inside the riding wheel, and the first pressure sensor can be used for detecting the first pressure applied to the riding wheel by the mixing drum.
In particular, the processor may obtain a first pressure applied by the mixing drum to the idler, detected by the first pressure sensor, the forces acting on each other according to newton's third law, and the supporting force applied by the supporting member (i.e. the idler) to the mixing drum may be determined accordingly by the first pressure, as may be seen in particular in fig. 2, where the first pressure applied by the mixing drum to the idler (N1 in the figure) and the supporting force applied by the idler to the mixing drum (Fr in the figure) are equal in magnitude and opposite in direction.
In some embodiments, the number of idlers may be two, and the idlers are respectively placed on two sides of the mixing drum in bilateral symmetry to support the weight of the mixing drum, and specifically, as shown in fig. 2 and fig. 3, where the left idler applies a supporting force to the mixing drum of N1, the right idler applies a supporting force to the mixing drum of N2, N ' is a resultant force of N1 and N2, the idlers are in contact with the track of the mixing drum, and receive a positive pressure Fr transmitted by the mixing drum through the track, and the Fr value can be measured by a pressure sensor (i.e., a first pressure sensor) built in the idlers, and according to a newton's third law, the force action is mutual, and it is known that N1 is N2 Fr, and N ' is 2 × N1 × COS θ.
In one embodiment, the support member further comprises a bracket for supporting the idler, the support member is provided with a second pressure sensor for detecting a second pressure applied to the bracket by the idler; determining the supporting force exerted by the support on the mixing drum, comprising: acquiring a second pressure detected by a second pressure sensor; and determining the supporting force according to the second pressure and the pre-stored stress angle parameters of the riding wheel.
It will be appreciated that the support and idler are in contact, and the support may support the idler, for example in the form of a base or a back-end. The supporting force exerted by the support on the supporting wheel and the pressure exerted by the supporting wheel on the support are a pair of opposite acting forces, the magnitude is equal, and the directions are opposite. The pre-stored stress angle parameter of the riding wheel is an included angle parameter between a connecting line of the center of the riding wheel and the center of the mixing drum and the vertical direction.
Specifically, the processor may obtain a second pressure applied to the support by the riding wheel detected by the second pressure sensor, and further determine a supporting force applied to the mixing drum by the riding wheel according to the second pressure and a pre-stored stress angle parameter of the riding wheel.
In this embodiment, as long as the second pressure applied to the support by the riding wheel is determined, the supporting force applied to the mixing drum by the riding wheel can be determined by combining the pre-stored stress angle parameter of the riding wheel, and the factor of the support is considered, so that the result is more accurate.
In one embodiment, determining the supporting force according to the second pressure and the pre-stored force angle parameter of the idler comprises determining the supporting force according to the following formula (1):
formula (1) of N1 ═ Fa × cos θ
Wherein, N1 is the supporting force that the riding wheel applyed to the churn, and Fa is the second pressure, and theta is the atress angle parameter.
Specifically, as shown in fig. 2 to 4, the idler is in contact with the support (e.g., the background), the second pressure applied by the idler to the support (e.g., the background) is Fa, the supporting force of the support to the (e.g., background) idler is Na, the pre-stored force-receiving angle parameter of the idler is θ, and it can be known from force-receiving analysis that N1 is N2 is Na cos θ is Fa, and the Fa value can be measured by disposing a pressure sensor (i.e., a second pressure sensor) between the idler and the support (e.g., the background).
In the embodiment, as long as the second pressure applied to the support by the supporting roller is determined, the factors of the support are considered by combining the prestored stress angle parameters of the supporting roller, the supporting force applied to the mixing drum by the supporting roller can be definitely determined by adopting the formula, and the accuracy of the result is improved.
In one embodiment, the mixer truck further comprises a speed reducer for driving the mixing drum, wherein the speed reducer is connected with the mixing drum; the relationship between the weight of the pre-stored material and the supporting force is determined by the following steps: determining a relationship between a first horizontal distance between the center of the speed reducer and the center of gravity of the material and the weight of the material; and determining a pre-stored relationship between the weight of the material and the supporting force according to the relationship between the first horizontal distance and the weight of the material, the preset parameter of the mixer truck and the gravity acceleration.
In one embodiment, the preset parameters comprise a stress angle parameter, the weight of the mixing drum, a second horizontal distance between the gravity center of the mixing drum and the center of the speed reducer, and a distance between the riding wheel and the center of the speed reducer; determining a relationship between the weight of the prestored material and the supporting force according to the relationship between the first horizontal distance and the weight of the material, the preset parameter of the mixer truck and the gravitational acceleration, including determining the relationship between the weight of the prestored material and the supporting force according to the following formula (2):
wherein m1 is the weight of material, N1 is the holding power, theta is atress angle parameter, L is the distance of riding wheel to the center of speed reducer, m2 is the weight of churn, L2 is the second horizontal distance of the focus of churn to the center of speed reducer, L1 is the first horizontal distance of the center of speed reducer to the focus of material, g is acceleration by gravity.
Further, in one embodiment, the relationship between the first horizontal distance and the weight of the material satisfies the following formula (3):
wherein ρ is the density of the material, m1 is the weight of the material, v is the volume of the material, x is the abscissa value of the center of gravity of the material, and L1 is the first horizontal distance.
It will be appreciated that the centre of gravity of the material is a theoretical position and cannot be measured in practice, so that the value of L1 cannot be measured directly, and therefore the relationship between the first horizontal distance L1 and the weight of the material can be obtained and the relationship between the weight of the material and the supporting force can be determined to determine the weight of the material (e.g. the concrete load) from the supporting force.
Specifically, as shown in fig. 5 and 6, the center of the reduction gear may be set as the origin of coordinates, the vehicle front end direction may be the x-axis, and the vehicle height direction may be the z-axis. And respectively calculating the gravity center positions of the mixing drum and the full-load concrete by using three-dimensional software. Assuming a volume of concrete loaded as V and barycentric coordinates (x, y, z), we can derive:
namely:
since m1 is V1 × ρ, the formula (3) can be obtained by combining the formula (3-2).
By substituting the above formula (3) into the above formula (2), the parameter of the first horizontal distance L1 can be eliminated, and the finally determined functional relationship between the weight of the material and the supporting force is obtained, i.e., m1 ═ f (N1).
In this embodiment, since the numerical value of the first horizontal distance between the center of the speed reducer and the center of gravity of the material is related to the weight of the material (for example, the concrete loading), the correlation function relationship can be obtained by a triple integral by using the spatial geometry centroid equation, and the accuracy of the algorithm is improved.
In one embodiment, the determining of the relationship between the first horizontal distance and the weight of the material comprises: acquiring weight values of a plurality of groups of materials and corresponding first horizontal distance values; and determining the relation between the first horizontal distance and the weight of the material based on a fitting method according to the plurality of groups of weight values and the first horizontal distance value.
Specifically, a plurality of mass-gravity data sets can be obtained by means of computer three-dimensional software simulation, and a concrete loading capacity (m1) -concrete loading volume (V1) -first horizontal distance (L1) correspondence table is made:
the functional relationship L1 between the loading mass of the vehicle and the first horizontal distance is f (m1), that is, the relationship between the first horizontal distance and the weight of the material, can be obtained by a fitting method, and the finally determined relationship between the weight of the material and the supporting force, that is, m1 is f (N1), can be obtained by substituting the functional relationship into the above formula (2).
In this embodiment, by means of computer three-dimensional software simulation, the processor automatically fits a functional relationship between the first horizontal distance and the weight of the material based on a fitting method by acquiring a plurality of data sets of the mass and the first horizontal distance, and the accuracy of relationship determination can be improved.
In one embodiment, the method for determining the weight of the material further includes: and correcting the weight based on a preset correction factor to obtain the corrected weight of the material.
It can be understood that after the weight of the material corresponding to the supporting force is determined according to the relationship between the weight of the material and the supporting force, the calculated result obtained in the above process is a theoretical value, and there may be a deviation from the actual value, so that a correction factor needs to be added to correct the theoretical value, and thus the corrected weight of the material with higher accuracy is obtained.
In one embodiment, correcting the weight based on the preset correction factor includes correcting using the following equation (4):
m1 ═ M1 × K formula (4)
Wherein M1 is the weight of the material obtained based on the pre-stored relationship, M1 is the corrected weight of the material, and K is the correction factor.
In the above equation (4), by multiplying the correction factor (K) on the basis of the theoretical value (M1), the corrected weight of the material with higher accuracy (M1) can be obtained, which is closer to or equal to the actual weight of the material.
In one embodiment, the determination of the correction factor comprises: determining the quotient of the actual weight and the corresponding weight of the plurality of groups of materials; and averaging the multiple quotient values to obtain the correction factor.
Specifically, where K is initially 1, the value of K may be calibrated by measuring a large amount of data for a particular vehicle:
wherein, the correction factor K is (K1+ K2+ … + Kn)/N, and the function model before correction is m1 ═ f (N1), so that the function model after correction can be obtained: m1 × K ═ f (N1) × K, M1.
In this embodiment, a microprocessor is added to the mixer truck, the modified function model is built in the processor, and the data measured by the sensor is transmitted to the microprocessor, so that the concrete loading capacity can be calculated.
In one specific embodiment, the parameters associated with the truck mixer are as follows, as shown with reference to fig. 6:
in conjunction with fig. 2 to 6, the following calculation formula can be derived
According to the principle of moment balance, it is possible to obtain:
N1＝N2
N’＝2×N1×COSθ
N＝N’
based on the basic data of the vehicle, a model for calculating the loaded concrete amount of the vehicle can be obtained, wherein theta, m2, L2, g and L are known data, the gravity center of concrete is a theoretical position and cannot be actually measured, so that the value of L1 cannot be directly measured, the functional relation between L1 and the concrete load amount can be obtained, the above formula (2) is substituted, the parameter of L1 (namely the first horizontal distance) is eliminated, the functional relation between the load amount and the supporting force of a single riding wheel, namely m1 f (N1), can be obtained, and the concrete load amount can be calculated.
According to the method for determining the weight of the material, a function model between the pressure of the riding wheel and the loading capacity of the mixer truck is established by utilizing the moment balance principle according to the structural characteristics of the mixer truck, a microprocessor is added in the mixer truck, the function model is arranged in the processor, and the data (namely the supporting force) measured by the sensor in real time is transmitted to the microprocessor, so that the weight (for example, the concrete loading capacity) of the material can be calculated. According to the method, the calculation model is established, the three-dimensional software analysis is used, the data corresponding function is further established, and the automatic weighing of the mixer truck can be realized according to the real-time pressure data of the riding wheels.
Fig. 7 schematically shows a block diagram of an apparatus for determining the weight of a material in an embodiment of the invention. As shown in fig. 7, in an embodiment of the present invention, there is provided an apparatus 700 for determining a weight of a material, including: a support force determination device 710 and a processor 720, wherein:
the supporting force determining device 710 is used for determining the supporting force applied by the supporting part to the stirring drum.
The supporting force determining device 710 may include, but is not limited to, a pressure sensor or other detecting device.
A processor 720 configured to: determining the supporting force applied by the supporting piece to the stirring drum; and determining the corresponding weight according to the supporting force based on the relationship between the pre-stored weight of the material and the supporting force.
The device 700 for determining the weight of the material determines the supporting force applied by the supporting member to the mixing drum through the supporting force determining device 710, and the processor 720 determines the corresponding weight according to the supporting force through the pre-stored relationship between the weight of the material and the supporting force. According to the structural characteristics of the mixer truck, the moment balance principle is utilized, the relation between the supporting force applied to the mixing drum by the supporting piece and the loading amount of the mixer truck is predetermined and stored, the supporting force applied to the mixing drum by the supporting piece is further determined, the weight of the material in the corresponding mixing drum is determined according to the supporting force, the accuracy of determining the weight result of the material is improved, and the automatic weighing of the mixer truck is realized.
In one embodiment, the support comprises at least one idler, the support being provided with a first pressure sensor for detecting a first pressure applied by the mixing drum to the idler; the processor 720 is further configured to: acquiring a first pressure detected by a first pressure sensor; the supporting force is determined according to the first pressure.
In one embodiment, the support member further comprises a bracket for supporting the idler, the support member is provided with a second pressure sensor for detecting a second pressure applied to the bracket by the idler; the processor 720 is further configured to: acquiring a second pressure detected by a second pressure sensor; and determining the supporting force according to the second pressure and the prestored stress angle parameters of the riding wheel.
In one embodiment, processor 720 is further configured to determine the support force according to the following equation (1):
formula (1) of N1 ═ Fa × cos θ
Wherein N1 is the supporting force, Fa is the second pressure, and theta is the force angle parameter.
In one embodiment, the mixer truck further comprises a speed reducer for driving the mixing drum, wherein the speed reducer is connected with the mixing drum; the processor 720 is further configured to: determining a relationship between a first horizontal distance between the center of the speed reducer and the center of gravity of the material and the weight of the material; and determining a pre-stored relationship between the weight of the material and the supporting force according to the relationship between the first horizontal distance and the weight of the material, the preset parameter of the mixer truck and the gravity acceleration.
In one embodiment, the preset parameters comprise a stress angle parameter, the weight of the mixing drum, a second horizontal distance between the gravity center of the mixing drum and the center of the speed reducer, and a distance between the riding wheel and the center of the speed reducer; processor 720 is further configured to determine a relationship between the weight of the pre-stored material and the support force according to the following equation (2):
wherein m1 is the weight of material, N1 is the holding power, theta is atress angle parameter, L is the distance of riding wheel to the center of speed reducer, m2 is the weight of churn, L2 is the second horizontal distance of the focus of churn to the center of speed reducer, L1 is the first horizontal distance of the center of speed reducer to the focus of material, g is acceleration by gravity.
In one embodiment, the processor 720 is further configured such that the relationship between the first horizontal distance and the weight of the material satisfies the following equation (3):
wherein ρ is the density of the material, m1 is the weight of the material, v is the volume of the material, x is the abscissa value of the center of gravity of the material, and L1 is the first horizontal distance.
In one embodiment, the processor 720 is further configured to: acquiring weight values of a plurality of groups of materials and corresponding first horizontal distance values; and determining the relation between the first horizontal distance and the weight of the material based on a fitting method according to the plurality of groups of weight values and the first horizontal distance value.
In one embodiment, the processor 720 is further configured to: and correcting the weight based on a preset correction factor to obtain the corrected weight of the material.
In one embodiment, the processor 720 is further configured to: determining the quotient of the actual weight and the corresponding weight of the plurality of groups of materials; and averaging the multiple quotient values to obtain the correction factor.
Embodiments of the present invention provide a processor for a mixer truck, the mixer truck comprising a mixing drum for loading a material, and a support for supporting the mixing drum, the processor being configured to perform the method for determining the weight of the material according to the above.
The embodiment of the invention provides a mixer truck, which comprises: the mixing drum is used for loading materials; the supporting piece is used for supporting the stirring cylinder; and means for determining the weight of the material according to the above.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (10)
1. A method for determining the weight of a material, applied to a mixer truck, the mixer truck comprising a mixing drum for loading the material, and a support for supporting the mixing drum, characterized in that the support comprises at least one idler and a bracket for supporting the idler, the support being provided with a first pressure sensor for detecting a first pressure applied by the idler on the bracket, the mixer truck further comprising a speed reducer for driving the mixing drum, the speed reducer being connected to the mixing drum, the method comprising:
determining the supporting force exerted by the supporting piece on the stirring drum;
determining a corresponding weight according to a supporting force based on a relationship between the weight of the pre-stored material and the supporting force;
wherein the determining of the supporting force exerted by the supporting piece on the mixing drum comprises:
acquiring the first pressure detected by the first pressure sensor;
determining the supporting force according to the first pressure and a prestored stress angle parameter of the riding wheel;
the relationship between the weight of the pre-stored material and the supporting force is determined by the following steps:
determining a relationship between a first horizontal distance between a center of the reducer and a center of gravity of the material and a weight of the material;
determining a relationship between the pre-stored weight of the material and the supporting force according to the relationship between the first horizontal distance and the weight of the material, preset parameters of the mixer truck and the gravitational acceleration, wherein the relationship between the first horizontal distance and the weight of the material satisfies formula (1):
wherein ρ is the density of the material, m1 is the weight of the material, v is the volume of the material, x is an abscissa value of the center of gravity of the material, and L1 is the first horizontal distance.
2. Method for determining the weight of a material according to claim 1, characterized in that said support is provided with a second pressure sensor for detecting a second pressure exerted by said mixing drum on said riding wheel; the determining of the supporting force exerted by the supporting element on the mixing drum comprises:
acquiring the second pressure detected by the second pressure sensor;
and determining the supporting force according to the second pressure.
3. The method for determining the weight of a material according to claim 1, wherein said determining the supporting force according to the first pressure and a pre-stored force angle parameter of the idler comprises determining the supporting force according to the following formula (2):
formula (2) of Fa/cos θ N1
Wherein N1 is the supporting force, Fa is the first pressure, and theta is the force-receiving angle parameter.
4. The method for determining the weight of a material according to claim 1, characterized in that said preset parameters comprise said force-bearing angle parameter, the weight of the mixing drum, a second horizontal distance between the centre of gravity of the mixing drum and the centre of the reducer, and the distance of the idler from the centre of the reducer; determining the relationship between the weight of the pre-stored material and the supporting force according to the relationship between the first horizontal distance and the weight of the material, the preset parameter of the mixer truck and the gravitational acceleration comprises determining the relationship between the weight of the pre-stored material and the supporting force according to the following formula (3):
wherein m1 is the weight of the material, N1 is the supporting force, θ is the stress angle parameter, L is the distance from the riding wheel to the center of the speed reducer, m2 is the weight of the mixing drum, L2 is the second horizontal distance from the center of gravity of the mixing drum to the center of the speed reducer, L1 is the first horizontal distance from the center of the speed reducer to the center of gravity of the material, and g is the gravitational acceleration.
5. The method for determining the weight of material according to claim 1, wherein the determining of the relationship between the first horizontal distance and the weight of material comprises:
acquiring a plurality of groups of weight values of the materials and corresponding first horizontal distance values;
and determining the relation between the first horizontal distance and the weight of the material based on a fitting method according to the plurality of groups of the weight values and the first horizontal distance values.
6. The method for determining the weight of a material as in claim 1, further comprising:
and correcting the weight based on a preset correction factor to obtain the corrected weight of the material.
7. The method for determining the weight of material as claimed in claim 6, wherein the determination of the correction factor comprises:
determining the quotient value of the actual weight of the materials and the corresponding weight;
and averaging a plurality of quotient values to obtain the correction factor.
8. A processor for a mixer vehicle comprising a mixing drum for loading a material and a support for supporting the mixing drum, characterized in that the processor is configured to perform the method for determining the weight of a material according to any one of claims 1 to 7.
9. An apparatus for determining the weight of a material, comprising:
the supporting force determining device is used for determining the supporting force applied by the supporting piece to the stirring drum; and
the processor of claim 8.
10. A mixer truck, comprising:
the mixing drum is used for loading materials;
the supporting piece is used for supporting the stirring cylinder; and
the apparatus for determining the weight of a material of claim 9.
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| CN115366260B (en) * | 2022-08-23 | 2024-05-28 | 中联重科股份有限公司 | Mixer truck and method for determining actual mass of stirred material |
| CN116625473B (en) * | 2023-07-21 | 2023-09-22 | 深圳市汉德网络科技有限公司 | Method and system for measuring weight of different-density cargoes loaded on mixer truck |
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