CN113758552A - Vehicle-mounted weighing method, device, processing equipment and system - Google Patents
Vehicle-mounted weighing method, device, processing equipment and system Download PDFInfo
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- CN113758552A CN113758552A CN202111056498.XA CN202111056498A CN113758552A CN 113758552 A CN113758552 A CN 113758552A CN 202111056498 A CN202111056498 A CN 202111056498A CN 113758552 A CN113758552 A CN 113758552A
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- 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
- G01G19/12—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles having electrical weight-sensitive devices
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Abstract
The application provides a vehicle-mounted weighing method, a vehicle-mounted weighing device, a vehicle-mounted weighing processing device and a vehicle-mounted weighing system, wherein strain values respectively acquired by a plurality of strain sensors in the running process of a vehicle are acquired, and the strain sensors are respectively arranged on an axle of the vehicle. And determining the total load of the vehicle according to the strain value acquired by each strain sensor, the weight corresponding to each pre-calibrated strain sensor and the angle of the vehicle, wherein the weight corresponding to each strain sensor is used for identifying the proportion of the strain value acquired by each strain sensor in the total load of the vehicle. According to the method and the device, the strain sensors are arranged on the axle, and the different influences of the measurement data of the strain sensors at different positions on the total load of the vehicle are considered, so that a more accurate vehicle load value is obtained.
Description
Technical Field
The application relates to the technical field of weighing, in particular to a vehicle-mounted weighing method, a vehicle-mounted weighing device, processing equipment and a vehicle-mounted weighing system.
Background
There are two vehicle-mounted weighing technologies widely used in the market at present. The first method is static weighing, and utilizes the gravity action of the earth to detect the strain of the gravity of an object on a vehicle weight bearing object in the vertical direction so as to calculate the mass of the object. The second type is dynamic weighing, the load weight of the vehicle is monitored in real time through a weight sensor arranged on the vehicle, and the strain on the surface of a steel plate spring is measured through a strain sensor to measure the vehicle-mounted mass.
However, in the prior art, firstly, the surface of the steel plate spring is subjected to plastic deformation after being weighed for multiple times, so that the measurement result is inaccurate; secondly, the weight measured by the weight sensors mounted under the leaf springs is based on the assumption that the vehicle load falls evenly on each weight sensor, which is difficult to guarantee when the vehicle is in motion. Therefore, how to acquire a more accurate load measurement result through a sensor mounted on a vehicle in a vehicle moving state becomes a problem to be solved urgently.
Disclosure of Invention
The present application aims to provide a vehicle-mounted weighing method, device and system, which can obtain more accurate vehicle load measurement result, aiming at the defects in the prior art.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a vehicle-mounted weighing method, where the method includes:
acquiring strain values respectively acquired by a plurality of strain sensors in the running process of a vehicle, wherein each strain sensor is respectively arranged on an axle of the vehicle;
and determining the total load of the vehicle according to the strain value acquired by each strain sensor, the weight corresponding to each strain sensor calibrated in advance and the angle of the vehicle, wherein the weight corresponding to the strain sensor is used for identifying the proportion of the strain value acquired by the sensor in the total load of the vehicle.
In an alternative embodiment, determining the total load of the vehicle according to the strain value collected by each strain sensor, the pre-calibrated weight corresponding to each strain sensor and the angle of the vehicle includes:
respectively calculating the product of the strain value acquired by each strain sensor and the weight corresponding to the strain sensor to obtain the load value corresponding to each strain sensor;
adding the load values corresponding to the strain sensors to obtain a total load value;
and calculating the ratio of the total load value to the angle of the vehicle to obtain the total load of the vehicle.
In an optional embodiment, before determining the total load of the vehicle according to the strain value collected by each strain sensor, the pre-calibrated weight corresponding to each strain sensor, and the angle of the vehicle, the method further includes:
filtering the strain value acquired by each strain sensor based on a filter in the vehicle to obtain the strain value filtered by each strain sensor;
the determining the total load of the vehicle according to the strain value acquired by each strain sensor, the pre-calibrated weight corresponding to each strain sensor and the angle of the vehicle comprises:
and determining the total load of the vehicle according to the strain value filtered by each strain sensor, the weight corresponding to each strain sensor calibrated in advance and the angle of the vehicle.
In an optional embodiment, the filtering, based on a filter in the vehicle, the strain value acquired by each strain sensor to obtain a filtered strain value of each strain sensor includes:
acquiring a reference value of strain of each strain sensor when the vehicle is in a static state;
and carrying out filtering processing by the filter according to the reference value and the strain value of each strain sensor to obtain the strain value filtered by each strain sensor.
In an optional embodiment, before determining the total load of the vehicle according to the strain value collected by each strain sensor, the pre-calibrated weight corresponding to each strain sensor, and the angle of the vehicle, the method further includes:
acquiring strain values acquired by each strain sensor of the vehicle under various load states to obtain multiple groups of strain values, wherein each group of strain values comprises the strain values acquired by each strain sensor;
and calculating the multiple groups of strain values by using a least square method to obtain the weight corresponding to each strain sensor.
In an optional implementation, the vehicle-mounted weighing method further includes:
when the vehicle is in a static state, calculating the bending modulus of the axle according to the cross section parameters of the axle;
determining the stress of a first strain sensor according to a strain value acquired by the first strain sensor and the elastic modulus of the axle, wherein the first strain sensor is any one of the plurality of strain sensors;
determining the bending moment of the first strain sensor according to the stress of the first strain sensor and the bending modulus of the axle;
determining the load of the first strain sensor according to the bending moment of the first strain sensor;
and determining the total load of the vehicle in a static state according to the load of the first strain sensor.
In an optional implementation, the vehicle-mounted weighing method further includes:
determining whether the vehicle is overloaded according to the total load of the vehicle;
if so, increasing an overload identifier for the total load, and sending the total load and the overload identifier to external equipment.
In a second aspect, an embodiment of the present application provides an on-vehicle weighing apparatus applied to a vehicle weighing device, the apparatus including:
the acquisition module is used for acquiring strain values acquired by a plurality of strain sensors respectively in the running process of a vehicle, and each strain sensor is arranged on an axle of the vehicle;
and the processing module is used for determining the total load of the vehicle according to the strain value acquired by each strain sensor, the pre-calibrated weight corresponding to each strain sensor and the angle of the vehicle, wherein the weight corresponding to the strain sensor is used for identifying the proportion of the strain value acquired by the sensor in the total load of the vehicle.
In an optional implementation manner, the processing module is specifically configured to:
respectively calculating the product of the strain value acquired by each strain sensor and the weight corresponding to the strain sensor to obtain the load value corresponding to each strain sensor;
adding the load values corresponding to the strain sensors to obtain a total load value;
and calculating the ratio of the total load value to the angle of the vehicle to obtain the total load of the vehicle.
In an alternative embodiment, the apparatus further comprises:
the filtering module is used for carrying out filtering processing on the strain value acquired by each strain sensor based on a filter in the vehicle to obtain the strain value filtered by each strain sensor;
in an optional implementation manner, the processing module is specifically configured to:
and determining the total load of the vehicle according to the strain value filtered by each strain sensor, the weight corresponding to each strain sensor calibrated in advance and the angle of the vehicle.
In an optional implementation manner, the filtering module is specifically configured to:
acquiring a reference value of strain of each strain sensor when the vehicle is in a static state;
and carrying out filtering processing by the filter according to the reference value and the strain value of each strain sensor to obtain the strain value filtered by each strain sensor.
In an optional implementation manner, the obtaining module is specifically configured to:
acquiring strain values acquired by the strain sensors when the vehicle is in various load states to obtain multiple groups of strain values, wherein each group of strain values comprises the strain values acquired by the strain sensors;
in an optional implementation, the processing module is further configured to: and calculating the multiple groups of strain values by using a least square method to obtain the weight corresponding to each strain sensor.
In an optional implementation, the processing module is further configured to:
when the vehicle is in a static state, calculating the bending modulus of the axle according to the cross section parameters of the axle;
determining the stress of a first strain sensor according to a strain value acquired by the first strain sensor and the elastic modulus of the axle, wherein the first strain sensor is any one of the plurality of strain sensors;
determining the bending moment of the first strain sensor according to the stress of the first strain sensor and the bending modulus of the axle;
determining the load of the first strain sensor according to the bending moment of the first strain sensor;
and determining the total load of the vehicle in a static state according to the load of the first strain sensor.
In an optional implementation, the processing module is further configured to:
determining whether the vehicle is overloaded according to the total load of the vehicle;
if so, increasing an overload identifier for the total load, and sending the total load and the overload identifier to external equipment.
In a third aspect, an embodiment of the present application provides a processing apparatus, including: the vehicle-mounted weighing system comprises a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, when the electronic device runs, the processor is communicated with the storage medium through the bus, and the processor executes the machine-readable instructions to execute the steps of the vehicle-mounted weighing method in any one of the preceding embodiments.
In a fourth aspect, an embodiment of the present application provides an on-vehicle weighing system, including: the processing device, the positioning device, the display, the memory and the server according to the foregoing embodiments, wherein the server is respectively connected to the display, the memory and the positioning device in a communication manner;
the server is used for sending a load inquiry instruction to the processing equipment, receiving the total load of the vehicle sent by the processing equipment and storing the total load of the vehicle into the memory;
the positioning equipment is used for analyzing Beidou positioning information, acquiring position and speed information of a vehicle and sending the position and speed information of the vehicle to the server;
the display is used for acquiring the total load of the vehicle from the server, acquiring the position and speed information of the vehicle from the server and displaying the total load, the position and the speed of the vehicle on a screen of the display.
The beneficial effects of the present application include, for example:
by adopting the vehicle-mounted weighing method, the vehicle-mounted weighing device and the vehicle-mounted weighing system, firstly, the strain sensor is arranged above the axle which is not easy to deform, an accurate measuring result is obtained by utilizing the principle that loads above the strain sensor are different in resistivity, and the influence of the plastic deformation of the steel plate spring on the measuring result is avoided. Secondly, the multiple strain sensors are arranged at different positions of different axles, different weights are calibrated for each strain sensor, and the result of multipoint measurement is integrated, so that the accurate total load of the vehicle can be calculated even in the motion state of the vehicle.
In addition, the self-adaptive filter adjusts the structural parameters of the self-adaptive filter along with the change of the external environment, so that random and uncertain motion noise generated in the motion process of the automobile is reduced, the influence of the automobile motion on a load measurement result is reduced, and the measurement precision is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic flow chart illustrating steps of a vehicle-mounted weighing method provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of a further embodiment of a vehicle-mounted weighing method provided by the embodiment of the application;
FIG. 3 is a schematic diagram of the position of a strain sensor of the vehicle-mounted weighing method provided by the embodiment of the application;
FIG. 4 is a schematic view of a vehicle load stress of the vehicle-mounted weighing method provided by the embodiment of the application;
fig. 5 is a schematic diagram of a placement position of a load on a third axis in a weight obtaining experiment of the vehicle-mounted weighing method according to the embodiment of the present application;
fig. 6 is a schematic diagram of a placement position of a load on the rear three axes in a weight obtaining experiment of the vehicle-mounted weighing method provided in the embodiment of the present application;
FIG. 7 is a schematic diagram of a further embodiment of a vehicle-mounted weighing method provided by the embodiment of the application;
FIG. 8 is a schematic diagram of a further embodiment of a vehicle-mounted weighing method provided by the embodiment of the application;
FIG. 9 is a schematic diagram of a further embodiment of a vehicle-mounted weighing method provided by the embodiment of the application;
FIG. 10 is a schematic diagram of a further strain sensor position of the vehicle-mounted weighing method provided by the embodiment of the application;
FIG. 11 is a block diagram schematically illustrating a structure of a processing device according to an embodiment of the present disclosure;
fig. 12 is a schematic structural diagram of a vehicle-mounted weighing system provided in the embodiment of the present application.
Icon: 1011-strain sensor; 1021-5 ton load; 1022-a grinding disc above a third axle of the vehicle; 1023-the rear three axles of the vehicle; 1001-processor; 1002-a memory; 100-a processing device; 200-a server; 400-a positioning device; 500-display.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
The weighing principle widely applied at present is that the strain of an object to be detected to a load-bearing steel plate spring or a strain sensor below the steel plate spring is measured by utilizing the gravity action of the earth, and the vehicle-mounted mass is measured. However, in the prior art, the load measurement is deviated due to two reasons, on one hand, the surface of the steel plate spring is subjected to multiple times of weighing, and the surface of the steel plate spring is subjected to plastic deformation; on the other hand, it is difficult to ensure that the load detected by the strain sensor is uniformly distributed in the moving state.
Based on the above, through research, the applicant provides a vehicle-mounted weighing method, which realizes accurate weighing of a vehicle by arranging strain sensors on an axle of the vehicle and fully considering different influences of measurement data of the strain sensors at different positions on the total load of the vehicle.
Fig. 1 is a schematic flowchart of steps of an on-vehicle weighing method provided in an embodiment of the present application, and an execution subject of the method may be a processing device with computing processing capability, and the processing device may be a processing device built in a vehicle, such as an on-vehicle control device, or the processing device may also be a remote device, such as a cloud server. As shown in fig. 1, the method includes:
step S101, strain values respectively acquired by a plurality of strain sensors in the running process of the vehicle are acquired, and the strain sensors are respectively arranged on an axle of the vehicle.
Alternatively, the strain sensors may be disposed at different positions on different axles of the vehicle, for example, at the center or both load bearing points of an axle.
Optionally, a communication connection may be established between the processing device and each of the strain sensors, and based on this, the processing device may receive strain values collected by each of the strain sensors. Optionally, the strain sensor collects an analog signal, and the analog signal may be converted by an analog-to-digital converter and then sent to the processing device.
In the present embodiment, the strain value acquired by the strain sensor is the strain epsilon when a load is placed on the vehicletThe analog signal value is sampled, quantized and encoded by an analog-to-digital converter to obtain a digital quantity, and the digital quantity of the strain value acquired by the strain sensor is sent to a processor for subsequent calculation.
And S102, determining the total load of the vehicle according to the strain values acquired by the strain sensors, the weights corresponding to the strain sensors and the angle of the vehicle, wherein the weights corresponding to the strain sensors are used for identifying the proportion of the strain values acquired by the sensors in the total load of the vehicle.
The vehicle is not kept in a horizontal direction, but may have a certain gradient, while actually traveling on the road. Since gravity is vertically downward, the magnitude of the slope angle, together with the strain values collected by the strain sensors and the weights corresponding to the strain sensors, determines the total load of the vehicle. In addition, for more accurate measurement vehicle's total load, this application places each strain gauge in the different positions of weighing the axle. Each sensor also has a different weight due to the different weight bearing of each axle.
The weight corresponding to each sensor can be obtained by pre-calibration and stored in the processing device in advance. The calibration process of the weight of each sensor will be described in detail in the following embodiments.
In this embodiment, settle strain sensor in the axle top that is difficult for deformation, utilize the principle that the different resistivities of the different loads of strain sensor top, obtain accurate measuring result, avoided leaf spring's plastic deformation to measuring result's influence. Secondly, the multiple strain sensors are arranged at different positions of different axles, different weights are calibrated for each strain sensor, and the result of multipoint measurement is integrated, so that the accurate total load of the vehicle can be calculated even in the motion state of the vehicle.
Alternatively, the step of determining the total load of the vehicle according to the strain value collected by each strain sensor, the weight corresponding to each strain sensor, and the angle of the vehicle in step S102 may be implemented by steps S201 to S203, as shown in fig. 2.
S201, respectively calculating the product of the strain value acquired by each strain sensor and the weight corresponding to the strain sensor to obtain the load value corresponding to each strain sensor.
And S202, adding the load values corresponding to the strain sensors to obtain a total load value.
And S203, calculating the ratio of the total load value to the angle of the vehicle to obtain the total load of the vehicle.
Taking a 6-axle automobile as an example, by means of the stress distribution characteristics of the frame of the automobile, all loads of the automobile are borne by the 6 axles of the automobile, that is, the gravity of all cargoes is equal to the sum of the supporting and reacting forces of the axles. Therefore, the distribution scheme of the strain sensors 1011 as shown in fig. 3 can be determined, in which one strain sensor 1011 is respectively mounted on the rear 3 axles, two strain sensors 1011 are mounted on the third axle, the strain sensor 1011 of each axle has one acquisition channel, the weight of each strain sensor 1011 in the calculation of the total load capacity of the vehicle is calculated through experiments, and the total load of the vehicle is obtained according to the strain value acquired by each strain sensor 1011 and the angle of the vehicle. The calculation and derivation process is as follows:
as shown in fig. 4, assuming that the vehicle is running on a road surface with a slope angle α, the following mechanical equation is obtained:
F1+F2+F3+F4＝G cosα
wherein, F1、F2、F3、F4Is the vertical load of the vehicle and G is the static total load of the vehicle. Suppose the third axle of the vehicle is loaded by F31、F32The fourth axis has a load of F4Fifth axis load is F5And the load of the sixth axis is F6By using the strain of each axis measured by the strain sensors 1011, the relationship between the total load of the vehicle and the strain value of each axis measured by all the strain sensors 1011 can be obtained as follows:
that is, the relationship between the total load of the vehicle and the strain values measured by all the strain sensors 1011 is:
wherein k is1、k2、k3、k4、k5The weight of each strain sensor 1011 is shown, and A, B, C, D, E shows the strain value of each strain sensor 1011. From the above equation, the strain value A, B, C, D, E collected by each strain sensor and the weight k corresponding to the strain sensor are calculated respectively1、k2、k3、k4、k5And obtaining the load value corresponding to each strain sensor. Then, each should beAnd adding the load values corresponding to the variable sensors to obtain a total load value. And finally, calculating the ratio of the total load value to the cosine value cos alpha of the vehicle angle to obtain the total load of the vehicle.
In this embodiment, the total load of the vehicle in the moving state is calculated according to the strain values acquired by the strain sensors, the weights corresponding to the strain sensors, and the angle of the vehicle, and the total load measured by the method fully considers the influence of the vehicle state on the load in the moving process of the vehicle, calibrates different weights for the sensors at different positions, and considers the different stresses of the load on different load bearing points of the vehicle. After various factors are considered comprehensively, the embodiment can obtain more accurate total load of the vehicle from the mechanical angle.
The foregoing calibration process of the weights of the strain sensors is explained below.
Optionally, on the basis of the foregoing embodiment, before determining the total load of the vehicle according to the strain values collected by the strain sensors, the weights corresponding to the strain sensors calibrated in advance, and the angle of the vehicle in step S102, the strain values collected by the strain sensors when the vehicle is in multiple load states may be first obtained, so as to obtain multiple sets of strain values, where each set of strain values includes the strain values collected by the strain sensors. And then, calculating a plurality of groups of strain values by using a least square method to obtain the weight corresponding to each strain sensor.
Assume that the initial value of each strain sensor is A0、B0、C0、D0、E0。
As shown in FIG. 5, a 5 ton load 1021 is loaded directly over the center of the third axis 1022, minimizing the strain on the sensors on the rear three axis 1023 of the vehicle, and recording the strain sensor data on the abrasive disc 1022 over the third axis, A1、B1。
As shown in FIG. 6, a load 1021 of 5 tons is loaded directly above the middle axle of the rear three axles 1023 of the vehicle, so that the strain value of the strain sensor on the grinding disc 1022 above the third axle is as small as possible, and the data of the strain sensor of the rear three axles 1023 of the vehicle, C, is recorded1、D1、E1。
Repeating the process of placing weights in the above fig. 5 and fig. 6 for multiple times to obtain strain values collected by each strain sensor of the vehicle under various loading states to obtain multiple groups of strain values Ai、Bi、Ci、Di、EiAnd each group of strain values comprises strain values acquired by each strain sensor.
After obtaining the plurality of sets of strain values, calculating the plurality of sets of strain values by using a least square method to obtain weights corresponding to the strain sensors, wherein a relational expression between the total load of the vehicle and the strain values measured by all the strain sensors can be written as follows:
yicosα＝k1(Ai-A0)+k2(Bi-B0)+k3(Ci-C0)+k4(Di-D0)+k5(Ei-E0)
wherein, yiRepresenting the static gross weight G of the vehicle. According to the numerical analysis principle, the residual error expression is as follows:
where ε is the measurement error. From the above residual expression, the partial derivative is calculated for each weight in the residual, and the following equation can be obtained:
let the left side of the above equation partial derivative equal to 0, and obtain the weight k of each strain sensor by simultaneous equations1、k2、k3、k4、k5And combining the strain value of the strain sensor and the angle of the vehicle, and obtaining the total load of the vehicle according to the following formula:
yicosα＝k1(Ai-A0)+k2(Bi-B0)+k3(Ci-C0)+k4(Di-D0)+k5(Ei-E0)
in this embodiment, the load weights are placed at different positions of the vehicle for multiple times, so as to obtain strain values measured by multiple sets of strain sensors, and on the basis of the multiple sets of data, the weight of each strain sensor is calculated by using a least square method, so as to calculate the total load of the vehicle. The weight of the strain sensor calculated based on the data mode is more fit with the real proportion of the total load occupied by the strain sensor, and the accuracy of the total load of the vehicle calculated in the subsequent steps is also ensured.
As an optional implementation manner, in order to further reduce the influence of vibration noise generated by the vehicle during the movement of the automobile on the strain values measured by the strain sensors, the embodiment further performs filtering processing on the strain values measured by the strain sensors, and determines the total load of the vehicle based on the strain values after the filtering processing.
Optionally, before the step S102, the method further includes:
and filtering the strain value acquired by each strain sensor based on a filter in the vehicle to obtain the strain value filtered by each strain sensor.
Accordingly, the step S102 includes:
and determining the total load of the vehicle according to the strain value filtered by each strain sensor, the weight corresponding to each strain sensor and the angle of the vehicle.
The vibration noise generated by the vehicle during the movement process may include:
(1) vibration caused by the vehicle itself. The vibration caused by eccentric rotation of the engine, the vibration caused by irregular operation of the driver and the like are included.
(2) Vibration caused by uneven road surface. Road irregularities cause the vehicle to vibrate up and down, and uncertainty in this vibration is caused by uncertainty in the road surface.
(3) Vibrations caused by coupling the vehicle to the ground. When the vehicle runs, the vehicle and the ground generate random coupled vibration.
On the basis of the above embodiment, before determining the total load of the vehicle according to the strain value collected by each strain sensor, the weight corresponding to each strain sensor, and the angle of the vehicle, the method further includes processing vibration noise of the vehicle to reduce the influence of the vibration noise, where the processing is obtained in sub-steps S301 to S302, as shown in fig. 7.
S301, acquiring reference values of strain of each strain sensor when the vehicle is in a static state.
And S302, performing filtering processing by using a filter according to the reference value and the strain value of each strain sensor to obtain the strain value of each strain sensor after filtering.
When the vehicle is running on a road surface, the total load in the vehicle moving state is composed of the total load in the vehicle stationary state and vibration noise of the vehicle. The deviation of the strain value measured by the strain sensor caused by the vibration noise of the vehicle is a direct cause of the error of the total load in the moving state of the vehicle. Therefore, it is necessary to reduce the variation in strain value due to vibration noise by a filter and improve the detection accuracy. In this embodiment, an FIR (Finite Impulse Response) filter is used as the adaptive filter structure, and the adaptive filtering algorithm used is an LMS (Least Mean Square) algorithm. The process of calculating the strain value of the strain sensor after filtering by using the filter obtained by the LMS algorithm, that is, the output signal, is shown in fig. 8, and the calculation formula of the output signal is as follows:
y1(n)＝WT(n)x(n)
wherein, y1(n) represents a strain value after error correction by a filter, WT(n) represents an impact response, which can be calculated by the following formula:
Wn+1＝Wn+μe(n)+x(n)
where μ is the convergence factor and J is the objective function, expressed as:
J＝[e(n)]2
wherein e (n) is the reference signal and the output signal y1The difference (n) is a reference signal, which is a strain value without noise output after an input signal is input to the stationary strain sensor 1011 under standard laboratory conditions. After the input signal is obtained, the filter carries out filtering processing according to the reference value of each strain sensor and the strain value, and the filtered strain value of each strain sensor is obtained after the filter is substituted into a calculation formula of the output signal.
as shown in fig. 8, according to a standard strain-stress curve drawn by a strain sensor under experimental conditions, a static strain value and a reference signal corresponding to the strain sensor in a static state under an input signal are obtained, after a vehicle starts moving, a dynamic strain value on which vibration noise is superimposed is obtained, the dynamic strain value is processed by a filter to obtain an estimated intermediate output signal, a difference value between the intermediate output signal and the reference signal is represented as a target function, and the target function is circulated in an adaptive filter for a plurality of times through the target function to make the target function approach zero, so that an output signal, that is, a strain value after the error is corrected by the filter is obtained.
In the embodiment, the principle that the self-adaptive filter adjusts the structural parameters of the self-adaptive filter along with the change of the external environment is utilized, random and uncertain motion noise generated in the motion process of the automobile is reduced, the influence of the motion of the automobile on the load measurement result is reduced, and the measurement precision is improved.
As an alternative embodiment, to obtain the total load of the vehicle in the stationary state, the present embodiment also provides an example of calculating the vehicle load in the stationary state. The specific calculation manner can be realized by steps S401 to S405, as shown in fig. 9.
Step S401, when the vehicle is in a static state, the bending modulus of the axle is calculated according to the cross section parameters of the axle. Flexural modulus WxCan be calculated by the following formula:
wherein H is the height of the section of the axle, and B is the width of the section of the axle.
Step S402, respectively determining the stress of a first strain sensor according to the strain value acquired by the first strain sensor and the elastic modulus of the axle, wherein the first strain sensor is any one of a plurality of strain sensors. Stress sigmatCan be calculated by the following formula:
σt＝εtE
the elastic modulus E is a fixed attribute of the material, and a specific numerical value can be obtained by inquiring according to the type of the material. EpsilontIs the strain value collected by the strain sensor.
Step S403, determining the bending moment of the first strain sensor according to the stress of the first strain sensor and the bending modulus of the axle. The bending moment M can be calculated by the following formula:
M＝σtWx
and S404, determining the load of the first strain sensor according to the bending moment of the first strain sensor. The load P is calculated by the following formula:
where l is the total axle length, l1Is the distance between two bearing points on the axle.
In step S405, the total load of the vehicle in the stationary state is determined based on the load of the first strain sensor.
Alternatively, for example, a 6-axle vehicle, a strain sensor 1011 distribution scheme shown in fig. 10 is adopted, and one strain sensor 1011 is respectively mounted on the rear 3 axles. Assuming that the load of the vehicle is W, the rear three shafts respectively bear the weight of W/3, the load is uniformly carried by the three shafts, and two stress points are arranged on each shaft, so that the load of the strain sensor on each shaft is P/6. Therefore, the total load W of the vehicle in the stationary state is 6P.
As an optional implementation manner, the present application further provides an embodiment of querying and identifying whether the vehicle is overloaded in real time, first, determining whether the vehicle is overloaded according to the total load of the vehicle, where the processing device queries the load stored in the memory, and determines whether the total load of the vehicle exceeds a threshold, if so, adding an overload identifier for the total load, and sending the total load and the overload identifier to the external device. The external device may be a server, an external computer, a mobile phone, or the like.
This embodiment still provides a vehicle-mounted weighing device, and this vehicle-mounted weighing device includes:
the acquisition module is used for acquiring strain values acquired by a plurality of strain sensors respectively in the running process of the vehicle, and each strain sensor is arranged on an axle of the vehicle;
and the processing module is used for determining the total load of the vehicle according to the strain values acquired by the strain sensors, the pre-calibrated weights corresponding to the strain sensors and the angle of the vehicle, wherein the weights corresponding to the strain sensors are used for identifying the proportion of the strain values acquired by the sensors in the total load of the vehicle.
As an optional implementation manner, the processing module is specifically configured to:
respectively calculating the product of the strain value acquired by each strain sensor and the weight corresponding to the strain sensor to obtain the load value corresponding to each strain sensor;
adding the load values corresponding to the strain sensors to obtain a total load value;
and calculating the ratio of the total load value to the angle of the vehicle to obtain the total load of the vehicle.
As an optional implementation, the apparatus further comprises:
the filtering module is used for carrying out filtering processing on the strain value acquired by each strain sensor based on a filter in the vehicle to obtain the strain value filtered by each strain sensor;
as an optional implementation manner, the processing module is specifically configured to:
and determining the total load of the vehicle according to the strain value filtered by each strain sensor, the weight corresponding to each strain sensor calibrated in advance and the angle of the vehicle.
As an optional implementation manner, the filtering module is specifically configured to:
acquiring reference values of strain of each strain sensor when the vehicle is in a static state;
and carrying out filtering processing by the filter according to the reference value and the strain value of each strain sensor to obtain the strain value of each strain sensor after filtering.
As an optional implementation manner, the obtaining module is specifically configured to:
acquiring strain values acquired by strain sensors when the vehicle is in various load states to obtain a plurality of groups of strain values, wherein each group of strain values comprises the strain values acquired by the strain sensors;
as an optional implementation, the processing module is further configured to: and calculating the multiple groups of strain values by using a least square method to obtain the weight corresponding to each strain sensor.
As an optional implementation, the processing module is further configured to:
when the vehicle is in a static state, the bending modulus of the axle is calculated according to the cross section parameters of the axle;
determining the stress of a first strain sensor according to the strain value acquired by the first strain sensor and the elastic modulus of the axle, wherein the first strain sensor is any one of a plurality of strain sensors;
determining the bending moment of the first strain sensor according to the stress of the first strain sensor and the bending modulus of the axle;
determining the load of the first strain sensor according to the bending moment of the first strain sensor;
and determining the total load of the vehicle in a static state according to the load of the first strain sensor.
As an optional implementation, the processing module is further configured to:
determining whether the vehicle is overloaded according to the total load of the vehicle;
and if so, increasing an overload identifier for the total load, and sending the total load and the overload identifier to the external equipment.
The present embodiment also provides a processing apparatus, as shown in fig. 11, the processing apparatus includes: the vehicle-mounted weighing system comprises a processor 1001, a memory 1002 and a bus, wherein the memory 1002 stores machine-readable instructions executable by the processor 1001, when the electronic device runs, the processor 1001 is communicated with the memory 1002 through the bus, and the processor 1001 executes the machine-readable instructions to execute the steps of the vehicle-mounted weighing method in the embodiment.
The memory 1002, processor 1001, and bus elements are electrically coupled to each other, directly or indirectly, to enable data transfer or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The vehicle-mounted weighing apparatus includes at least one software function module that may be stored in the form of software or firmware in the memory 1002 or solidified in an Operating System (OS) of the computer device. The processor 1001 is used for executing executable modules stored in the memory 1002, such as software functional modules and computer programs included in the vehicle weighing apparatus.
The Memory 1002 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
Fig. 12 is a schematic structural diagram of a vehicle-mounted weighing system provided in the embodiment of the present application. As shown in fig. 12, the system may include: the processing device 100, the server 200, the memory 1002, the pointing device 400, and the display 500 in the above-described embodiments. Wherein the server 200 is communicatively coupled to the display 500, the memory 1002, and the pointing device 400, respectively.
The processing device 100 is configured to receive the strain value of the strain sensor converted by the analog-to-digital converter, calculate a total load of the vehicle according to the vehicle-mounted weighing algorithm in the above embodiment, and transmit a calculation result to the memory 1002 for storage. In addition, the processing device 100 further determines whether the vehicle is overloaded according to the total load of the latest vehicle read from the memory 1002, if so, adds an overload flag to the total load, and sends the total load and the overload flag to an external device, where the external device may be the server 200, an external computer, a mobile phone, or the like.
And a server 200 for transmitting the load inquiry instruction to the processing device 100, wherein the processing device 100 reads the total load of the vehicle stored in the memory 1002 and transmits the total load of the vehicle to the server 200. In addition, the server 200 may also receive the vehicle position and speed information sent by the positioning device 400 and the total load of the vehicle attached with the overload identifier, and send the information to the memory 1002 for storage. The server 200 may also read the total weight of the vehicle and the position and speed information of the vehicle from the memory 1002 and display the total weight of the vehicle, the position and speed information of the vehicle on the screen of the display 500.
And a memory 1002 for storing the vehicle position and speed information transmitted by the server 200, the total load of the vehicle to which the overload identifier is attached, and the total load of the vehicle transmitted by the processing device 100. Alternatively, the memory 1002 creates only one file for data during a day, opens the file when receiving data of a new total load of the vehicle transmitted from the processing device 100, writes the data at the end of the file, and then closes the file.
The positioning device 400 is configured to, after determining that the information is the beidou positioning information, analyze the beidou positioning information, obtain the position and speed information of the vehicle, and send the position and speed information of the vehicle to the server 200.
And a display 500 for acquiring the total load of the vehicle and the position and speed information of the vehicle from the server 200 and displaying the total load of the vehicle and the position and speed information of the vehicle on a screen of the display 500.
In summary, the embodiments of the present application provide a vehicle-mounted weighing method, device and system, where the total load of a vehicle is calculated by using a relationship between a strain value measured by a strain sensor and the total load of the vehicle in a stationary state of the vehicle. In the moving state of the vehicle, the filter is used for reducing the influence of vibration noise of the vehicle on the strain values measured by the strain sensors, the strain sensors are arranged at different positions of the axle, and the strain values measured by the strain sensors are multiplied by the weight calibrated by the strain sensors, so that the more accurate total load of the vehicle in the moving state of the vehicle is obtained.
In addition, the self-adaptive filter adjusts the structural parameters of the self-adaptive filter along with the change of the external environment, so that random and uncertain motion noise generated in the motion process of the automobile is reduced, the influence of the automobile motion on a load measurement result is reduced, and the measurement precision is improved.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A vehicle-mounted weighing method is characterized by comprising the following steps:
acquiring strain values respectively acquired by a plurality of strain sensors in the running process of a vehicle, wherein each strain sensor is respectively arranged on an axle of the vehicle;
and determining the total load of the vehicle according to the strain value acquired by each strain sensor, the weight corresponding to each strain sensor calibrated in advance and the angle of the vehicle, wherein the weight corresponding to the strain sensor is used for identifying the proportion of the strain value acquired by the sensor in the total load of the vehicle.
2. The vehicle-mounted weighing method according to claim 1, wherein the step of determining the total load of the vehicle according to the strain value collected by each strain sensor, the pre-calibrated weight corresponding to each strain sensor and the angle of the vehicle comprises the following steps:
respectively calculating the product of the strain value acquired by each strain sensor and the weight corresponding to the strain sensor to obtain the load value corresponding to each strain sensor;
adding the load values corresponding to the strain sensors to obtain a total load value;
and calculating the ratio of the total load value to the angle of the vehicle to obtain the total load of the vehicle.
3. The vehicle-mounted weighing method according to claim 1, wherein before determining the total load of the vehicle according to the strain value collected by each strain sensor, the pre-calibrated weight corresponding to each strain sensor and the angle of the vehicle, the method further comprises:
filtering the strain value acquired by each strain sensor based on a filter in the vehicle to obtain the strain value filtered by each strain sensor;
the determining the total load of the vehicle according to the strain value acquired by each strain sensor, the pre-calibrated weight corresponding to each strain sensor and the angle of the vehicle comprises:
and determining the total load of the vehicle according to the strain value filtered by each strain sensor, the weight corresponding to each strain sensor calibrated in advance and the angle of the vehicle.
4. The vehicle-mounted weighing method according to claim 3, wherein the filtering the strain value acquired by each strain sensor based on a filter in the vehicle to obtain the filtered strain value of each strain sensor comprises:
acquiring a reference value of strain of each strain sensor when the vehicle is in a static state;
and carrying out filtering processing by the filter according to the reference value and the strain value of each strain sensor to obtain the strain value filtered by each strain sensor.
5. The vehicle-mounted weighing method according to claim 1, wherein before determining the total load of the vehicle according to the strain value collected by each strain sensor, the pre-calibrated weight corresponding to each strain sensor and the angle of the vehicle, the method further comprises:
acquiring strain values acquired by each strain sensor of the vehicle under various load states to obtain multiple groups of strain values, wherein each group of strain values comprises the strain values acquired by each strain sensor;
and calculating the multiple groups of strain values by using a least square method to obtain the weight corresponding to each strain sensor.
6. The vehicle-mounted weighing method according to any one of claims 1-4, characterized in that the method further comprises:
when the vehicle is in a static state, calculating the bending modulus of the axle according to the cross section parameters of the axle;
determining the stress of a first strain sensor according to a strain value acquired by the first strain sensor and the elastic modulus of the axle, wherein the first strain sensor is any one of the plurality of strain sensors;
determining the bending moment of the first strain sensor according to the stress of the first strain sensor and the bending modulus of the axle;
determining the load of the first strain sensor according to the bending moment of the first strain sensor;
and determining the total load of the vehicle in a static state according to the load of the first strain sensor.
7. The vehicle-mounted weighing method according to any one of claims 1-4, characterized in that the method further comprises:
determining whether the vehicle is overloaded according to the total load of the vehicle;
if so, increasing an overload identifier for the total load, and sending the total load and the overload identifier to external equipment.
8. A vehicle-mounted weighing device, characterized in that, applied to a vehicle weighing apparatus, the device comprises:
the acquisition module is used for acquiring strain values acquired by a plurality of strain sensors respectively in the running process of a vehicle, and each strain sensor is arranged on an axle of the vehicle;
and the processing module is used for determining the total load of the vehicle according to the strain value acquired by each strain sensor, the pre-calibrated weight corresponding to each strain sensor and the angle of the vehicle, wherein the weight corresponding to the strain sensor is used for identifying the proportion of the strain value acquired by the sensor in the total load of the vehicle.
9. A processing device, characterized in that the processing device comprises: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the electronic device is operating, the processor executing the machine-readable instructions to perform the steps of the vehicle weighing method according to any one of claims 1-7.
10. An on-board weighing system, the system comprising: the processing device, positioning device, display, memory, and server of claim 9, the server communicatively coupled to the display, the memory, and the positioning device, respectively;
the server is used for sending a load inquiry instruction to the processing device, and the processing device reads the total load of the vehicle stored in the memory and sends the total load of the vehicle to the server;
the positioning equipment is used for analyzing Beidou positioning information, acquiring position and speed information of a vehicle and sending the position and speed information of the vehicle to the server;
the display is used for acquiring the total load of the vehicle from the server, acquiring the position and speed information of the vehicle from the server and displaying the total load, the position and the speed of the vehicle on a screen of the display.
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