CN113865840B - Method for detecting axle load, controller and engineering machinery - Google Patents

Method for detecting axle load, controller and engineering machinery Download PDF

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Publication number
CN113865840B
CN113865840B CN202110968758.4A CN202110968758A CN113865840B CN 113865840 B CN113865840 B CN 113865840B CN 202110968758 A CN202110968758 A CN 202110968758A CN 113865840 B CN113865840 B CN 113865840B
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axle load
suspension
determining
absolute value
suspension bridge
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CN113865840A (en
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周丹
方杰平
刘刚
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Zoomlion Heavy Industry Science and Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The embodiment of the application provides a method for detecting axle load, a controller and engineering machinery. The method comprises the following steps: acquiring stress information of each suspension bridge; determining the pressure axle load of each suspension bridge according to the stress information; acquiring the horizontal state information of the whole engineering machinery, and determining a first inclination angle and a second inclination angle according to the horizontal state information; determining a tilt axle load correction coefficient according to the first tilt angle and the second tilt angle; determining a suspension axle load correction coefficient of each suspension bridge according to the position of a suspension oil cylinder of each suspension bridge; and determining the axle load corresponding to each suspension bridge according to the pressure axle load and the inclined axle load correction coefficient. According to the scheme, the correction coefficient is determined, and the axle load of the whole vehicle and each suspension bridge is detected in real time through the correction coefficient, so that the axle load can be detected in real time on a flat road surface or an undulating road surface or a ramp road surface, the axle load detection data can be more accurately determined, and the applicability of all road conditions is higher.

Description

Method for detecting axle load, controller and engineering machinery
Technical Field
The application relates to the technical field of large engineering machinery, in particular to a method for detecting axle load, a controller and engineering machinery.
Background
In the technical field of large-scale engineering machinery, along with the development of a crane market, the crane has more and more heavy-load transition driving, road conditions are usually complex in the transition process, the levelness of the whole crane and the suspension positions of bridges have great influence on the axle load distribution of the bridges, the vehicle is extremely easy to damage under severe working conditions such as heavy-load overspeed driving, and the like, and great potential safety hazards exist. In the existing axle load detection technology, the influence of the horizontal inclination of the frame on the axle load and the influence of the position of the suspension oil cylinder on the axle load are not considered, and the axle load detection technology cannot be applied to road conditions of undulating ground and ramp ground.
Disclosure of Invention
The embodiment of the application aims to provide a method, a controller and engineering machinery for detecting axle load.
In order to achieve the above object, a first aspect of the present application provides a method for detecting an axle load, the method being applied to a working machine, the working machine including a plurality of suspension bridges, the method including:
acquiring stress information of each suspension bridge;
determining the pressure axle load of each suspension bridge according to the stress information;
acquiring the horizontal state information of the whole engineering machinery, and determining a first inclination angle and a second inclination angle according to the horizontal state information;
determining a tilt axle load correction coefficient according to the first tilt angle and the second tilt angle;
and determining the corresponding axle load of each suspension bridge according to the pressure axle load and the tilt axle load correction coefficient.
In the embodiment of the application, the method further comprises the steps of determining the position of a suspension oil cylinder of each suspension bridge; determining a suspension axle load correction coefficient of each suspension bridge according to the position of a suspension oil cylinder of each suspension bridge;
in the embodiment of the application, the axle load corresponding to each suspension bridge is determined according to the pressure axle load and the suspension axle load correction coefficient, and or the axle load corresponding to each suspension bridge is determined according to the pressure axle load, the inclined axle load correction coefficient and the suspension axle load correction coefficient.
In the embodiment of the application, determining the axle load corresponding to each suspension bridge according to the pressure axle load, the inclination axle load correction coefficient and the suspension axle load correction coefficient comprises determining the axle load corresponding to each suspension bridge according to the formula (1):
Q x ＝a x *c x *F (1)
wherein Q x Axial load representing the x-th suspension bridge, a x The tilt axial load correction coefficient representing the x-th suspension bridge, c x And F represents the pressure axle load of the x-th suspension bridge.
In an embodiment of the present application, determining the tilt axle load correction factor according to the first tilt angle and the second tilt angle includes: determining the absolute value of the difference value between the first inclination angle and the first preset angle as a first absolute value; determining the absolute value of the difference value between the second inclination angle and the second preset angle as a second absolute value; and determining the inclination axis load correction coefficient as a first value under the condition that the first absolute value is smaller than the first angle threshold value and the second absolute value is smaller than the second angle threshold value.
In the embodiment of the present application, in the case where the first absolute value is greater than or equal to the first angle threshold and/or the second absolute value is greater than or equal to the second angle threshold, the tilt axis load correction coefficient is the sum of the product of the first absolute value and the first weight and the product of the second absolute value and the second weight.
In the embodiment of the present application, determining the suspension axle load correction coefficient of each suspension bridge according to the position of the suspension cylinder of each suspension bridge includes: determining the position of the suspension oil cylinder according to the position of the suspension oil cylinder; determining the absolute value of the difference value between the position and the preset hanging position as a third absolute value; and under the condition that the third absolute value is smaller than the preset suspension threshold value, determining that the suspension axle load correction coefficient is a second numerical value.
In the embodiment of the present application, in the case where the third absolute value is greater than or equal to the preset suspension threshold, the suspension axle load correction coefficient is a sum of a product of a square of the third absolute value and the second weight and a product of the third absolute value and the third weight.
In the embodiment of the application, before the stress information of each suspension bridge is obtained, the engineering machinery switch equipment is determined to be in the on state, and the chassis of the engineering machinery is determined to be electrified.
In the embodiment of the application, the whole vehicle weight of the engineering machinery is determined according to the axle load; and sending an alarm prompt when the weight of the whole vehicle is greater than a preset weight threshold value, and adjusting the driving gear of the engineering machinery to be an early warning gear so that the driving speed of the engineering machinery is less than the early warning speed.
A second aspect of the present application provides a controller configured to perform the above-described method for detecting an axle load.
A third aspect of the present application provides a construction machine comprising:
a plurality of suspension bridges; and
the controller configured to perform the method for detecting axle load is described above.
In an embodiment of the present application, the controller is further configured to: determining the whole vehicle weight of the engineering machinery according to the axle load; controlling the speed of the engineering machinery to be lower than the early warning speed and controlling the running gear of the engineering machinery to be lower than the early warning gear under the condition that the weight of the whole vehicle is larger than a preset weight threshold; the construction machine further comprises: the alarm equipment is used for sending out an alarm prompt; the alarm prompt comprises at least one of an axle load overrun alarm, a whole vehicle weight overrun alarm and an axle load and speed matching abnormity alarm.
In an embodiment of the present application, the construction machine further includes: and the display equipment is used for displaying the axle load weight of the whole vehicle and alarm prompt information.
In the embodiment of the application, the engineering machine is a crane.
According to the technical scheme, the correction coefficient is determined, and the axle load of the whole vehicle and each suspension bridge is detected through the correction coefficient, so that the axle load can be detected on a flat road surface or an undulating road surface or a ramp road surface, axle load detection data can be more accurately determined, and the method has the applicability of all road conditions.
Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the embodiments of the disclosure, but are not intended to limit the embodiments of the disclosure. In the drawings:
FIG. 1 schematically illustrates a flow diagram of a method for detecting axle load according to an embodiment of the present application;
FIG. 2 schematically illustrates a decision logic diagram of a method for detecting axle load according to an embodiment of the present application;
fig. 3 schematically shows a block diagram of a construction machine according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of 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 should be understood that the specific embodiments described herein are only used for illustrating and explaining the embodiments of the present application and are not used for limiting the embodiments of the present 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.
Fig. 1 schematically shows a flow chart of a method for detecting axle load according to an embodiment of the present application. FIG. 1 is a flowchart illustrating a file update method according to an embodiment. It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps. In one embodiment of the present application, as shown in fig. 1, there is provided a method for detecting an axle load, the method being applied to a working machine including a plurality of suspension bridges, the method including the steps of:
step 101, acquiring stress information of each suspension bridge.
And 102, determining the pressure axle load of each suspension bridge according to the stress information.
Step 103, acquiring the horizontal state information of the whole engineering machine, and determining a first inclination angle and a second inclination angle according to the horizontal state information.
And 104, determining a tilt axle load correction coefficient according to the first tilt angle and the second tilt angle.
And 105, determining the axle load corresponding to each suspension bridge according to the pressure axle load and the inclined axle load correction coefficient.
The engineering machinery comprises a plurality of suspension bridges, and in the driving process of the engineering machinery, the controller needs to detect the axle load of the suspension bridges, so that the condition that the axle load is over-limited in the driving process of the engineering machinery is avoided. Firstly, the controller receives the stress information of each suspension bridge determined by the sensor, and then determines the pressure axle load of each suspension bridge according to the stress information. The controller acquires the horizontal state information of the whole engineering machinery, and determines a first inclination angle and a second inclination angle according to the horizontal state information, wherein the horizontal state information refers to the angle information of the whole engineering machinery in the horizontal direction and the vertical direction. The processor determines a tilt axle load correction factor based on the first tilt angle and the second tilt angle. The processor can determine the axle load corresponding to each suspension bridge in real time according to the pressure axle load and the tilt axle load correction coefficient. The sensor may include a pressure detection sensor and a displacement detection sensor, among others.
In one embodiment, the method further comprises determining a suspension cylinder position for each suspension bridge; determining a suspension axle load correction coefficient of each suspension bridge according to the position of a suspension oil cylinder of each suspension bridge; in a specific embodiment, the axle load corresponding to each suspension bridge is determined according to the pressure axle load and the suspension axle load correction coefficient, and/or the axle load corresponding to each suspension bridge is determined according to the pressure axle load, the inclined axle load correction coefficient and the suspension axle load correction coefficient.
In one embodiment, determining the tilt axle load correction factor from the first tilt angle and the second tilt angle comprises: determining the absolute value of the difference value between the first inclination angle and the first preset angle as a first absolute value; determining the absolute value of the difference value between the second inclination angle and the second preset angle as a second absolute value; in the case that the first absolute value is smaller than the first angle threshold and the second absolute value is smaller than the second angle thresholdAnd determining the tilt axle load correction coefficient as a first value. In a specific embodiment, the first inclination angle X 1 At a first predetermined angle X 1 is provided with The absolute value of the difference of (a), i.e., the first absolute value = | X 1 -X 1 is provided with L. Second inclination angle Y 2 At a second predetermined angle Y 2 is provided with The absolute value of the difference of (a), i.e. the second absolute value = | Y 2 -Y 2 is provided with L. the method is used for the preparation of the medicament. At a first absolute value | X 1 -X 1 is provided with | is less than a first angle threshold, and a second absolute value | Y 2 -Y 2 is provided with Determining the inclined axle load correction coefficient a under the condition that | is less than a second angle threshold value X The first value a may be preset by a technician according to historical data or experience.
In one embodiment, the tilt axis load correction factor is the sum of the product of the first absolute value and the first weight and the product of the second absolute value and the second weight in the case where the first absolute value is greater than or equal to the first angle threshold and/or the second absolute value is greater than or equal to the second angle threshold. Specifically, at the first absolute value | X 1 -X 1 is provided with | is greater than or equal to a first angular threshold and/or a second absolute value | Y 2 -Y 2 is provided with The tilt axial load correction coefficient ax is a first absolute value | X | (when | is greater than or equal to a second angle threshold) 1 -X 1 is provided with The product of | and the first weight a1 and the second absolute value | Y 2 -Y 2 is provided with The sum of |, multiplied by the second weight b2, can be formulated as: a is X ＝a1*(|X 1 -X 1 is provided with |)+b1*(|Y 2 -Y 2 is provided with And | in this embodiment, the first weight a1 and the second weight a2 may be preset by a technician. Specifically, the first absolute value | X 1 -X 1 is provided with | is greater than or equal to a first angular threshold and/or a second absolute value | Y 2 -Y 2 is provided with The case where | is greater than or equal to the second angle threshold includes the following cases: 1) First absolute value | X 1 -X 1 is provided with | is greater than or equal to a first angle threshold, and a second absolute value | Y 2 -Y 2 is provided with | is less than a second angle threshold; 2) Second absolute value | Y 2 -Y 2 is provided with | is greater than or equal to the second angle threshold, and the first absolute value|X 1 -X 1 is provided with | is greater than or equal to a first angle threshold; 3) First absolute value | X 1 -X 1 is provided with | is greater than or equal to a first angle threshold, and a second absolute value | Y 2 -Y 2 is provided with | is greater than or equal to the second angle threshold.
In one embodiment, determining the suspension axle load correction factor of each suspension bridge according to the position of the suspension cylinder of each suspension bridge comprises: determining the real-time position of the suspension oil cylinder according to the position of the suspension oil cylinder; determining the absolute value of the difference value between the real-time position and the preset hanging position as a third absolute value; and under the condition that the third absolute value is smaller than the preset suspension threshold value, determining that the suspension axle load correction coefficient is a second numerical value. In a specific embodiment, the processor may determine the real-time position Zx of the suspension cylinder according to the position of the suspension cylinder, and determine the real-time position Zx and the preset suspension position Z x is provided with Is a third absolute value | Zx-Z x is provided with L. At a third absolute value of | Zx-Z x is provided with Under the condition that | is less than a preset suspension threshold value, the suspension axle load correction coefficient c can be determined X The second value c is also a second value, wherein the second value c can also be predetermined by a technician on the basis of historical data or empirical values.
In one embodiment, in the case where the third absolute value is greater than or equal to the preset suspension threshold, the suspension axle load correction coefficient is a sum of a product of a square of the third absolute value and the second weight and a product of the third absolute value and the third weight. Specifically, at the third absolute value | Zx-Z x is provided with Under the condition that | is greater than or equal to a preset suspension threshold value, the suspension axle load correction coefficient c X Is a third absolute value | Zx-Z x is provided with The product of the square of | and the second weight c1 and a third absolute value | Zx-Z x is provided with The sum of |, multiplied by the third weight c2, can be formulated as: c. C X ＝c1*(|Zx-Z x is provided with |) 2 +c2*(|Zx-Z x is provided with |), wherein the second weight c1 and the third weight c2 may be preset by a skilled person.
In one embodiment, determining the axle load corresponding to each suspension bridge in real time according to the pressure axle load, the tilt axle load correction factor and the suspension axle load correction factor comprises determining the axle load corresponding to each suspension bridge according to the formula (1):
Q x ＝a x *c x *F (1)
wherein Q is x Axial load representing the x-th suspension bridge, a x Represents the tilt axis load correction coefficient of the x-th suspension bridge, c x And F represents the pressure axle load of the x-th suspension bridge. The controller respectively determines the pressure axle load F and the inclined axle load correction coefficient a x Suspension axle load correction coefficient c x And (3) calculating the axle load corresponding to each suspension bridge through the formula (1).
In one embodiment, the axle load Q is based on x Determining the whole vehicle weight of the engineering machinery; and under the condition that the weight of the whole vehicle is greater than a preset weight threshold value, sending an alarm prompt, and adjusting the driving gear of the engineering machinery to be an early warning gear so as to enable the driving speed of the engineering machinery to be less than the early warning speed. And simultaneously, the controller displays the axle load, the whole vehicle weight and the alarm prompt information through a display device.
In one embodiment, as shown in fig. 2, fig. 2 schematically illustrates a schematic diagram of a determination logic of a method for detecting an axle load according to an embodiment of the present application. As shown in the figure:
before the controller acquires the stress information F of each suspension bridge, determining that the engineering machinery switch equipment is in an open state, and determining that a chassis of the engineering machinery is electrified; the controller receives information of the pressure detection sensor and the displacement detection sensor and determines stress information F of each suspension bridge; and determining the pressure axial load F of each suspension bridge according to the stress information F x (ii) a The controller receives and acquires the horizontal state information of the whole engineering machinery, and determines a first inclination angle X according to the horizontal state information 1 And a second inclination angle Y 2 。
At a first absolute value | X 1 -X 1 is provided with | is less than a first angle threshold, and a second absolute value | Y 2 -Y 2 is provided with Determining the inclined axle load correction coefficient a under the condition that I is less than the second angle threshold value x The first value a is a first value a which can be preset by a technician; at a first absolute value of | X 1 -X 1 is provided with | is greater than or equal to a first angular threshold and/or a second absolute value | Y 2 -Y 2 is provided with The tilt axle load correction coefficient a in the case where | is greater than or equal to the second angle threshold value x Is a first absolute value | X 1 -X 1 is provided with The product of | and the first weight a1 and the second absolute value | Y 2 -Y 2 is provided with The sum of |, multiplied by the second weight b2, may be expressed as the formula: a is x ＝a1*(|X 1 -X 1 is provided with |)+b1*(|Y 2 -Y 2 is provided with |), the first weight a1 and the second weight a2 can be preset by a technician, specifically, the first absolute value | X 1 -X 1 is provided with | is greater than or equal to a first angular threshold and/or a second absolute value | Y 2 -Y 2 is provided with The case where | is greater than or equal to the second angle threshold includes the following cases: 1) First absolute value | X 1 -X 1 is provided with | is greater than or equal to a first angle threshold, and a second absolute value | Y 2 -Y 2 is provided with | is less than a second angle threshold; 2) Second absolute value | Y 2 -Y 2 is provided with | is greater than or equal to a second angle threshold, and the first absolute value | X 1 -X 1 is provided with | is greater than or equal to a first angle threshold; 3) First absolute value | X 1 -X 1 is provided with | is greater than or equal to a first angle threshold, and a second absolute value | Y 2 -Y 2 is provided with | is greater than or equal to the second angle threshold.
After the inclination axle load correction coefficient is determined, the controller detects the position Zx of each bridge suspension oil cylinder through the suspension oil cylinder detection element and detects the position Zx of each bridge suspension oil cylinder at a third absolute value | Zx-Z x is provided with Determining the suspension axle load correction coefficient c under the condition that | is less than the preset suspension threshold value X The second value c is a second numerical value c which can be preset by a technician; at a third absolute value of | Zx-Z x is provided with Under the condition that | is greater than or equal to a preset suspension threshold value, the suspension axle load correction coefficient c X Is a third absolute value | Zx-Z x is provided with The product of the square of | and the second weight c1 and a third absolute value | Zx-Z x is provided with The sum of |, multiplied by the third weight c2, may be expressed as the formula: c. C X ＝c1*(|Zx-Z x is provided with |) 2 +c2*(|Zx-Z x is provided with |), the second weight c1 and the third weight c2 can be preset by a technician.
In determining the tilt axle load correction factor a X And suspension axle load correction factor c x Then, the axle load corresponding to each suspension bridge is determined by formula (1):
Q x ＝a x *c x *F (1)
wherein Q is x Axial load representing the x-th suspension bridge, a x Represents the tilt axis load correction coefficient of the x-th suspension bridge, c x And F represents the pressure axle load of the x-th suspension bridge. Controller according to Q x And calculating the weight of the whole axle load, sending an alarm prompt when the weight of the whole automobile is greater than a preset weight threshold value, and adjusting the driving gear of the engineering machinery to be an early warning gear so that the driving speed of the engineering machinery is less than the early warning speed. And simultaneously, the controller displays the axle load, the whole vehicle weight and the alarm prompt information through a display device.
According to the technical scheme, the correction coefficient is determined, and the axle load of the whole vehicle and each suspension bridge is detected in real time through the correction coefficient, so that the axle load can be detected in real time on a flat road surface or an undulating road surface or a ramp road surface, the axle load detection data can be determined more accurately, and the all-road-condition applicability is higher. In one embodiment, as shown in fig. 3, fig. 3 schematically shows a structural block diagram of a working machine 300 according to an embodiment of the present application, including:
a suspension bridge 301;
the alarm device 302 is used for sending out alarm prompts, wherein the alarm prompts comprise at least one of an axle load overrun alarm, a whole vehicle weight overrun alarm and an axle load and speed matching abnormity alarm;
the display device 303 is used for displaying the whole axle load weight and the alarm prompt information in real time;
a controller 304 configured to perform the above-described method for detecting axle load.
In one embodiment, the controller is further configured to: determining the whole vehicle weight of the engineering machinery according to the axle load; and under the condition that the weight of the whole vehicle is greater than a preset weight threshold value, controlling the speed of the engineering machinery to be smaller than the early warning speed, and controlling the driving gear of the engineering machinery to be smaller than the early warning gear.
The embodiment of the application provides a controller, wherein the controller is used for running a program, and the method for detecting the axle load is executed when the program runs.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. One or more than one kernel can be set, and the method for detecting the axle load is realized by adjusting kernel parameters.
The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
The embodiment of the application provides equipment, the equipment comprises a controller, a memory and a program which is stored on the memory and can run on the controller, and the following steps are realized when the controller executes the program: acquiring stress information of each suspension bridge; determining the pressure axle load of each suspension bridge according to the stress information; acquiring the horizontal state information of the whole engineering machinery, and determining a first inclination angle and a second inclination angle according to the horizontal state information; determining a tilt axle load correction coefficient according to the first tilt angle and the second tilt angle; determining a suspension axle load correction coefficient of each suspension bridge according to the position of a suspension oil cylinder of each suspension bridge; and determining the axle load corresponding to each suspension bridge in real time according to the pressure axle load, the inclined axle load correction coefficient and the suspension axle load correction coefficient.
In the embodiment of the application, the method further comprises the steps of determining the position of a suspension oil cylinder of each suspension bridge; determining a suspension axle load correction coefficient of each suspension bridge according to the position of a suspension oil cylinder of each suspension bridge;
in the embodiment of the application, the axle load corresponding to each suspension bridge is determined according to the pressure axle load and the suspension axle load correction coefficient, and or the axle load corresponding to each suspension bridge is determined according to the pressure axle load, the inclined axle load correction coefficient and the suspension axle load correction coefficient.
In the embodiment of the application, the real-time determination of the axle load corresponding to each suspension bridge according to the pressure axle load, the inclination axle load correction coefficient and the suspension axle load correction coefficient comprises the following steps of determining the axle load corresponding to each suspension bridge according to a formula (1):
Q x ＝a x *c x *F (1)
wherein Q is x Axial load representing the x-th suspension bridge, a x Represents the tilt axis load correction coefficient of the x-th suspension bridge, c x And F represents the pressure axle load of the x-th suspension bridge.
In an embodiment of the present application, determining the tilt axle load correction factor according to the first tilt angle and the second tilt angle includes: determining the absolute value of the difference value between the first inclination angle and the first preset angle as a first absolute value; determining the absolute value of the difference value between the second inclination angle and the second preset angle as a second absolute value; and determining the inclination axis load correction coefficient as a first value under the condition that the first absolute value is smaller than the first angle threshold value and the second absolute value is smaller than the second angle threshold value.
In the embodiment of the present application, in the case where the first absolute value is greater than or equal to the first angle threshold and/or the second absolute value is greater than or equal to the second angle threshold, the tilt axis load correction coefficient is the sum of the product of the first absolute value and the first weight and the product of the second absolute value and the second weight.
In the embodiment of the present application, determining the suspension axle load correction coefficient of each suspension bridge according to the position of the suspension cylinder of each suspension bridge includes: determining the real-time position of the suspension oil cylinder according to the position of the suspension oil cylinder; determining the absolute value of the difference value between the real-time position and the preset hanging position as a third absolute value; and under the condition that the third absolute value is smaller than a preset suspension threshold value, determining the suspension axle load correction coefficient as a second numerical value.
In the embodiment of the present application, in the case where the third absolute value is greater than or equal to the preset suspension threshold, the suspension axle load correction coefficient is a sum of a product of a square of the third absolute value and the second weight and a product of the third absolute value and the third weight.
In the embodiment of the application, before the stress information of each suspension bridge is acquired, it is determined that the engineering machinery switch device is in an on state, and the chassis of the engineering machinery is powered on.
In the embodiment of the application, the whole vehicle weight of the engineering machinery is determined according to the axle load; and under the condition that the weight of the whole vehicle is greater than a preset weight threshold value, sending an alarm prompt, and adjusting the driving gear of the engineering machinery to be an early warning gear so as to enable the driving speed of the engineering machinery to be less than the early warning speed.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims (14)

1. A method for detecting axle load, wherein the method is applied to a construction machine comprising a plurality of suspension bridges, the method comprising:
acquiring stress information of each suspension bridge;
determining the pressure axle load of each suspension bridge according to the stress information;
acquiring the horizontal state information of the whole engineering machinery, and determining a first inclination angle and a second inclination angle according to the horizontal state information, wherein the horizontal state information refers to the angle information of the whole engineering machinery in the horizontal direction and the vertical direction;
determining a tilt axle load correction coefficient according to the first tilt angle and the second tilt angle;
determining the axle load corresponding to each suspension bridge according to the pressure axle load and the inclined axle load correction coefficient;
wherein determining a tilt axle load correction factor from the first tilt angle and the second tilt angle comprises:
determining the absolute value of the difference value between the first inclination angle and a first preset angle as a first absolute value;
determining the absolute value of the difference value between the second inclination angle and a second preset angle as a second absolute value;
and under the condition that the first absolute value is smaller than a first angle threshold value and the second absolute value is smaller than a second angle threshold value, determining the inclination shaft load correction coefficient as a first numerical value.
2. The method of claim 1, further comprising:
determining the position of a suspension oil cylinder of each suspension bridge;
and determining the suspension axle load correction coefficient of each suspension bridge according to the position of the suspension oil cylinder of each suspension bridge.
3. The method of claim 2, further comprising:
and determining the axle load corresponding to each suspension bridge according to the pressure axle load and the suspension axle load correction coefficient, and/or determining the axle load corresponding to each suspension bridge according to the pressure axle load, the inclined axle load correction coefficient and the suspension axle load correction coefficient.
4. The method of claim 3, wherein determining the axle load for each suspension bridge based on the pressure axle load, the tilt axle load correction factor, and the suspension axle load correction factor comprises determining the axle load for each suspension bridge by equation (1):
Q x ＝a x *c x *F (1)
wherein Q is x Axial load representing the x-th suspension bridge, a x Represents the tilt axis load correction coefficient of the x-th suspension bridge, c x And F represents the pressure axle load of the x-th suspension bridge.
5. The method of claim 2, wherein determining the suspension axle load correction factor for each suspension bridge based on the suspension cylinder position for each suspension bridge comprises:
determining the absolute value of the difference value between the position of the suspension oil cylinder of each suspension bridge and the preset suspension position as a third absolute value;
and determining the suspension axle load correction coefficient as a second numerical value under the condition that the third absolute value is smaller than a preset suspension threshold value.
6. The method of claim 5, further comprising:
and when the third absolute value is greater than or equal to the preset suspension threshold, the suspension axle load correction coefficient is the sum of the product of the square of the third absolute value and a second weight and the product of the third absolute value and a third weight.
7. The method of claim 1, further comprising:
the tilt axis load correction coefficient is a sum of a product of the first absolute value and a first weight and a product of the second absolute value and a second weight in a case where the first absolute value is greater than or equal to the first angle threshold and/or the second absolute value is greater than or equal to the second angle threshold.
8. The method of claim 1, further comprising:
before the stress information of each suspension bridge is obtained, determining that the engineering machinery switch equipment is in an opening state, and determining that a chassis of the engineering machinery is electrified.
9. The method of claim 1, further comprising:
determining the whole vehicle weight of the engineering machinery according to the axle load;
and under the condition that the weight of the whole vehicle is greater than a preset weight threshold value, sending an alarm prompt, and adjusting the running gear of the engineering machinery to be an early warning gear so that the running speed of the engineering machinery is smaller than the early warning speed.
10. A controller configured to perform the method for detecting an axle load according to any one of claims 1 to 9.
11. A work machine, comprising:
a plurality of suspension bridges; and
the controller of claim 10.
12. The work machine of claim 11, wherein the controller is further configured to:
determining the whole vehicle weight of the engineering machinery according to the axle load;
under the condition that the weight of the whole vehicle is greater than a preset weight threshold value, controlling the speed of the engineering machinery to be smaller than an early warning speed, and controlling the driving gear of the engineering machinery to be smaller than an early warning gear;
the construction machine further includes:
the alarm device is used for sending out an alarm prompt under the condition that the weight of the whole vehicle is greater than a preset weight threshold value; the alarm prompt comprises at least one of an axle load overrun alarm, a whole vehicle weight overrun alarm and an axle load and speed matching abnormity alarm.
13. The work machine of claim 11, further comprising:
and the display equipment is used for displaying the axle load weight of the whole vehicle and the alarm prompt information.
14. A working machine according to any of claims 11-13, characterized in that the working machine is a crane.
CN202110968758.4A 2021-08-23 2021-08-23 Method for detecting axle load, controller and engineering machinery Active CN113865840B (en)

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CN102039791B (en) * 2010-06-13 2012-07-25 中联重科股份有限公司 Vehicle body dip angle adjusting unit, oil gas suspension mechanism and mobile crane
DE102012010248A1 (en) * 2012-05-24 2013-11-28 CES Containerhandling Equipment & Solutions GmbH Load handling vehicle e.g. reach stacker has load receiving unit fixed with hydraulically-adjustable load-bearing arm by joint, and weighing device that is arranged in hinge for determining weight distribution of suspended load
CN102785664B (en) * 2012-08-13 2016-01-20 徐州重型机械有限公司 Hoisting crane and the system and method travelled according to axle load control overloaded vehicle
CN104085804B (en) * 2014-07-17 2016-02-24 徐州重型机械有限公司 A kind of full Terrain Cranes and center of gravity control monitor unit thereof and method
CN104833519B (en) * 2014-12-22 2018-08-07 北汽福田汽车股份有限公司 Vehicle axle load determines method and device
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CN112976980B (en) * 2021-04-20 2022-07-08 中国北方车辆研究所 Multi-axis vehicle synchronous attitude and load distribution control method based on tilt angle sensor

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Application publication date: 20211231

Assignee: Hunan ZOOMLION Crawler Crane Co.,Ltd.

Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd.

Contract record no.: X2023980044887

Denomination of invention: Method, controller, and construction machinery for detecting axle load

Granted publication date: 20221118

License type: Common License

Record date: 20231030

Application publication date: 20211231

Assignee: Hunan Zoomlion engineering hoisting equipment Co.,Ltd.

Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd.

Contract record no.: X2023980044882

Denomination of invention: Method, controller, and construction machinery for detecting axle load

Granted publication date: 20221118

License type: Common License

Record date: 20231030

Application publication date: 20211231

Assignee: Zoomlion Heavy Industry Science and Technology Co.,Ltd.

Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd.

Contract record no.: X2023980044881

Denomination of invention: Method, controller, and construction machinery for detecting axle load

Granted publication date: 20221118

License type: Common License

Record date: 20231030