CN114265907A - Method and device for estimating weight of mixer truck and mixer truck - Google Patents
Method and device for estimating weight of mixer truck and mixer truck Download PDFInfo
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Abstract
The invention provides a truck weight estimation method and device for a mixer truck and the mixer truck, wherein the method comprises the following steps: acquiring real-time power output by an upper motor in the running process of the mixer truck; and determining the vehicle weight corresponding to the real-time power based on a preset mapping relation between the vehicle weight and the power of the upper motor, and obtaining a vehicle weight estimation result of the mixer truck according to the vehicle weight corresponding to the real-time power. The invention realizes real-time on-site measurement of the vehicle weight.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a method and a device for estimating the weight of a mixer truck and the mixer truck.
Background
In the field of pure electric stirring vehicles, the cargo quality variation range of the vehicle is large, the operation road conditions are complex and changeable, the weight of the whole vehicle plays an important role in a driving control module and a braking control module of the vehicle, and therefore the corresponding vehicle weight detection function needs to be developed to realize real-time detection of the vehicle weight. In the prior art, the vehicle weight is estimated and measured by some external measuring equipment, such as a ground pump, etc., however, the method can only measure the vehicle weight in places with weighbridges, and has great limitations, and real-time and on-site measurement of the vehicle weight cannot be guaranteed.
Disclosure of Invention
The invention provides a method and a device for estimating the vehicle weight of a mixer truck and the mixer truck, which are used for solving the defect that the vehicle weight measurement in the prior art has larger limitation and realizing the real-time on-site measurement of the vehicle weight of the mixer truck.
The invention provides a method for estimating the weight of a mixer truck, which comprises the following steps:
acquiring real-time power output by an upper motor in the running process of the mixer truck;
and determining the vehicle weight corresponding to the real-time power based on a preset mapping relation between the vehicle weight and the power of the upper motor, and obtaining a vehicle weight estimation result of the mixer truck according to the vehicle weight corresponding to the real-time power.
According to the method for estimating the truck weight of the mixer truck, the method for acquiring the real-time power output by the upper motor in the running process of the mixer truck comprises the following steps:
acquiring first power data and second power data output by the upper motor; the first power data and the second power data are respectively obtained by calculating different parameters of the upper motor, and the first power data and the second power data are power output by the upper motor at the same moment;
detecting validity of the first power data by the second power data;
in response to detecting that the first power data is valid, treating the first power data as the real-time power.
According to the method for estimating the weight of the mixer truck, the method for detecting the validity of the first power data through the second power data comprises the following steps:
and calculating a difference value between the first power data and the second power data, and performing validity detection on the first power data based on a comparison result of the difference value and a preset threshold value.
According to the method for estimating the truck weight of the mixer truck, the method for acquiring the real-time power output by the upper motor in the running process of the mixer truck comprises the following steps:
identifying the working condition of the mixer truck, and generating a data acquisition instruction according to the working condition identification result of the mixer truck;
and responding to the generated data acquisition instruction, and acquiring real-time power output by an upper motor in the running process of the mixer truck.
According to the method for estimating the truck weight of the mixer truck, which is provided by the invention, the truck weight corresponding to the real-time power is determined based on the preset mapping relation between the truck weight and the power of the upper motor, and the method comprises the following steps:
correcting the real-time power;
and determining the vehicle weight corresponding to the real-time power after correction based on the preset mapping relation between the vehicle weight and the power of the upper motor.
According to the method for estimating the truck weight of the mixer truck, before determining the truck weight corresponding to the real-time power based on the preset mapping relation between the truck weight and the power of the upper motor, the method comprises the following steps:
and acquiring the power of the upper motor corresponding to different vehicle weights to form the mapping relation.
The invention also provides a truck weight pre-estimating device of the mixer truck, which comprises:
the data acquisition module is used for acquiring the real-time power output by the upper motor in the running process of the mixer truck;
and the vehicle weight obtaining module is used for determining the vehicle weight corresponding to the real-time power based on the mapping relation between the preset vehicle weight and the power of the upper motor, and obtaining the vehicle weight estimation result of the mixer truck according to the vehicle weight corresponding to the real-time power.
The present invention also provides a mixer truck comprising: the method comprises the steps of loading a motor and a control device, wherein the control device executes the method for estimating the weight of the stirring truck.
The invention also provides electronic equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the steps of the method for estimating the weight of the mixer truck.
The present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program that, when executed by a processor, performs the steps of the method for estimating a vehicle weight of a mixer vehicle as set forth in any of the above.
According to the method and the device for estimating the truck weight of the mixer truck and the mixer truck, the truck weight corresponding to the real-time power output by the upper motor in the running process of the mixer truck is determined according to the preset mapping relation between the truck weight and the power of the upper motor, the truck weight estimation result of the mixer truck can be obtained according to the truck weight corresponding to the real-time power, and the real-time on-site measurement of the truck weight of the mixer truck is realized without external measuring equipment.
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In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for estimating the truck weight of a truck mixer according to the present invention;
FIG. 2 is a schematic diagram illustrating a truck weight estimation method for a truck mixer according to the present invention;
FIG. 3 is a second schematic flow chart of the method for estimating the truck weight of the mixer truck according to the present invention;
FIG. 4 is a schematic structural diagram of a truck weight estimation device of a truck mixer according to the present invention;
fig. 5 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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 invention.
In the field of pure electric stirring vehicles, the cargo quality variation range of the vehicle is large, the operation road conditions are complex and changeable, the weight of the whole vehicle plays an important role in a driving control module and a braking control module of the vehicle, and therefore the corresponding vehicle weight detection function needs to be developed to realize real-time detection of the vehicle weight. In the prior art, the vehicle weight is estimated and measured by some external measuring equipment, such as a ground pump, etc., however, the method can only measure the vehicle weight in places with weighbridges, and has great limitations, and real-time and on-site measurement of the vehicle weight cannot be guaranteed.
To this end, the present invention provides a method for estimating vehicle weight of a mixer truck, and fig. 1 is a schematic flow chart of the method for estimating vehicle weight of a mixer truck provided by the present invention, as shown in fig. 1, the method includes:
s100, acquiring real-time power output by an upper motor in the running process of the mixer truck.
Specifically, the stirring vehicle adopts an electric stirring vehicle, the main energy source of the electric stirring vehicle is electric energy, and the upper motor is used for providing power for a stirring system in the stirring vehicle.
S200, determining the vehicle weight corresponding to the real-time power based on a preset mapping relation between the vehicle weight and the power of the upper motor, and obtaining a vehicle weight estimation result of the mixer truck according to the vehicle weight corresponding to the real-time power.
Specifically, in the running process of the mixer truck, energy is provided mainly through the upper motor, the energy output by the upper motor is converted into energy consumed in the working process of the upper mixing tank and mechanical loss, the mixing tank is used for loading materials, the more the weight (namely load weight) of the loaded materials is, the more the energy consumed by the upper motor is, and the mechanical loss can be ignored compared with the energy consumed by the mixing tank. In the whole process of vehicle weight estimation, only the real-time power output by the upper motor needs to be acquired, and external measuring equipment is not needed, so that the real-time on-site measurement of the vehicle weight is realized.
The mapping relation between the vehicle weight and the power of the upper-mounted motor can be stored through a vehicle weight-upper-mounted motor power mapping table. And in the vehicle weight estimation process, matching the real-time power with the power of the loading motor in the vehicle weight-loading motor power mapping table one by one, and taking the successfully matched power as the target power. Since the upper motor power in the vehicle weight-upper motor power mapping table is a discrete value, the real-time power may be the same as a certain upper motor power in the vehicle weight-upper motor power mapping table, or may be located between two upper motor powers, and thus, the number of the obtained target power is one or two. There are various methods for obtaining the vehicle weight estimation result according to the vehicle weight corresponding to the target power, for example, when the number of the target power is one, the vehicle weight corresponding to the target power is the current vehicle weight of the mixer vehicle; and under the condition that the number of the target power is two, the current vehicle weight of the mixer truck is obtained by adopting a linear interpolation mode.
In addition, the acceleration sensor is usually additionally arranged in the traditional method, and meanwhile, the corresponding model is developed by using the vehicle longitudinal dynamics formula to estimate the vehicle weight, however, for the pure electric commercial mixer vehicle, the acceleration sensor is additionally arranged, and the corresponding model is developed by using the vehicle longitudinal dynamics formula to estimate the vehicle weight, the vehicle weight can be estimated only in the vehicle running process, a convergence value can be obtained only in a certain operation time, the application process has great limitation, the calculation process is complex, and the timeliness of vehicle weight estimation cannot be guaranteed. According to the embodiment of the invention, the vehicle weight corresponding to the real-time power output by the upper motor in the running process of the mixer truck is determined through the preset mapping relation between the vehicle weight and the power of the upper motor, and the vehicle weight estimation result of the mixer truck can be obtained according to the vehicle weight corresponding to the real-time power, so that the limitation that the vehicle weight can be estimated only in the running process of the vehicle in the traditional method is overcome, the complex calculation is not needed, and the timeliness of the vehicle weight estimation is ensured.
Therefore, the embodiment of the invention determines the vehicle weight corresponding to the real-time power output by the upper motor in the running process of the mixer truck through the preset mapping relation between the vehicle weight and the power of the upper motor, and can obtain the vehicle weight estimation result of the mixer truck according to the vehicle weight corresponding to the real-time power, so that the real-time field measurement of the vehicle weight of the mixer truck is realized without external measuring equipment.
Based on above-mentioned embodiment, acquire the real-time power of the overhead motor output of trucd mixer operation in-process, include:
a data acquisition step: acquiring first power data and second power data output by the upper motor; the first power data and the second power data are respectively obtained by calculating different parameters of the upper motor, and the first power data and the second power data are power output by the upper motor at the same moment;
and (3) effectiveness detection: detecting validity of the first power data by the second power data;
a real-time power determining step: in response to detecting that the first power data is valid, treating the first power data as the real-time power.
Specifically, the first power data and the second power data output by the upper motor are respectively obtained by calculating different parameters of the upper motor, the specific parameters can be determined according to actual conditions, for example, the first power data can be obtained by calculating the output current I and the output voltage U of the upper motor, and the first power data P is obtained by calculating the output current I and the output voltage U of the upper motor1U x I; the second power data can be obtained by the rotation speed N and the torque T of the upper motor, P2T N/9545. In consideration of the fact that the deviation of the calculation result of the first power data and/or the second power data is caused by certain instability in the process of acquiring the motor parameter data, the embodiment of the invention can effectively ensure the accuracy of the acquired real-time power by detecting the effectiveness of the first power data through the second power data. Wherein the validity of the first power data is detected by the second power dataIn the process, if the detection result of the first power data is valid, the first power data is used as real-time power; and if the detection result of the first power data is invalid, repeating the data acquisition step and the validity detection step until the real-time power is obtained.
In addition, in the prior art, a measuring instrument is usually installed on a vehicle body to measure the vehicle weight, on one hand, for a host factory, the cost of the whole vehicle is increased due to the fact that the measuring instrument is additionally added, on the other hand, the wiring harness and the arrangement of the whole vehicle need to be changed, so that the limitation is large, and in addition, the measuring instrument needs to be calibrated regularly, so that the time cost and the labor cost are increased. In the calculation process of the first power data and the second power data, the required voltage, current, rotating speed and torque CAN be obtained through the CAN bus of the vehicle body, no additional measuring instrument is needed, the wiring harness and arrangement of the whole vehicle are not needed to be changed, and the procedure of calibrating the measuring instrument is saved, so that the cost of measuring the vehicle weight is effectively reduced, and the method and the device have strong universality.
Therefore, the first power data and the second power data output by the upper motor are obtained, the validity of the first power data is detected through the second power data, and when the first power data is detected to be valid, the first power data is used as real-time power, so that the accuracy and validity of the real-time power can be effectively guaranteed, and the accuracy of a vehicle weight estimation result is further guaranteed; meanwhile, the embodiment of the invention CAN obtain the parameter data required in the real-time power calculation process according to the CAN bus of the vehicle body without installing an additional measuring instrument, thereby effectively reducing the cost of vehicle weight measurement and having stronger universality.
Based on any embodiment, the detecting the validity of the first power data by the second power data includes:
and calculating a difference value between the first power data and the second power data, and performing validity detection on the first power data based on a comparison result of the difference value and a preset threshold value.
Specifically, the first power data and the second power data are the output power of the upper motor calculated in two different modes, so that the effectiveness of the first power data is detected through the second power data, the probability that the calculation result of the first power data deviates from the normal range can be effectively reduced, and the accuracy of the real-time power acquisition result is ensured. For example, a difference value between the first power data and the second power data may be calculated, if the difference value is greater than a preset threshold, it indicates that one or two data in the first power data and the second power data have a large deviation, and the validity detection result of the first power data is invalid, otherwise, the first power data is valid. The preset threshold value can be set according to actual precision requirements.
Therefore, the difference value between the first power data and the second power data is calculated, the validity detection result of the first power data is obtained by comparing the difference value with the preset threshold value, the calculation process is simple and convenient, and the accuracy and the validity of the first power data can be effectively guaranteed.
Based on any one of the above-mentioned embodiments, obtain the real-time power of the overhead motor output of trucd mixer operation in-process, include:
identifying the working condition of the mixer truck, and generating a data acquisition instruction according to the working condition identification result of the mixer truck;
and responding to the generated data acquisition instruction, and acquiring the real-time power output by the upper motor in the running process of the mixer truck.
Specifically, the working conditions of the mixer truck include various working conditions, such as mixing, feeding, discharging, speed regulation and the like, wherein under the working conditions of feeding, discharging and speed regulation, the output power of the motor fluctuates greatly, and the accuracy of a real-time power acquisition result cannot be guaranteed.
Therefore, in the embodiment of the invention, the working condition of the mixer truck is identified in the process of acquiring the real-time power output by the upper motor, the data acquisition instruction is generated according to the working condition identification result, and the real-time power is acquired in response to the data acquisition instruction, so that the accuracy and the effectiveness of the acquired real-time power can be effectively ensured, and a technical basis is provided for accurate estimation of the truck weight.
Based on any one of the above embodiments, determining the vehicle weight corresponding to the real-time power based on the preset mapping relationship between the vehicle weight and the power of the upper-mounted motor includes:
correcting the real-time power;
and determining the vehicle weight corresponding to the corrected real-time power based on the preset mapping relation between the vehicle weight and the power of the upper motor.
Specifically, since the output power of the upper motor is close to a sinusoidal curve, the validity of the measured output power at a certain time cannot be guaranteed, so that the embodiment of the invention also corrects the real-time power, and determines the vehicle weight corresponding to the corrected real-time power according to the preset mapping relationship between the vehicle weight and the power of the upper motor. For example, the accumulated energy consumption of the upper motor in a preset time period may be obtained, and the average power of the upper motor in the preset time period may be calculated according to the accumulated energy consumption to obtain the corrected power.
Therefore, the embodiment of the invention can effectively ensure the accuracy and the validity of the vehicle weight estimation result by correcting the real-time power and determining the vehicle weight corresponding to the corrected real-time power according to the preset mapping relation between the vehicle weight and the power of the upper motor.
Based on any one of the above embodiments, before determining the vehicle weight corresponding to the real-time power based on the preset mapping relationship between the vehicle weight and the power of the upper-mounted motor, the method includes:
and acquiring the power of the upper motor corresponding to different vehicle weights to form the mapping relation.
Specifically, in the process of constructing the mapping relationship between the vehicle weight and the power of the upper mounted motor, under the condition of different vehicle weights, the power output by the upper mounted motor is respectively obtained, the power of the upper mounted motor corresponding to the different vehicle weights is obtained, and then the mapping relationship between the vehicle weight and the power of the upper mounted motor is obtained. In the mapping relation, the distribution of the vehicle weight can be set according to the requirements of the vehicle weight estimation precision and the storage cost, and the denser the distribution is, the higher the vehicle weight estimation precision is, and the larger the storage cost is. In addition, because the power output by the upper motor is close to a sine curve, when the power output by the upper motor is obtained, the accumulated energy consumption of the upper motor in a preset time period is calculated to obtain the average power of the time period, and a mapping relation between the vehicle weight and the power of the upper motor is constructed according to the average power; wherein, the preset time period can be determined according to the actual output condition of the upper motor.
The method for estimating the truck weight of the mixer truck according to the present invention will be described in detail below with reference to a preferred embodiment. Fig. 2 is a schematic diagram illustrating the principle of the method for predicting the truck weight of the mixer truck according to the present invention, and as shown in fig. 2, the Vehicle weight of the mixer truck according to the present invention can be predicted by a Terminal Monitoring and Control Unit (TMCU), an upper controller, an upper switch, and a VCU (Vehicle Control Unit) of the mixer truck. The VCU receives a start/stop instruction sent by the upper-mounted switch, the start/stop instruction is used for controlling the start/stop of the upper-mounted motor, and the driving weight is estimated after the upper-mounted motor is started. In the process of estimating the vehicle weight, the VCU identifies the working conditions through the instruction sent by the upper loading controller, and under the working conditions of feeding, discharging and speed regulation, the output power of the upper loading motor is unstable, namely the power data output by the upper loading motor under the three conditions are invalid data; under a stable working condition, the VCU acquires the rotating speed, the torque, the voltage and the current of the upper motor through a CAN bus of the TMCU, calculates the real-time power P1 of the upper motor according to the acquired rotating speed, the torque, the voltage and the current, corrects the real-time power P1 to obtain a corrected power P2, traverses a vehicle weight-upper motor power mapping table (MAP) according to the corrected power P2 to obtain a target power and a vehicle weight M1 corresponding to the target power, and calculates a vehicle weight estimation result M2 according to the vehicle weight M1. And the VCU also confirms the vehicle weight state according to the working condition identification result and the vehicle weight estimation result M2 and outputs the vehicle weight state. Therefore, the vehicle weight estimation can be realized by carrying out software setting on the VCU, the cost of measuring equipment does not need to be additionally increased, and the wiring harness and the arrangement of the whole vehicle do not need to be changed.
As an optional manner, a flow of the method for estimating the truck weight of the mixer truck in the embodiment of the present invention is shown in fig. 3, and includes:
s310, electrifying the whole vehicle at high voltage;
s320, detecting whether the upper motor is started, if so, executing the step S330, otherwise, repeating the step S320;
s330, detecting whether the upper motor enters a stable working condition, if so, executing the step S340, otherwise, repeating the step S330; when the rotating speed of the upper motor is 500rpm +/-50 rpm, the upper motor is considered to enter a stable working condition;
s340, calculating the real-time power output by the current upper motor according to the parameter data output by the upper motor controller;
s350, correcting the real-time power output by the current upper motor to obtain corrected power;
s360, traversing a vehicle weight-upper mounted motor power mapping table according to the corrected power to obtain a vehicle weight estimation result;
s370, obtaining the current loading state of the mixer truck according to the vehicle weight estimation result, wherein the loading state comprises the following steps: no-load, half-load, standard load and overload.
The following describes the vehicle weight estimation device for a mixer truck according to the present invention, and the vehicle weight estimation device for a mixer truck described below and the vehicle weight estimation method for a mixer truck described above may be referred to each other. As shown in fig. 4, the apparatus includes:
the data acquisition module 410 is used for acquiring the real-time power output by the upper motor in the running process of the mixer truck;
the vehicle weight obtaining module 420 determines the vehicle weight corresponding to the real-time power based on a mapping relation between a preset vehicle weight and the power of the upper-mounted motor, and obtains a vehicle weight estimation result of the mixer vehicle according to the vehicle weight corresponding to the real-time power.
Based on the above embodiment, the method for acquiring the real-time power output by the upper motor in the operation process of the mixer truck by the data acquisition module 410 includes:
acquiring first power data and second power data output by the upper motor; the first power data and the second power data are respectively obtained by calculating different parameters of the upper motor, and the first power data and the second power data are power output by the upper motor at the same moment;
detecting validity of the first power data by the second power data;
in response to detecting that the first power data is valid, treating the first power data as the real-time power.
Based on any of the above embodiments, the method for the data obtaining module 410 to detect the validity of the first power data through the second power data includes:
and calculating a difference value between the first power data and the second power data, and performing validity detection on the first power data based on a comparison result of the difference value and a preset threshold value.
Based on any embodiment, the data obtaining module 410 obtains the real-time power output by the upper motor in the operation process of the mixer truck, and includes:
identifying the working condition of the mixer truck, and generating a data acquisition instruction according to the working condition identification result of the mixer truck;
and responding to the generated data acquisition instruction, and acquiring real-time power output by an upper motor in the running process of the mixer truck.
Based on any of the above embodiments, the determining, by the vehicle weight obtaining module 420, the vehicle weight corresponding to the real-time power based on a mapping relationship between a preset vehicle weight and the power of the upper mounted motor includes:
correcting the real-time power;
and determining the vehicle weight corresponding to the real-time power after correction based on the preset mapping relation between the vehicle weight and the power of the upper motor.
Based on any one of the above embodiments, the vehicle further comprises a table building module, which is used for collecting the power of the upper-mounted motor corresponding to different vehicle weights to form the mapping relation.
Based on any one of the above embodiments, the present invention provides a mixer truck, including: the motor and the control device are arranged on the vehicle, and the control device executes the vehicle weight estimation method of the mixer truck according to any one of the embodiments.
Specifically, the embodiment of the invention determines the vehicle weight corresponding to the real-time power output by the upper motor in the running process of the mixer truck through the preset mapping relation between the vehicle weight and the power of the upper motor, and can obtain the vehicle weight estimation result of the mixer truck according to the vehicle weight corresponding to the real-time power, so that the real-time field measurement of the vehicle weight of the mixer truck is realized without external measuring equipment.
Fig. 5 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 5: a processor (processor)510, a communication Interface (Communications Interface)520, a memory (memory)530 and a communication bus 540, wherein the processor 510, the communication Interface 520 and the memory 530 communicate with each other via the communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform a method for truck weight estimation, the method comprising: acquiring real-time power output by an upper motor in the running process of the mixer truck;
and determining the vehicle weight corresponding to the real-time power based on a preset mapping relation between the vehicle weight and the power of the upper motor, and obtaining a vehicle weight estimation result of the mixer truck according to the vehicle weight corresponding to the real-time power.
Furthermore, the logic instructions in the memory 530 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, which when executed by a computer, enable the computer to perform the method for estimating the vehicle weight of a mixer vehicle provided by the above methods, the method comprising: acquiring real-time power output by an upper motor in the running process of the mixer truck;
and determining the vehicle weight corresponding to the real-time power based on a preset mapping relation between the vehicle weight and the power of the upper motor, and obtaining a vehicle weight estimation result of the mixer truck according to the vehicle weight corresponding to the real-time power.
In yet another aspect, the present invention further provides a non-transitory computer readable storage medium having a computer program stored thereon, the computer program being implemented by a processor to perform the method for estimating the truck weight of the mixer truck provided in the above aspects, the method including: acquiring real-time power output by an upper motor in the running process of the mixer truck;
and determining the vehicle weight corresponding to the real-time power based on a preset mapping relation between the vehicle weight and the power of the upper motor, and obtaining a vehicle weight estimation result of the mixer truck according to the vehicle weight corresponding to the real-time power.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for estimating the weight of a mixer truck is characterized by comprising the following steps:
acquiring real-time power output by an upper motor in the running process of the mixer truck;
and determining the vehicle weight corresponding to the real-time power based on a preset mapping relation between the vehicle weight and the power of the upper motor, and obtaining a vehicle weight estimation result of the mixer truck according to the vehicle weight corresponding to the real-time power.
2. The method for estimating the weight of the mixer truck according to claim 1, wherein the obtaining of the real-time power output by the upper motor during the operation of the mixer truck comprises:
acquiring first power data and second power data output by the upper motor; the first power data and the second power data are respectively obtained by calculating different parameters of the upper motor, and the first power data and the second power data are power output by the upper motor at the same moment;
detecting validity of the first power data by the second power data;
in response to detecting that the first power data is valid, treating the first power data as the real-time power.
3. The method of claim 2, wherein the detecting the validity of the first power data by the second power data comprises:
and calculating a difference value between the first power data and the second power data, and performing validity detection on the first power data based on a comparison result of the difference value and a preset threshold value.
4. The method for estimating the weight of the mixer truck according to claim 1, wherein the obtaining of the real-time power output by the upper motor during the operation of the mixer truck comprises:
identifying the working condition of the mixer truck, and generating a data acquisition instruction according to the working condition identification result of the mixer truck;
and responding to the generated data acquisition instruction, and acquiring real-time power output by an upper motor in the running process of the mixer truck.
5. The method for estimating the vehicle weight of the mixer vehicle according to claim 1, wherein the determining the vehicle weight corresponding to the real-time power based on a preset mapping relationship between the vehicle weight and the power of an upper motor comprises:
correcting the real-time power;
and determining the vehicle weight corresponding to the real-time power after correction based on the preset mapping relation between the vehicle weight and the power of the upper motor.
6. The method for estimating the vehicle weight of the mixer vehicle according to claim 1, wherein before determining the vehicle weight corresponding to the real-time power based on a preset mapping relationship between the vehicle weight and the power of an upper-mounted motor, the method comprises:
and acquiring the power of the upper motor corresponding to different vehicle weights to form the mapping relation.
7. A weight estimation device for a mixer truck, comprising:
the data acquisition module is used for acquiring the real-time power output by the upper motor in the running process of the mixer truck;
and the vehicle weight obtaining module is used for determining the vehicle weight corresponding to the real-time power based on the mapping relation between the preset vehicle weight and the power of the upper motor, and obtaining the vehicle weight estimation result of the mixer truck according to the vehicle weight corresponding to the real-time power.
8. A mixer truck, comprising: a top-mounted motor and a control apparatus that executes the truck weight estimation method according to any one of claims 1 to 6.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of the method of estimating a truck weight of a mixer truck according to any of claims 1 to 6.
10. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of the method of estimating a weight of a mixer vehicle as set forth in any one of claims 1 to 6.
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