CN114323229A

CN114323229A - Engineering vehicle load measuring method, device and system and engineering vehicle

Info

Publication number: CN114323229A
Application number: CN202111478822.7A
Authority: CN
Inventors: 沈林强; 何军强; 初君; 季华; 刘沾林
Original assignee: Hangzhou Hopechart Iot Technology Co ltd
Current assignee: Hangzhou Hopechart Iot Technology Co ltd
Priority date: 2021-12-06
Filing date: 2021-12-06
Publication date: 2022-04-12
Anticipated expiration: 2041-12-06
Also published as: CN114323229B

Abstract

The invention provides a method, a device and a system for measuring the load of an engineering vehicle and the engineering vehicle, wherein the method comprises the following steps: acquiring acceleration information of a target driving beam acquired by a target sensor at the current moment; acquiring an angle change value of the target driving beam based on the acceleration information of the target driving beam at the current moment; acquiring a load value of the engineering vehicle at the current moment based on the angle change value of the target driving beam; the target driving beam is provided with one or more target sensors, and the number of the target driving beams can be one or more. The method, the device and the system for measuring the load of the engineering vehicle and the engineering vehicle are characterized in that the real-time acceleration information of the target driving beam is collected and processed to obtain the angle change value of the target driving beam, and the load value calculated by the angle change value of each target driving beam is used as the measuring result at the current moment, so that the measuring precision of the load of the engineering vehicle can be improved.

Description

Engineering vehicle load measuring method, device and system and engineering vehicle

Technical Field

The invention relates to the technical field of engineering vehicle detection, in particular to a method, a device and a system for measuring the load of an engineering vehicle and the engineering vehicle.

Background

Analysis shows that the damage degree of the engineering vehicle to the road and the bridge is increased geometrically along with the increase of the load value, the damage degree of over 10 percent of the trucks to the road is increased by 40 percent, and the damage to the road and the bridge causes destructive damage. Therefore, the overweight seriously damages public facilities such as roads, bridges and the like, and meanwhile, the tires of the engineering vehicles deform, the friction becomes large, the service life of the tires is shortened, and the tire burst accident is easy to happen. The braking performance of the engineering vehicle is reduced, and the braking distance is prolonged. The centrifugal force during turning is far higher than that of a common truck, the operation performance is influenced, the side turning is easy, the potential safety hazard of driving is increased, and the service life of the engineering vehicle is influenced. Particularly, as the investment of our country on infrastructure is getting larger and larger, the demand of the logistics transport vehicle mainly including the commercial vehicle is also increasing, so that some drivers can obtain more benefits at the same time cost, and the overload phenomenon often occurs, which causes serious influence on traffic safety.

The overweight early warning is very necessary for the commercial vehicle, and can detect the actual load condition in real time and reflect the actual load condition to a driver and law enforcement personnel, thereby effectively avoiding unnecessary potential safety hazards. The weighing method which is common at present is a weighing device which is formed by cascading strain gauges. However, this method is greatly affected by external factors, resulting in low accuracy of the acquired load value.

Disclosure of Invention

The invention provides a method, a device and a system for measuring the load of an engineering vehicle and the engineering vehicle, which are used for solving the defect that the accuracy of a measured load value is not high due to the fact that a weighing device in the prior art is influenced by external factors, and realizing the improvement of the measurement accuracy of the load value.

The invention provides a method for measuring the load of an engineering vehicle, which comprises the following steps:

acquiring acceleration information of a target driving beam acquired by a target sensor at the current moment;

acquiring an angle change value of the target driving beam based on the acceleration information of the target driving beam at the current moment;

acquiring a load value of the engineering vehicle at the current moment based on the angle change value of the target driving beam;

the target driving beam is provided with one or more target sensors, and the number of the target driving beams can be one or more.

According to the measuring method for the load of the engineering vehicle, the target driving beam comprises a longitudinal beam and two cross beams.

According to the method for measuring the load of the engineering vehicle, the step of acquiring the angle change value of the target driving beam based on the acceleration information of the target driving beam at the current moment comprises the following steps:

determining the running state of the engineering vehicle based on the acceleration information of the longitudinal beam at the current moment;

and under the condition that the running state meets a first preset condition, a first mathematical model is applied according to the acceleration information of the target driving beam at the current moment, and an angle change value of the target driving beam is generated.

According to the method for measuring the load of the engineering vehicle provided by the invention, after the operation state of the engineering vehicle is determined based on the acceleration information of the target driving beam at the current moment, the method further comprises the following steps: and under the condition that the running state meets a second preset condition, a second mathematical model is applied according to the acceleration information of the target driving beam at the current moment, and an angle change value of the target driving beam is generated.

According to the method for measuring the load of the engineering vehicle, the method for obtaining the load value of the engineering vehicle at the current moment based on the angle change value of the target driving beam comprises the following steps: carrying out weighting operation on the angle change value of each target driving beam and a target parameter to obtain the load value of the engineering vehicle at the current moment;

the target parameters comprise a weight corresponding to the target driving beam and a reference load value corresponding to the engineering vehicle, the weight corresponding to the longitudinal beam is a negative number, and the weight corresponding to the cross beam is a positive number.

According to the method for measuring the load of the engineering vehicle, after the load value of the engineering vehicle at the current moment is obtained, the method further comprises the following steps:

and when the load value of the engineering vehicle at the current moment is greater than a preset value, outputting an alarm signal.

The invention also provides a measuring device for the load of the engineering vehicle, which comprises:

the acquisition module is used for acquiring the acceleration information of the target driving beam acquired by the target sensor at the current moment;

the angle acquisition module is used for acquiring an angle change value of the target driving beam based on the acceleration information of the target driving beam at the current moment;

the load obtaining module is used for obtaining a load value of the engineering vehicle at the current moment based on the angle change value of the target driving beam;

According to the invention, the device for measuring the load of the engineering vehicle further comprises:

and the alarm module is used for outputting an alarm signal when the load value of the engineering vehicle at the current moment is greater than a preset value.

The invention also provides a measuring system for the load of the engineering vehicle, which comprises one or more measuring devices for the load of the engineering vehicle, and further comprises: a control terminal;

the measuring device of the engineering vehicle load is in communication connection with the control terminal through the load obtaining module;

the control terminal is used for receiving the load value of the engineering vehicle at the current moment, which is sent by the engineering vehicle load measuring device;

and sending out early warning information under the condition that the load value of the engineering vehicle at the current moment does not meet the target condition.

The invention provides a measuring system for the load of a construction vehicle, which further comprises: a display device and/or a voice broadcast device;

the measuring device of the load of the engineering vehicle is in communication connection with the display device through the load acquiring module and/or the alarm module;

the measuring device of the engineering vehicle load is in communication connection with the voice broadcasting device through the load obtaining module and/or the alarm module;

and the display device is used for receiving and displaying the load value and/or the alarm signal of the engineering vehicle at the current moment, which are sent by the engineering vehicle load metering device.

And the voice broadcasting device is used for receiving the current load value of the engineering vehicle and/or the alarm signal sent by the engineering vehicle load metering device and carrying out voice broadcasting.

The invention provides a measuring system for the load of an engineering vehicle, which further comprises a power supply device for supplying power.

The invention also provides a construction vehicle which comprises the measuring system for the load of the construction vehicle.

The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the method for measuring the load of the engineering vehicle.

The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when being executed by a processor, implements the steps of the method for measuring a load of a work vehicle as described in any one of the above.

The invention also provides a computer program product comprising a computer program, wherein the computer program is used for realizing the steps of the method for measuring the load of the engineering vehicle when being executed by a processor.

The method, the device and the system for measuring the load of the engineering vehicle and the engineering vehicle are characterized in that the real-time acceleration information of the target driving beam is collected and processed to obtain the angle change value of the target driving beam, and the load value calculated by the angle change value of each target driving beam is used as the measuring result at the current moment, so that the measuring precision of the load of the engineering vehicle can be improved.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for 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 those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a flow chart of a method for measuring the load of a construction vehicle, which is provided by the invention;

FIG. 2 is a schematic diagram of the distribution of target sensors on a target frame beam in the method for measuring the load of the engineering vehicle provided by the invention;

FIG. 3 is a schematic force diagram of a longitudinal beam in the measuring method for the load of the engineering vehicle provided by the invention;

FIG. 4 is a schematic structural diagram of a measuring device for measuring the load of a work vehicle, provided by the invention;

FIG. 5 is a schematic structural diagram of a measuring system for measuring the load of a work vehicle provided by the invention;

FIG. 6 is a schematic structural diagram of a work vehicle provided by the present disclosure;

fig. 7 is a schematic structural diagram of an electronic device provided by 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.

The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one.

It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The terms "comprises" and "comprising" indicate the presence of the described features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Fig. 1 is a schematic flow chart of a method for measuring a load of a construction vehicle provided by the invention. As shown in fig. 1, a method for measuring a load of a work vehicle according to an embodiment of the present invention includes: step 101, acquiring acceleration information of a target driving beam acquired by a target sensor at the current moment.

One or more target sensors are arranged on the target driving beam, and the number of the target driving beams can be one or more.

The main execution body of the method for measuring the load of the construction vehicle according to the embodiment of the present invention is a measuring device for the load of the construction vehicle.

The measuring device for the load of the engineering vehicle can be an independent individual or can be a part of a measuring system for the load of the engineering vehicle.

The objective frame beam is a main component which forms the chassis of the engineering vehicle. The target frame beams are used to support the entire weight of the upper car body and load and transfer the weight to the running gear through the upper and lower hubs. Illustratively, the target frame beam may include one or more of a center sill, a side sill, a bolster, and a cross member.

The target sensor is an acceleration sensor attached to the upper surface of the target frame beam. The target sensor is used for acquiring the acceleration values of the target frame beam at all times in the deformation movement process.

The embodiment of the present invention does not specifically limit the kind of the target sensor. For example, the target sensor may be a linear acceleration sensor, and the target sensor may also be an angular acceleration sensor.

Preferably, the target sensor is a three-axis acceleration sensor.

As the coordinate system of the target sensor is fixed on the target frame beam, the three-axis stationary coordinate system is introduced to acquire the motion attitude of the target frame beam.

The coordinate system takes the position of the target sensor on the surface of the target frame beam as a coordinate origin, and specifies that the positive direction of an X axis in three axes points to the north direction, the positive direction of a Y axis points to the sky direction and the positive direction of a Z axis points to the west direction.

Specifically, in step 101, the measuring device for the load of the engineering vehicle receives acceleration information about the target frame beam in its corresponding coordinate system at each time in a period of time from each target sensor.

Acceleration information, the acceleration components of the gantry beam under load pressure that occur in correspondence in the three axes of the coordinate system. Illustratively, the acceleration information includes an X-axis acceleration G_XAcceleration G of Y axis_YAnd Z-axis acceleration G_Z。

It is understood that the number of the target bridge and the target sensors is not particularly limited in the embodiments of the present invention.

For example, the target driving beam may be one of a center sill, a side sill, a bolster and a cross beam, and one or more sensors may be disposed on the target frame beam to obtain corresponding sensing data through one or more positions on the target frame beam, so as to represent an angle change value generated by deformation of the target frame beam at the corresponding position.

And 102, acquiring an angle change value of the target driving beam based on the acceleration information of the target driving beam at the current moment.

When the construction vehicle equipped with the measuring device for the construction vehicle load is empty on a horizontal road surface, each of the target frames is not deformed by an external force and is set to a reference state, that is, the triaxial acceleration of each position of each of the target frames is 0.

Specifically, in step 102, the measuring device for the load of the engineering vehicle measures the three-axis acceleration values G of each group corresponding to each target frame beam acquired in step 101_X、G_YAnd G_ZAnd performing relation conversion to obtain an angle change value of the deformation of the corresponding position of the target frame beam in comparison with the reference state under the action of the current stress of the target frame beam.

The embodiment of the present invention does not specifically limit the manner of relationship conversion.

Alternatively, the corresponding relationship between the three-axis acceleration and the angle change value may be preset in the measuring device of the load of the engineering vehicle.

E.g. G at a certain position of a certain gantry beam_X＝0、G_Y0 and G_ZIn the case of 3, the angle change value of the corresponding position is 15 °.

Optionally, the three-axis acceleration may be subjected to trigonometric function relationship conversion to obtain an angle change value.

E.g. G at a certain position of a certain gantry beam_X＝1、G_Y0 and G_ZIn the case of 3, the angle change value at the corresponding position is

And 103, acquiring the load value of the engineering vehicle at the current moment based on the angle change value of the target driving beam.

Specifically, in step 103, the measuring device of the engineering vehicle load can obtain the distribution of the engineering vehicle load according to the angle change value of each target frame beam deformed at each position obtained by conversion in step 102, and calculate the load value at the current moment according to the corresponding relationship between the angle change value of each target driving beam and the load under different load distribution conditions.

The method for determining the distribution of the load of the engineering vehicle in the embodiment of the present invention is not particularly limited.

Illustratively, the angle change values of the respective gantry beams are compared and judged.

For example, when the angle change value of each of the target frames is 15 °, it is described that the load of the construction vehicle is uniformly distributed.

Under the condition that the angle change values of the target frame beams have different values, the load of the engineering vehicle is not uniformly distributed.

Causes of uneven load distribution include, but are not limited to, mistakes in man-made loading processes, changes in load distribution during transportation, and uneven road surfaces.

The embodiment of the invention does not specifically limit the corresponding relation between the angle change value of each target driving beam and the load.

Alternatively, the corresponding relation between the angle change value and the weight value of the target cab beam can be preset in the measuring device of the engineering vehicle load.

For example, in the case where the load is uniformly distributed, the angle change value at each position of each frame member is 15 °, and the weight value corresponding to the angle change value is 500 kilograms (kg), so that the load value and the weight value of the construction vehicle at the present time are equal.

Under the condition of uneven distribution of the load, the angle change values of the frame beams at different positions are different, and the weight values corresponding to the angle values are subjected to weighted summation to obtain the condition that the load value and the weight value of the engineering vehicle at the current moment are equal.

It will be appreciated that, if described in the above step, the relationship between the angle change value and the weight value needs to be calibrated before step 103.

Preferably, in the measuring device for the engineering vehicle load, the weight value of the angle change value of each target cab beam in the whole load distribution can be preset according to the experience value of different types of engineering vehicles.

Namely, the angle change value of each target driving beam and the corresponding weight value can be directly weighted and summed, and the load value of the engineering vehicle at the current moment under different load distribution conditions is calculated.

In the prior art, a weight sensor is usually arranged below a load-carrying cargo compartment, and the method can cause damage to internal parts along with the increase of the service time, thereby degrading the metering precision.

In the embodiment of the invention, the three-axis acceleration value is utilized to convert the angle change value of the target frame beam, and the corresponding load value is calculated according to the angle change value. Compared with the traditional weight sensor, the target frame beam has certain rigidity and is not easy to damage, and the angle change value of the deformation of the target frame beam is converted according to the three-axis acceleration of the target frame beam and cannot be influenced by the damage of the surface of the target frame beam.

The embodiment of the invention acquires and processes the real-time acceleration information of the target driving beam to obtain the angle change value of the target driving beam, and the load value calculated by the angle change value of each target driving beam is used as the measurement result of the current moment, so that the measurement precision of the load of the engineering vehicle can be improved.

Based on the disclosure of any of the above embodiments, the target girder includes one longitudinal beam 210 and two cross beams 220.

Specifically, the target truck in the measuring device for the load of the engineering vehicle comprises a longitudinal beam 210 and a plurality of cross beams 220.

The longitudinal beam 210 is a middle beam of the vehicle chassis. The longitudinal beam 210 is used for installing a hook buffer device, can directly bear longitudinal acting force so as to deform under the longitudinal acting force, quantifies the stress condition of the longitudinal beam 210 through the correspondingly arranged three-axis acceleration sensor 230, and compensates the stress condition of a transverse axis.

The cross beam 220 refers to a cross beam of a vehicle underframe. The cross beam 220 is used for bearing the weight of the whole vehicle and directly bearing the load pressure, so that the cross shaft under the load pressure is deformed, the stress condition of the cross beam is quantified through the corresponding three-axis acceleration sensor 230 arranged on the cross beam 220, and the load condition of the whole vehicle is represented.

The number of the target frame beams and the arrangement condition of the sensors on each target beam are not particularly limited in the embodiment of the invention.

Preferably, the target truck in the measuring device for the load of the engineering vehicle comprises a longitudinal beam 210 and two cross beams 220. The sensor layout conditions corresponding to each target frame beam are as follows:

exemplarily, fig. 2 is a schematic distribution diagram of target sensors on a target frame beam in the method for measuring a load of a construction vehicle according to the present invention, and as shown in fig. 2, a three-axis acceleration sensor 230 is attached to a middle position of an upper surface of a longitudinal beam 210.

Three triaxial acceleration sensors 230 are respectively attached to the trisection positions of the upper surfaces of the two cross beams 220, and the total number of the three triaxial acceleration sensors is 5.

The embodiment of the invention is based on the fact that the target driving beam is set to be the longitudinal beam and the two cross beams, then real-time acceleration information of the longitudinal beam and the two cross beams is collected and processed, the angle change value of the target driving beam is obtained, and the load value calculated through the angle change value of each target driving beam is used as the measurement result at the current moment, so that the load bearing condition of the engineering vehicle can be better reflected, and the measurement precision of the load of the engineering vehicle is improved.

Based on the content of any one of the embodiments, the obtaining of the angle change value of the target driving beam based on the acceleration information of the target driving beam at the current moment includes: and determining the running state of the engineering vehicle based on the acceleration information of the longitudinal beam at the current moment.

Specifically, in step 102, the measuring device for the load of the work vehicle needs to determine the operation state of the work vehicle based on the information related to the vehicle.

The embodiment of the present invention does not specifically limit the information related to the vehicle.

For example, the measuring device for the load of the engineering vehicle CAN acquire the inclination angle information of the whole vehicle, which is acquired by an inclination angle sensor of the engineering vehicle, through a CAN bus.

And if the inclination angle information of the whole vehicle is judged to be within a certain angle range, determining that the running state of the engineering vehicle is an uphill slope.

And if the whole vehicle inclination angle information is judged to be in another angle range, determining that the running state of the engineering vehicle is downhill.

For example, the measuring device for the engineering vehicle load CAN acquire the whole vehicle acceleration information collected by an acceleration sensor of the engineering vehicle through a CAN bus, and make the whole vehicle acceleration information satisfy the following expression:

a2＝a1+gsinθ，

wherein a1 is the actual acceleration of the vehicle advancing calculated according to the vehicle running speed, a2 is the vehicle acceleration information collected by the acceleration sensor, g is the gravity acceleration, and theta is the slope angle of the running road surface of the vehicle.

Preferably, the measuring device for the load of the engineering vehicle determines a set of three-axis acceleration information collected by the sensor on the longitudinal beam 210 as the current operation state of the engineering vehicle.

And under the condition that the running state meets a first preset condition, a first mathematical model is applied according to the acceleration information of the target driving beam at the current moment to generate an angle change value of the target driving beam.

The first preset condition is a condition set for the triaxial acceleration according to the driving state of the work vehicle, which corresponds to the uphill/downhill change of the road surface.

The first preset condition is not particularly limited in the embodiment of the present invention.

Illustratively, the first preset condition may be a threshold angle of each axis from the reference position. Wherein, the included angles theta, psi, phi of the X-axis, the Y-axis and the Z-axis with the reference position respectively can be expressed as:

the first preset condition may be set to θ e [ -a, + a ], ψ ═ 0, Φ ═ 0, which means that the included angles between the Y axis and the Z axis and the reference state are both 0, and the included angle between the X axis and the reference state is within the range of [ -a, + a ], and it is determined that the operating state of the work vehicle is an up-down slope.

Specifically, the measuring device for the load of the engineering vehicle is compared with a first preset condition according to the triaxial acceleration information in the running state of the engineering vehicle.

If the triaxial acceleration information in the running state meets a first preset condition, that is, the current running state of the engineering vehicle is up and down slope is described, a first mathematical model is applied to calculation according to the acceleration information of each group of target driving beams at the current moment, and the angle change value of each target driving beam at each position is obtained.

The process of the angle change value of the target driving beam is not particularly limited in the embodiment of the invention.

Exemplarily, fig. 3 is a schematic force diagram of a longitudinal beam in the method for measuring the load of the engineering vehicle provided by the present invention, as shown in fig. 3. After the operating state of the engineering vehicle is determined to be an uphill slope or a downhill slope, taking the force applied by the longitudinal axis 210 in the operating state as an example, the process of acquiring the angle change value of the longitudinal beam 210 will be described:

each target sensor acts as a rigid body whose output is fixed, i.e., not positive or negative, with respect to the reference state. Therefore, the running state is divided into an ascending slope and a descending slope according to different positive and negative value conditions of the acceleration component of the X axis.

(1) When the horizontal road surface is empty, the longitudinal beam 210 may set the reference state of the coordinate system corresponding to the target sensor around the Y-axis, and use the right-hand screw rule (i.e., the direction of the thumb is the same as the direction of the Y-axis), so that the angle obtained by counterclockwise rotation of the four fingers is positive, and conversely, the angle obtained is negative.

(2) In the case of the longitudinal beam 210 ascending, G is a four-finger counterclockwise rotation in the overall sense_XThe first mathematical model corresponding to the angle change value α at 0 can be expressed as:

the angle variation α of the longitudinal beam 210 is a positive value.

(3) Similarly, when the longitudinal beam 210 is on an upward slope, the four fingers are integrally felt to rotate clockwise, so G_X< 0, where the first mathematical model corresponding to the angle change value α can be expressed as:

the angle variation value α of the longitudinal beam 210 is a negative value.

It will be appreciated that the remaining cross members 220 have each target sensor on the surface disposed in the same orientation as the sensors on the stringers 210. Therefore, five groups of three-axis acceleration values acquired by the five-way target sensor can be converted into five angle transformation values alpha through the first mathematical model respectively₁、α₂、α₃、α₄、α₅The value range of each angle transformation value is [ -180, +180 [ - ]]In degrees (°).

According to the method and the device, the operation state corresponding to the acceleration information based on the longitudinal beam is compared with the first preset condition, and under the condition that the operation state corresponds to the first preset condition, the acceleration information of each target driving beam is calculated by adopting the first mathematical model, so that the angle change value of each target driving beam is obtained. The three-axis acceleration can be converted into the corresponding angle change value under the condition of ascending and descending, so that the measuring precision of the load of the engineering vehicle is improved.

Based on the content of any one of the embodiments, after determining the operating state of the engineering vehicle based on the acceleration information of the target driving beam at the current moment, the method further includes: and under the condition that the running state meets a second preset condition, a second mathematical model is applied according to the acceleration information of the target driving beam at the current moment to generate an angle change value of the target driving beam.

The second preset condition is a condition set for the three-axis acceleration according to the running state of the work vehicle, where the left and right unevenness occurs on the road surface.

The second preset condition is not particularly limited in the embodiment of the present invention.

For example, the second preset condition may be set relatively based on the first preset condition, and may be set to θ ═ 0, ψ ∈ 0, Φ [ — b, + b ], that is, when the X-axis and the Y-axis are both 0 and the Z-axis is within the range of [ — b, + b ], the operating state of the work vehicle is determined to be left-right load imbalance.

Specifically, the measuring device for the load of the engineering vehicle is compared with a second preset condition according to the triaxial acceleration information in the running state of the engineering vehicle.

And if the triaxial acceleration information in the running state meets a second preset condition, namely the current running state of the engineering vehicle is that the left load and the right load are unbalanced, calculating by applying a second mathematical model according to the acceleration information of each group of target driving beams at the current moment, and acquiring the angle change value of each target driving beam at each position.

Illustratively, the operation state is divided into a left inclination and a right inclination according to different positive and negative values of the Z-axis acceleration component.

The second mathematical model, which corresponds to the angle change value α, can be expressed as:

wherein, when the vehicle body inclines to the left, the whole body feels that the four fingers rotate towards the counterclockwise direction, so G_Z> 0, corresponding to a positive value for the angular variation a.

When the vehicle body inclines to the right, the whole body feels that the four fingers rotate clockwise, so G_ZAnd < 0, the corresponding angle change value alpha is a negative value.

It can be understood that five groups of three-axis acceleration values acquired by the five-way target sensor can be converted into five angle transformation values alpha through the second mathematical model respectively₁、α₂、α₃、α₄、α₅The value range of each angle transformation value is [ -180, +180 [ - ]]In degrees (°).

According to the method and the device, the operation state corresponding to the acceleration information based on the longitudinal beam is compared with the second preset condition, and under the condition that the operation state corresponds to the second preset condition, the acceleration information of each target driving beam is calculated by adopting the second mathematical model, so that the angle change value of each target driving beam is obtained. The three-axis acceleration can be converted into corresponding angle change values under the condition of unbalanced left and right loads, so that the measuring precision of the load of the engineering vehicle is improved.

Based on the content of any one of the embodiments, the obtaining of the load value of the engineering vehicle at the current moment based on the angle change value of the target driving beam includes: and performing weighting operation based on the angle change value of each target driving beam and the target parameter to obtain the load value of the engineering vehicle at the current moment.

The target parameters comprise a weight corresponding to a target driving beam and a reference load value corresponding to the engineering vehicle, the weight corresponding to the longitudinal beam is a negative number, and the weight corresponding to the cross beam is a positive number.

Before step 103, different types of engineering vehicles need to be referred to, and target parameters corresponding to the engineering vehicles to be measured are acquired in advance according to a certain corresponding relationship.

The content included in the target parameter is not specifically limited in the embodiment of the present invention.

For example, the target parameter may comprise weight values corresponding to different angle change values.

Preferably, the target parameter may further include a reference load value of the engineering vehicle to be measured and weight values corresponding to different angle change values.

Since a certain angle error is generated in the process of obtaining the angle change value on the longitudinal beam 210, the angle change value of the longitudinal beam 210 is used as compensation for the angle change value of each cross beam 220, that is, a weight value corresponding to the angle change value of the longitudinal beam 210 is set as a negative value, a subtraction operation is performed, a weight value corresponding to the angle change value of the cross beam 220 is set as a positive value, and a summation operation is performed.

Specifically, in step 103, the measuring device for the load of the construction vehicle performs corresponding weighted summation according to the angle change value of each target cross member acquired in step 102 and the preset corresponding relationship between the angle change value and the target parameter, and calculates the load value of the construction vehicle at the current time.

The embodiment of the present invention does not specifically limit the calculation process of the load value.

Preferably, the calculation formula of the load value is as follows:

W＝|α₁|*k₁+|α₂|*k₂+|α₃|*k₃+|α₄|*k₄+|α₅|*k₅+b，

wherein alpha is₁、α₂、α₃、α₄、α₅The five angle transformation values are obtained by converting five groups of three-axis acceleration values acquired by five target sensors. k is a radical of₁、k₂、k₃、k₄、k₅Five weight values respectively corresponding to the five angle transformation values, and k₅If the sum is less than 0, the rest weighted values are more than 0. And b is a load reference value corresponding to the engineering vehicle.

According to the embodiment of the invention, the weighted summation is carried out on the angle change value of each target frame beam and the corresponding target parameter, and the calculated load value is used as the measurement result of the current moment, so that the measurement precision of the load of the engineering vehicle can be improved.

Based on the content of any one of the above embodiments, after obtaining the load value of the engineering vehicle at the current time, the method further includes: and when the load value of the engineering vehicle at the current moment is greater than a preset value, outputting an alarm signal.

Specifically, for any of the work vehicles, the load value at the present time of the work vehicle calculated by the work vehicle load measuring device through the above-described procedure is compared with a preset threshold value. The results of the comparison are two types: and comparing to be qualified and not to be qualified.

And unqualified comparison means that the calculated load value is greater than or equal to a preset threshold value, and the metering device of the engineering vehicle load sends out an alarm signal for prompting the overload of the engineering vehicle according to the unqualified comparison result. The alarm signal may be in the form of a text message, a buzzer, an LED indicator, or the like, and the form of the alarm signal is not particularly limited in the present invention.

For example, the alert signal may be content "alert! Currently overloaded "text message. The measuring device for the load of the engineering vehicle encapsulates the information and sends the information to a display device or a remote server in a communication mode of wireless communication technology (Wi-Fi).

And if the comparison is qualified, the calculated load value is smaller than a preset threshold value, and the result is a normal condition without alarming.

The embodiment of the invention compares the calculated load value with the preset load value, and warns the information which does not meet the preset load standard by an alarm signal under the condition that the comparison result is unqualified, namely the calculated value of the load value is greater than or equal to the preset value. Therefore, a complete information prompt system can be formed, whether the calculated load value meets the preset standard or not can be conveniently known in real time, and the measuring precision of the load of the engineering vehicle is improved.

Fig. 4 is a schematic structural diagram of a measuring device for measuring the load of a work vehicle provided by the invention. Based on the content of any of the above embodiments, as shown in fig. 4, the apparatus includes an acquisition module 410, an angle acquisition module 420, and a load acquisition module 430, where:

the acquisition module 410 is configured to acquire acceleration information of the target driving beam acquired by the target sensor at the current moment.

The angle obtaining module 420 is configured to obtain an angle change value of the target driving beam based on the acceleration information of the target driving beam at the current time.

And the load obtaining module 430 is configured to obtain a load value of the engineering vehicle at the current moment based on the angle change value of the target driving beam.

Specifically, the collection module 410, the angle acquisition module 420, and the load acquisition module 430 are electrically connected in sequence.

The acquisition module 410 receives acceleration information from each target sensor in a time period at each time with respect to the gantry beam in its corresponding coordinate system.

The angle obtaining module 420 obtains the respective sets of three-axis acceleration values G corresponding to each of the gantry beams acquired by the acquisition module 410_X、G_YAnd G_ZAnd performing relation conversion to obtain an angle change value of the deformation of the corresponding position of the target frame beam in comparison with the reference state under the action of the current stress of the target frame beam.

The load obtaining module 430 can obtain the distribution of the load of the engineering vehicle according to the angle change value of each target frame beam deformed at each position obtained by conversion of the angle obtaining module 420, and calculate the load value at the current moment according to the corresponding relationship between the angle change value of each target driving beam and the load under different load distribution conditions.

Optionally, the target ride includes one longitudinal beam and two transverse beams.

Optionally, the angle obtaining module 420 includes a state obtaining unit and a first angle obtaining unit, wherein:

and the state acquisition unit is used for determining the running state of the engineering vehicle based on the acceleration information of the longitudinal beam at the current moment.

And the first angle acquisition unit is used for applying a first mathematical model to generate an angle change value of the target driving beam according to the acceleration information of the target driving beam at the current moment under the condition that the running state meets a first preset condition.

Optionally, the angle obtaining module 420 further includes a second angle obtaining unit, wherein:

and the second angle acquisition unit is used for applying a second mathematical model to generate an angle change value of the target driving beam according to the acceleration information of the target driving beam at the current moment under the condition that the running state meets a second preset condition.

Optionally, the load obtaining module 430 is specifically configured to perform a weighting operation based on the angle change value of each target driving beam and a target parameter, and obtain a load value of the engineering vehicle at the current time.

The measuring device for the engineering vehicle load provided by the embodiment of the invention is used for executing the measuring method for the engineering vehicle load provided by the invention, the implementation mode of the measuring device is consistent with that of the measuring method for the engineering vehicle load provided by the invention, and the same beneficial effects can be achieved, and the description is omitted here.

Based on the content of any one of the above embodiments, the apparatus includes an alarm module, wherein:

Specifically, the alarm module compares the load value with a preset threshold value after the load value of the engineering vehicle at the current moment is calculated by the engineering vehicle load measuring device through the process for any engineering vehicle. The results of the comparison are two types: and comparing to be qualified and not to be qualified.

Fig. 5 is a schematic structural diagram of a measuring system for the load of a work vehicle provided by the invention. Based on the content of any one of the above embodiments, as shown in fig. 5, the system comprises one or more engineering vehicle load metering devices 510 and further comprises a control terminal 520.

The measuring device 510 for the load of the engineering vehicle is in communication connection with the control terminal 520 through the load obtaining module.

Specifically, the measuring devices 510 for the load of the construction vehicle provided on each construction vehicle are all connected with the control terminal 520 through the load acquiring module in each device in a communication manner, so that the system integration is performed in the remote control terminal 420 according to the measuring system for the load of the construction vehicle corresponding to each construction vehicle.

The communication connection method according to the embodiment of the present invention is not particularly limited.

Illustratively, the technologies applied by the communication connection mainly include Wi-Fi, 2/3/4/5G cellular communication technologies, etc., and this is not particularly limited by the embodiments of the present invention.

And the control terminal is used for receiving the load value of the engineering vehicle at the current moment, which is sent by the engineering vehicle load measuring device 510.

Specifically, the control terminal 520 receives the load value at the current moment transmitted by the measuring device 510 for the load of the engineering vehicle, and stores and records the load value in the local database of the control terminal 520.

The target condition is a condition set locally by the control terminal 520 for the overweight of the load value.

The target condition is not specifically limited in the embodiment of the present invention, and for example, the target condition may be a preset value related to the load value, and the target condition may also be a preset value range related to the load value.

Specifically, the control terminal 520 compares the received load value with the locally set target condition, and the comparison result is divided into a comparison pass and a comparison fail, where:

if the comparison is not qualified, the received load value does not meet the target condition, and the control terminal 520 sends early warning information for prompting that the corresponding engineering vehicle is overloaded.

And if the comparison is qualified, the received load value meets the target condition, and the result is a normal condition without early warning.

The measuring system for the engineering vehicle load provided by the embodiment of the invention is used for executing the measuring method for the engineering vehicle load provided by the invention, the implementation mode of the measuring system is consistent with that of the measuring method for the engineering vehicle load provided by the invention, and the same beneficial effects can be achieved, and the description is omitted here.

Based on the content of any of the above embodiments, the system further includes a display device 530 and/or a voice broadcasting device 540, wherein:

the measuring device 510 for the load of the engineering vehicle is in communication connection with the display device 530 through the load obtaining module and/or the alarm module.

Specifically, in the system 500 in the measuring system for the load of the work vehicle corresponding to each work vehicle, the measuring device 510 for the load of the work vehicle may be connected in communication with the display device 530.

The connection manner of the measuring device 510 for measuring the load of the engineering vehicle and the display device 530 is not particularly limited in the embodiment of the present invention.

Alternatively, the measuring device 510 for the load of the engineering vehicle may be connected in communication with the display device 530 through the load acquiring module.

Alternatively, the engineering vehicle load metering device 510 may be communicatively coupled to the display device 530 via an alarm module.

The measuring device 510 for the load of the engineering vehicle is in communication connection with the voice broadcasting device 540 through the load obtaining module and/or the alarm module.

Specifically, in the subsystem 500 in the measuring system for the load of the engineering vehicle corresponding to each engineering vehicle, the measuring device 510 for the load of the engineering vehicle may be in communication connection with the voice announcement device 540.

The connection mode of the measuring device 510 for measuring the load of the engineering vehicle and the voice announcement device 540 is not particularly limited in the embodiment of the present invention.

Alternatively, the measuring device 510 for the load of the engineering vehicle may be in communication connection with the voice broadcasting device 540 through the load acquiring module.

Alternatively, the measuring device 510 for measuring the load of the engineering vehicle may be in communication connection with the voice broadcasting device 540 through the alarm module.

And a display device 530 for receiving and displaying the load value and/or the alarm signal of the construction vehicle at the current time, which are transmitted by the measuring device 510 for measuring the load of the construction vehicle.

Specifically, the display device 530 receives the information transmitted from the measuring device 510 for measuring the load of the construction vehicle, and displays the information in real time on the display device 530.

The display content of the display device 530 is not particularly limited in the embodiment of the present invention.

Alternatively, the display device 530 may receive the load value information transmitted by the load obtaining module and display the load value information on the display device 530 in real time.

Alternatively, the display device 530 may receive the alarm signal transmitted by the alarm module and display the alarm signal on the display device 530 in real time.

And the voice broadcasting device 540 is used for receiving the load value and/or the alarm signal of the engineering vehicle at the current moment, which are sent by the engineering vehicle load metering device 510, and performing voice broadcasting.

Specifically, the voice broadcasting device 540 receives information transmitted by the measuring device 510 for measuring the load of the construction vehicle, and performs real-time voice broadcasting in the voice broadcasting device 540.

The broadcast content of the voice broadcast device 540 is not particularly limited in the embodiment of the present invention.

Optionally, the voice broadcasting device 540 may receive the load value information sent by the load obtaining module, and broadcast the load value information in real time at the voice broadcasting device 540.

Alternatively, the voice broadcasting device 540 may receive the alarm signal sent by the alarm module, and broadcast the alarm signal in real time at the voice broadcasting device 540.

The embodiment of the invention is based on the display device and the voice broadcasting device, and can improve the measurement precision and flexibility of the engineering vehicle load by displaying the related information by using external equipment.

Based on the content of any of the above embodiments, the system further comprises a power supply device 550 for supplying power.

Specifically, for the subsystem 500 in the measuring system of the load of the work vehicle corresponding to each work vehicle, the measuring device 510 of the load of the work vehicle may be connected to the power supply device 550, so that the power supply device 550 supplies power to devices with different operating voltages in the subsystem 500 in the measuring system of the load of the work vehicle.

The embodiment of the invention is based on the power supply device, and can improve the measuring precision of the load of the engineering vehicle by respectively supplying power to different devices in the system according to the corresponding working voltages.

Fig. 6 is a schematic structural diagram of the engineering vehicle provided by the invention. Based on the content of any one of the above embodiments, as shown in fig. 6, the work vehicle 600 includes the work vehicle load measuring system 500 as described above.

Specifically, the acceleration information of the target frame beam in the corresponding coordinate system is collected at each moment in a period of time according to the target sensors. Obtaining each group of triaxial acceleration values G corresponding to each target frame beam_X、G_YAnd G_ZAnd performing relation conversion to obtain an angle change value of the deformation of the corresponding position of the target frame beam in comparison with the reference state under the action of the current stress of the target frame beam. And calculating the load value at the current moment according to the corresponding relation between the angle change value of each target driving beam and the load.

Fig. 7 illustrates a physical structure diagram of an electronic device, and as shown in fig. 7, the electronic device may include: a processor (processor)710, a communication Interface (Communications Interface)720, a memory (memory)730, and a communication bus 740, wherein the processor 710, the communication Interface 720, and the memory 730 communicate with each other via the communication bus 740. Processor 710 may invoke logic instructions in memory 730 to perform a method of measuring a load of a work vehicle, the method comprising: acquiring acceleration information of a target driving beam acquired by a target sensor at the current moment; acquiring an angle change value of a target driving beam based on the acceleration information of the target driving beam at the current moment; acquiring a load value of the engineering vehicle at the current moment based on the angle change value of the target driving beam; one or more target sensors are arranged on the target driving beam, and the number of the target driving beams can be one or more.

In addition, the logic instructions in the memory 730 can 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 further provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer readable storage medium, when the computer program is executed by a processor, a computer can execute the method for measuring the load of a work vehicle provided by the above methods, and the method includes: acquiring acceleration information of a target driving beam acquired by a target sensor at the current moment; acquiring an angle change value of a target driving beam based on the acceleration information of the target driving beam at the current moment; acquiring a load value of the engineering vehicle at the current moment based on the angle change value of the target driving beam; one or more target sensors are arranged on the target driving beam, and the number of the target driving beams can be one or more.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the method for measuring the load of a work vehicle provided by the above methods, the method comprising: acquiring acceleration information of a target driving beam acquired by a target sensor at the current moment; acquiring an angle change value of a target driving beam based on the acceleration information of the target driving beam at the current moment; acquiring a load value of the engineering vehicle at the current moment based on the angle change value of the target driving beam; one or more target sensors are arranged on the target driving beam, and the number of the target driving beams can be one or more.

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

1. A method for measuring the load of a construction vehicle is characterized by comprising the following steps:

2. The method of claim 1, wherein the target cab comprises a longitudinal beam and two transverse beams.

3. The method for measuring the load of the engineering vehicle as claimed in claim 2, wherein the obtaining of the angle change value of the target driving beam based on the acceleration information of the target driving beam at the current moment comprises:

4. The method for measuring the load of the engineering vehicle as claimed in claim 3, wherein after determining the operation state of the engineering vehicle based on the acceleration information of the target driving beam at the current moment, the method further comprises: and under the condition that the running state meets a second preset condition, a second mathematical model is applied according to the acceleration information of the target driving beam at the current moment, and an angle change value of the target driving beam is generated.

5. The method for measuring the load of the engineering vehicle as claimed in claim 2, wherein the obtaining of the load value of the engineering vehicle at the current moment based on the angle change value of the target driving beam comprises: carrying out weighting operation on the angle change value of each target driving beam and a target parameter to obtain the load value of the engineering vehicle at the current moment;

6. The method for measuring the load of the engineering vehicle according to claim 1, wherein after the obtaining of the load value of the engineering vehicle at the current moment, the method further comprises:

7. A weighing device for engineering vehicles is characterized by comprising:

8. The apparatus of claim 7, further comprising:

9. A system for measuring the load of a work vehicle, comprising one or more devices for measuring the load of a work vehicle according to claim 8, characterized in that it further comprises: a control terminal;

10. The work vehicle load metering system of claim 9, further comprising: a display device and/or a voice broadcast device;

11. A work vehicle load metering system as claimed in claim 9 or 10 further comprising power supply means for supplying power.

12. A work vehicle comprising a work vehicle load metering system as claimed in claim 11.

13. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method for measuring the load of a work vehicle according to any one of claims 1 to 6 when executing the program.

14. A non-transitory computer readable storage medium, having a computer program stored thereon, wherein the computer program, when being executed by a processor, implements the steps of the method for measuring a load of a work vehicle according to any one of claims 1 to 6.

15. A computer program product comprising a computer program, wherein the computer program when executed by a processor implements the steps of a method for measuring work vehicle load as claimed in any one of claims 1 to 6.