CN114323229B - Engineering vehicle load metering method, device and system and engineering vehicle - Google Patents
Engineering vehicle load metering method, device and system and engineering vehicle Download PDFInfo
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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 beam at the current moment acquired by a target sensor; acquiring an angle change value of the target beam based on acceleration information of the target 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 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. According to the method, the device and the system for measuring the load of the engineering vehicle, and the engineering vehicle, the angle change value of the target beam is obtained based on the acquisition and the processing of the real-time acceleration information of the target beam, and the load value calculated through the angle change value of each target beam is used as a measurement result at the current moment, so that the measuring precision of the load of the engineering vehicle can be improved.
Description
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 engineering vehicles to roads and bridges is geometrically multiplied along with the increase of load values, and the damage degree of trucks exceeding 10% to roads is increased by 40%, so that the structures of the roads and bridges are destructively damaged. Therefore, the overweight can seriously damage public facilities such as roads, bridges and the like, meanwhile, the tires of the engineering vehicle can deform, the friction can be increased, the service lives of the tires can be shortened, and tire burst accidents can easily occur. The braking performance of the engineering vehicle is reduced, and the braking distance is prolonged. Centrifugal force during turning is far higher than that of a common truck, so that the steering performance is influenced, rollover is easy to occur, the potential safety hazard of running is increased, and the service life of the engineering vehicle is influenced. Especially, as the investment of China to infrastructure is larger and larger, the demand of logistics transport vehicles mainly comprising commercial vehicles is also increasing, so that partial drivers can obtain more benefits at the same time cost, overload phenomenon often occurs, and serious influence is caused on traffic safety.
Overweight early warning is very necessary for commercial vehicles, and can detect actual load conditions in real time and reflect the actual load conditions to drivers and law enforcement officers, so that unnecessary potential safety hazards are effectively avoided. The weighing method commonly used at present is a weighing device consisting of strain gauge cascades. However, this method is greatly affected by external factors, resulting in low accuracy of the obtained 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 low due to the influence of external factors on a weighing device in the prior art and realizing the improvement of the measuring 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 beam at the current moment acquired by a target sensor;
acquiring an angle change value of the target beam based on acceleration information of the target 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 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.
According to the method for measuring the load of the engineering vehicle, the target beam comprises a longitudinal beam and two transverse beams.
According to the method for measuring the load of the engineering vehicle provided by the invention, the angle change value of the target beam is obtained based on the acceleration information of the target beam at the current moment, and the method 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 accords with a first preset condition, a first mathematical model is applied according to the acceleration information of the target beam at the current moment, and an angle change value of the target beam is generated.
According to the method for measuring the load of the engineering vehicle provided by the invention, after the running state of the engineering vehicle is determined based on the acceleration information of the target 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 beam at the current moment to generate an angle change value of the target beam.
According to the method for measuring the load of the engineering vehicle provided by the invention, the load value at the current moment of the engineering vehicle is obtained based on the angle change value of the target beam, and the method comprises the following steps: weighting operation is carried out based on the angle change value of each target beam and the target parameter, and a load value of the engineering vehicle at the current moment is obtained;
The target parameters comprise weights corresponding to the target beams and reference load values corresponding to the engineering vehicles, the weights corresponding to the longitudinal beams are negative numbers, and the weights corresponding to the cross beams are positive numbers.
According to the method for measuring the load of the engineering vehicle provided by the invention, after the load value of the engineering vehicle at the current moment is obtained, the method further comprises the following steps:
And outputting an alarm signal when the load value of the engineering vehicle at the current moment is larger than a preset value.
The invention also provides a device for measuring the load of the engineering vehicle, which comprises:
The acquisition module is used for acquiring the acceleration information of the target beam at the current moment acquired by the target sensor;
The angle acquisition module is used for acquiring an angle change value of the target beam based on acceleration information of the target beam at the current moment;
The load acquisition module is used for acquiring a load value of the engineering vehicle at the current moment based on the angle change value of the target 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.
According to the metering device for the load of the engineering vehicle, which is provided by the invention, the metering device 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 metering system of the engineering vehicle load, which comprises one or more metering devices of the engineering vehicle load, and further comprises: a control terminal;
the metering device of the engineering vehicle load is in communication connection with the control terminal through the load acquisition module;
the control terminal is used for receiving a load value of the engineering vehicle at the current moment sent by the engineering vehicle load metering 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 metering system for engineering vehicle load, which further comprises: a display device and/or a voice broadcast device;
the metering device of the engineering vehicle load is in communication connection with the display device through the load acquisition module and/or the alarm module;
The metering device of the engineering vehicle load is in communication connection with the voice broadcasting device through the load acquisition 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 sent by the engineering vehicle load metering device.
The voice broadcasting device is used for receiving the load value and/or the alarm signal of the engineering vehicle at the current moment sent by the engineering vehicle load metering device and carrying out voice broadcasting.
The invention provides a metering system for engineering vehicle load, which further comprises a power supply device for supplying power.
The invention also provides an engineering vehicle, which comprises the engineering vehicle load metering system.
The invention also provides an electronic device comprising 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 executed by a processor, implements the steps of the method of metering the load of an engineering vehicle as described in any of the above.
The invention also provides a computer program product comprising a computer program which, when executed by a processor, carries out the steps of a method of metering the load of an engineering vehicle as described in any one of the above.
According to the method, the device and the system for measuring the load of the engineering vehicle, and the engineering vehicle, the angle change value of the target beam is obtained based on the acquisition and the processing of the real-time acceleration information of the target beam, and the load value calculated through the angle change value of each target beam is used as a measurement 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 invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for measuring the load of an engineering vehicle;
FIG. 2 is a schematic diagram of the distribution of the target sensor on the target frame beam according to the method for measuring the load of the engineering vehicle;
FIG. 3 is a schematic diagram of the load of a stringer in the method for measuring the load of an engineering vehicle;
FIG. 4 is a schematic structural view of a load metering device for an engineering vehicle provided by the invention;
FIG. 5 is a schematic diagram of a load metering system for an engineering vehicle according to the present invention;
FIG. 6 is a schematic view of a construction vehicle provided by the present invention;
fig. 7 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type, and are not limited to the number of objects, such as the first object may be one or more.
It is to be understood that the terminology used in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification 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 stated 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 the load of an engineering vehicle. As shown in fig. 1, the method for measuring the load of the engineering vehicle provided by the embodiment of the invention includes: and 101, acquiring acceleration information of the target beam at the current moment acquired by the target sensor.
One or more target sensors are arranged on the target driving beams, and the number of the target driving beams can be one or more.
The execution main body of the method for measuring the load of the engineering vehicle provided by the embodiment of the invention is an engineering vehicle load measuring device.
The device for measuring the load of the engineering vehicle can be an independent body or part of a measuring system of the load of the engineering vehicle.
The target frame beam is a main component of a vehicle chassis of the engineering vehicle. The target frame beam is used for supporting the whole weight of the upper car body and the loaded objects, and the weight is transferred to the running part through the upper center plate and the lower center plate. Illustratively, the target frame beam may include one or more of a center sill, side sill, bolster and cross sill.
The target sensor is an acceleration sensor attached to the upper surface of the target frame beam. The target sensor is used for collecting acceleration values of the target frame beam at all moments in the movement process of deformation.
The kind of the target sensor is not particularly limited in the embodiment of the present invention. The target sensor may be a linear acceleration sensor, and the target sensor may be an angular acceleration sensor, for example.
Preferably, the target sensor is a three-axis acceleration sensor.
Since the coordinate system of the target sensor is fixed on the target frame beam, the motion attitude of the target frame beam is acquired by introducing a three-axis stationary coordinate system.
The coordinate system takes the position of the target sensor on the surface of the target girder as the origin of coordinates, and specifies that the positive X-axis direction points to north, the positive Y-axis direction points to the upward direction and the positive Z-axis direction points to west in three axes.
Specifically, in step 101, the weighing apparatus for the load of the engineering vehicle receives acceleration information about the target frame beam in its corresponding coordinate system acquired from each target sensor at each moment in time.
Acceleration information, and acceleration components generated in the three axes of the coordinate system under the load pressure are corresponding to the target girder. Illustratively, the acceleration information includes an X-axis acceleration G X, a Y-axis acceleration G Y, and a Z-axis acceleration G Z.
It will be appreciated that the number of target beams and target sensors in the embodiments of the present invention is not particularly limited.
The target beam may be one of a center beam, a side beam, a sleeper beam and a cross beam, and one or more sensors may be disposed on the target beam, so as to obtain corresponding sensing data through one or several positions on the target beam, and further characterize an angle change value generated by deformation of the target beam at the corresponding position.
Step 102, acquiring an angle change value of the target beam based on acceleration information of the target beam at the current moment.
When the construction vehicle to which the load measuring device for the construction vehicle is attached is idling on a horizontal road surface, each target frame beam is not deformed by an external force to a reference state, that is, the three-axis acceleration at each position of each target frame beam is 0.
Specifically, in step 102, the weighing device for the load of the engineering vehicle performs relationship conversion according to each set of triaxial acceleration values G X、GY and G Z corresponding to each target frame beam acquired in step 101, and obtains an angle change value of deformation at a corresponding position of the target frame beam corresponding to the target frame beam under the action of the current stress, in contrast to a reference state.
The manner of relationship conversion in the embodiment of the present invention is not particularly limited.
Alternatively, the correspondence between the triaxial acceleration and the angle change value may be preset in the metering device of the load of the engineering vehicle.
For example, in the case of G X＝0、GY =0 and G Z =3 at a certain position of a certain target frame beam, the angle change value at the corresponding position is 15 °.
Alternatively, the triaxial acceleration may be subjected to trigonometric relation conversion to obtain the angle change value.
For example, in the case of G X＝1、GY =0 and G Z =3 at a certain position of a certain target girder, the angle change value at the corresponding position is
And 103, acquiring a load value of the engineering vehicle at the current moment based on the angle change value of the target beam.
Specifically, in step 103, the device for measuring the load of the engineering vehicle can learn the distribution situation of the load of the engineering vehicle according to the angle change value of each target beam at each position, which is obtained by conversion in step 102, and calculate the load value at the current moment according to the corresponding relation between the angle change value of each target beam and the load under different load distribution situations.
The method for determining the load distribution condition of the engineering vehicle is not particularly limited.
Illustratively, the angle change values of the target frame beams are compared and judged.
For example, when the angle change value of each target frame beam is 15 °, it is indicated that the load of the working 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 unevenly distributed.
Causes of uneven load distribution include, but are not limited to, mistakes in the manual loading process, load distribution changes during transportation, and uneven road surfaces.
The corresponding relation between the angle change value of each target beam and the load is not particularly limited in the embodiment of the invention.
Alternatively, the corresponding relationship between the angle change value and the weight value of the target beam may be preset in the metering 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 beam is 15 °, and the weight value corresponding to the angle change value is 500 kilograms (kg), so the load value and the weight value of the working vehicle at the present time are equal.
Under the condition of non-uniform load distribution, the angle change values of the frame beams at different positions are different, and weight values corresponding to the angle values are weighted and summed to obtain the load value and the weight value of the engineering vehicle at the current moment.
It will be appreciated that if the above steps are described, the corresponding relationship between the angle change value and the weight value needs to be calibrated before step 103.
Preferably, in the engineering vehicle load metering device, the weight value occupied by the angle change value of each target beam in the whole load distribution can be preset according to the experience values of engineering vehicles of different models.
Namely, the angle change value of each target 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 can be calculated.
In the prior art, a weight sensor is usually arranged below a load cargo box, and as the using time is increased, internal parts are damaged, so that the metering accuracy is degraded.
The embodiment of the invention converts the angle change value of the target girder by using the triaxial acceleration value, and calculates the corresponding load value according to the angle change value. Compared with the traditional weight sensor, the target girder has certain rigidity, is not easy to damage, and the deformation angle change value is converted according to the three-axis acceleration, so that the influence of the damage of the surface of the target girder can be avoided.
According to the embodiment of the invention, based on the acquisition and processing of the real-time acceleration information of the target driving beams, the angle change value of the target driving beams is obtained, and the load value calculated through the angle change value of each target driving beam is used as the current metering result, so that the metering precision of the load of the engineering vehicle can be improved.
Based on any of the embodiments described above, the target drive beam includes one longitudinal beam 210 and two transverse beams 220.
Specifically, a target girder in a load weighing device of an engineering vehicle includes one girder 210 and a plurality of girders 220.
The side member 210 is a center sill of the underframe. The longitudinal beam 210 is used for installing a coupler buffer device, and can directly bear a longitudinal acting force, so that the longitudinal acting force is deformed, and the stress condition of the longitudinal beam 210 is quantized through the triaxial acceleration sensor 230 correspondingly arranged on the longitudinal beam 210 and is used for compensating the stress condition of a transverse shaft.
The cross member 220 refers to a cross member of a vehicle chassis. The cross beam 220 is used for bearing the weight of the whole vehicle, directly bearing the pressure of the load, so that the cross shaft is deformed under the load pressure, and the stress condition of the cross beam 220 is quantized through the corresponding triaxial acceleration sensor 230 arranged on the cross beam 220, so that 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.
Preferably, the target girder in the load weighing device of the construction vehicle comprises one girder 210 and two girders 220. The sensor arrangement conditions corresponding to each target frame beam are as follows:
fig. 2 is a schematic diagram illustrating the distribution of the target sensor on the target frame beam according to the method for measuring the load of the engineering vehicle, and as shown in fig. 2, a triaxial acceleration sensor 230 is attached to the middle position of the upper surface of the longitudinal beam 210.
Three-axis acceleration sensors 230 are attached to the upper surfaces of the two cross beams 220 at three-way positions, respectively, for a total of 5.
According to the embodiment of the invention, the target beam is set to be the longitudinal beam and the two transverse beams, so that real-time acceleration information of the longitudinal beam and the two transverse beams is acquired and processed, the angle change value of the target beam is obtained, and the load value calculated through the angle change value of each target beam is used as the metering result at the current moment, so that the load bearing condition of the engineering vehicle can be better reflected, and the metering precision of the load of the engineering vehicle is improved.
Based on the content of any one of the above embodiments, obtaining the angle change value of the target beam based on the acceleration information of the target beam at the current time 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 load weighing device of the working vehicle needs to determine the running state of the working vehicle based on the vehicle-related information.
The embodiment of the invention does not particularly limit the related information of the vehicle.
Illustratively, the metering device of the engineering vehicle load CAN acquire the whole vehicle inclination angle information acquired by the inclination angle sensor of the engineering vehicle through the CAN bus.
And if the inclination angle information of the whole vehicle is judged to be in a certain angle range, determining that the running state of the engineering vehicle is an ascending 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 a downhill slope.
The metering device for the load of the engineering vehicle CAN acquire the whole vehicle acceleration information acquired by the acceleration sensor of the engineering vehicle through the CAN bus, and enables the whole vehicle acceleration information to meet the following expression:
a2＝a1+gsinθ，
wherein a1 is the actual acceleration of the vehicle in advance calculated according to the running speed of the vehicle, a2 is the acceleration information of the whole vehicle acquired by an acceleration sensor, g is the gravitational acceleration, and θ is the slope angle of the running road surface of the vehicle.
And if the inclination angle information of the whole vehicle is judged to be in a certain angle range, determining that the running state of the engineering vehicle is an ascending 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 a downhill slope.
Preferably, the load measuring device of the engineering vehicle uses a set of triaxial acceleration information acquired by the sensor on the longitudinal beam 210 as the current running state of the engineering vehicle to determine.
And under the condition that the running state meets a first preset condition, applying a first mathematical model according to the acceleration information of the target beam at the current moment to generate an angle change value of the target beam.
The first preset condition is a condition that the triaxial acceleration is set according to that the running state of the engineering vehicle accords with the change of the road surface in an up-down slope.
The first preset condition is not particularly limited in the embodiment of the present invention.
For example, the first preset condition may be a threshold value of an angle between each axis and the reference position. Wherein, the included angles θ, ψ, Φ between the X-axis, Y-axis and Z-axis and the reference position can be expressed as:
The first preset condition may be set to θ e [ -a, +a ], ψ=0, and φ=0, which means that the included angles between the Y axis and the Z axis and the reference state are all 0, and the included angle between x and the reference state is within the range of [ -a, +a ], and the running state of the engineering vehicle is determined to be ascending and descending.
Specifically, the metering device of the engineering vehicle load compares the triaxial acceleration information in the running state with a first preset condition.
If the triaxial acceleration information in the running state meets a first preset condition, namely that the current running state of the engineering vehicle is an uphill slope and a downhill slope, calculating by applying a first mathematical model according to the acceleration information of each group of target girders at the current moment, and obtaining the angle change value of each target girder at each position.
The process of the angle change value of the target beam is not particularly limited in the embodiment of the invention.
Fig. 3 is a schematic diagram of stress of a longitudinal beam in the method for measuring the load of the engineering vehicle according to the present invention, as shown in fig. 3. After determining that the running state of the engineering vehicle is an uphill or downhill, taking the stress of the longitudinal axis 210 in this running state as an example, the process of obtaining the angle change value of the longitudinal beam 210 will be described:
each target sensor acts as a rigid body whose output is fixed relative to the reference state, i.e., non-positive or negative. Therefore, the running state is divided into an ascending slope and a descending slope according to different positive and negative values of the X-axis acceleration component.
(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 to be around the Y axis, and the angle obtained by rotating the four fingers counterclockwise is positive using the right-hand screw rule (i.e., the directions of the thumb and the Y axis are identical), otherwise, the angle obtained is negative.
(2) In the case of an uphill slope, G X > 0, since the whole is perceived as four fingers rotating counterclockwise, the first mathematical model corresponding to the angle change value α can be expressed as:
Wherein the angle change value α of the side member 210 is a positive value.
(3) Similarly, in the case of an upward slope, G X < 0, since the whole is perceived as four fingers rotating clockwise, the first mathematical model corresponding to the angle change value α can be expressed as:
wherein the angle change value α of the side member 210 is a negative value.
It will be appreciated that the remaining cross beams 220 have each target sensor on the surface disposed in the same orientation as the sensors on the stringers 210. Therefore, five groups of triaxial acceleration values acquired by the five paths of target sensors can be converted into five angle conversion values alpha 1、α2、α3、α4、α5 through a first mathematical model, wherein the value range of each angle conversion value is [ -180, +180], and the unit is degree (°).
The embodiment of the invention compares the running state corresponding to the acceleration information of the longitudinal beam with a first preset condition, and calculates the acceleration information of each target beam by adopting a first mathematical model under the condition that the running state meets the condition, so as to obtain the angle change value of each target beam. The triaxial acceleration can be converted into a corresponding angle change value under the condition of ascending and descending slopes, so that the metering accuracy of the load of the engineering vehicle is improved.
Based on the foregoing any one of the embodiments, after determining the running state of the engineering vehicle based on the acceleration information of the target beam at the current time, the method further includes: and under the condition that the running state meets a second preset condition, applying a second mathematical model according to the acceleration information of the target beam at the current moment to generate an angle change value of the target beam.
The second preset condition is a condition set for the triaxial acceleration according to the running state of the working vehicle conforming to the uneven 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, Φe [ -b, +b ], that is, it is stated that the angles between the X axis and the Y axis and the reference state are both 0, and the angles between z and the reference state are within the range of [ -b, +b ], and it is determined that the running state of the engineering vehicle is unbalanced left and right.
Specifically, the metering device of the engineering vehicle load compares the triaxial acceleration information in the running state with the second preset condition.
If the triaxial acceleration information in the running state meets a second preset condition, namely that the current running state of the engineering vehicle is left-right load imbalance, calculating by applying a second mathematical model according to the acceleration information of each group of the target driving beams at the current moment, and obtaining the angle change value of each target driving beam at each position.
The process of the angle change value of the target beam is not particularly limited in the embodiment of the invention.
The operating states are illustratively divided into a leftward tilt and a rightward tilt according to the different positive and negative values of the Z-axis acceleration component.
The second mathematical model corresponding to the angle change value α can be expressed as:
When the vehicle body tilts leftwards, the whole body is perceived as four fingers rotating anticlockwise, so G Z is more than 0, and the corresponding angle change value alpha is a positive value.
When the car body tilts rightwards, the whole body is perceived as four fingers rotating clockwise, so G Z is smaller than 0, and the corresponding angle change value alpha is a negative value.
It can be understood that five sets of triaxial acceleration values obtained by the five target sensors can be converted into five angle conversion values α 1、α2、α3、α4、α5 through the second mathematical model, and the range of each angle conversion value is [ -180, +180], with the unit being degrees (°).
The embodiment of the invention compares the running state corresponding to the acceleration information of the longitudinal beam with a second preset condition, and calculates the acceleration information of each target beam by adopting a second mathematical model under the condition that the running state meets the condition, so as to obtain the angle change value of each target beam. The triaxial acceleration can be converted into a corresponding angle change value under the condition of unbalanced left and right loads, so that the metering accuracy of the load of the engineering vehicle is improved.
Based on the foregoing in any one of the embodiments, obtaining a load value of the engineering vehicle at a current time based on the angle change value of the target beam includes: and carrying out weighted operation based on the angle change value of each target 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 the target 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 transverse beam is a positive number.
Before step 103, it is necessary to refer to different types of engineering vehicles, and obtain, in advance, target parameters corresponding to the engineering vehicle to be metered according to a certain correspondence.
The content included in the target parameter in the embodiment of the present invention is not particularly limited.
For example, the target parameter may comprise weight values corresponding to different angle change values.
Preferably, the target parameter may also be a reference load value of the engineering vehicle to be metered, and a weight value corresponding to the different angle change values.
Since a certain angle error occurs in the longitudinal beam 210 during the process of obtaining the angle change value, the angle change value of the longitudinal beam 210 is used as the compensation of the angle change value of each transverse beam 220, that is, the weight value corresponding to the angle change value of the longitudinal beam 210 is set as a negative value, the difference operation is performed, the weight value corresponding to the angle change value of the transverse beam 220 is set as a positive value, and the addition operation is performed.
Specifically, in step 103, the load measuring device for the engineering vehicle performs corresponding weighted summation according to the angle change value of each target beam obtained in step 102 and according to the preset corresponding relation between the angle change value and the target parameter, and calculates the load value at the current moment of the engineering vehicle.
The embodiment of the invention does not limit the calculation process of the load value in detail.
Preferably, the calculation formula of the load value is as follows:
W＝|α1|*k1+|α2|*k2+|α3|*k3+|α4|*k4+|α5|*k5+b,
The alpha 1、α2、α3、α4、α5 is five angle transformation values obtained by converting five groups of triaxial acceleration values obtained by the five paths of target sensors respectively. k 1、k2、k3、k4、k5 is five weight values corresponding to the five angle transformation values respectively, and k 5 is less than 0, and the rest weight values are greater than 0.b is a load reference value corresponding to the construction 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 current metering result, so that the metering precision of the load of the engineering vehicle can be improved.
Based on the foregoing any one of the embodiments, after acquiring the load value of the engineering vehicle at the current moment, the method further includes: and outputting an alarm signal when the load value of the engineering vehicle at the current moment is larger than a preset value.
Specifically, for any engineering vehicle, the load value of the engineering vehicle at the current moment is calculated by the load measuring device of the engineering vehicle through the flow, and then the load value is compared with a preset threshold value. The comparison results are two types: and the comparison is qualified and the comparison is unqualified.
And the unqualified comparison means that the calculated load value is greater than or equal to a preset threshold value, and the metering device of the load of the engineering vehicle sends out an alarm signal for prompting overload of the engineering vehicle according to the unqualified comparison result. The alarm signal can be in the form of text information, a buzzer or an LED indicator lamp, and the like, and the form of the alarm signal is not particularly limited.
For example, the alert signal may be a content of "alert-! Text information that is currently overloaded ". The weighing device for the load of the engineering vehicle encapsulates the information and sends the information to the display equipment or the remote server in a communication mode of a 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 normal without warning.
The embodiment of the invention compares the calculated load value with the preset load value, and warns the information which does not accord with the preset load standard by using an alarm signal under the condition that the comparison result is unqualified, namely, the calculated value of the load value is larger than or equal to the preset value. Therefore, a complete information prompt system can be formed, whether the calculated load value accords with a preset standard or not can be conveniently known in real time, and the metering accuracy of the load of the engineering vehicle is improved.
Fig. 4 is a schematic structural view of a load weighing device for an engineering vehicle according to the present invention. Based on the foregoing description of any embodiment, as shown in fig. 4, the apparatus includes an acquisition module 410, an angle acquisition module 420, and a load acquisition module 430, where:
and the acquisition module 410 is used for acquiring the acceleration information of the target beam at the current moment acquired by the target sensor.
The angle obtaining module 420 is configured to obtain an angle change value of the target beam based on acceleration information of the target beam at a current time.
The load obtaining module 430 is configured to obtain a load value of the engineering vehicle at a current moment based on the angle change value of the target beam.
One or more target sensors are arranged on the target driving beams, and the number of the target driving beams can be one or more.
Specifically, the acquisition module 410, the angle acquisition module 420, and the load acquisition module 430 are electrically connected in sequence.
The acquisition module 410 receives acquired acceleration information from each target sensor at each time instant over a period of time about the target frame beam in its corresponding coordinate system.
Acceleration information, and acceleration components generated in the three axes of the coordinate system under the load pressure are corresponding to the target girder. Illustratively, the acceleration information includes an X-axis acceleration G X, a Y-axis acceleration G Y, and a Z-axis acceleration G Z.
The angle obtaining module 420 performs relationship conversion according to the three-axis acceleration values G X、GY and G Z corresponding to each target frame beam collected by the collecting module 410, and obtains an angle change value of deformation at a corresponding position of the target frame beam corresponding to the target frame beam under the action of the current stress, in contrast to a reference state.
The load acquisition module 430 can learn the load distribution situation of the engineering vehicle according to the angle change value of each target beam at each position, which is obtained by conversion of the angle acquisition module 420, and calculate the load value at the current moment according to the corresponding relation between the angle change value of each target beam and the load under different load distribution situations.
Optionally, the target beam comprises one longitudinal beam and two transverse beams.
Optionally, the angle acquisition module 420 includes a state acquisition unit and a first angle acquisition unit, where:
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.
The first angle acquisition unit is used for generating an angle change value of the target beam according to the acceleration information of the target beam at the current moment by applying a first mathematical model under the condition that the running state meets a first preset condition.
Optionally, the angle acquisition module 420 further includes a second angle acquisition unit, wherein:
The second angle acquisition unit is used for generating an angle change value of the target beam by applying a second mathematical model according to the acceleration information of the target 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 weighted operation based on the angle change value of each target beam and the target parameter, so as to obtain a load value of the engineering vehicle at the current moment.
The target parameters comprise a weight corresponding to the target 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 transverse beam is a positive number.
The device for measuring the load of the engineering vehicle provided by the embodiment of the invention is used for executing the method for measuring the load of the engineering vehicle, the implementation mode of the device is consistent with the implementation mode of the method for measuring the load of the engineering vehicle provided by the invention, and the same beneficial effects can be achieved, and the description is omitted here.
According to the embodiment of the invention, based on the acquisition and processing of the real-time acceleration information of the target driving beams, the angle change value of the target driving beams is obtained, and the load value calculated through the angle change value of each target driving beam is used as the current metering result, so that the metering precision of the load of the engineering vehicle can be improved.
Based on any of the above embodiments, the apparatus includes an alert module, wherein:
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.
Specifically, for any engineering vehicle, 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 metering device through the flow. The comparison results are two types: and the comparison is qualified and the comparison is unqualified.
And the unqualified comparison means that the calculated load value is greater than or equal to a preset threshold value, and the metering device of the load of the engineering vehicle sends out an alarm signal for prompting overload of the engineering vehicle according to the unqualified comparison result. The alarm signal can be in the form of text information, a buzzer or an LED indicator lamp, and the like, and the form of the alarm signal is not particularly limited.
And if the comparison is qualified, the calculated load value is smaller than a preset threshold value, and the result is normal without warning.
The device for measuring the load of the engineering vehicle provided by the embodiment of the invention is used for executing the method for measuring the load of the engineering vehicle, the implementation mode of the device is consistent with the implementation mode of the method for measuring the load of the engineering vehicle provided by the invention, and the same beneficial effects can be achieved, and the description is omitted here.
The embodiment of the invention compares the calculated load value with the preset load value, and warns the information which does not accord with the preset load standard by using an alarm signal under the condition that the comparison result is unqualified, namely, the calculated value of the load value is larger than or equal to the preset value. Therefore, a complete information prompt system can be formed, whether the calculated load value accords with a preset standard or not can be conveniently known in real time, and the metering accuracy of the load of the engineering vehicle is improved.
Fig. 5 is a schematic structural diagram of a load metering system for an engineering vehicle. Based on any of the above embodiments, as shown in fig. 5, the system includes one or more load metering devices 510 for the work vehicle, and a control terminal 520.
The load weighing device 510 for the engineering vehicle is communicatively connected to the control terminal 520 via a load acquisition module.
Specifically, the load weighing devices 510 of the construction vehicles installed on the construction vehicles are all connected to the control terminal 520 through the load acquisition modules in the respective devices, so that the remote control terminal 420 performs system integration according to the weighing system of the construction vehicle load corresponding to the construction vehicle.
The mode of communication connection is not particularly limited in the embodiment of the present invention.
Illustratively, the technologies applied by the communication connection mainly include Wi-Fi, 2/3/4/5G cellular communication technologies, etc., which are 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 sent by the engineering vehicle load metering device 510.
Specifically, the control terminal 520 receives the load value at the current time transmitted by the load measuring device 510 of the engineering vehicle, and stores and records the load value in a local database of the control terminal 520.
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 target condition is a condition that the control terminal 520 is locally set for the load value to be overweight.
The embodiment of the invention does not particularly limit the target condition, and the target condition may be a preset value about the load value or a preset value range about the load value by way of example.
Specifically, the control terminal 520 compares the received load value with a target condition set locally, and the comparison result thereof is classified into a comparison pass and a comparison fail, wherein:
And 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 overload of the corresponding engineering vehicle.
And if the comparison is qualified, the received load value meets the target condition, and the result is normal without early warning.
The embodiment of the invention provides a system for measuring the load of the engineering vehicle, which is used for executing the method for measuring the load of the engineering vehicle, and the implementation mode of the system is consistent with the implementation mode of the method for measuring the load of the engineering vehicle, and the system can achieve the same beneficial effects and is not repeated here.
According to the embodiment of the invention, based on the acquisition and processing of the real-time acceleration information of the target driving beams, the angle change value of the target driving beams is obtained, and the load value calculated through the angle change value of each target driving beam is used as the current metering result, so that the metering precision of the load of the engineering vehicle can be improved.
Based on the content of any of the above embodiments, the system further comprises a display device 530 and/or a voice announcement device 540, wherein:
the load weighing device 510 of the working vehicle is communicatively connected to the display device 530 via a load acquisition module and/or an alarm module.
Specifically, in the system 500 of the system for measuring the load of the working vehicle corresponding to each working vehicle, the device 510 for measuring the load of the working vehicle may be communicatively connected to the display device 530.
The connection mode of the load measuring device 510 and the display device 530 of the engineering vehicle according to the embodiment of the present invention is not particularly limited.
Alternatively, the load weighing device 510 of the work vehicle load may be communicatively coupled to the display device communication 530 via a load acquisition module.
Alternatively, the work vehicle load weighing device 510 may be communicatively coupled to the display device communication 530 via an alarm module.
The load measuring device 510 of the engineering vehicle is connected with the voice broadcasting device 540 through the load acquisition module and/or the alarm module.
Specifically, in the subsystem 500 of the system for measuring the load of the working vehicle corresponding to each working vehicle, the device 510 for measuring the load of the working vehicle may be connected in communication with the voice broadcast device 540.
The connection mode of the engineering vehicle load metering device 510 and the voice broadcasting device 540 is not particularly limited in the embodiment of the present invention.
Optionally, the load measuring device 510 of the engineering vehicle may be connected to the voice broadcasting device 540 through a load obtaining module in a communication manner.
Alternatively, the load metering device 510 of the engineering vehicle may be connected to the voice broadcasting device 540 through an alarm module.
And a display device 530 for receiving and displaying the load value and/or the alarm signal of the engineering vehicle at the current time sent by the engineering vehicle load measuring device 510.
Specifically, the display device 530 receives information transmitted from the load weighing device 510 of the working vehicle, and displays the information on the display device 530 in real time.
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 acquisition module and display the load value information in real time at the display device 530.
Alternatively, the display device 530 may receive the alarm signal transmitted by the alarm module and display the alarm signal in real time on the display device 530.
The voice broadcasting device 540 is configured to receive the load value and/or the alarm signal of the engineering vehicle at the current time sent by the engineering vehicle load metering device 510, and perform voice broadcasting.
Specifically, the voice broadcasting device 540 receives the information sent by the metering device 510 of the load of the engineering 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.
Alternatively, the voice broadcasting device 540 may receive the load value information sent by the load acquisition 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.
According to the embodiment of the invention, based on the display device and the voice broadcasting device, the measurement accuracy and flexibility of the load of the engineering vehicle can be improved by displaying the related information by using the external equipment.
Based on any of the above embodiments, the system further comprises a power supply means 550 for supplying power.
Specifically, in the subsystem 500 of the weighing system of the load of the working vehicle corresponding to each working vehicle, the weighing device 510 of the load of the working vehicle may be connected to the power supply device 550 so that the power supply device 550 supplies power to devices having different operating voltages in the subsystem 500 of the weighing system of the load of the working vehicle.
The embodiment of the invention is based on the power supply device, and the metering accuracy of the load of the engineering vehicle can be improved 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 foregoing, as shown in fig. 6, the work vehicle 600 includes the work vehicle load weighing system 500 described above.
Specifically, acceleration information about the target frame beam in its corresponding coordinate system is acquired according to each moment in time from each target sensor over a period of time. And acquiring each group of triaxial acceleration values G X、GY and G Z corresponding to each target frame beam, performing relation conversion, and acquiring an angle change value of deformation at a corresponding position of the target frame beam corresponding to the target frame beam under the action of the current stress and in comparison with a reference state. And calculating the load value at the current moment according to the corresponding relation between the angle change value of each target beam and the load.
According to the embodiment of the invention, based on the acquisition and processing of the real-time acceleration information of the target driving beams, the angle change value of the target driving beams is obtained, and the load value calculated through the angle change value of each target driving beam is used as the current metering result, so that the metering precision of the load of the engineering vehicle can be improved.
Fig. 7 illustrates a physical schematic diagram of an electronic device, as shown in fig. 7, which may include: processor 710, communication interface (Communications Interface) 720, memory 730, and communication bus 740, wherein processor 710, communication interface 720, memory 730 communicate with each other via communication bus 740. Processor 710 may invoke logic instructions in memory 730 to perform a method for metering the load of an engineering vehicle, the method comprising: acquiring acceleration information of a target beam at the current moment acquired by a target sensor; acquiring an angle change value of the target beam based on acceleration information of the target 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 beam; one or more target sensors are arranged on the target driving beams, and the number of the target driving beams can be one or more.
Further, the logic instructions in the memory 730 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product including a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of executing the method for measuring the load of an engineering vehicle provided by the above methods, the method comprising: acquiring acceleration information of a target beam at the current moment acquired by a target sensor; acquiring an angle change value of the target beam based on acceleration information of the target 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 beam; one or more target sensors are arranged on the target driving beams, and the number of the target driving beams can be one or more.
In yet another aspect, the present invention provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform a method of metering a load of an engineering vehicle provided by the above methods, the method comprising: acquiring acceleration information of a target beam at the current moment acquired by a target sensor; acquiring an angle change value of the target beam based on acceleration information of the target 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 beam; one or more target sensors are arranged on the target driving beams, and the number of the target driving beams can be one or more.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (13)
1. A method for metering the load of an engineering vehicle, comprising the steps of:
Acquiring acceleration information of a target beam at the current moment acquired by a target sensor;
acquiring an angle change value of the target beam based on acceleration information of the target 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 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 target beam comprises a longitudinal beam and two transverse beams;
The obtaining the load value of the engineering vehicle at the current moment based on the angle change value of the target beam comprises the following steps:
Weighting operation is carried out based on the angle change value of each target beam and the target parameter, and a load value of the engineering vehicle at the current moment is obtained;
The target parameters comprise weights corresponding to the target beams and reference load values corresponding to the engineering vehicles, the weights corresponding to the longitudinal beams are negative numbers, and the weights corresponding to the cross beams are positive numbers.
2. The method for measuring the load of the engineering vehicle according to claim 1, wherein the obtaining the angle change value of the target beam based on the acceleration information of the target beam at the current time includes:
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 accords with a first preset condition, a first mathematical model is applied according to the acceleration information of the target beam at the current moment, and an angle change value of the target beam is generated.
3. The method according to claim 2, characterized in that after the determination of the running state of the working vehicle based on the acceleration information of the target beam at the present time, further comprising: 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 beam at the current moment to generate an angle change value of the target beam.
4. The method for measuring a load of a working vehicle according to claim 1, wherein after the obtaining of the load value at the current time of the working vehicle, the method further comprises:
And outputting an alarm signal when the load value of the engineering vehicle at the current moment is larger than a preset value.
5. A metering device for a load of an engineering vehicle, comprising:
The acquisition module is used for acquiring the acceleration information of the target beam at the current moment acquired by the target sensor;
The angle acquisition module is used for acquiring an angle change value of the target beam based on acceleration information of the target beam at the current moment;
The load acquisition module is used for acquiring a load value of the engineering vehicle at the current moment based on the angle change value of the target 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 target beam comprises a longitudinal beam and two transverse beams;
the load acquisition module is specifically configured to:
Weighting operation is carried out based on the angle change value of each target beam and the target parameter, and a load value of the engineering vehicle at the current moment is obtained;
The target parameters comprise weights corresponding to the target beams and reference load values corresponding to the engineering vehicles, the weights corresponding to the longitudinal beams are negative numbers, and the weights corresponding to the cross beams are positive numbers.
6. The load metering device of a work vehicle of claim 5, further comprising:
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.
7. A load metering system for a work vehicle comprising one or more load metering devices for a work vehicle as claimed in claim 6, further comprising: a control terminal;
the metering device of the engineering vehicle load is in communication connection with the control terminal through the load acquisition module;
the control terminal is used for receiving a load value of the engineering vehicle at the current moment sent by the engineering vehicle load metering 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.
8. The work vehicle load metering system of claim 7, further comprising: a display device and/or a voice broadcast device;
the metering device of the engineering vehicle load is in communication connection with the display device through the load acquisition module and/or the alarm module;
The metering device of the engineering vehicle load is in communication connection with the voice broadcasting device through the load acquisition module and/or the alarm module;
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 sent by the engineering vehicle load metering device;
The voice broadcasting device is used for receiving the load value and/or the alarm signal of the engineering vehicle at the current moment sent by the engineering vehicle load metering device and carrying out voice broadcasting.
9. The load weighing system for a construction vehicle according to claim 7 or 8, further comprising a power supply device for supplying power.
10. A work vehicle comprising the work vehicle load weighing system of claim 9.
11. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method for metering the load of an engineering vehicle according to any one of claims 1 to 4 when the program is executed.
12. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the steps of the method for metering the load of an engineering vehicle according to any one of claims 1 to 4.
13. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, carries out the steps of the method for metering the load of a working vehicle according to any one of claims 1 to 4.
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