CN115077675A - Truck overload monitoring system and method based on Beidou navigation - Google Patents

Truck overload monitoring system and method based on Beidou navigation Download PDF

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Publication number
CN115077675A
CN115077675A CN202210859241.6A CN202210859241A CN115077675A CN 115077675 A CN115077675 A CN 115077675A CN 202210859241 A CN202210859241 A CN 202210859241A CN 115077675 A CN115077675 A CN 115077675A
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truck
vehicle
mass
load mass
load
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郑智宇
庄少伟
邓志颖
李浩然
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Eagle Drive Technology Shenzhen Co Ltd
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Eagle Drive Technology Shenzhen Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
    • G01G19/03—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles for weighing during motion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Abstract

The invention discloses a truck overload monitoring system and method based on Beidou navigation. The method comprises the following steps: arranging 4 laser distance measuring sensors at the front end and the rear end plate spring/suspension of the truck, detecting the height direction distance between a cargo box bottom plate and/or a cab bottom plate and a frame at 4 positions, and calculating the first load-carrying mass m1 of the truck according to the following formula: k is m1 1 *(H 1 ‑H 10 )+k 2 *(H 2 ‑H 20 )+k 3 *(H 3 ‑H 30 )+k 4 *(H 4 ‑H 40 ). In the formula, k 1 、k 2 、k 3 、k 4 Is a calibration coefficient; h 1 、H 2 、H 3 、H 4 The distance in the height direction detected by the 4 laser ranging sensors; h 10 、H 20 、H 30 、H 40 The distance in the height direction when the vehicle is unloaded; the second load mass m2 is estimated based on the running speed, acceleration and output torque of the vehicle, and when the absolute value of the deviation between m2 and m1 is greater than or equal to a set threshold value, the calibration coefficient of the vehicle-mounted detection device is calibrated again.

Description

Truck overload monitoring system and method based on Beidou navigation
Technical Field
The invention relates to the technical field of vehicles, in particular to a wagon overload monitoring system and method based on Beidou navigation.
Background
In many countries around the world, overloading is common to road vehicles during the transportation of goods and the proportion of overloaded vehicles is quite high. Overload seriously harms the driving safety, disturbs the normal transportation order and over-limits accelerates the damage of roads and bridges.
There are three main ways of overload detection in the prior art: (1) detecting a fixed detection point: the truck detects the load capacity of the vehicle when pressing a sensor buried in the ground of a fixed detection point at a certain limit speed. (2) Movement detection: the detection device is constructed as a movable device and is transported to the site for detection. (3) And (5) vehicle-mounted detection. The method is characterized in that a weighing sensor is installed on the freight vehicles, a GPS module and a remote communication module are configured on each freight vehicle, and the loading information and the position information of the freight vehicles are transmitted to a monitoring management center through the remote communication module. Part of vehicle-mounted detection devices are too complex, a plurality of 6-axis gyroscopes and a plurality of resistance strain sensors are required to be installed, the structure is complex, and the cost is extremely high. See, for example, chinese patent document CN 105788251B.
Disclosure of Invention
The invention provides a truck overload monitoring method based on Beidou navigation, which comprises the following steps:
the method comprises the following steps:
step 1, measuring a first load mass m1 of the truck based on a calibrated laser ranging sensor;
wherein, 4 laser distance measuring sensors are arranged at the front end and the rear end plate spring/suspension of the truck to detect the height direction distance between the bottom plate of the cargo box and/or the bottom plate of the cab and the truck frame at 4 positions,
the first payload mass m1 of the truck is calculated as follows:
m1＝k 1 *(H 1 -H 10 )+k 2 *(H 2 -H 20 )+k 3 *(H 3 -H 30 )+k 4 *(H 4 -H 40 )
in the formula, k 1 、k 2 、k 3 、k 4 Is a calibration coefficient;
H 1 、H 2 、H 3 、H 4 the distance in the height direction detected by the 4 laser ranging sensors;
H 10 、H 20 、H 30 、H 40 is the height direction distance when the vehicle is unloaded,
step 2, sending the first load mass m1 serving as the load mass to a public platform of the road freight vehicle through a vehicle-mounted Beidou-GPS module, and preliminarily judging whether the truck is overloaded or not;
step 3, if the truck is preliminarily judged to be overloaded, rechecking by adopting a fixed detection point detection or mobile detection mode;
step 4, under the condition that the rechecking is not overloaded, the calibration parameters of the laser ranging are recalibrated; or recalibrates the calibration parameters of the laser ranging at a set frequency,
estimating a second load mass m2 of the truck based on the running speed and the acceleration of the vehicle and the output torque of the power unit, and calibrating the calibration coefficient of the vehicle-mounted detection device again when the absolute value of the deviation between the second load mass m2 and the first load mass m1 is larger than or equal to a set threshold value;
the second payload mass m2 is calculated as follows,
m2＝M–m0
m is a total mass of the vehicle, the total mass M of the vehicle is estimated based on the following equation,
Figure BDA0003757333340000021
wherein m0 is the unloaded mass of the truck, and t1 and t2 are the rechecking start time and the rechecking end time respectively; t isAverage engine torque from t1 to t 2; i is the speed ratio, η is the mechanical efficiency of the drive train, r is the rolling radius of the wheels, ρ is the air density, C D The wind resistance coefficient is A, the windward area is A, V (t) is the vehicle speed at the time t, delta is a rotating mass conversion coefficient, alpha is the average acceleration from t1 to t2, g is the gravity acceleration, beta is the gradient angle, and f is the rolling resistance coefficient.
Specifically, when loading and unloading goods, the driver terminal communicates with the vehicle-mounted detection device and/or the road freight vehicle common platform to acquire the detected first load mass m 1. Thus, the first load mass m1 can be used as a reference for the weight and the quantity of the transferred goods. Preferably, in
Specifically, when the vehicle is traveling at a speed equal to or higher than the set speed, the first load mass m1 and the second load mass m2 are not calculated.
Specifically, the total mass M of the vehicle is estimated on a flat road. This is advantageous for simplifying the calculation of the total mass M on the one hand and for improving the estimation accuracy of the total mass M on the other hand.
Specifically, the height value H of each position is re-detected under the condition of no load periodically 10 、H 20 、H 30 、H 40 In H 10 、H 20 、H 30 、H 40 Exceeds a set threshold value, for k 1 、k 2 、k 3 、k 4 And carrying out calibration again. For example, weekly or monthly, in the case of idling, an idling height value is detected, the average or weighted average of the idling heights at various places is compared with an initial value for each quarter, if the deviation exceeds a set threshold, the average is taken as the initial value, and k is recalibrated 1 、k 2 、k 3 、k 4 。
In particular, the pair k is such that the deviations of the plurality of consecutively estimated second load mass m2 from the first load mass m1 tend to be co-directional 1 、k 2 、k 3 、k 4 And carrying out calibration again. The deviations tending to be co-directional means that deviations which are consecutive multiple times are all larger or a larger proportion of deviations is larger (e.g. largerMore than 80% deviation is large), or both are small or a large proportion is small (for example, more than 80% deviation is small). Advantageously, each quarter is evaluated for deviations obtained in succession a number of times within the current quarter to determine whether to pair k 1 、k 2 、k 3 、k 4 And carrying out calibration again. Alternatively, when the deviations are oriented in the same direction among the continuously obtained deviations exceeding a set number of times (for example, 50 times), the pair k 1 、k 2 、k 3 、k 4 And carrying out calibration again.
In particular, the second load mass m2, which is based on a plurality of successive estimations, and the corresponding H 1 、H 2 、H 3 、H 4 Value, pair k 1 、k 2 、k 3 、k 4 And carrying out calibration again. It is understood that H 10 、H 20 、H 30 、H 40 The initial value is the initial value when the laser ranging sensor is shipped or installed for the first time, and the latter is the updated measured value or the measured average value (taking the updated measured value or the updated measured average value as the initial value) according to the periodical no-load measurement.
The invention also provides a truck overload monitoring system based on the Beidou navigation, which comprises the following components:
the vehicle-mounted detection device is arranged on the truck and used for detecting the first load mass m1 of the truck;
a road freight vehicle common platform in communication with the on-board detection device to obtain a detected first payload mass m 1;
the vehicle-mounted Beidou-GPS module is used for receiving position and speed information of the vehicle;
a driver terminal in communication with said on-board detection device and/or a road freight vehicle common platform to obtain a detected first load mass m1 or warning information relating to said detected first load mass m 1;
a recalibration unit which estimates a second load mass m2 of the truck based on the running speed and the acceleration of the vehicle and the output torque of the power unit, and recalibrates the calibration coefficient of the vehicle-mounted detection device when the absolute value of the deviation between the second load mass m2 and the first load mass m1 is larger than or equal to a set threshold value;
wherein the vehicle-mounted detection device comprises 4 laser ranging sensors, the 4 laser ranging sensors are arranged at the front end and the rear end plate spring/suspension frame of the truck and are used for detecting the height direction distance between a cargo box bottom plate and/or a cab bottom plate and the truck frame at 4 positions,
the first payload mass m1 of the truck is calculated as follows:
m＝k 1 *(H 1 -H 10 )+k 2 *(H 2 -H 20 )+k 3 *(H 3 -H 30 )+k 4 *(H 4 -H 40 )
in the formula, k 1 、k 2 、k 3 、k 4 Is a calibration coefficient;
H 1 、H 2 、H 3 、H 4 the distance in the height direction detected by the 4 laser ranging sensors;
H 10 、H 20 、H 30 、H 40 the height direction distance when the vehicle is unloaded,
the recalibration unit estimates the total mass M of the vehicle based on the following formula,
Figure BDA0003757333340000041
the second load mass m2 is calculated by the following equation,
m2＝M–m0
wherein m0 is the unloaded mass of the truck, and t1 and t2 are the rechecking start time and the rechecking end time respectively; t is the average engine torque from T1 to T2; i is the speed ratio, η is the mechanical efficiency of the drive train, r is the rolling radius of the wheels, ρ is the air density, C D The wind resistance coefficient is A, the windward area is A, V (t) is the vehicle speed at the time t, delta is a rotating mass conversion coefficient, alpha is the average acceleration from t1 to t2, g is the gravity acceleration, beta is the gradient angle, and f is the rolling resistance coefficient.
Specifically, the truck is an electric truck. Thus, the torque of the engine is more easily determined, so that the average engine torque in the period of t1 to t2 can be more easily determined.
Specifically, the truck overload monitoring system based on the Beidou navigation satellite system operates by the truck overload monitoring method based on the Beidou navigation satellite system.
Drawings
Fig. 1 is a schematic flow chart of a truck overload monitoring method based on Beidou navigation according to an embodiment of the invention.
Fig. 2 is a schematic view of a truck adapted for use with the method of an embodiment of the invention.
Fig. 3 is a schematic view of the mounting position of the laser ranging sensor.
FIG. 4 is a side view schematic of the mounting location of the laser range sensor.
Detailed Description
In the drawings, the same or similar reference numerals are used to denote the same or similar elements or elements having the same or similar functions. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Fig. 2 is a schematic view of a truck adapted for use with the method of an embodiment of the invention. However, the truck to which the method and system of the embodiments of the present invention are applied is not limited to the van of the drawings, but may also be applied to a semitrailer, a trailer, and the like.
Fig. 1 is a schematic flow chart of a truck overload monitoring method based on Beidou navigation according to an embodiment of the invention. As shown in fig. 1, the truck overload monitoring method based on beidou navigation according to an embodiment of the present invention includes the following steps:
step 1, measuring a first load mass m1 of the truck based on a calibrated laser ranging sensor;
step 2, sending m1 serving as the load mass to a public platform of the road freight vehicle through a vehicle-mounted Beidou-GPS module so as to preliminarily judge whether the truck is overloaded;
step 3, if the truck is preliminarily judged to be overloaded, rechecking by adopting a fixed detection point detection or mobile detection mode;
step 4, under the condition that the rechecking is not overloaded, the calibration parameters of the laser ranging are recalibrated; or recalibrating the calibration parameters of the laser ranging at set frequency.
More specifically, the truck overload monitoring method based on Beidou navigation according to an embodiment of the invention comprises the following steps.
Step 1, measuring the first load mass m1 of the truck based on the calibrated laser ranging sensor.
Wherein, 4 laser distance measuring sensors are arranged at the front end and the rear end plate spring/suspension of the truck to detect the height direction distance between the bottom plate of the cargo box and/or the bottom plate of the cab and the truck frame at 4 positions,
the first payload mass m1 of the truck is calculated as follows:
m1＝k 1 *(H 1 -H 10 )+k 2 *(H 2 -H 20 )+k 3 *(H 3 -H 30 )+k 4 *(H 4 -H 40 )
in the formula, k 1 、k 2 、k 3 、k 4 Is a calibration coefficient; for example, initial calibration can be performed when the truck leaves a factory; it can also be obtained by linear fitting of multiple sets of test data.
H 1 、H 2 、H 3 、H 4 The distance in the height direction detected by the 4 laser ranging sensors;
H 10 、H 20 、H 30 、H 40 the height direction distance when the vehicle is unloaded. The laser ranging sensor has high precision, and any appropriate specification or type of laser ranging sensor can be selected.
And 2, sending the first load mass m1 serving as the load mass to a public platform of the road freight vehicle through a vehicle-mounted Beidou-GPS module, and preliminarily judging whether the truck is overloaded or not. It is preliminarily determined whether the truck is overloaded, in particular the first load mass m1 is compared with the nominal load mass. The determination may be made on an on-board computing unit or on a common platform of a road freight vehicle.
And 3, if the truck is preliminarily judged to be overloaded, rechecking by adopting a fixed detection point detection or mobile detection mode. The fixed detection point detection and the mobile detection are prior art and are not described herein. In particular, the road freight vehicle common platform may inform the vehicle owner or driver to drive the vehicle to the nearest or most appropriate fixed detection point for review. Or the road freight vehicle public platform can inform the vehicle owner or the driver to check at the appointed place by matching with the mobile detection device.
Step 4, under the condition that the rechecking is not overloaded, the calibration parameters of the laser ranging are recalibrated; or recalibrating the calibration parameters of the laser ranging at set frequency. In fact, whether the overload is checked or false-reported, the calibration parameters usually need to be recalibrated. The set frequency may be set to be periodically performed in a fixed time period manner, for example, once every quarter; it may also be set to occur periodically for the number of times a particular event or condition occurs. Such as mileage driven, or other events or conditions.
The second load mass m2 of the truck is estimated based on the running speed and the acceleration of the vehicle and the output torque of the power unit, and when the absolute value of the deviation between the second load mass m2 and the first load mass m1 is larger than or equal to a set threshold value, the calibration coefficient of the vehicle-mounted detection device is calibrated again.
The running speed of the vehicle is longitudinal speed and can be acquired in real time through a vehicle-mounted tachometer or acquired in real time through a vehicle-mounted Beidou-GPS module. The acceleration of the vehicle is a longitudinal acceleration, and may be obtained by differentiating the running speed, or may be obtained by an acceleration schedule on the vehicle. The power unit is, for example, an engine or a motor, and its output torque may be obtained by an ECU or the like of the power unit.
The second load mass m2 is calculated as follows,
m2＝M–m0
m is a total mass of the vehicle, the total mass M of the vehicle is estimated based on the following equation,
Figure BDA0003757333340000061
wherein m0 is the empty load mass of the truck, t1 and t2 are the rechecking starting time and the rechecking ending time respectively; t is the average engine torque from T1 to T2; i is the speed ratio, η is the mechanical efficiency of the drive train, r is the rolling radius of the wheels, ρ is the air density, C D The wind resistance coefficient is A, the windward area is A, V (t) is the vehicle speed at the time t, delta is a rotating mass conversion coefficient, alpha is the average acceleration from t1 to t2, g is the gravity acceleration, beta is the gradient angle, and f is the rolling resistance coefficient.
Specifically, when loading and unloading goods, the driver terminal communicates with the vehicle-mounted detection device and/or the road freight vehicle common platform to acquire the detected first load mass m 1. Thus, the first load mass m1 can be used as a reference for the weight and the quantity of the transferred goods.
Specifically, when the vehicle is traveling at a speed equal to or higher than the set speed, the first load mass m1 and the second load mass m2 are not calculated. The set speed is, for example, 20 km per hour. Therefore, the computing resource and the communication resource when the vehicle normally runs are saved. It is to be noted that, when traveling at a higher speed, the vibration of the vehicle is large, and the accuracy of measurement is affected. In addition, when traveling at a high speed, the loading and unloading work is not usually performed.
Specifically, the total mass M of the vehicle is estimated on a flat road. This is advantageous for simplifying the calculation of the total mass M on the one hand and for improving the estimation accuracy of the total mass M on the other hand. For example, the slope angle is zero, thereby omitting some of the calculation terms. The slope angle may be provided by an electronic map system, or may be calculated according to acceleration, torque, etc., or may be detected by a gyroscope or a vehicle-mounted tilt sensor.
Specifically, the height value H of each position is re-detected under the condition of no load periodically 10 、H 20 、H 30 、H 40 In H 10 、H 20 、H 30 、H 40 When the deviation between the re-detection value and the initial value exceeds the set threshold value, for k 1 、k 2 、k 3 、k 4 And carrying out calibration again. For example, in the case of a liquid,detecting the idle load height value every week or every month under the condition of idle load, comparing the average value or weighted average value of the idle load heights at each position with the initial value every quarter, if the deviation exceeds the set threshold value, taking the average value as the initial value, and recalibrating k 1 、k 2 、k 3 、k 4 。
In particular, the pair k is such that the deviations of the plurality of consecutively estimated second load mass m2 from the first load mass m1 tend to be co-directional 1 、k 2 、k 3 、k 4 And carrying out calibration again. The deviations tend to be in the same direction, which means that the deviations of a plurality of consecutive times are all larger or larger in proportion (for example, more than 80% of the deviations are larger), or are all smaller or smaller in proportion (for example, more than 80% of the deviations are smaller). Advantageously, each quarter is evaluated for deviations obtained in succession a number of times within the current quarter to determine whether to pair k 1 、k 2 、k 3 、k 4 And carrying out calibration again. Alternatively, when the deviations are oriented in the same direction among the continuously obtained deviations exceeding a set number of times (for example, 50 times), the pair k 1 、k 2 、k 3 、k 4 And carrying out calibration again. In pair k 1 、k 2 、k 3 、k 4 When the calibration is performed again, the same-direction revision is preferentially performed. For example, both increases or both decreases, but the magnitude or proportion of the increase or decrease can be different.
In particular, the second load mass m2, which is based on a plurality of successive estimations, and the corresponding H 1 、H 2 、H 3 、H 4 Value, pair k 1 、k 2 、k 3 、k 4 And carrying out calibration again. It is understood that H 10 、H 20 、H 30 、H 40 The initial value is the initial value when the laser ranging sensor is shipped or installed for the first time, and the latter is the updated measured value or the measured average value (taking the updated measured value or the updated measured average value as the initial value) according to the periodical no-load measurement.
The invention also provides a truck overload monitoring system based on the Beidou navigation, which comprises the following components:
the vehicle-mounted detection device is arranged on the truck and is used for detecting the first load mass m1 of the truck;
a road freight vehicle common platform in communication with the on-board detection device to obtain a detected first payload mass m 1;
the vehicle-mounted Beidou-GPS module is used for receiving position and speed information of the vehicle; the vehicle-mounted Beidou-GPS module can select specific specifications as required. According to the regulation requirement, for part of trucks, a vehicle-mounted Beidou-GPS module is required to be equipped when the trucks leave a factory. The vehicle-mounted Beidou-GPS module can also be used for communication. Of course, the vehicle or the truck overload monitoring system based on the Beidou navigation system can also communicate with an external platform or a roadside facility in other modes. For example, the vehicle or the truck overload monitoring system based on the Beidou navigation system can also communicate with an external platform or a road side facility, a driver terminal and the like in a 5G or 4G mode.
A driver terminal in communication with said on-board detection device and/or a road freight vehicle common platform for obtaining a detected first load mass m1 or warning information related to said detected first load mass m 1. According to the setting condition of the APP, the driver terminal can inquire the load mass detection data and receive overload alarm information; and receiving instructions for rechecking in a specified mode.
A recalibration unit which estimates a second load mass m2 of the truck based on the running speed and the acceleration of the vehicle and the output torque of the power unit, and recalibrates the calibration coefficient of the vehicle-mounted detection device when the absolute value of the deviation between the second load mass m2 and the first load mass m1 is larger than or equal to a set threshold value;
wherein the vehicle-mounted detection device comprises 4 laser ranging sensors, the 4 laser ranging sensors are arranged at the front end and the rear end plate spring/suspension frame of the truck to detect the height direction distance between the bottom plate of the cargo box and/or the bottom plate of the cab and the frame at 4 positions,
the first payload mass m1 of the truck is calculated as follows:
m＝k 1 *(H 1 -H 10 )+k 2 *(H 2 -H 20 )+k 3 *(H 3 -H 30 )+k 4 *(H 4 -H 40 )
in the formula, k 1 、k 2 、k 3 、k 4 Is a calibration coefficient;
H 1 、H 2 、H 3 、H 4 the distance in the height direction detected by the 4 laser ranging sensors;
H 10 、H 20 、H 30 、H 40 the height direction distance when the vehicle is unloaded,
the recalibration unit estimates the total mass M of the vehicle based on the following formula,
Figure BDA0003757333340000081
the second load mass m2 is calculated by the following equation,
m2＝M–m0
wherein m0 is the unloaded mass of the truck, and t1 and t2 are the rechecking start time and the rechecking end time respectively; t is the average engine torque from T1 to T2; i is the speed ratio, η is the mechanical efficiency of the drive train, r is the rolling radius of the wheels, ρ is the air density, C D The wind resistance coefficient is A, the windward area is A, V (t) is the vehicle speed at the time t, delta is a rotating mass conversion coefficient, alpha is the average acceleration from t1 to t2, g is the gravity acceleration, beta is the gradient angle, and f is the rolling resistance coefficient.
Specifically, the truck is an electric truck. Thus, the torque of the engine is more easily determined, so that the average engine torque in the period of t1 to t2 can be more easily determined.
Specifically, the truck overload monitoring system based on the Beidou navigation satellite system operates by the truck overload monitoring method based on the Beidou navigation satellite system.
As shown in fig. 2, 3 and 4, the truck overload monitoring system based on Beidou navigation according to the embodiment of the invention is provided with a laser ranging sensor 1 and an overload monitoring module 10 integrated in a vehicle control system. The laser ranging sensor 1 is connected with the overload monitoring module 10 through a data line 11, or can be connected in a wireless manner to send collected data to the overload monitoring module 10. The overload monitoring module 10 may take any suitable form and may even be integrated into the central control unit of the vehicle, embodied in a programmed manner.
As shown in fig. 3 and 4, the present invention uses laser ranging sensors to measure elevation data. The laser ranging sensors are respectively arranged right above the foremost and rearmost axles of the truck (for a half-bearing type, arranged above the outer end parts of the left and right half axles, and for a full-bearing type, arranged above the left and right ends of the same axle).
Further, the laser distance measuring sensor 1 is installed right above the position near the bearing leaf spring/suspension 8 and the axle 9 of the axle 7, because the position of the bearing leaf spring/suspension 8 and the axle 9 of the axle 7 is a position subjected to heavy deformation, that is, a position most sensitive to double image noise, and the sensor is installed near the position to measure the deformation height more accurately.
Furthermore, 2 laser ranging sensors can be arranged above the foremost axle and are arranged on a cab bottom plate; 2 laser ranging sensors can be arranged above the last axle and are arranged on the bottom plate of the carriage, and laser emitting ports face downwards. The laser range sensor 1 measures the distance H (shown in fig. 3) between the laser emitting point and the leaf spring/suspension.
For a trailer or a semitrailer, two laser distance measuring sensors are respectively arranged at two ends of a front shaft and two ends of a rear shaft of a cargo compartment.
Because the laser ranging sensor 1 is suspended at the bottom of the vehicle body and is fixed, the position has large space, is easy to install, is not influenced by any vehicle body structure, does not influence any vehicle body structure, does not need to change the vehicle body structure, is suitable for any vehicle type and has strong adaptability. And the laser ranging sensor is high in measurement accuracy.
Under a certain load condition, the load capacity is calculated by using a load calculation model of the relationship between elevation data and the load capacity, wherein the elevation data (namely the distance between a laser emission center and a leaf spring or a suspension) of the leaf spring (or the suspension) at the front end axle of the truck and the elevation data (namely the distance between the laser emission center and the leaf spring or the suspension) at the rear end axle of the truck are acquired by a laser ranging sensor.
Further, during initial calibration, typical data are collected for fitting, and an H value in a no-load state, an H value in a half-load state and an H value in a full-load state are collected respectively. And acquiring elevation data of 2-3 different mass center positions under the same counterweight weight.
In the existing vehicle-mounted detection device, the setting or calibration of the relevant parameters is not adjusted once being set. Therefore, corresponding parameters can change along with the running of the vehicle, finally, the inaccuracy of the detection data of the vehicle-mounted detection device is caused, and overload non-alarm or false alarm is caused. The embodiment of the invention automatically recalibrates the calibration parameters in the follow-up process, thereby being beneficial to providing detection precision and accuracy.
Finally, it should be pointed out that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Those of ordinary skill in the art will understand that: modifications can be made to the technical solutions described in the foregoing embodiments, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A truck overload monitoring method based on Beidou navigation is characterized by comprising the following steps:
step 1, measuring a first load mass m1 of the truck based on a calibrated laser ranging sensor;
wherein, 4 laser distance measuring sensors are arranged at the front end and the rear end plate spring/suspension of the truck to detect the height direction distance between the bottom plate of the cargo box and/or the bottom plate of the cab and the truck frame at 4 positions,
the first payload mass m1 of the truck is calculated as follows:
m1＝k 1 *(H 1 -H 10 )+k 2 *(H 2 -H 20 )+k 3 *(H 3 -H 30 )+k 4 *(H 4 -H 40 )
in the formula, k 1 、k 2 、k 3 、k 4 Is a calibration coefficient;
H 1 、H 2 、H 3 、H 4 the distance in the height direction detected by the 4 laser ranging sensors;
H 10 、H 20 、H 30 、H 40 the height direction distance when the vehicle is unloaded,
step 2, sending the first load mass m1 serving as the load mass to a public platform of the road freight vehicle through a vehicle-mounted Beidou-GPS module, and preliminarily judging whether the truck is overloaded or not;
step 3, if the truck is preliminarily judged to be overloaded, rechecking by adopting a fixed detection point detection or mobile detection mode;
step 4, under the condition that the rechecking is not overloaded, the calibration parameters of the laser ranging are recalibrated; or recalibrates the calibration parameters of the laser ranging at a set frequency,
estimating a second load mass m2 of the truck based on the running speed and the acceleration of the vehicle and the output torque of the power unit, and calibrating the calibration coefficient of the vehicle-mounted detection device again when the absolute value of the deviation between the second load mass m2 and the first load mass m1 is larger than or equal to a set threshold value;
wherein the second load mass m2 is calculated by the following equation,
m2＝M–m0
m is a total mass of the vehicle, the total mass M of the vehicle is estimated based on the following equation,
the total mass M of the vehicle is estimated based on the following equation,
Figure FDA0003757333330000011
in the formula, m0 is the unloaded mass of the truck, and t1 and t2 are the rechecking starting time and the rechecking ending time respectively; t is the average engine torque from T1 to T2; i is the speed ratio, η is the mechanical efficiency of the drive train, r is the rolling radius of the wheels, ρ is the air density, C D Is the wind resistance coefficient, A is the windward area, V (t) is the speed of the vehicle at the time t, and delta is the conversion of the rotating massThe coefficient, alpha is the average acceleration from t1 to t2, g is the gravity acceleration, beta is the slope angle, and f is the rolling resistance coefficient.
2. The beidou-navigation-based truck overload monitoring method as recited in claim 1, wherein, during loading and unloading, the driver terminal communicates with a vehicle-mounted detection device comprising a road freight vehicle common platform and/or the laser ranging sensor to obtain the detected first load mass m 1.
3. The Beidou navigation based truck overload monitoring method according to claim 1, wherein when the vehicle is running at a speed greater than or equal to the set speed, the calculation of the first load mass m1 and the second load mass m2 is not performed.
4. The beidou-navigation-based truck overload monitoring method of claim 1, wherein the total mass M of the vehicle is estimated on a level road.
5. The Beidou navigation based truck overload monitoring method according to claim 1, wherein H is re-detected periodically under no-load condition 10 、H 20 、H 30 、H 40 In H 10 、H 20 、H 30 、H 40 When the deviation between the re-detection value and the initial value exceeds the set threshold value, for k 1 、k 2 、k 3 、k 4 And carrying out calibration again.
6. The Beidou navigation based truck overload monitoring method according to claim 1, wherein the pairs k are in the same direction when the deviation of the second load mass m2 estimated in a plurality of times in succession from the first load mass m1 tends to be in the same direction 1 、k 2 、k 3 、k 4 And carrying out calibration again.
7. The Beidou navigation based truck overload monitoring method according to any one of claims 1 to 6, characterized in thatThe second load mass m2, which is based on successive multiple estimations, and the corresponding H 1 、H 2 、H 3 、H 4 Value, pair k 1 、k 2 、k 3 、k 4 And carrying out calibration again.
8. The utility model provides a freight train overload monitored control system based on beidou navigation which characterized in that includes:
the vehicle-mounted detection device is arranged on the truck and used for detecting the first load mass m1 of the truck;
a road freight vehicle common platform in communication with said on-board detection device to obtain a detected first payload mass m 1;
the vehicle-mounted Beidou-GPS module is used for receiving position and speed information of the vehicle;
a driver terminal in communication with said on-board detection device and/or a road freight vehicle common platform to obtain a detected first load mass m1 or warning information relating to said detected first load mass m 1;
a recalibration unit which estimates a second load mass m2 of the truck based on the running speed and the acceleration of the vehicle and the output torque of the power unit, and recalibrates the calibration coefficient of the vehicle-mounted detection device when the absolute value of the deviation between the second load mass m2 and the first load mass m1 is larger than or equal to a set threshold value;
wherein the vehicle-mounted detection device comprises 4 laser ranging sensors, the 4 laser ranging sensors are arranged at the front end and the rear end plate spring/suspension frame of the truck and are used for detecting the height direction distance between a cargo box bottom plate and/or a cab bottom plate and the truck frame at 4 positions,
the first payload mass m1 of the truck is calculated as follows:
m＝k 1 *(H 1 -H 10 )+k 2 *(H 2 -H 20 )+k 3 *(H 3 -H 30 )+k 4 *(H 4 -H 40 )
in the formula, k 1 、k 2 、k 3 、k 4 Is a calibration coefficient;
H 1 、H 2 、H 3 、H 4 the distance in the height direction detected by the 4 laser ranging sensors;
H 10 、H 20 、H 30 、H 40 the height direction distance when the vehicle is unloaded,
the recalibration unit estimates the total mass M of the vehicle based on the following formula,
Figure FDA0003757333330000031
the second load mass m2 is calculated by the following equation,
m2＝M–m0
wherein m0 is the unloaded mass of the truck, and t1 and t2 are the rechecking start time and the rechecking end time respectively; t is the average engine torque from T1 to T2; i is the speed ratio, η is the mechanical efficiency of the drive train, r is the rolling radius of the wheels, ρ is the air density, C D The wind resistance coefficient is A, the windward area is A, V (t) is the vehicle speed at the time t, delta is a rotating mass conversion coefficient, alpha is the average acceleration from t1 to t2, g is the gravity acceleration, beta is the gradient angle, and f is the rolling resistance coefficient.
9. The Beidou navigation-based truck overload monitoring system of claim 8, wherein the truck is an electric truck.
10. The beidou navigation-based truck overload monitoring system of claim 8, wherein the beidou navigation-based truck overload monitoring system operates in the beidou navigation-based truck overload monitoring method of any one of claims 1 to 7.
CN202210859241.6A 2022-07-21 2022-07-21 Truck overload monitoring system and method based on Beidou navigation Pending CN115077675A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117392855A (en) * 2023-12-13 2024-01-12 南昌工程学院 Vehicle overrun overload probability identification method and system based on satellite positioning data
CN117705248A (en) * 2024-02-06 2024-03-15 中大智能科技股份有限公司 Vehicle-mounted overload detection networking alarm system
CN117705248B (en) * 2024-02-06 2024-04-26 中大智能科技股份有限公司 Vehicle-mounted overload detection networking alarm system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117392855A (en) * 2023-12-13 2024-01-12 南昌工程学院 Vehicle overrun overload probability identification method and system based on satellite positioning data
CN117392855B (en) * 2023-12-13 2024-02-20 南昌工程学院 Vehicle overrun overload probability identification method and system based on satellite positioning data
CN117705248A (en) * 2024-02-06 2024-03-15 中大智能科技股份有限公司 Vehicle-mounted overload detection networking alarm system
CN117705248B (en) * 2024-02-06 2024-04-26 中大智能科技股份有限公司 Vehicle-mounted overload detection networking alarm system

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