CN116040548A - Weight verification method and device for vehicle, vehicle and storage medium - Google Patents

Weight verification method and device for vehicle, vehicle and storage medium Download PDF

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Publication number
CN116040548A
CN116040548A CN202211711973.7A CN202211711973A CN116040548A CN 116040548 A CN116040548 A CN 116040548A CN 202211711973 A CN202211711973 A CN 202211711973A CN 116040548 A CN116040548 A CN 116040548A
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total
mass
weight
platform
relation
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沈裕强
邓超
吴俊锋
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Hunan Zoomlion Intelligent Aerial Work Machinery Co Ltd
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Hunan Zoomlion Intelligent Aerial Work Machinery Co Ltd
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Priority to CN202211711973.7A priority Critical patent/CN116040548A/en
Publication of CN116040548A publication Critical patent/CN116040548A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G23/00—Auxiliary devices for weighing apparatus
    • G01G23/01—Testing or calibrating of weighing apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F13/00—Common constructional features or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The application relates to the field of vehicle detection and discloses a weight verification method for a vehicle. The vehicle includes operation platform, slewer and platform weighing device, and operation platform carries on the thing of carrying, and slewer includes rotation motor and speed reducer for the weight verification method of vehicle includes: acquiring the mass of an operation platform, and determining a first total weight of the operation platform and the carried object by utilizing a platform weighing device; obtaining the output torque of the rotary motor according to the power of the rotary motor and the rotating speed of the rotary motor; determining the total relation between the mass of the carried product and the input torque of the speed reducer; calculating a second total weight of the working platform and the carried object according to the total relation, the mass of the working platform and the output torque of the rotary motor; weight verification information is generated based on the error values of the first total weight and the second total weight. And detecting the accuracy of the platform weighing device by using the calculated second total weight, so as to avoid inaccurate weight value of the operation platform obtained by the platform weighing device.

Description

Weight verification method and device for vehicle, vehicle and storage medium
Technical Field
The present invention relates to the field of vehicle detection, and in particular, to a weight verification method and apparatus for a vehicle, and a storage medium.
Background
An aerial work vehicle is a manned device for lifting personnel or equipment in an aerial work platform to a specified height. When the aerial work platform of the aerial work vehicle is overloaded, not only parts in the aerial work vehicle can be damaged to influence the aerial work, but also safety accidents can be caused. In general, a vehicle-mounted overhead working truck is provided with a weighing sensor, and the weight of an overhead working platform can be determined by using the weighing sensor. And (3) according to the weight value obtained by the weighing sensor, adjusting the arm support limiting amplitude of the aerial working vehicle, and determining whether the aerial working platform is overloaded.
However, when the load cell is used to weigh the aerial platform, there is a case where the weight value obtained by the load cell is inaccurate. Under the condition that the weight value obtained by the weighing sensor is larger than the actual weight of the aerial working platform, the boom limit amplitude of the aerial working vehicle is larger, and the aerial working efficiency is affected. Under the condition that the weight value obtained by the weighing sensor is smaller than the actual weight of the aerial working platform, the vehicle rollover risk exists. When the weighing sensor has faults such as data offset, the weight value of the aerial work platform obtained by the weighing sensor is inaccurate, namely the weighing sensor cannot truly reflect the weight of the aerial work platform, and therefore aerial work of a user is affected.
Disclosure of Invention
The embodiment of the invention aims to provide equipment for solving the problem that the obtained weight value of an aerial working platform is inaccurate.
In order to achieve the above object, the present invention provides a weight verification method for a vehicle including a work platform on which a mounted object is mounted, a turning device including a turning motor and a speed reducer, and a platform weighing device, the method comprising:
acquiring the mass of the operation platform, and determining a first total weight of the operation platform and the carried object by utilizing the platform weighing device;
obtaining the output torque of the rotary motor according to the power of the rotary motor and the rotating speed of the rotary motor;
determining the total relation between the mass of the carrying object and the input torque of the speed reducer, wherein the input torque of the speed reducer is equal to the output torque of the rotary motor;
calculating a second total weight of the working platform and the carried object according to the total relation, the mass of the working platform and the output torque of the rotary motor;
weight verification information is generated based on the error values of the first total weight and the second total weight.
With reference to the first aspect, in a first possible implementation manner, the determining a total relation between the mass of the carrier and the input torque of the speed reducer includes:
determining a first relation between the mass of the carried product and a total centrifugal force and determining a second relation between the mass of the carried product and a total overturning moment, wherein the total centrifugal force is the sum of the centrifugal force of the working platform and the centrifugal force of the carried product, and the total overturning moment is the sum of the overturning moment of the working platform and the overturning moment of the carried product;
and determining the total relation between the mass of the carrying object and the input torque of the speed reducer according to the first relation and the second relation.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner, the determining, according to the first relationship and the second relationship, a total relationship between the mass of the carrier and the input torque of the speed reducer includes:
determining a third relationship between the quality of the carried product and the total pressure of the rolling elements of the speed reducer based on the first relationship, the second relationship, the diameter of the raceway of the speed reducer, the friction coefficient of the speed reducer, the rigidity coefficient of the speed reducer and the pressure angle of the rolling elements of the speed reducer;
And determining the total relation between the quality of the carried object and the input torque of the speed reducer according to the third relation.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner, the determining, according to the third relationship, a total relationship between the mass of the carrier and the input torque of the speed reducer includes:
determining a fourth relationship between the mass of the carrier and a minimum starting friction resistance moment of the speed reducer based on the third relationship, the raceway diameter and the friction coefficient;
and determining the total relation between the mass of the carried product and the input torque of the speed reducer according to the fourth relation, the speed reduction ratio of the speed reducer and the transmission power of the speed reducer.
With reference to the first possible implementation manner of the first aspect, in a fourth possible implementation manner, the determining a first relationship between the mass of the carried product and the total centrifugal force, and determining a second relationship between the mass of the carried product and the total overturning moment includes:
acquiring a first distance and a second distance of the operation platform corresponding to the rotating device, and acquiring a third distance and a fourth distance of the carried object corresponding to the rotating device, wherein the first distance and the third distance are in the same direction, and the second distance and the fourth distance are in the same direction;
Obtaining the centrifugal force of the working platform according to the mass of the working platform, the first distance and the rotating speed of the rotary motor;
determining a first sub-relationship between the mass of the carried product and the centrifugal force of the carried product according to the third distance and the rotating speed of the rotary motor;
determining a first relationship between the mass of the load and a total centrifugal force based on the first sub-relationship and the centrifugal force of the work platform;
determining a second sub-relationship of the mass of the load and the weight of the load;
obtaining the weight of the working platform based on the mass of the working platform;
and determining a second relationship between the mass of the carrying object and the total overturning moment based on the centrifugal force of the working platform, the weight of the working platform, the first sub-relationship, the second sub-relationship, the first distance, the second distance, the third distance and the fourth distance.
With reference to the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner, the determining the second relationship between the mass of the carrying object and the total overturning moment based on the centrifugal force of the working platform, the weight of the working platform, the first sub-relationship, the second sub-relationship, the first distance, the second distance, the third distance, and the fourth distance includes:
Obtaining a centrifugal force overturning moment of the working platform based on the centrifugal force of the working platform and the first distance;
obtaining a weight overturning moment of the working platform based on the weight of the working platform and the second distance;
obtaining the overturning moment of the working platform according to the centrifugal force overturning moment of the working platform and the weight overturning moment of the working platform;
obtaining a third sub-relationship between the mass of the carried product and the centrifugal force overturning moment of the carried product based on the first sub-relationship and the third distance;
obtaining a fourth sub-relationship between the mass of the carried product and the weight overturning moment of the carried product based on the second sub-relationship and the fourth distance;
obtaining a fifth sub-relationship between the mass of the carried product and the overturning moment of the carried product according to the third sub-relationship and the fourth sub-relationship;
and determining a second relation between the mass of the carried product and the total overturning moment according to the overturning moment of the working platform and the fifth sub-relation.
With reference to the first aspect, in a sixth possible implementation manner, the calculating, according to the total relation, the mass of the working platform, and the output torque of the swing motor, a second total weight of the working platform and the carrying object includes:
Obtaining the quality of the carrying object according to the total relation, the quality of the working platform and the input torque of the speed reducer;
and calculating a second total weight of the work platform and the carried object based on the mass of the carried object and the mass of the work platform.
With reference to the first aspect, in a seventh possible implementation manner, the generating weight verification information based on the error value of the first total weight and the second total weight includes:
calculating an error value for the first total weight and the second total weight;
generating weight verification information that the first total weight is not abnormal under the condition that the error value is smaller than a preset threshold value;
and generating weight verification information that the first total weight is abnormal under the condition that the error value is larger than or equal to a preset threshold value.
In a second aspect, the present application provides a weight verification device for a vehicle, the vehicle includes work platform, slewer and platform weighing device, work platform carries on the thing of carrying, slewer includes gyrator and speed reducer, the device includes:
the first total weight determining module is used for obtaining the mass of the operation platform and determining the first total weight of the operation platform and the carried object by utilizing the platform weighing device;
The output torque obtaining module is used for obtaining the output torque of the rotary motor according to the power of the rotary motor and the rotating speed of the rotary motor;
the total relation determining module is used for determining the total relation between the quality of the carried object and the input torque of the speed reducer, wherein the input torque of the speed reducer is equal to the output torque of the rotary motor;
the second total weight determining module is used for calculating the second total weight of the working platform and the carried object according to the total relation, the mass of the working platform and the output torque of the rotary motor;
and the verification information generation module is used for generating weight verification information based on the error value of the first total weight and the second total weight.
In a third aspect, the present application provides a vehicle comprising a work platform, a slewing device platform weighing device, a memory and a processor, the memory storing a computer program which, when executed by the processor, implements the weight verification method for a vehicle as described in the first aspect.
In a fourth aspect, the present application provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the weight verification method for a vehicle according to the first aspect.
The application provides a weight verification method for a vehicle, the vehicle includes work platform, slewer and platform weighing device, work platform carries on the carrying object, slewer includes rotary motor and speed reducer, the method includes: acquiring the mass of the operation platform, and determining a first total weight of the operation platform and the carried object by utilizing the platform weighing device; obtaining the output torque of the rotary motor according to the power of the rotary motor and the rotating speed of the rotary motor; determining the total relation between the mass of the carrying object and the input torque of the speed reducer; calculating a second total weight of the working platform and the carried object according to the total relation, the mass of the working platform and the output torque of the rotary motor; weight verification information is generated based on the error values of the first total weight and the second total weight. On the basis that a new device is not required to be additionally arranged on the vehicle, the accuracy of the platform weighing device is detected by using the calculated second total weight, and the inaccuracy of the weight value obtained by using the platform weighing device is further avoided.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain, without limitation, the embodiments of the invention. In the drawings:
FIG. 1 illustrates a flow chart of a weight verification method for a vehicle provided by an embodiment of the present application;
fig. 2 shows a schematic structural diagram of a vehicle provided in an embodiment of the present application;
fig. 3 shows a schematic view of a part of the structure of a vehicle provided in an embodiment of the present application;
fig. 4 shows a schematic structural diagram of a weight verification device for a vehicle according to an embodiment of the present application.
Description of the reference numerals
200-vehicle
210-working platform 220-slewing device 230-platform weighing device
221-rotary electric machine
Detailed Description
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
The terms "comprises," "comprising," "including," or any other variation thereof, are intended to cover a specific feature, number, step, operation, element, component, or combination of the foregoing, which may be used in various embodiments of the present invention, and are not intended to first exclude the presence of or increase the likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the invention belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments of the invention.
Example 1
Referring to fig. 1, fig. 1 shows a flowchart of a weight verification method for a vehicle according to an embodiment of the present application.
The vehicle comprises a working platform, a turning device and a platform weighing device, wherein the working platform is carried with a carried object, the turning device comprises a turning motor and a speed reducer, and the weight verification method for the vehicle in fig. 1 comprises the following steps:
s110, acquiring the mass of the operation platform, and determining the first total weight of the operation platform and the carried object by utilizing the platform weighing device.
Referring to fig. 2, fig. 2 shows a schematic structural diagram of a vehicle according to an embodiment of the present application.
In this embodiment, the vehicle 200 is a vehicle-mounted aerial work vehicle, and specifically, the vehicle 200 includes a work platform 210, a turning device 220, and a platform weighing device 230. When the vehicle 200 is used for aloft work, the work platform is used for carrying the carried object, wherein the carried object is set according to the actual requirement, and may be an operator or an equipment, and the carried object is not limited herein. The turning gear 220 includes a turning motor and a speed reducer, which are not specifically shown in fig. 2 for ease of understanding. The swivel device 220 is used to swivel to the work platform 210. The platform weighing device 230 is used for acquiring the real-time total weight of the work platform 210 in real time. It should be understood that the vehicle 200 further includes other mechanical structures such as a vehicle chassis, a first arm structure, a second arm structure, etc., and the other mechanical structures are configured according to actual needs, which are not limited herein.
The work platform 210 may be weighed in advance before the work platform 210 leaves the factory, and the mass of the work platform 210 may be obtained. The mass of the operation platform 210 may also be determined by the platform weighing device under the condition that the operation platform is empty, which is not described herein. In the present embodiment, the work table 210 is mounted with a mounted object, and the first total weight of the work table 210 and the mounted object is determined by the table weighing device 230. By weighing the work platform 210 in real time, the work platform is prevented from being overloaded.
And S120, obtaining the output torque of the rotary motor according to the power of the rotary motor and the rotating speed of the rotary motor.
Referring to fig. 3, fig. 3 is a schematic view of a part of a vehicle according to an embodiment of the present application.
When the work platform 210 of the vehicle 200 performs a turning operation, the turning motor 221 drives the rolling elements in the raceways of the speed reducer to move, thereby pushing the turning device 200 to rotate. During the running process of the rotary motor 221, the power of the rotary motor 221 and the rotary motor 221 can be detected in real time. Based on the power of the rotary motor 221 and the rotary motor 221, the output torque of the rotary motor 221 is obtained as follows:
Figure SMS_1
wherein M is the output torque of the rotary motor, P is the power of the rotary motor, n is the rotating speed of the rotary motor, U is the voltage of the rotary motor, and I is the current of the rotary motor.
S130, determining the total relation between the quality of the carrying object and the input torque of the speed reducer.
The reduction ratio of the speed reducer and the transmission power of the speed reducer are generally known specification parameters of the speed reducer, and thus, the input torque of the speed reducer can be calculated:
Figure SMS_2
wherein M is the input torque of the speed reducer, i is the speed reduction ratio of the speed reducer, eta is the transmission power of the speed reducer, and f is the minimum starting friction resistance torque of the speed reducer.
It should be understood that when the rotary motor drives the speed reducer, the input torque of the speed reducer is equal to the output torque of the rotary motor. When the speed reducer pushes the rotating device to rotate, the minimum starting friction resistance moment of the speed reducer is influenced by the mass of the working platform and the mass of the carrying object, and then the total relation between the mass of the carrying object and the input moment of the speed reducer can be determined based on the formula (2).
As an example, the determining the total relation between the mass of the mount and the input torque of the speed reducer includes:
determining a first relation between the mass of the carried product and a total centrifugal force and determining a second relation between the mass of the carried product and a total overturning moment, wherein the total centrifugal force is the sum of the centrifugal force of the working platform and the centrifugal force of the carried product, and the total overturning moment is the sum of the overturning moment of the working platform and the overturning moment of the carried product;
And determining the total relation between the mass of the carrying object and the input torque of the speed reducer according to the first relation and the second relation.
The total centrifugal force is the sum of the centrifugal force of the working platform and the centrifugal force of the carried object, the total centrifugal force is influenced by the mass of the working platform and the mass of the carried object together, and after the mass of the working platform is obtained, the first relation between the mass of the carried object and the total centrifugal force can be determined. Similarly, the total overturning moment is the sum of the overturning moment of the working platform and the overturning moment of the carried object, the total overturning moment is influenced by the mass of the working platform and the mass of the carried object together, and after the mass of the working platform is obtained, the second relation between the mass of the carried object and the total overturning moment can be determined. The input torque of the speed reducer is known to be equal to the output torque of the rotary motor, and the total centrifugal force and the total overturning torque are obtained according to the input torque of the speed reducer. The mass of the load is calculated from the total centrifugal force and the total overturning moment obtained.
In an alternative example, the determining the first relationship between the mass of the load and the total centrifugal force and the determining the second relationship between the mass of the load and the total overturning moment includes:
Acquiring a first distance and a second distance of the operation platform corresponding to the rotating device, and acquiring a third distance and a fourth distance of the carried object corresponding to the rotating device, wherein the first distance and the third distance are in the same direction, and the second distance and the fourth distance are in the same direction;
obtaining the centrifugal force of the working platform according to the mass of the working platform, the first distance and the rotating speed of the rotary motor;
determining a first sub-relationship between the mass of the carried product and the centrifugal force of the carried product according to the third distance and the rotating speed of the rotary motor;
determining a first relationship between the mass of the load and a total centrifugal force based on the first sub-relationship and the centrifugal force of the work platform;
determining a second sub-relationship of the mass of the load and the weight of the load;
obtaining the weight of the working platform based on the mass of the working platform;
and determining a second relationship between the mass of the carrying object and the total overturning moment based on the centrifugal force of the working platform, the weight of the working platform, the first sub-relationship, the second sub-relationship, the first distance, the second distance, the third distance and the fourth distance.
And obtaining a first distance and a second distance between the working platform and the slewing device based on the mass center of the working platform and the mass center of the slewing device. And obtaining a third distance and a fourth distance between the carried object and the slewing device based on the mass center of the carried object and the mass center of the slewing device. For ease of understanding, in the embodiments of the present application, the first distance is a horizontal distance between the working platform and the turning device, the third distance is a horizontal distance between the carried object and the turning device, and the first distance and the third distance are in the same direction. The second distance is the height distance between the working platform and the turning device, the fourth distance is the height distance between the carried object and the turning device, and the second distance and the fourth distance are in the same direction.
According to the mass of the operation platform, the first distance and the rotating speed of the rotary motor, the centrifugal force of the operation platform is obtained as follows:
F 1 ＝m 1 *V 1 *V 1 *X 1 formula (3)
Wherein F is 1 M is the centrifugal force of the working platform 1 For the quality of the working platform, V 1 X is the rotation speed of the rotary motor 1 Is the first distance.
The carrying object and the operation platform can be obtained through calculation by the same centrifugal force formula, and as the mass of the carrying object is unknown, according to the third distance and the rotating speed of the rotary motor, the first sub-relationship between the mass of the carrying object and the centrifugal force of the carrying object is determined as follows:
F 2 ＝m 2 *V 2 *V 2 *X 2 Formula (4)
Wherein F is 2 M is the centrifugal force of the carried object 2 For the quality of the carried product, V 2 X is the rotation speed of the rotary motor 2 Is the third distance.
The total centrifugal force is the sum of the centrifugal force of the working platform and the centrifugal force of the carried object. Based on the first sub-relationship and the centrifugal force of the work platform, determining the first relationship between the mass of the carrying object and the total centrifugal force as follows:
F r ＝F 1 +F 2 ＝m 1 *V 1 *V 1 *X 1 +m 2 *V 2 *V 2 *X 2 formula (5)
Wherein the method comprises the steps of，F r F is the total centrifugal force 1 F is the centrifugal force of the working platform 2 M is the centrifugal force of the carried object 1 For the quality of the working platform, m 2 For the quality of the carried product, V 2 For the rotation speed of the rotary motor, V 1 X is the rotation speed of the rotary motor 1 At a first distance X 2 Is the third distance.
For ease of understanding, the gravitational acceleration in the examples of the present application takes a value of 9.8. Based on the mass and the gravitational acceleration of the operation platform, the weight of the operation platform is obtained as follows:
G 1 ＝m 1 *9.8 Formula (6)
Wherein G is 1 For the gravity of the working platform, m 1 Is the quality of the working platform.
The carrying object and the working platform can be obtained through calculation by the same mass formula, and the second sub-relationship between the mass of the carrying object and the weight of the carrying object can be determined as follows because the mass of the carrying object is unknown:
G 2 ＝m 2 *9.8 Formula (7)
Wherein G is 2 For the weight of the carried object, m 2 The quality of the carrier.
The sum of the weight of the carried object and the weight of the operation platform is as follows:
F a ＝G 1 +G 2 formula (8)
Wherein F is a G, the sum of the weight of the carried object and the weight of the working platform 1 G is the gravity of the working platform 2 Is the weight of the carried object.
A second relationship between the mass of the load and the total overturning moment is determined based on the torque of the centrifugal force of the work platform and the centrifugal force of the load, and the torque of the weight of the work platform and the weight of the load.
In an alternative example, determining the second relationship of the mass of the mount to the total overturning moment based on the centrifugal force of the work platform, the weight of the work platform, the first sub-relationship, the second sub-relationship, the first distance, the second distance, the third distance, and the fourth distance includes:
obtaining a centrifugal force overturning moment of the working platform based on the centrifugal force of the working platform and the first distance;
obtaining a weight overturning moment of the working platform based on the weight of the working platform and the second distance;
obtaining the overturning moment of the working platform according to the centrifugal force overturning moment of the working platform and the weight overturning moment of the working platform;
Obtaining a third sub-relationship between the mass of the carried product and the centrifugal force overturning moment of the carried product based on the first sub-relationship and the third distance;
obtaining a fourth sub-relationship between the mass of the carried product and the weight overturning moment of the carried product based on the second sub-relationship and the fourth distance;
obtaining a fifth sub-relationship between the mass of the carried product and the overturning moment of the carried product according to the third sub-relationship and the fourth sub-relationship;
and determining a second relation between the mass of the carried product and the total overturning moment according to the overturning moment of the working platform and the fifth sub-relation.
And obtaining the centrifugal force overturning moment of the working platform based on the centrifugal force of the working platform and the first distance. And obtaining the weight overturning moment of the working platform based on the weight of the working platform and the second distance. The sum of the centrifugal force overturning moment of the working platform and the weight overturning moment of the working platform, namely the overturning moment of the working platform:
M 1 ＝G 1 *X 1 +F 1 *H 1 formula (9)
Wherein M is 1 G is the overturning moment of the working platform 2 X is the gravity of the carried object 2 At a third distance F 1 For centrifugal force of working platform H 1 Is the second distance.
And obtaining a third sub-relationship between the mass of the carried object and the centrifugal force overturning moment of the carried object based on the first sub-relationship and the third distance. And obtaining a fourth sub-relationship between the mass of the carrying object and the weight overturning moment of the carrying object based on the second sub-relationship and the fourth distance. The sum of the centrifugal force overturning moment of the carried object and the weight overturning moment of the carried object, namely the overturning moment of the carried object:
M 2 ＝G 2 *X 2 +F 2 *H 2 Formula (10)
Wherein M is 2 G for the overturning moment of the carried object 1 X is the gravity of the working platform 1 At a first distance F 2 To carry the centrifugal force of the object, H 2 A fourth distance.
And substituting the formula (4) corresponding to the first sub-relation and the formula (7) corresponding to the second sub-relation into the formula (10) respectively to obtain a fifth sub-relation between the quality of the carried product and the overturning moment of the carried product, wherein the formula of the fifth sub-relation is not shown. Adding the overturning moment of the working platform and the overturning moment of the carried object to obtain the total overturning moment as follows:
M Q ＝M 1 +M 2 ＝G 1 *X 1 +F 1 *H 1 +G 2 *X 2 +F 2 *H 2 formula (11)
Wherein M is Q For total overturning moment, M 1 For the overturning moment of the working platform, M 2 G for the overturning moment of the carried object 1 G is the gravity of the working platform 2 X is the gravity of the carried object 1 At a first distance X 2 At a third distance F 1 F is the centrifugal force of the working platform 2 To carry the centrifugal force of the object, H 1 At a second distance H 2 A fourth distance.
And substituting the formula (4) corresponding to the first sub-relationship and the formula (7) corresponding to the second sub-relationship into the formula (11) respectively to determine a second relationship between the quality of the carried product and the total overturning moment, wherein the formula of the second relationship is not shown.
In an optional example, the determining, according to the first relationship and the second relationship, a total relationship between the mass of the carrier and the input torque of the speed reducer includes:
Determining a third relationship between the quality of the carried product and the total pressure of the rolling elements of the speed reducer based on the first relationship, the second relationship, the diameter of the raceway of the speed reducer, the friction coefficient of the speed reducer, the rigidity coefficient of the speed reducer and the pressure angle of the rolling elements of the speed reducer;
and determining the total relation between the quality of the carried object and the input torque of the speed reducer according to the third relation.
When the operation platform carries out rotation operation, the rolling bodies in the rollaway nest of the speed reducer move so as to push the rotation device to rotate. The pressure of all the rolling elements in the raceway is affected by the quality of the load. Based on the first relation, the second relation, the diameter of a roller path of the speed reducer, the friction coefficient of the speed reducer, the rigidity coefficient of the speed reducer and the rolling element pressure angle of the speed reducer, the total rolling element pressure is determined as follows:
Figure SMS_3
Figure SMS_4
wherein Sigma N is the total pressure of the rolling bodies, F a D is the sum of the weight of the carried object and the weight of the operation platform 0 The diameter of a raceway of the speed reducer is mu, the friction coefficient of the speed reducer, K, the rigidity coefficient of the speed reducer, gamma, the pressure angle of a rolling body of the speed reducer and M Q To total overturning moment, F r Is the total centrifugal force.
Substituting the formula (5) corresponding to the first relation and the formula (11) corresponding to the second relation into the formula (12) to obtain a third relation between the quality of the carried product and the total pressure of the rolling elements of the speed reducer, wherein the formula of the third relation is not shown. And according to the third relation, determining the total relation between the mass of the carried product and the input torque of the speed reducer.
In an optional example, the determining, according to the third relationship, a total relationship between the mass of the carrier and the input torque of the speed reducer includes:
determining a fourth relationship between the mass of the carrier and a minimum starting friction resistance moment of the speed reducer based on the third relationship, the raceway diameter and the friction coefficient;
and determining the total relation between the mass of the carried product and the input torque of the speed reducer according to the fourth relation, the speed reduction ratio of the speed reducer and the transmission power of the speed reducer.
The minimum starting friction resistance moment of the speed reducer is influenced by the pressure of rolling bodies in the speed reducer, and the quality of the carried mass and the minimum starting friction resistance moment of the speed reducer are determined based on a third relation, the diameter of a raceway and the friction coefficient to be:
f＝0.5* D 0 * Mu ΣNformula (14)
Wherein f is the minimum starting friction resistance moment of the speed reducer, D 0 The diameter of the rollaway nest of the speed reducer is mu, the friction coefficient of the speed reducer is mu, and sigma N is the total pressure of the rolling bodies.
And substituting the formula (5) corresponding to the first relation, the formula (11) corresponding to the second relation and the formula (12) corresponding to the third relation into the formula (14) respectively to obtain a fourth relation between the mass of the carried product and the minimum starting friction resistance moment of the speed reducer, wherein the formula of the fourth relation is not shown. Substituting the formula (5) corresponding to the first relation, the formula (11) corresponding to the second relation, the formula (12) corresponding to the third relation and the formula (14) corresponding to the fourth relation into the formula (2) to obtain the total relation between the mass of the carried product and the input torque of the speed reducer, wherein the formula of the total relation is not shown.
And S140, calculating a second total weight of the working platform and the carried object according to the total relation, the mass of the working platform and the output torque of the rotary motor.
The input torque of the speed reducer is equal to the output torque of the rotary motor, and a calculation equation of the input torque of the speed reducer and the output torque of the rotary motor can be established. And calculating a second total weight of the working platform and the carried object according to the total relation, the mass of the working platform and the output torque of the rotary motor.
In an optional example, the calculating the second total weight of the work platform and the carrying object according to the total relation, the mass of the work platform, and the output torque of the swing motor includes:
obtaining the quality of the carrying object according to the total relation, the quality of the working platform and the input torque of the speed reducer;
and calculating a second total weight of the work platform and the carried object based on the mass of the carried object and the mass of the work platform.
The input torque of the speed reducer can be obtained according to the minimum starting friction resistance torque of the speed reducer, the speed reduction ratio of the speed reducer and the transmission power of the speed reducer. Establishing a calculation equation of the input torque of the speed reducer and the output torque of the rotary motor, substituting a formula (5) corresponding to the first relation, a formula (11) corresponding to the second relation, a formula (12) corresponding to the third relation and a formula (14) corresponding to the fourth relation into a formula (2) for calculating the input torque of the speed reducer, and obtaining the mass of the carrying object as follows:
Figure SMS_5
Wherein n is the rotation speed of the rotary motor, U is the voltage of the rotary motor, I is the current of the rotary motor, I is the reduction ratio of the speed reducer, eta is the transmission power of the speed reducer, and m 1 For the quality of the working platform, m 2 For the quality of the carried product, V 2 For the rotation speed of the rotary motor, V 1 X is the rotation speed of the rotary motor 1 At a first distance X 2 At a third distance H 1 At a second distance H 2 For a fourth distance D 0 The diameter of the raceway of the speed reducer is mu, the friction coefficient of the speed reducer is K, the rigidity coefficient of the speed reducer is K, and gamma is the pressure angle of the rolling body of the speed reducer.
Based on the calculated mass of the load and the obtained mass of the work platform, a second total weight of the work platform and the load is calculated.
And S150, generating weight verification information based on the error values of the first total weight and the second total weight.
When the platform weighing device has faults such as data offset, the weight value of the aerial work platform obtained by the platform weighing device is inaccurate. Weight verification information is generated based on the error values of the first total weight and the second total weight. When calculating the first total weight of operation platform and carrying object, the devices such as rotation motor and speed reducer that use are the devices that the vehicle includes, on the basis that the vehicle need not additionally set up new device, utilize the second total weight that calculates, detect platform weighing device's precision, and then avoid utilizing the weight numerical value that platform weighing device obtained inaccurately.
In addition, based on the error value of the first total weight and the second total weight, when the error of the platform weighing device is determined to be large, alarm information can be generated, the turning action of the vehicle is limited, and then the safety risk is avoided. As one example, the generating weight verification information based on the error value of the first total weight and the second total weight includes:
calculating an error value for the first total weight and the second total weight;
generating weight verification information that the first total weight is not abnormal under the condition that the error value is smaller than a preset threshold value;
and generating weight verification information that the first total weight is abnormal under the condition that the error value is larger than or equal to a preset threshold value.
Calculating error values of the first total weight and the second total weight, and judging whether the error values are smaller than a preset threshold value or not:
Figure SMS_6
wherein G is a first total weight, G 0 K is a preset threshold value for the second total weight.
It should be understood that the value of k is set according to practical requirements, and may be any value from 0.05 to 0.1, which is not limited herein. And under the condition that the error value is smaller than a preset threshold value, determining that the weight value of the working platform obtained by the platform weighing device is in an error allowable range, and generating weight verification information that the first total weight is not abnormal. Based on the first total weight, the boom limit amplitude of the overhead working truck is adjusted in real time, and whether the working platform is overloaded is determined. Under the condition that the error value is larger than or equal to a preset threshold value, determining that the error of the platform weighing device is larger, and generating weight verification information that the first total weight is abnormal, wherein the weight value of the working platform obtained by the platform weighing device is inaccurate.
The application provides a weight verification method for a vehicle, the vehicle includes work platform, slewer and platform weighing device, work platform carries on the carrying object, slewer includes rotary motor and speed reducer, the method includes: acquiring the mass of the operation platform, and determining a first total weight of the operation platform and the carried object by utilizing the platform weighing device; obtaining the output torque of the rotary motor according to the power of the rotary motor and the rotating speed of the rotary motor; determining the total relation between the mass of the carrying object and the input torque of the speed reducer; calculating a second total weight of the working platform and the carried object according to the total relation, the mass of the working platform and the output torque of the rotary motor; weight verification information is generated based on the error values of the first total weight and the second total weight. On the basis that a new device is not required to be additionally arranged on the vehicle, the accuracy of the platform weighing device is detected by using the calculated second total weight, and the inaccuracy of the weight value obtained by using the platform weighing device is further avoided.
Example 2
Referring to fig. 4, fig. 4 is a schematic structural diagram of a weight verification device for a vehicle according to an embodiment of the present application.
The vehicle includes work platform, slewer and platform weighing device, work platform carries on the thing of carrying, slewer includes rotation motor and speed reducer, and the weight verification device 300 for vehicle in fig. 4 includes:
a first total weight determining module 310, configured to obtain a mass of the work platform, and determine a first total weight of the work platform and the carried object using the platform weighing device;
an output torque obtaining module 320, configured to obtain an output torque of the rotary motor according to the power of the rotary motor and the rotation speed of the rotary motor;
a total relation determining module 330, configured to determine a total relation between the mass of the carrier and an input torque of the speed reducer, where the input torque of the speed reducer is equal to an output torque of the rotary motor;
a second total weight determining module 340, configured to calculate a second total weight of the working platform and the carried object according to the total relation, the mass of the working platform, and the output torque of the rotary motor;
the check information generating module 350 is configured to generate weight check information based on the error values of the first total weight and the second total weight.
As one example, the overall relationship determination module 330 includes:
the first relation and second relation module is used for determining a first relation between the mass of the carried product and a total centrifugal force and determining a second relation between the mass of the carried product and a total overturning moment, wherein the total centrifugal force is the sum of the centrifugal force of the working platform and the centrifugal force of the carried product, and the total overturning moment is the sum of the overturning moment of the working platform and the overturning moment of the carried product;
and the first total relation module is used for determining the total relation between the quality of the carried product and the input torque of the speed reducer according to the first relation and the second relation.
In an alternative example, the first total relationship module includes:
a third relation module, configured to determine a third relation between the mass of the carrier and a total pressure of rolling elements of the speed reducer, based on the first relation, the second relation, a raceway diameter of the speed reducer, a friction coefficient of the speed reducer, a rigidity coefficient of the speed reducer, and a rolling element pressure angle of the speed reducer;
and the second total relation module is used for determining the total relation between the quality of the carried object and the input torque of the speed reducer according to the third relation.
In an alternative example, the second total relationship module includes:
a fourth relationship module, configured to determine a fourth relationship between the mass of the carrier and a minimum starting friction resistance moment of the speed reducer based on the third relationship, the raceway diameter, and the friction coefficient;
and the third total relation module is used for determining the total relation between the mass of the carried product and the input torque of the speed reducer according to the fourth relation, the speed reduction ratio of the speed reducer and the transmission power of the speed reducer.
In an alternative example, the first relationship and the second relationship module include:
the distance acquisition module is used for acquiring a first distance and a second distance of the operation platform corresponding to the rotating device and acquiring a third distance and a fourth distance of the carried object corresponding to the rotating device, wherein the first distance is the same as the third distance in direction, and the second distance is the same as the fourth distance in direction;
the centrifugal force module of the working platform is used for obtaining the centrifugal force of the working platform according to the mass of the working platform, the first distance and the rotating speed of the rotary motor;
the first sub-relation module is used for determining a first sub-relation between the mass of the carried product and the centrifugal force of the carried product according to the third distance and the rotating speed of the rotary motor;
A first relationship determining module, configured to determine a first relationship between the mass of the load and a total centrifugal force based on the first sub-relationship and the centrifugal force of the work platform;
a second sub-relationship module for determining a second sub-relationship between the mass of the load and the weight of the load;
the working platform quality module is used for obtaining the weight of the working platform based on the quality of the working platform;
and the second relation determining module is used for determining a second relation between the quality of the carried product and the total overturning moment based on the centrifugal force of the working platform, the weight of the working platform, the first sub-relation, the second sub-relation, the first distance, the second distance, the third distance and the fourth distance.
In an alternative example, the second relationship determination module includes:
the centrifugal force overturning moment module of the working platform is used for obtaining the centrifugal force overturning moment of the working platform based on the centrifugal force of the working platform and the first distance;
the working platform weight overturning moment module is used for obtaining the weight overturning moment of the working platform based on the weight of the working platform and the second distance;
The working platform overturning moment module is used for obtaining the overturning moment of the working platform according to the centrifugal force overturning moment of the working platform and the weight overturning moment of the working platform;
a third sub-relationship module, configured to obtain a third sub-relationship between the mass of the carried product and a centrifugal force overturning moment of the carried product based on the first sub-relationship and the third distance;
a fourth sub-relationship module, configured to obtain a fourth sub-relationship between the mass of the carried product and a weight overturning moment of the carried product based on the second sub-relationship and the fourth distance;
a fifth sub-relationship module, configured to obtain a fifth sub-relationship between the mass of the carried product and the overturning moment of the carried product according to the third sub-relationship and the fourth sub-relationship;
and the second relation module is used for determining a second relation between the quality of the carried product and the total overturning moment according to the overturning moment of the working platform and the fifth sub-relation.
As an example, the second total weight determination module 340 includes:
the carrying mass module is used for obtaining the quality of the carrying mass according to the total relation, the mass of the working platform and the input torque of the speed reducer;
And the second total weight module is used for calculating the second total weight of the working platform and the carried object based on the mass of the carried object and the mass of the working platform.
As an example, the verification information generating module 350 includes:
an error value calculating module for calculating an error value of the first total weight and the second total weight;
the verification module without abnormality is used for generating weight verification information that the first total weight is not abnormal under the condition that the error value is smaller than a preset threshold value;
and the abnormal weight verification module is used for generating weight verification information of the first total weight with abnormal weight under the condition that the error value is larger than or equal to a preset threshold value.
The weight verification device 300 for a vehicle is used to perform the corresponding steps in the weight verification method for a vehicle described above, and the specific implementation of each function is not described here. Furthermore, the alternative example in embodiment 1 is also applicable to the weight verification device 300 for a vehicle of embodiment 2 as well.
The embodiment of the application also provides a vehicle, which comprises a working platform, a slewing device platform weighing device, a memory and a processor, wherein the memory stores a computer program, and the computer program realizes the weight verification method for the vehicle according to the embodiment 1 when being executed by the processor.
The first total weight determining module 310, the output torque obtaining module 320, the total relation determining module 330, the second total weight determining module 340, the verification information generating module 350, and the like in this embodiment are all stored as program units in the memory, and the processor executes the program units stored in the memory to realize the corresponding functions.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel can be provided with one or more than one kernel, and the problem of inaccurate weight value of the obtained aerial work platform is solved by adjusting kernel parameters.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
The present embodiment also provides a computer-readable storage medium having a computer program stored thereon, which when executed by a processor, implements the weight verification method for a vehicle as described in embodiment 1.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer-readable storage media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims (11)

1. A weight verification method for a vehicle, the vehicle including a work platform, a turning device, and a platform weighing device, the work platform carrying a carried object, the turning device including a turning motor and a speed reducer, the method comprising:
Acquiring the mass of the operation platform, and determining a first total weight of the operation platform and the carried object by utilizing the platform weighing device;
obtaining the output torque of the rotary motor according to the power of the rotary motor and the rotating speed of the rotary motor;
determining the total relation between the mass of the carrying object and the input torque of the speed reducer, wherein the input torque of the speed reducer is equal to the output torque of the rotary motor;
calculating a second total weight of the working platform and the carried object according to the total relation, the mass of the working platform and the output torque of the rotary motor;
weight verification information is generated based on the error values of the first total weight and the second total weight.
2. The weight verification method for a vehicle according to claim 1, wherein the determining of the total relation of the mass of the mount and the input torque of the speed reducer includes:
determining a first relation between the mass of the carried product and a total centrifugal force and determining a second relation between the mass of the carried product and a total overturning moment, wherein the total centrifugal force is the sum of the centrifugal force of the working platform and the centrifugal force of the carried product, and the total overturning moment is the sum of the overturning moment of the working platform and the overturning moment of the carried product;
And determining the total relation between the mass of the carrying object and the input torque of the speed reducer according to the first relation and the second relation.
3. The weight verification method for a vehicle according to claim 2, wherein the determining of the total relation of the mass of the mount and the input torque of the speed reducer according to the first relation and the second relation includes:
determining a third relationship between the quality of the carried product and the total pressure of the rolling elements of the speed reducer based on the first relationship, the second relationship, the diameter of the raceway of the speed reducer, the friction coefficient of the speed reducer, the rigidity coefficient of the speed reducer and the pressure angle of the rolling elements of the speed reducer;
and determining the total relation between the quality of the carried object and the input torque of the speed reducer according to the third relation.
4. The weight verification method for a vehicle according to claim 3, wherein the determining of the total relation of the mass of the mount and the input torque of the speed reducer according to the third relation includes:
determining a fourth relationship between the mass of the carrier and a minimum starting friction resistance moment of the speed reducer based on the third relationship, the raceway diameter and the friction coefficient;
And determining the total relation between the mass of the carried product and the input torque of the speed reducer according to the fourth relation, the speed reduction ratio of the speed reducer and the transmission power of the speed reducer.
5. The weight verification method for a vehicle according to claim 2, wherein the determining a first relationship between the mass of the load and a total centrifugal force and determining a second relationship between the mass of the load and a total overturning moment includes:
acquiring a first distance and a second distance of the operation platform corresponding to the rotating device, and acquiring a third distance and a fourth distance of the carried object corresponding to the rotating device, wherein the first distance and the third distance are in the same direction, and the second distance and the fourth distance are in the same direction;
obtaining the centrifugal force of the working platform according to the mass of the working platform, the first distance and the rotating speed of the rotary motor;
determining a first sub-relationship between the mass of the carried product and the centrifugal force of the carried product according to the third distance and the rotating speed of the rotary motor;
determining a first relationship between the mass of the load and a total centrifugal force based on the first sub-relationship and the centrifugal force of the work platform;
Determining a second sub-relationship of the mass of the load and the weight of the load;
obtaining the weight of the working platform based on the mass of the working platform;
and determining a second relationship between the mass of the carrying object and the total overturning moment based on the centrifugal force of the working platform, the weight of the working platform, the first sub-relationship, the second sub-relationship, the first distance, the second distance, the third distance and the fourth distance.
6. The weight verification method for a vehicle according to claim 5, wherein the determining the second relationship between the mass of the mounted mass and the total overturning moment based on the centrifugal force of the work platform, the weight of the work platform, the first sub-relationship, the second sub-relationship, the first distance, the second distance, the third distance, and the fourth distance includes:
obtaining a centrifugal force overturning moment of the working platform based on the centrifugal force of the working platform and the first distance;
obtaining a weight overturning moment of the working platform based on the weight of the working platform and the second distance;
obtaining the overturning moment of the working platform according to the centrifugal force overturning moment of the working platform and the weight overturning moment of the working platform;
Obtaining a third sub-relationship between the mass of the carried product and the centrifugal force overturning moment of the carried product based on the first sub-relationship and the third distance;
obtaining a fourth sub-relationship between the mass of the carried product and the weight overturning moment of the carried product based on the second sub-relationship and the fourth distance;
obtaining a fifth sub-relationship between the mass of the carried product and the overturning moment of the carried product according to the third sub-relationship and the fourth sub-relationship;
and determining a second relation between the mass of the carried product and the total overturning moment according to the overturning moment of the working platform and the fifth sub-relation.
7. The weight verification method for a vehicle according to claim 1, wherein the calculating the second total weight of the work platform and the mounted object based on the total relation, the mass of the work platform, and the output torque of the swing motor includes:
obtaining the quality of the carrying object according to the total relation, the quality of the working platform and the input torque of the speed reducer;
and calculating a second total weight of the work platform and the carried object based on the mass of the carried object and the mass of the work platform.
8. The weight verification method for a vehicle according to claim 1, wherein the generating weight verification information based on the error values of the first total weight and the second total weight includes:
calculating an error value for the first total weight and the second total weight;
generating weight verification information that the first total weight is not abnormal under the condition that the error value is smaller than a preset threshold value;
and generating weight verification information that the first total weight is abnormal under the condition that the error value is larger than or equal to a preset threshold value.
9. A weight verification device for a vehicle, the vehicle including a work platform, a turning device and a platform weighing device, the work platform carrying a carried object, the turning device including a turning motor and a speed reducer, the device comprising:
the first total weight determining module is used for obtaining the mass of the operation platform and determining the first total weight of the operation platform and the carried object by utilizing the platform weighing device;
the output torque obtaining module is used for obtaining the output torque of the rotary motor according to the power of the rotary motor and the rotating speed of the rotary motor;
The total relation determining module is used for determining the total relation between the quality of the carried object and the input torque of the speed reducer, wherein the input torque of the speed reducer is equal to the output torque of the rotary motor;
the second total weight determining module is used for calculating the second total weight of the working platform and the carried object according to the total relation, the mass of the working platform and the output torque of the rotary motor;
and the verification information generation module is used for generating weight verification information based on the error value of the first total weight and the second total weight.
10. A vehicle comprising a work platform, a slewing device platform weighing device, a memory and a processor, the memory storing a computer program which, when executed by the processor, implements the weight verification method for a vehicle as claimed in any one of claims 1 to 8.
11. A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements the weight verification method for a vehicle according to any one of claims 1 to 8.
CN202211711973.7A 2022-12-29 2022-12-29 Weight verification method and device for vehicle, vehicle and storage medium Pending CN116040548A (en)

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