CN1844865A - Dynamic weighting system and method for vehicle - Google Patents
Dynamic weighting system and method for vehicle Download PDFInfo
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- CN1844865A CN1844865A CN 200610050612 CN200610050612A CN1844865A CN 1844865 A CN1844865 A CN 1844865A CN 200610050612 CN200610050612 CN 200610050612 CN 200610050612 A CN200610050612 A CN 200610050612A CN 1844865 A CN1844865 A CN 1844865A
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Abstract
The invention discloses a vehicle dynamic weighting system, which comprises a coil detector, a weighting platform, wheel judges, an infrared vehicle separator, a data collect processor, a central processor and an output displayer. Wherein, there are at least three groups of wheel judgers while each group is distant; the invention discloses two estimate methods, that using math model method or system recognize method to measure and estimate the vehicle load signal, which can restrain noise; the load dynamic detecting method based on system recognize can improve the measure accuracy and reduce the detect error caused by the different speeds when vehicle passes the detecting gate; said two estimate methods uses at least three groups of wheel judgers to detect the speed and acceleration, with considering the speed change when the vehicle passes the weight baffle, to reduce the weight error and improve the weighting accuracy most.
Description
[technical field]
The present invention relates to vehicle weighing, relate in particular to vehicle dynamic and weigh.
[background technology]
Road vehicle dynamic weighing (Highway Vehicle Weigh-in-Motion), be meant vehicle do not stop, weighing under the motion state, refer to that promptly vehicle passes through weighing platform with certain speed of a motor vehicle, weighing instrument is measured each weight or wheel load successively, at last each weight or wheel load is added up and obtains the mode of weighing of complete vehicle weight.By dynamic weighing, can also have the collection transport information to the vehicle in travelling presort, transfinite detection, weight metering charging, functions such as decision-making are provided for relevant department.Dynamic weighing is compared with the static weighing under the dead ship condition, its principal feature be save time, efficient height, cost be low, and normal traffic do not caused bigger influence when weighing.Dynamic Weighing Technology can also with integrated application such as automatic vehicle identification, microwave radio technology, computer video detection technique and computer networking technology, realize robotization, the intellectuality of vehicle detection.
The feature that vehicle dynamic is weighed depends on following factor: the type of vehicle, the situation on road surface and roughness, the speed of vehicle and acceleration, the transient equilibrium of vehicle, the state of tire, the type of vehicle hanging, three step responses of tote, and driver's functipnal capability etc.Therefore, we can say travel in " weight " of vehicle be not one and determine constant value, but relevant with multiple factor, by one of certain distribution " weight " at random.In addition, dynamic weighing algorithm and sensor type are closely related, adopt different sensors, and corresponding algorithm may be very different.
All there is bigger error in present weighing system, and the main cause that wherein produces error has: the jolt state of vehicle on weighting platform, the i.e. oscillation frequency of vehicle dynamic load; The natural mode shape of weighting platform; The 50Hz power frequency is to the influence of measuring-signal; The tangential movement of weighting platform is to the component of the gravity direction of sensor generation; The error that the sensor nonlinear characteristic causes; The transfer of the weight that the inclination on road surface and the physical construction of vehicle cause; The error that the discrepancy in elevation on road surface produces is especially for trailer; During the vehicle acceleration and deceleration to the impulsive force of weighting platform; The time change power that causes in the vehicle movement process that table top distortion produces; The reaction velocity of sensor and weighting platform system counter stress; Different and the machinery of sensor electrical characteristic is installed the improper unbalance loading that causes; Other extraneous interference, for example electromagnetic interference (EMI) etc.
In the above in these error components, for the error that pavement roughness produces, can only be by standard construction to reach requirement.In dynamic weighing system, the error that is caused by the sensor reason also only accounts for very little proportion purely at present.The power frequency of high frequency interference and 50Hz is disturbed and can be eliminated by hardware and software filtering technique etc.Experimental analysis shows that the error that accounts for integral body 90% comes from low-frequency disturbance, promptly because the error that the low-frequency oscillation of vehicle dynamic load causes.This oscillation frequency mainly concentrates in the 30Hz.Because the heavy signal of the axle of automobile also is the low frequency amount, therefore is difficult to by the filtering of low-pass filtering method.In addition, because axle restatement amount is used very short table top, the data volume of gathering in the limited time is very limited.For low-frequency disturbance, following rapidly in the very fast situation of the speed of a motor vehicle, vehicle has not just left the weighting platform face when also forming complete oscillation period, and this signal is to lack the course signal.
China just introduces Dynamic Weighing Technology since the nineties in last century.At present, the Dynamic Weighing Technology of China is compared a certain distance in addition with external similar technology, and especially gap is also very big on weighing precision, dynamic stability.At home, the dynamic weighing precision of current stage is also lower, and (＜10km/h) the average error from ± 5% to ± 10% of weighing does not wait, and corresponding degree of confidence is 95%, and the speed raising causes falling of weighing precision in the general practical application under the low speed.When the speed of a motor vehicle improved, weighting error increased rapidly, the speed of 30Km/h by time error even reach ± more than 40%.This situation is brought two consequences: 1) low speed causes the vehicle queue phenomenon of charge station by the serious work efficiency that has limited the charge station of weighing; 2) vehicle by the time speed difference cause Weighing inaccurate, the fairness of influence charge is brought unnecessary dispute.
Therefore, how to improve weighing precision, just become technological difficulties and the key in the vehicle dynamic weighing system, also become the important topic of our research.
[summary of the invention]
Purpose of the present invention solves the problems of the prior art exactly, proposes a kind of vehicle dynamic weighing system and method, the weighing precision height.
For achieving the above object, the present invention proposes a kind of vehicle dynamic weighing system, comprise coil checker, weighing platform, wheel shaft arbiter, infrared ray vehicle separator, data collection processor, the lane in which the drivers should pay fees computing machine and car weight and expense volume display that signal transmits successively, described wheel shaft arbiter is at least three groups, and every group keeps at a certain distance away.
For achieving the above object, the invention allows for a kind of vehicle dynamic mathematical model method of weighing, automobile is regarded as the stack of the periodic oscillation item that the heavy time dependent linear term of static shaft of automobile and the amplitude that the automobile dynamic load causes change through the signal of weighting platform generation, go out mathematical model according to detecting data fitting, the linear term that keeps this model reaches the purpose that suppresses noise, with regard to being converted into the nonlinear fitting problem that detects data, adopt nonlinear optimization parameter estimation means to estimate again the inhibition problem of PERIODIC INTERFERENCE.
As preferably, described mathematical model is
Y in the formula (t) is the mathematical model of weighing-up wave; The weighing-up wave rate of change of k for when loading plate moves, causing by steady state loading; A
iBe the dynamic load amplitude of different frequency composition in weighing-up wave rate over time; B
iFrequency for the different frequency dynamic load; C
iPhase place for the different frequency dynamic load; P is the number of the different frequency composition that comprised of automotive wheel dynamic load periodic disturbances.
As preferably, consider that in mathematical model automobile is by the velocity variations in the time of heavily weighing, on weighing system hardware, increase the pick-up unit of vehicle by speed and acceleration, and with speed and acceleration as Consideration, form with weight embodies, and realizes estimated data's optimum fusion.
For achieving the above object, the invention allows for a kind of vehicle dynamic weighing system discrimination method, vehicle weighing device and vehicle are considered as a total system set up mathematical model, draw the quick time-varying system of representing with arma modeling of a standard, utilize quick time-varying system identification algorithm to carry out online recursive identification, calculate axle according to the model of the inputoutput data of weighing system and the quick time-varying system of setting up and weigh.
As preferably, consider that in mathematical model automobile is by the velocity variations in the time of heavily weighing, on weighing system hardware, increase the pick-up unit of vehicle by speed and acceleration, and with speed and acceleration as Consideration, form with weight embodies, and realizes estimated data's optimum fusion.
Beneficial effect of the present invention: the present invention adopts mathematical model method or system identifying method the automobile axle load signal is measured and to be estimated, can suppress noise, the inhibition problem of PERIODIC INTERFERENCE is converted into the nonlinear fitting problem that detects data adopts nonlinear optimization parameter estimation means to estimate again, the heavy dynamic testing method of axle based on System Discrimination can improve the precision of measurement, the error of bringing to detection because of the different speed of a motor vehicle when reducing the vehicle passing detection mouth can be carried out online recursive identification to quick time-varying system accurately; In these two kinds of evaluation methods, adopt at least three group wheel shaft arbiters that speed and acceleration are detected, consider that automobile is by the heavily variation of the interior speed of time of weighing apparatus of axle, further reduce the Weighing error, improve weighing precision to greatest extent, the maximum current speed of a motor vehicle is when the following scope of 30km/h, car gross weight error in dipping is controlled at ± 6% scope in, can access the data that meet national measurement standard.
Feature of the present invention and advantage will be elaborated in conjunction with the accompanying drawings by embodiment.
[description of drawings]
Fig. 1 is the structural representation of vehicle dynamic weighing system of the present invention.
[embodiment]
Embodiment one:
Fig. 1 is the structural representation of vehicle dynamic weighing system of the present invention.Vehicle dynamic weighing system, comprise coil checker 11, weighing platform 12, wheel shaft arbiter 13, infrared ray vehicle separator 14, data collection processor 15, the lane in which the drivers should pay fees computing machine 16 and car weight and expense volume display 17 that signal transmits successively, described wheel shaft arbiter 13 is at least three groups, and every group keeps at a certain distance away.Weighing unit hardware keeps original equipment substantially, serves as to increase by two wheel shaft arbiters 13 at interval again in original wheel shaft arbiter 13 back with 1 meter just, uses as the accurate measurement of speed and acceleration.Signal Processing hardware also correspondingly gathers way and the input acquisition channel of amount of acceleration, and is core with the embedded system, the parallel high-speed disposal system of structure weighing-up wave Processing Algorithm.Hardware realizes adopting the MCU+DSP pattern.Wherein, high speed MCU mainly is responsible for data acquisition, and DSP then mainly is responsible for data operation at a high speed, carries out the mutual of data by dual port RAM between them.When the data that collect as far as possible for a long time, the measured value that calculates should more approach actual value, should improve the sampling rate of A/D and the data-handling capacity of DSP as far as possible for this reason, so preferred DSP and the high-speed a/d device that adopts the 32-bit floating type.The whole hardware of dynamic weighing instrument partly is made up of power circuit, signal conditioning circuit, high-speed a/d change-over circuit, single-chip microcomputer subsystem, DSP subsystem, keyboard/display circuit and communicating circuit etc.
Constitute based on said system, adopt the vehicle dynamic mathematical model method of weighing, the measurement data combined mathematical module is accurately estimated the automobile axle load signal, thereby use optimized Algorithm to come the parameter in the estimation model to reduce low-frequency disturbance, the signal that automobile produces through weighting platform can be regarded as the stack of the periodic oscillation item of the heavy time dependent linear term of static shaft of automobile and the amplitude variation that the automobile dynamic load causes.Promptly
In the formula: Y (t) is the mathematical model of weighing-up wave; The weighing-up wave rate of change of k for when loading plate moves, causing by steady state loading; A
iBe the dynamic load amplitude of different frequency composition in weighing-up wave rate over time; B
iFrequency for the different frequency dynamic load; C
iPhase place for the different frequency dynamic load; P is the number of the different frequency composition that comprised of automotive wheel dynamic load periodic disturbances.Go out above-mentioned model according to detecting data fitting, the linear term that keeps this model just can reach the purpose that suppresses noise, and at this moment the inhibition problem of PERIODIC INTERFERENCE just is converted into the nonlinear fitting problem that detects data.Because this model more complicated, optimize some nonlinear optimization parameter estimation means of employing, solve as the non-linear optimal estimation method of Levenberg-Marquet etc.
Said method is based on a hypothesis, and promptly speed is constant in the time that automobile heavily weighs by axle.And in fact the speed of a motor vehicle is that fluctuation is always arranged, the acceleration factor that is automobile be can not ignore, and Weighing brought error, and its measuring accuracy often has certain contact with the velocity magnitude of passing through of automobile, but to set up speed theoretically, the relation of acceleration and weighing results is but very difficult, in order to improve weighing precision to greatest extent, the present invention has increased the pick-up unit of vehicle by speed and acceleration on weighing system hardware, with speed and acceleration as Consideration, form with weight embodies, and realizes above-mentioned two kinds of results' that method obtains optimum fusion.Final axle remeasurement amount can be expressed from the next:
In the formula, w
1 v, w
2 vBe the weight relevant, w with speed
1 a, w
2 aBe the weight relevant with acceleration, Y1 and Y2 are respectively the heavy result of axle from optimized parameter method of estimation and system identifying method acquisition, and Y is that final axle weighs.Weight Determination need be by a large amount of experiments in the formula.We preferably adopt intelligent signal fusion method such as neural metwork training to obtain the optimum non-linear fusion output of two axle weight, speed and four input quantities of acceleration automatically in the reality.
Embodiment two:
System hardware constitutes and embodiment one basically identical, but evaluation method adopts the vehicle dynamic weighing system discrimination method, vehicle weighing device and vehicle are considered as a total system set up mathematical model, draw the quick time-varying system of representing with arma modeling of a standard.Utilize a kind of quick time-varying system identification algorithm to carry out online recursive identification to this model, calculate axle according to the model of the inputoutput data of weighing system and the quick time-varying system of setting up and weigh.The heavy dynamic testing method of axle based on System Discrimination can improve the precision of measurement, the error of bringing to detection because of the different speed of a motor vehicle when reducing the vehicle passing detection mouth.
Said method also is based on the interior constant hypothesis of speed of time that automobile heavily weighs by axle.And in fact the speed of a motor vehicle is that fluctuation is always arranged, the acceleration factor that is automobile be can not ignore, and Weighing brought error, and its measuring accuracy often has certain contact with the velocity magnitude of passing through of automobile, but the relation that will set up speed, acceleration and weighing results theoretically is very difficult, in order to improve weighing precision to greatest extent, present embodiment adopts structure and the method identical with embodiment one that speed and acceleration are also embodied as the form of Consideration with weight.
The foregoing description is to further specify of the present invention; not to concrete qualification of the present invention; system architecture of the present invention can be made suitable simple transformation; evaluation method also can be done the simple equivalent conversion, any system after the simple transformation of the present invention or method is all belonged to protection scope of the present invention.
Claims (6)
1. vehicle dynamic weighing system, comprise coil checker (11), weighing platform (12), wheel shaft arbiter (13), infrared ray vehicle separator (14), data collection processor (15), the lane in which the drivers should pay fees computing machine (16) and car weight and expense volume display (17) that signal transmits successively, it is characterized in that: described wheel shaft arbiter (13) is at least three groups, and every group keeps at a certain distance away.
2. the vehicle dynamic mathematical model method of weighing, it is characterized in that: automobile is regarded as the stack of the periodic oscillation item that the heavy time dependent linear term of static shaft of automobile and the amplitude that the automobile dynamic load causes change through the signal of weighting platform generation, go out mathematical model according to detecting data fitting, the linear term that keeps this model reaches the purpose that suppresses noise, with regard to being converted into the nonlinear fitting problem that detects data, adopt nonlinear optimization parameter estimation means to estimate again the inhibition problem of PERIODIC INTERFERENCE.
3. the vehicle dynamic as claimed in claim 2 mathematical model method of weighing, it is characterized in that: described mathematical model is
Y in the formula (t) is the mathematical model of weighing-up wave; The weighing-up wave rate of change of k for when loading plate moves, causing by steady state loading; A
iBe the dynamic load amplitude of different frequency composition in weighing-up wave rate over time; B
iFrequency for the different frequency dynamic load; C
iPhase place for the different frequency dynamic load; P is the number of the different frequency composition that comprised of automotive wheel dynamic load periodic disturbances.
4. as claim 2 or the 3 described vehicle dynamic mathematical model method of weighing, it is characterized in that: consider that in mathematical model automobile is by the velocity variations in the time of heavily weighing, on weighing system hardware, increase the pick-up unit of vehicle by speed and acceleration, and with speed and acceleration as Consideration, form with weight embodies, and realizes estimated data's optimum fusion.
5. vehicle dynamic weighing system discrimination method, it is characterized in that: vehicle weighing device and vehicle are considered as a total system set up mathematical model, draw the quick time-varying system of representing with arma modeling of a standard, utilize quick time-varying system identification algorithm to carry out online recursive identification, calculate axle according to the model of the inputoutput data of weighing system and the quick time-varying system of setting up and weigh.
6. vehicle dynamic weighing system discrimination method as claimed in claim 5, it is characterized in that: consider that in mathematical model automobile is by the velocity variations in the time of heavily weighing, on weighing system hardware, increase the pick-up unit of vehicle by speed and acceleration, and with speed and acceleration as Consideration, form with weight embodies, and realizes estimated data's optimum fusion.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101206769B (en) * | 2006-12-22 | 2010-10-27 | 中国科学院沈阳自动化研究所 | Method for detecting infrared vehicle separation signal and device thereof |
| CN101196421B (en) * | 2007-12-18 | 2011-04-27 | 梅特勒-托利多(常州)称重设备系统有限公司 | Axle weight evaluation method for vehicle dynamic weighing system |
| CN101673418B (en) * | 2009-09-30 | 2011-07-20 | 江西赣粤高速公路股份有限公司 | Highway toll station dynamic weighting apparatus controlling and managing system |
| CN102226711A (en) * | 2011-03-30 | 2011-10-26 | 北京万集科技有限责任公司 | Dynamic weighing method of vehicle and apparatus thereof |
| CN102288267A (en) * | 2011-05-09 | 2011-12-21 | 宝鸡四维衡器有限公司 | Precise detecting method and device for number of automobile wheel axles used on automobile scale |
| CN102410866A (en) * | 2011-08-03 | 2012-04-11 | 武汉嘉工科技有限公司 | Vehicle pass weighing system and vehicle weighing method |
| CN103196530A (en) * | 2013-04-24 | 2013-07-10 | 郑州衡量电子科技有限公司 | Weight-in-motion system for vehicles and weighing method thereof |
| CN103712674A (en) * | 2013-12-31 | 2014-04-09 | 山东博安智能科技有限公司 | Four-table-top angle block dynamic axle load weighing machine |
| CN104898578A (en) * | 2014-03-04 | 2015-09-09 | 上海陆杰电子科技有限公司 | Online monitoring management system and method for road dynamic axle load scale |
| CN106768227A (en) * | 2016-12-09 | 2017-05-31 | 大连交通大学 | Dynamic weigher and method based on acceleration signal empirical mode decomposition |
| CN106989806A (en) * | 2017-06-05 | 2017-07-28 | 江西众加利高科技股份有限公司 | The axle Sets of Measurement instrument of the function containing WIFI |
| CN106996822A (en) * | 2017-06-05 | 2017-08-01 | 江西众加利高科技股份有限公司 | The vehicle measuring instrument of the function containing WIFI |
| CN106996821A (en) * | 2017-05-18 | 2017-08-01 | 江西众加利高科技股份有限公司 | A kind of vehicle measuring instrument remote auto accident warning device communicated based on GPRS |
| CN107084782A (en) * | 2017-05-26 | 2017-08-22 | 江西众加利高科技股份有限公司 | A kind of axle Sets of Measurement instrument long-distance automatic fault warning device communicated based on GPRS |
| CN107884043A (en) * | 2017-12-14 | 2018-04-06 | 杜叶 | A kind of dynamic weigher and method |
| CN110645952A (en) * | 2019-09-24 | 2020-01-03 | 江苏中宏讯达科技有限公司 | Vehicle spring deformation sensor and acquisition method |
| CN112146698A (en) * | 2019-06-28 | 2020-12-29 | 上海梅山钢铁股份有限公司 | Method for monitoring state of driving wheel |
| CN112781703A (en) * | 2020-12-30 | 2021-05-11 | 北京万集科技股份有限公司 | System and method for weighing vehicle |
| CN112781701A (en) * | 2020-12-30 | 2021-05-11 | 北京万集科技股份有限公司 | Method and system for carrying out reliability scoring on weighing information |
| CN112781702A (en) * | 2020-12-30 | 2021-05-11 | 北京万集科技股份有限公司 | Method and system for weighing vehicle |
| CN114290866A (en) * | 2022-01-12 | 2022-04-08 | 太原科技大学 | Overload monitoring and unbalance load adjusting system and method for oil-gas suspension type dump truck |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5323099B2 (en) * | 1973-03-12 | 1978-07-12 |
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- 2006-05-08 CN CNB2006100506127A patent/CN100533073C/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101206769B (en) * | 2006-12-22 | 2010-10-27 | 中国科学院沈阳自动化研究所 | Method for detecting infrared vehicle separation signal and device thereof |
| CN101196421B (en) * | 2007-12-18 | 2011-04-27 | 梅特勒-托利多(常州)称重设备系统有限公司 | Axle weight evaluation method for vehicle dynamic weighing system |
| CN101673418B (en) * | 2009-09-30 | 2011-07-20 | 江西赣粤高速公路股份有限公司 | Highway toll station dynamic weighting apparatus controlling and managing system |
| CN102226711B (en) * | 2011-03-30 | 2014-04-16 | 北京万集科技股份有限公司 | Dynamic weighing method of vehicle and apparatus thereof |
| CN102226711A (en) * | 2011-03-30 | 2011-10-26 | 北京万集科技有限责任公司 | Dynamic weighing method of vehicle and apparatus thereof |
| CN102288267A (en) * | 2011-05-09 | 2011-12-21 | 宝鸡四维衡器有限公司 | Precise detecting method and device for number of automobile wheel axles used on automobile scale |
| CN102410866A (en) * | 2011-08-03 | 2012-04-11 | 武汉嘉工科技有限公司 | Vehicle pass weighing system and vehicle weighing method |
| CN102410866B (en) * | 2011-08-03 | 2014-07-02 | 武汉嘉工科技有限公司 | Vehicle pass weighing system and vehicle weighing method |
| CN103196530A (en) * | 2013-04-24 | 2013-07-10 | 郑州衡量电子科技有限公司 | Weight-in-motion system for vehicles and weighing method thereof |
| CN103712674A (en) * | 2013-12-31 | 2014-04-09 | 山东博安智能科技有限公司 | Four-table-top angle block dynamic axle load weighing machine |
| CN103712674B (en) * | 2013-12-31 | 2015-06-17 | 山东博安智能科技股份有限公司 | Four-table-top angle block dynamic axle load weighing machine |
| CN104898578A (en) * | 2014-03-04 | 2015-09-09 | 上海陆杰电子科技有限公司 | Online monitoring management system and method for road dynamic axle load scale |
| CN106768227A (en) * | 2016-12-09 | 2017-05-31 | 大连交通大学 | Dynamic weigher and method based on acceleration signal empirical mode decomposition |
| CN106768227B (en) * | 2016-12-09 | 2020-01-14 | 大连交通大学 | Dynamic weighing device and method based on acceleration signal empirical mode decomposition |
| CN106996821A (en) * | 2017-05-18 | 2017-08-01 | 江西众加利高科技股份有限公司 | A kind of vehicle measuring instrument remote auto accident warning device communicated based on GPRS |
| CN107084782A (en) * | 2017-05-26 | 2017-08-22 | 江西众加利高科技股份有限公司 | A kind of axle Sets of Measurement instrument long-distance automatic fault warning device communicated based on GPRS |
| CN106996822A (en) * | 2017-06-05 | 2017-08-01 | 江西众加利高科技股份有限公司 | The vehicle measuring instrument of the function containing WIFI |
| CN106989806A (en) * | 2017-06-05 | 2017-07-28 | 江西众加利高科技股份有限公司 | The axle Sets of Measurement instrument of the function containing WIFI |
| CN107884043A (en) * | 2017-12-14 | 2018-04-06 | 杜叶 | A kind of dynamic weigher and method |
| CN107884043B (en) * | 2017-12-14 | 2023-12-15 | 杜叶 | Dynamic weighing device and method |
| CN112146698A (en) * | 2019-06-28 | 2020-12-29 | 上海梅山钢铁股份有限公司 | Method for monitoring state of driving wheel |
| CN112146698B (en) * | 2019-06-28 | 2022-03-15 | 上海梅山钢铁股份有限公司 | Method for monitoring state of driving wheel |
| CN110645952A (en) * | 2019-09-24 | 2020-01-03 | 江苏中宏讯达科技有限公司 | Vehicle spring deformation sensor and acquisition method |
| CN112781703A (en) * | 2020-12-30 | 2021-05-11 | 北京万集科技股份有限公司 | System and method for weighing vehicle |
| CN112781701A (en) * | 2020-12-30 | 2021-05-11 | 北京万集科技股份有限公司 | Method and system for carrying out reliability scoring on weighing information |
| CN112781702A (en) * | 2020-12-30 | 2021-05-11 | 北京万集科技股份有限公司 | Method and system for weighing vehicle |
| CN112781702B (en) * | 2020-12-30 | 2023-12-22 | 北京万集科技股份有限公司 | Method and system for weighing vehicle |
| CN114290866A (en) * | 2022-01-12 | 2022-04-08 | 太原科技大学 | Overload monitoring and unbalance load adjusting system and method for oil-gas suspension type dump truck |
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