WO1997014019A1 - Dispositif pour calculer une mauvaise repartition d'une charge supportee par un vehicule, et dispositif pour calculer une charge supportee par un vehicule - Google Patents
Dispositif pour calculer une mauvaise repartition d'une charge supportee par un vehicule, et dispositif pour calculer une charge supportee par un vehicule Download PDFInfo
- Publication number
- WO1997014019A1 WO1997014019A1 PCT/JP1996/001066 JP9601066W WO9714019A1 WO 1997014019 A1 WO1997014019 A1 WO 1997014019A1 JP 9601066 W JP9601066 W JP 9601066W WO 9714019 A1 WO9714019 A1 WO 9714019A1
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- WO
- WIPO (PCT)
- Prior art keywords
- load
- weight
- vehicle
- deviation
- value
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
- B60P1/045—Levelling or stabilising systems for tippers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
- G01G19/12—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles having electrical weight-sensitive devices
Definitions
- the present invention relates to a device for calculating a degree of deviation indicating a degree of deviation of a load applied to a vehicle such as a truck, and a device for calculating a loading amount.
- the measurement of vehicle weight is mainly intended for large vehicles such as trucks, and is performed to prevent traffic accidents such as rollover due to overloading and to promote deterioration of vehicles.
- the measurement of the weight of a conventional vehicle was carried out by placing the vehicle to be measured on a platform scale.However, since the facility is large and requires a large installation space, the number of platforms that can be installed is limited, and many vehicles must be installed. In addition to measurement, the installation cost increases. Therefore, in recent years, a loading weight calculation device that is mounted on a vehicle itself and calculates a loading weight has been provided.
- an arc-shaped leaf spring interposed between front and rear left and right portions of a carrier frame and left and right end portions of both front and rear axles (axles) is used, for example.
- a sensing element for weight measurement such as a strain gauge sensor, is installed, and the load weight is calculated based on the total output of each sensing element that is proportional to the load applied to the front, rear, left, and right sensing elements.
- the output of the front, rear, left, and right sensing elements depends on whether the vehicle is on a slope during the calculation of the load weight, the load balance of the load on the bed, and the characteristics of the weight distribution of the vehicle itself, etc.
- the measured values of the front, rear, left, and right sensing elements will be the same as in the conventional load weight calculation device described above. In some cases, it is not possible to calculate the correct load weight simply by summing the values. In order to improve the calculation accuracy, it is necessary to take into account whether or not the load is uneven and its contents. Also, in general, the sensing element such as a strain gauge sensor does not match the characteristic change when the load applied to it increases and the characteristic change when the load increases, and in detail, when the load increases, the characteristic changes when the load increases. Also have non-linear characteristics, including hysteresis that increases the output.
- a first object of the present invention is to provide a method for accurately calculating a load weight of a vehicle based on outputs of a plurality of weight sensors such as a strain gauge sensor.
- the load on the vehicle that can accurately calculate the deviation of the load applied to the vehicle irrespective of the non-linear characteristics including the hysteresis of each weight sensor and the variation in the characteristics between the weight sensors. It is to provide a bias calculation device.
- a second object of the present invention is to provide a loaded weight calculation device capable of accurately calculating the loaded weight of a vehicle based on the output of each weight sensor.
- a third object of the present invention is to accurately calculate the load weight from the output of each weight sensor regardless of the non-linear characteristics including hysteresis of each weight sensor and the variation in the characteristics of each weight sensor.
- a dV * ⁇ that provides a payload calculation device that can
- a fourth object of the present invention is to provide a loading weight calculation device capable of accurately calculating a loading weight based on the output of each weight sensor without being affected by vibrations caused by running of the vehicle. Is to do.
- the vehicle load deviation calculating device includes a plurality of weight sensors arranged at least in the vehicle width direction at intervals.
- Correction function holding means for holding an output characteristic correction function corresponding to the output of each weight sensor, and correcting the output of each weight sensor by the output characteristic correction function corresponding to each weight sensor.
- Output characteristic correcting means wherein the bias in the vehicle width direction of the load applied to the vehicle is calculated based on the output of each of the weight sensors after being corrected by the output characteristic correcting means.
- the weights of the weight sensors are matched so that the characteristics of the weight sensors match each other.
- Weight sensor level correction means for correcting the output signal of the most sensor, and the vehicle width of the load applied to the vehicle based on the output signal level of each of the weight sensors corrected by the weight sensor level correction means It is also possible to adopt a configuration in which the deviation in the direction is calculated.
- the loading weight calculating device is characterized in that the outputs of a plurality of weight sensors arranged at least in the vehicle width direction at intervals in the vehicle width direction.
- an offset load setting unit configured to set the bias of the load applied to the vehicle, an output of the plurality of weight sensors, and the offset load setting unit.
- a load weight calculating means for calculating the load weight based on the set bias of the load.
- the deviation of the load set by the offset load setting means is determined by the offset load detection means based on the output signal of each of the weight sensors as in the loaded weight detecting device according to the present invention.
- the ratio of the load in the front-rear and left-right directions of the vehicle to be detected can be used.
- the deviation of the load set by the offset load setting unit is determined by the offset load detection unit based on an output signal of each of the weight sensors. It is also possible to detect the deviation of the load applied to the vehicle to be detected.
- the deviation of the load set by the unbalanced load setting unit is determined by the unbalanced load detection unit based on an output signal of each of the weight sensors. It is also possible to use a degree of deviation which is the degree of deviation of the load applied to the vehicle to be detected.
- the ratio of the load in the front-back and left-right directions of the vehicle detected by the self-uniform load detecting means, the bias of the load applied to the vehicle, and the degree of the bias of the load applied to the vehicle are determined by the offset load setting means.
- the following configuration can be adopted to achieve the third object.
- the weight sensor level correction means corrects each of the weight sensors so that the characteristics of the weight sensors match each other. Based on the output signal level of the weight sensor, the unbalanced load detecting means determines the ratio of the load in the front-back and left-right directions of the vehicle, the bias of the load applied to the vehicle, and the degree of the bias of the load applied to the vehicle. It is also possible to adopt a configuration that detects a certain degree of bias.
- the output signal of each of the weight sensors after the weight sensor level correction unit corrects the characteristics of the weight sensors so as to match each other.
- the weight calculating means calculates the weight of the vehicle
- the eccentric load detecting means calculates a ratio of a load in front and rear and left and right directions of the vehicle, a bias of the load applied to the vehicle, and It is also possible to adopt a configuration in which the deviation, which is the degree of deviation of the load applied to the vehicle, is detected.
- the ratio of the load in the front-back and left-right directions of the vehicle detected by the offset load detection unit, the deviation of the load applied to the vehicle, and the degree of the deviation of the load applied to the vehicle are determined by the offset load setting unit.
- the nonlinearity characteristics of each of the weight sensors held in the correction function holding means are determined by the linearity characteristic. Based on the output signal level of each of the weight sensors after being corrected by the output characteristic correction function according to the output characteristic correction function corresponding to the output of each of the weight sensors to correct the load, based on the output signal level of the weight sensor, It is also possible to adopt a configuration that detects a ratio of a load in the front-rear and left-right directions of the vehicle, a deviation of the load applied to the vehicle, and a deviation that is a degree of deviation of the load applied to the vehicle.
- the non-linear characteristic of each of the weight sensors held in the correction function holding means is corrected to a linear characteristic.
- the weight calculating means calculates the weight of the vehicle based on the output signal level of each of the weight sensors after being corrected by the output characteristic correcting means according to the output characteristic correcting function corresponding to the output of each weight sensor.
- the unbalanced load detecting means detects a ratio of a load in the front-rear direction and left and right directions of the vehicle, a bias of the load applied to the vehicle, and a bias which is a degree of the bias of the load applied to the vehicle. It is also possible to adopt a configuration.
- the output of the travel sensor for detecting the travel of the vehicle and the previously calculated loaded weight are calculated. Based on the above, the presence or absence of travel of the vehicle before the calculation of the current loading weight is detected by the traveling detection device before exit, and based on the detection result and the deviation of the load set by the offset load setting device, The correction weight data selection means selects the correction value data from the correction value data holding means, and the load weight calculation means calculates the load weight based on the correction value data corresponding to the bias of the load applied to the vehicle. It is also possible to adopt. Brief explanation of drawings
- FIG. 1 is a basic configuration diagram of a load deviation calculating device according to the present invention.
- FIG. 2 (a) is a side view showing a load deviation calculating device according to the present invention and a vehicle location where a sensing element of the loaded weight calculating device according to the first and third aspects is disposed.
- FIG. 2 (b) is a plan view showing a load deviation calculating device according to the present invention and a vehicle location where sensing elements of the loaded weight calculating device according to the first and third aspects are arranged.
- FIG. 3 is an exploded perspective view of a structure for supporting the leaf spring of FIG. 2 on a carrier frame of a vehicle.
- FIG. 4 is a cross-sectional view showing a sensing element provided in the shirt crumbine of FIG.
- FIG. 5 is a circuit diagram partially showing the configuration of the sensing element shown in FIG. 4 by a block.
- FIG. 6 is a front view of the weighing machine according to the first embodiment which constitutes the load deviation calculating device according to the present invention.
- FIG. 7 is a block diagram C showing a hardware configuration of the microcomputer shown in FIG.
- FIG. 8 is a flowchart showing processing performed by the CPU according to the control program stored in the ROM of the micro-computer shown in FIG.
- FIG. 9 is a flowchart showing a subroutine of the setting process shown in FIG.
- FIG. 10 is a basic configuration diagram of a loaded weight calculation device according to the first aspect of the present invention.
- FIG. 11 is a front view of a load weighing machine according to a second embodiment that constitutes the load weight calculating device according to the first aspect of the present invention.
- FIG. 12 is a block diagram showing a hardware configuration of the micro combination shown in FIG.
- Fig. 13 shows the memory area map of the RAM of the microcombiner shown in Fig. 12.
- FIGS. 14 to 16 are flowcharts showing the processing performed by the CPU according to the control program stored in the ROM of the micro-computer shown in FIG.
- FIG. 17 is a flowchart showing a subroutine of the setting process shown in FIG.
- FIG. 18 (a) is an explanatory view showing a left-sided loading state of the load on the bed shown in FIGS. 2 (a) and 2 (b).
- Fig. 18 (b) is an explanatory diagram showing the state of uniform loading of the load on the bed shown in Figs. 2 (a) and (b).
- Fig. 18 (c) is an explanatory diagram showing the loading state of the load on the bed shown in Figs.
- FIG. 19 is a basic configuration diagram of a loaded weight calculation device according to the second aspect of the present invention.
- FIG. 20 (a) is a side view showing a vehicle location where a sensing element of the loaded weight calculating device according to the second aspect of the present invention is provided.
- FIG. 20 (b) is a plan view showing a vehicle location where the sensing element of the loaded weight calculating device according to the second aspect of the present invention is provided.
- FIG. 21 is a front view of a load scale according to a third embodiment, which constitutes a load weight calculation device according to the second aspect of the present invention.
- FIG. 22 is a block diagram showing the hardware configuration of the microcomputer shown in FIG.
- FIG. 23 is a memory area map of the RAM of the micro combination shown in FIG.
- FIG. 24 is a flowchart showing the contents of the bias correction value table stored in the NVM shown in FIG.
- FIGS. 25 and 26 are flowcharts showing the processing performed by the CPU according to the control program stored in the ROM of the micro-computer shown in FIG.
- FIG. 27 is a flowchart showing a subroutine of the setting process shown in FIG.
- FIG. 28 is a basic configuration diagram of a loaded weight calculation device according to the third aspect of the present invention.
- FIG. 29 is a front view of a load weighing machine according to a fourth embodiment that constitutes the load weight calculating device according to the third aspect of the present invention.
- FIG. 30 is a block diagram showing the hardware configuration of the micro combination provided in the weighing scale shown in FIG.
- FIG. 31 is a memory area map of the RAM of the micro combination shown in FIG.
- FIG. 32 is an explanatory diagram of the membership function in the load conversion data stored in the NVM of the micro combination shown in FIG.
- FIG. 33 is an explanatory diagram of a fuzzy inference rule table in the load conversion data stored in the NVM of the micro combination shown in FIG.
- Fig. 34 is an explanatory diagram of the membership function in which the control parameters obtained by the fuzzy inference rule shown in Fig. 33 are expanded according to the grade and the correction value is obtained.
- FIG. 38 is a flowchart showing a subroutine of the setting process shown in FIG.
- FIG. 39 is a flow chart showing a subroutine of the load weight calculation processing shown in FIG. 36. Description of the preferred embodiment
- the load imbalance calculating device for a vehicle is configured to calculate the load applied to the vehicle 1 based on the outputs of a plurality of weight sensors 21 arranged at least in the vehicle width direction of the vehicle 1.
- a device for calculating a deviation which is a degree of deviation in a width direction, the device being adapted to correct a nonlinear characteristic of each of the weight sensors 21 into a linear characteristic, according to an output of each of the weight sensors 21.
- Correction function holding means 35 holding the output characteristic correction functions ⁇ 1 to ⁇ 6, and the output characteristic correction functions M 1 to M corresponding to the respective weight sensors 21 1.
- output characteristic correction means 33 A for correcting the load applied to the vehicle 1 based on the outputs of the weight sensors 21 corrected by the output characteristic correction means 33 A, respectively. It is configured to calculate the deviation in the vehicle width direction.
- the output characteristic correcting means 33 A outputs the output of each weight sensor 21 to the output characteristic corresponding to the weight sensor 21.
- the output characteristics are corrected by the correction functions M1 to M6, and the nonlinear characteristics including the hysteresis and the like in the output of each weight sensor 21 are corrected to linear characteristics.
- the output of each weight sensor 21 after the correction by 6 has substantially the same value when the load of the vehicle 1 increases and decreases.
- the vehicle load deviation calculating device of the present invention includes: The apparatus further includes a deviation display means 40 for displaying the deviation in the vehicle width direction, whereby the calculated deviation displayed on the deviation display means 40 is used to calculate the loaded weight of the vehicle 1. In addition to taking this into consideration, it is possible to recognize the state of the inclination of the load applied to the vehicle 1 more accurately than by judging from the load by the displayed deviation.
- the weight sensor 21 is disposed at each end of each axle 9 of the vehicle 1 in the vehicle width direction. From the output of each of the weight sensors 21 corrected by 3 A, the axle bias values 61 to (53) indicating the direction and magnitude of the deviation in the vehicle width direction of the load applied to each of the axles 9 from the outputs of the weight sensors 21 Axle bias value calculating means 33 B for calculating each axle 9 and weighting factors Q 1 to Q 3 unique to each axle 9 according to the arrangement of each axle 9 in the longitudinal direction of the vehicle 1 are held.
- the weighting coefficient holding means 35B and the axle deviation values ⁇ l to d3 for each axle 9 calculated by the axle deviation value calculating means 33B are stored in the weighting coefficient holding means 35B. Weighted by the weighting factors Q1 to Q3 corresponding to each axle 9 And a deviation in the vehicle width direction of the load applied to the vehicle 1 is determined by the weighting factors Q1 to Q3. Vehicle deviation value calculated by summing the values d 1 x Q 1 to 5 3 XQ 3 (5, wherein the deviation display means 40 is a vehicle deviation value display unit for displaying the vehicle deviation value According to the vehicle load deviation calculating apparatus of the present invention having such a configuration, the influence of the non-linear characteristic including hysteresis and the like is reduced by the output characteristic correction function M.
- the deviation display means 40 displays the deviation direction display unit 4 for displaying the calculated direction of the deviation in the vehicle width direction of the load applied to the vehicle 1. 0a to 40c, so that the load is biased in either direction of the vehicle width as a whole in the direction of the deviation displayed on the deviation direction display section 40a to 40c. Can be visually visually recognized and easily recognizable. Specific configuration of vehicle load deviation calculation device
- FIGS. 2A and 2B are explanatory views showing a vehicle location where a sensing element of the load deviation calculating device according to a preferred embodiment of the present invention is disposed, wherein FIG. 2A is a side view, FIG. 3 is an exploded perspective view of a structure in which the leaf spring of FIG. 2 is supported by the carrier frame of the vehicle, and FIG. 4 is a cross-sectional view showing a sensing element provided in the shirt culbin of FIG. 2 (a) and 2 (b), reference numeral 1 denotes a vehicle, and the vehicle 1 has wheels 3, a carrier frame 5, and a carrier 7.
- the above-mentioned wheels 3 are provided on the front, middle, rear and left and right six wheels. Supported at both ends.
- the loading platform 7 is supported on the loading platform frame 5, and the left and right front, middle and rear portions of the loading platform frame 5 are separated by a leaf spring 11 at the left and right ends of the front, middle and rear axles 9. It is supported by each part.
- the leaf spring 11 is formed in a substantially circular arc shape that is convex toward the ground side by laminating a band-shaped panel plate, and both ends in the longitudinal direction thereof are provided by the carrier frame 5.
- the brackets are supported by two brackets 13 attached to the front and rear of the vehicle, and in particular, the leaf springs 11 and the rear end of the vehicle 1 are attached to the brackets 13 and 11 It is swingably supported with respect to the bracket 13 by a shirtle 15 interposed therebetween.
- reference numeral 17 denotes a shrink bin that swingably connects the bracket 13 and the shirt crew 15. .
- the load deviation calculating device includes a sensing element 21 and a weighing scale 31 (FIG. 6) to which the sensing element 21 is connected to calculate the deviation applied to the vehicle 1.
- the used sensing element 21 (corresponding to a weight sensor) is also used to calculate the loaded weight of the vehicle 1.
- This sensing element 21 is connected to the front, middle, rear, left and right six brackets 13 and Each of the shackle bins 17 for connecting the shirt clews 15 is disposed in each of the shackle bins 17.
- each of the sensing elements 21 is formed of a magnetostrictive gauge sensor, and as shown in FIG. 4, a hole 17a is formed from one end of the shirt crumb 17 along the axial direction. Attached to the web 19a of the holding member 19 accommodated in the housing. When the sensing element 21 is of the magnetostrictive type, it is fitted into a receiving hole (not shown) formed in the web 19a.
- the left and right six sensing elements 21 disposed in the six front and rear left and right shirt clump pins 17 are sensors 23 and It consists of 25 voltage / frequency converters (hereinafter abbreviated as V / F converters).
- the sensor 23 is composed of a magnetostrictive element 23a and a transformer 23b having the magnetostrictive element 23a as a magnetic path.
- the V / F converter 25 includes an oscillator connected to a primary winding of the transformer 23 b.
- the sensing element 21 is connected to a transformer 2 by an output signal from an oscillator 25a.
- the AC voltage is converted into a DC voltage by the detector 25b, and the V / F conversion circuit 25c converts the DC voltage into a pulse signal having a frequency proportional to the voltage value. It is configured to output to the outside.
- a high-resistance resistor 25 d is connected between the oscillator 25 a and the primary winding of the transformer 23 b.
- the voltage value of the AC voltage induced in the primary winding does not change even if the output signal of the oscillator 25a slightly fluctuates.
- 25b is performed by converting the AC voltage and the voltage generated at both ends of the resistor 25d.
- the multiplication is performed, and the noise component contained in the AC voltage is reduced by the detection by the multiplication.
- the magnetic permeability of the magnetostrictive element 23 a changes due to the load applied to the magnetostrictive element 23 a, and as a result, the transformer 23 b 2 As the AC voltage induced in the next winding changes, the frequency of the pulse signal output from the V / F conversion circuit 25c increases.
- FIG. 1 The calculation of the deviation of the vehicle 1 based on the outputs of the six front and middle and left and right sensing elements 21 arranged in the four front and rear left and right shirt crumbs 17 is shown in FIG.
- a microcombiner hereinafter, referred to as a microcomputer
- a microcomputer provided in the load lane 31 of the first embodiment, which is provided in the vehicle 1 and constitutes the load deviation calculating device of the present invention. This is performed as a process prior to the calculation of the load weight according to 3).
- a deviation display area 40 (corresponding to a deviation display means) for displaying the deviation of the vehicle 1 calculated by the microcomputer 33 is provided.
- the deviation display area 40 is provided with three deviations, that is, left deviation, uniform deviation, and right deviation that indicate the state of load deviation, that is, the direction of deviation of the loaded weight in the vehicle width direction as viewed from the vehicle 1 as a whole.
- Degree display Lamps 40 a to 40 c (corresponding to the deviation direction display section) and a vehicle deviation value (for display of 5, for example, 7 segments It has a polarization value display section 40d composed of a light emitting diode group.
- the microcomputer 33 includes a CPU (Central Processing Unit, central processing unit) 33a, a RAM (Random Access Memory) 33, and a ROM (Read-Only Memory) 33c, as shown in a block diagram in FIG. It is composed of
- the CPU 33a includes a non-volatile memory (NVM_) 35 (corresponding to a correction function holding unit 35A and a weighting coefficient holding unit 35B) in which stored data is not lost even when the power supply is cut off, and the offset adjustment.
- NVM_ non-volatile memory
- the value setting key 45 and the overload weight setting key 47, numeric keypad 53, reset key 54, and set key 55 used for calculating the overload weight and determining the overload based on the result are directly connected, respectively.
- Each of the sensing elements 21 and a travel sensor 57 that generates a travel pulse in accordance with the travel of the vehicle 1 are connected to each other through an entrance face 33d.
- the CPU 33a is connected to the loading weight display section 37, leftward, uniform, and rightward load indicating lamps 40a to 40c, and an eccentricity value via the output interface 33e.
- the display unit 40d, the bias value display unit 40d, the overload indicator lamp 41, and the alarm buzzer 43 for outputting the result of the overload judgment based on the calculation of the load weight and the calculated value are respectively provided. It is connected.
- the RAM 33b has a data area for storing various data and a work area for various processing operations.
- the work area includes a load weight calculation and an overload determination based on the calculated value.
- the ROM 33c stores a control program for causing the CPU 33a to perform various processing operations.
- the adjustment values of the offset adjustment value table are used to eliminate the variation in the frequency of the pulse signals output by the six sensing elements 21 in the tare state of the vehicle 1. It is set for each sensing element 21 by the setting process in the tare state.
- the sensing element 21 whose offset can be adjusted by this adjustment value has a frequency value of the output pulse signal in the range of 30 ⁇ to 700 0 in the tare state.
- the characteristic correction value of the characteristic correction value table includes the hysteresis of the sensing element 21 that the output of the sensing element 21 is higher than when the load applied to each sensing element 21 is increased than when the load is reduced. This is for correcting the non-linear characteristic to the linear characteristic, and this characteristic correction value is set for each sensing element 21 at a stage before the sensing element 21 is disposed in the shirt crumb 17. Is set to The error correction value in the error correction value table is used to correct the variation between the sensing elements 21 and the characteristic relating to the correlation between the load applied to each sensing element 21 and the output pulse signal. The value is set for each sensing element 21 before the sensing elements 21 are arranged in the shirt crumb 17.
- the error correction value of each sensing element 21 is calculated by adjusting the slope of the line indicating the correlation between the load applied to the sensing element 21 and the output pulse signal to match the slope of the line indicating the reference characteristic. 1 is a correction coefficient for multiplying the frequency of the output pulse signal. « ⁇
- the sensing element 21 has a non-linear characteristic including hysteresis.
- a single error correction value is actually set for each sensing element 21.
- a plurality of error correction values applied to the frequency domain between adjacent change points are set for one sensing element 21.
- the weighting factors Q1 to Q3 specific to each axle 9 are obtained for each axle 9, which are obtained from the frequency of the output pulse signal of each sensing element 21 after offset adjustment, characteristic correction, and error correction.
- the weighting factor of the middle axle 9 is set to Q2-0.3
- the load When the vehicle deviation value ⁇ 5 exceeds this value (range), the load is biased to the left, and when the vehicle deviation value ⁇ 5 falls below this value, the load is biased to the right.
- This is a reference value for determining that a load is applied evenly in the left-right direction, and in the present embodiment, the offset load determination value is set to 1 ⁇ (5 ⁇ 5).
- the loaded weight 5 tons is calculated by the above weight conversion formula, and 1200 H If it is z, the loading weight-10 tons is calculated.
- the calculated loading weight is rounded to the first decimal place.
- step S1 When the accessory (ACC) key (not shown) of the vehicle is turned on for the first time, When the power is supplied to the microcomputer 31 and the microcomputer 33 is started and the program is started, the CPU 33a performs an initial setting according to a main routine shown in a flowchart of FIG. 8 (step S1).
- step S3 it is checked whether or not there is a setting mode _required_request by operating the offset adjustment value setting key 45 or the overload weight value setting key 47 (step S3). N), the process proceeds to step S7 described below, and if there is a request (Y in step S3), the process proceeds to the setting process of step S5.
- step S5a it is checked whether or not the request was confirmed in step S3 by operating the offset adjustment value setting key 45 (step S5a). If the offset is due to the operation of the offset adjustment value setting key 45 (Y in step S5a), the vehicle 1 is set in the tare state, and is input from each sensing element 21 via the input interface 33d. Calculate the frequency of the pulse signal (step S5b).
- step S5e if the request confirmed in step S3 is not the result of the operation of the offset adjustment value setting key 45 (N in step S5a), the overload weight value setting process is performed (step S5e ).
- step S7 it is checked whether or not a traveling pulse from the traveling sensor 57 has been input. If it has been input (Y), step S3 If no signal is input (N), the frequency of the pulse signal input from each sensing element 21 is determined (step S 9). Next, each sensing element 21 determined in step “S-9” is determined. It is checked whether or not all the frequencies of the output pulse signal are within the range of 30 Hz to 700 Hz at which the offset can be adjusted by the offset adjustment value (step S11).
- step S11 If the frequency of the output pulse signal of any one of the sensing elements 21 is out of the range of 30 Hz to 700 Hz (N in step S11), for example, the alphabet After the error display is performed using the characters "E. Loj" (step S13), the process returns to step S3, while the frequency of the output pulse signal of each sensing element 21 is 3 OH z to 70 OH z If it is within the range (Y in step S11), the process proceeds to step S15.
- step S15 the frequency of the pulse signal input from each sensing element 21 determined in step S9 is offset-adjusted by the offset adjustment value of the NVM 35 in the calculation area, and then, the The frequency of the pulse signal from the element 21 is corrected in the calculation area using the characteristic correction value of the NVM 35 (step S17), and the pulse signal frequency from each of the sensing elements 21 after the offset adjustment and the characteristic correction is calculated.
- the error is corrected by the error correction value of the NVM 35 (step S19).
- the output Mi of each sensing element 21 after the characteristic correction is performed is the output Wi of each sensing element 21 before the characteristic correction after offset adjustment in step S15, and Wi> 0. , Or Wi ⁇ 0.
- i is the position number of the sensing element 21.
- step S19 After the error correction in step S19, based on the outputs M1 to M-6 of the sensing elements 21 after error correction and the weighting factors Q1 to Q3 specific to each axle 9 of the NVM 35, Calculate the axle deviation values 51 to (53 for each axle 9 (Step S21) o
- the axle deviation values of the middle axle 9 and the rear axle 9 (52, 53 are calculated based on the output M3, M4, and M3, M4, after the characteristic correction of the two sensing elements 21 disposed on the left and right of the middle axle 9, respectively.
- step S21 if the axle deviation value for each axle 9 is determined to be ⁇ 51 to (53, the axle 9 is multiplied by the weighting coefficient Q1 to Q3 specific to each axle 9 corresponding to the axle deviation value 61 to 53.
- the axle deviation value for each axle 9 (51 to (53 is weighted respectively, and the weighted axle deviation value for each axle 9 (51 xQ1 to (53 The value (5 is calculated (step S23).
- step S25 it is confirmed whether or not the calculated vehicle deviation value (5 is within the range of the deviation determination value 1-5 ⁇ (5 ⁇ 5) stored in the NVM 35 (step S25). Place not in If it is (N in step S25), the process proceeds to step S29 described later, and if it is within the range (Y in step S25), the uniform load display lamp 40b is turned on and the other display lamps 40a, After turning off 40c (step S27), the process proceeds to step S35 described later.
- step S25 proceed to (N) when the vehicle deviation value (5 is not within the range of the deviation determination value 1-5 (5 ⁇ 5) (N) .
- step S29 it is determined whether the vehicle deviation value 6 is brass. And if it is a brass (Y in step S29), turn on the left eccentric load display lamp 40a and turn off the-display lamps 40b and 40c (step S31). Proceed to step S35. If it is not positive (N in step S29), the right eccentric load display lamp 40c is turned on and the other display lamps 40a and 4 Ob are turned off (step S33). Go to S35.
- step S35 the display of the deviation value display section 40d is updated to the vehicle deviation value calculated in step S23 (step S77), and thereafter, the process returns to step S3.
- the output characteristic correcting means 33A in the claims is constituted by step S17 in the flowchart of FIG. 8, and the axle deviation value calculating means 33B It consists of step S21 in 8.
- the sensing elements 21 at both ends of each axle 9 are output.
- the pulse signal of the frequency corresponding to the load applied to both ends of 9 is corrected by the offset adjustment value of the NVM 35 corresponding to that frequency, whereby the output frequency between each sensing element 21 in the tare state is Is eliminated.
- the output pulse signal of each sensing element 21 after correction by the offset adjustment value is corrected by the characteristic correction value of NVM 35 corresponding to the frequency, whereby the output of each sensing element 21 is corrected.
- the output pulse signal of each sensing element 21 after the correction by the offset adjustment value and the characteristic correction value is corrected by the error correction value of the NVM 35 corresponding to the frequency. Variations in characteristics relating to the correlation between the load and the output pulse signal between the sensing elements 21 are eliminated.
- the axle deviation values (5 1 to (? 3 are calculated based on the output pulse signal of the sensing element 21 for each axle 9).
- the vehicle deviation value (5) which is the deviation of the load of the entire vehicle 1, is calculated from the weighting factors Q1 to Q3 unique to each axle 9.
- the calculated vehicle deviation value ( The value of 5 is displayed as a numerical value in the deviation value display section 40d, and the vehicle deviation value (the value of 5 is one 5 ⁇ (5 ⁇ 5 (equal), 5 ⁇ 5 (left deviation), (5 Depending on the range of ⁇ —5 (rightward), the corresponding one of the leftward, equal, and rightward load display lamps 40a to 40c is turned on.
- the frequencies of the output pulse signals of the respective sensing elements 21 are summed up, and this total frequency is used to correct the error between the unbalanced load and the uniform load.
- this total frequency is used to correct the error between the unbalanced load and the uniform load.
- the overloading indication lamp 41 is turned on or the alarm buzzer 43 is sounded to notify the overloading state.
- each of the front, middle, and rear axles 9 Based on the outputs of the respective sensing elements 21 disposed at both ends, axle deviation values 51 to d3 indicating the deviation of the load for each axle 9 in the vehicle width direction of the vehicle 1 are calculated, Furthermore, by weighting these axle deviation values ⁇ 5 1 to ⁇ 5 3 with weighting factors Q 1 to Q 3 specific to each axle 9, the vehicle deviation value 5 which is the load deviation of the entire vehicle 1 is obtained. In calculating, the output of each sensing element 21 is corrected from the non-linear characteristic to the linear characteristic by a characteristic correction value.
- the loaded weight calculation device is configured to calculate the loaded weight of the vehicle 1 based on the outputs of a plurality of weight sensors 21 disposed at least in the vehicle width direction of the vehicle 1.
- the calculated load weight calculating device based on the output of the travel sensor 57 detecting the travel of the vehicle 1 and the previously calculated load weight, the travel of the vehicle 1 before the calculation of the current load
- Pre-calculation traveling detection means 33 D for detecting the presence or absence of the load
- offset load setting means 33 for setting the direction of deviation of the load applied to the vehicle 1 in the vehicle width direction
- Correction value data holding means 35 C for holding a plurality of correction values ⁇ 1 to ⁇ 6 for adjustment, the detection result of the travel detection means 33 D before calculation and the vehicle set by the offset load setting means 33 3 3 Based on the direction of the deviation in the width direction, the correction value data is stored.
- Means Correction value data selection means 3 3F for selecting the corresponding correction value data ⁇ 1 to ⁇ 6 from 3 5 C, and the correction value data ⁇ 1 to ⁇ 6 selected by the correction value data selection means 3 3 F
- Output correction means 33G for correcting the outputs of the plurality of weight sensors 21 by means of, and the load weight is calculated based on the outputs of the plurality of weight sensors 21 corrected by the output correction means 33G. Configured to calculate W 9 has been.
- the presence or absence of traveling of the vehicle 1 before the calculation of the current load weight The correction value data Z 1 to Z 6 corresponding to the direction of the deviation in the vehicle width direction of the vehicle 1 set by the setting means 3 3 E and the correction value data selection means 33 F are stored in the correction value data holding means 35 C.
- the load weight is output based on the outputs of the plurality of weight sensors 21 corrected by the output correction means 33 G using the selected correction value data Z 1 to Z 6, and the load weight is being calculated.
- each weight sensor 21 changes due to the deviation of the load applied to the vehicle 1 due to the posture of the vehicle 1 and the load balance of the load in the vehicle, especially in the vehicle width direction, or due to the vibration accompanying the traveling of the vehicle 1.
- Each weight to a normal value according to the actual load The output of the capacitors 2 1 is corrected, the output of each weight sensor 2 1 calculates the correct load weight based, it is possible to improve the measurement accuracy.
- the weight sensors 21 are disposed at both end portions of each axle 9 of the vehicle 1 in the vehicle width direction. 21 From the output of 1, the axle deviation values 1 to (53 indicate the direction and magnitude of the deviation in the vehicle width direction of the load applied to each axle 9 in the vehicle width direction are calculated for each axle 9.
- the axle deviation value (51 to 53) for each axle 9 calculated by the deviation value calculation means 33B is calculated by the weighting corresponding to each axle 9 held in the weighting coefficient holding means 35B.
- Weighting means 33 C for weighting the coefficients with the coefficients Q 1 to Q 3, respectively.
- the eccentric load setting means 3 3 E determines the direction of the eccentricity, the axle eccentricity value 51 XQ 1 to 5 XX 1 to (53 XQ 3 ,
- the load applied to the vehicle 1 is set in the direction of deviation in the vehicle width direction, which is calculated from a vehicle deviation value ⁇ 5 obtained by summing
- the output of each weight sensor 21 is used as a correction value corresponding to the direction of deviation of the vehicle 1 in the vehicle width direction.
- the axle deviation values (5 1 to 6 3) for each axle 9 of the vehicle on which the respective weight sensors 21 are arranged (5 1 to 6 3 are calculated by the axle deviation value calculating means 3 3 B).
- the axle deviation values ⁇ 1 to ⁇ 3 of the corresponding axle 9 are weighted by the weighting means 33C using the weighting factors Q1 to Q3 unique to each axle 9 held by the means 35B.
- the vehicle deviation value (5 is obtained by calculating the deviation in the vehicle width direction of the load applied to the vehicle 1 in the vehicle width direction.
- a highly accurate vehicle deviation value ⁇ ⁇ is calculated, further considering the distribution of the load applied to each axle 9 in the front-rear direction of the vehicle 1.
- the loaded weight calculating device further comprises: an unbalanced load information input unit 39 for inputting a direction of a bias in the vehicle width direction of the load applied to the vehicle 1;
- the eccentric load setting means includes an eccentric load information selecting means 33 for selecting any one of the direction calculated from 5 and the direction inputted to the eccentric load information input means 39.
- 33 3 is configured to set the direction of the deviation to the direction selected by the eccentric load information selecting means 33 ⁇ .
- the loaded weight calculating device further comprises: an eccentric load display means 4 for displaying the direction of the deviation in the vehicle width direction of the load applied to the vehicle 1 set by the eccentric load setting means 33. 0 ⁇ is further provided, so eccentric load display means The direction of the bias of the load displayed on 40B makes it possible to visually indicate in which direction the load is biased as a whole in the vehicle width so that it can be visually recognized and easily recognized. .
- the load weight calculating device further includes a load weight displaying the load weight calculated based on the outputs of the plurality of weight sensors 21 corrected by the output correction means 33G. Since the display means 37 is further provided, for example, it is not only used to simply record and retain the calculated load weight as information, but also to the vehicle loading—the correct loading of the current load on the koto member or the like. The weight can be notified and used as a reference when making adjustments such as adjusting the load capacity as necessary. Specific configuration of the load weight calculation device according to the first aspect of the present invention
- FIG. 11 A specific configuration of the loaded weight calculating device according to the first aspect of the present invention, which has been described briefly above, will be described in detail with reference to FIGS. 11 to 18.
- FIG. 11 A specific configuration of the loaded weight calculating device according to the first aspect of the present invention, which has been described briefly above, will be described in detail with reference to FIGS. 11 to 18.
- FIG. 11 A specific configuration of the loaded weight calculating device according to the first aspect of the present invention, which has been described briefly above, will be described in detail with reference to FIGS. 11 to 18.
- the load weight meter 31 of the second embodiment which constitutes the load weight calculation device according to the second aspect of the present invention, as shown in FIG.
- the appearance is partially different from the loading weighing scale 31 of the embodiment, and the configuration of the microcomputer 33 is also partially different from the loading weighing scale 31 of the first embodiment.
- the appearance of the weighing scale 31 of the second embodiment is different from that of the weighing scale 31 of the first embodiment in that the vehicle skewness value (the skewness value display section 40 d for displaying 5 is omitted). Instead, the setting mode switch 38 switches the setting of the load bias state between the automatic setting mode and the manual setting mode, and inputs the bias state of the load in the manual setting mode.
- the other outer parents of the load weight meter 31 of the second embodiment are configured in the same manner as the load weight meter 31 of the first embodiment.
- the leftward, uniform, and rightward load indicating lamps 40a to 40c correspond to the unbalanced load indicating means 40B in the claims.
- the configuration of the microcomputer 33 provided in the weighing scale 31 of the second embodiment is different from the configuration of the microcomputer 33 in the weighing scale 31 of the first embodiment.
- the CPU 33a is provided with the setting mode switch 38 and the left, right, and right load input keys 39a to 39c.
- the configuration of the microcomputer 33 of the second embodiment is different from the configuration of the microcomputer 33 of the first embodiment in that the work and the gain correction are performed in the work area of the RAM 33b as shown in the memory area map in FIG. Areas where the previous total frequency register, the total frequency register, and the load weight register are provided, as well as the pre-driving, load, leftward, rightward, and overload flag areas are provided.
- the ROM 33c stores a control program for causing the CPU 33a to perform various processing operations, which is different from that of the ROM 33c of the first embodiment.
- the NVM 35 includes, in the NVM 35, tables of offset adjustment values and characteristic correction values for the output pulse signals of the sensing elements 21, and weighting coefficients unique to the axles 9.
- Q1 to Q3 gain correction value table for total value of output pulse signal frequency of each sensing element 21 after offset adjustment and characteristic correction, weight conversion formula, overload weight value, and deviation The judgment value is stored in advance.
- the adjustment value of the offset adjustment value table, the characteristic correction value of the characteristic correction value table, the weighting factors Q1 to Q3 specific to each of the axles 9, and the weight conversion formula are shown in the first embodiment.
- the contents are the same as those of the weighing scale 31.
- the weight distribution of the weighting factors Q1 to Q3 specific to each axle 9 is changed from that of the first embodiment, and the weighting factor Q1 of the front axle 9 is set to 0.1, and the weighting of the middle axle 9 is performed.
- Coefficient Q 2 0.3
- the gain correction value table in the gain correction value table area is the sum of the frequencies of the pulse signals actually output from the six sensing elements 21. Value and the frequency of the pulse signal that each sensing element 21 should output in proportion to the load on the six sensing elements 21 This is for correcting the output of each sensing element 21 and adjusting the gain in accordance with the error from the total value of.
- the load applied to each vehicle 1 in the left-right direction that is, whether the deviation in the vehicle width direction is leftward, equal, or rightward, is one of the three.
- the first, third, and fifth correction values Z 1, Z 3, and Z 5 are applied equally to the sensing elements 21 on the bed 7 before the vehicle 1 runs.
- a weight (not shown) of a known weight is sequentially placed on the location and the location where the load applied to each sensing element 21 shifts leftward and rightward, and the weight of each sensing element 21 in each mounting state is changed.
- the total value of the frequency of the output pulse signal is obtained, and these values are obtained by dividing the total value by the total value of the frequency of the pulse signal to be originally output from each sensing element 21 according to the weight of the weight.
- the second, fourth, and sixth correction values Z 2, Z 4, and Z 6 are determined at locations where the load is uniformly applied to the sensing elements 21 on the bed 7 before the vehicle 1 travels.
- a weight (not shown) having a known weight was sequentially placed at a position where the load applied to each sensing element 21 was shifted leftward and rightward, and the vehicle 1 was run and stopped in that state. Later, the total value of the frequency of the output pulse signal of each sensing element 21 in each mounted state is obtained, and these are calculated as the frequency of the pulse signal that should be output from each sensing element 21 according to the weight of the weight. Are obtained by dividing by the total value of.
- the weight value of the overload is an overlap value at which the overload is determined to be overload when the load weight exceeds this value.
- the setting value in the tare state of the vehicle 1 is 3.0 tons to 1 ton. It can be set in 0.1 ton units between 7.9 tons.
- step SA 1 When the accessory (ACC) key (not shown) of the vehicle is turned on for the first time, the load measuring device 31 is turned on, and the microcomputer 33 is started to start the program. According to the main routine shown in the flowchart of Perform initial settings (step SA 1).
- step SA3 it is checked whether or not there is a setting mode request by operating the offset adjustment value setting key 45 and the overload weight setting key 47 (step SA3). If there is no request (N in step SA_3), it will be described later. Proceed to step SA7, and if requested (Y in step S A3), proceed to the setting process in step SA5.
- step SA5a it is checked whether or not the request was confirmed in step SA3 by operating the offset adjustment value setting key 45 (step SA5a). If the operation is performed by operating the key adjustment value setting key 45 (Y in step SA5a), the vehicle 1 is set in the tare state, and is input from each sensing element 21 through the input interface 33d. Calculate the frequency of the pulse signal (step SA5b).
- step SA5b Performed in the calculation area of the RAM 33b (step SA5c), and write the calculated frequency values obtained by inverting the eleven signs of the four frequencies to the NVM 35 as offset adjustment values of the respective sensing elements 21.
- step SA5d the process returns to step SA3 of the main routine in FIG.
- step S A5 e the input value by the ten key 53 is read (step S A5 e), and the next Check that the reset key 54 has been operated at step (Step SA5 f) 0
- step SA5f When the reset key 54 is operated (Y at step SA5f), after canceling the input value by the numeric keypad 53 read at step SA5e (step SA5g), returning to step SA5e, Reset key 54 is not operating If it is not 2 g (N in step SA5f), check whether the set key 55 has been operated (step SA5h).
- step SA5e If set key 55 is not operated (N in step S A5h), return to step SA5e. If operated (Y in step SA5h), input read at step SA5e. After the value is written to the NVM 35 as a weight value as a criterion of overloading (step SA5j), the process returns to step SA3 of the main routine.
- step SA7 it is checked whether or not a travel pulse from the travel sensor 57 has been input. If it has been input (Y), the RAM 33b Check whether the flag F2 in the loading flag area is "0" (step SA9).
- step SA9 If the flag F2 of the loading flag area is not "0" (N in step SA9), the flag F1 of the pre-travel calculation flag area of the RAM 33b is set to "1" (step SA11), and then the step Proceed to SA13, and if the flag F2 is "0" (Y in step SA9), skip step SA11 and proceed to step SA13.
- step SA13 the process waits for a predetermined time Tw seconds, and then returns to step SA3.
- step SA15 the frequency of the pulse signal input from each sensing element 21 is calculated (step SA15). It is confirmed whether or not all the frequencies of the output pulse signals of the respective sensing elements 21 determined in 15 are within the range of 30 Hz to 700 Hz at which the offset can be adjusted by the offset adjustment value (step SA 17).
- Step SA17 If the frequency of the output pulse signal of any one of the sensing elements 21 is out of the range of 30 Hz to 700 Hz (N in step SA17), the load weight display section 37 displays, for example, After displaying an error with the letter “E.Lo” (Step SA 19), the process returns to Step SA3. On the other hand, the frequency of the output pulse signal of each sensing element 21 is 30 Hz to 700 Hz. Is in the range of In this case (Y in step SA17), the process proceeds to step SA21.
- step SA21 the frequency of the pulse signal input from each sensing element 21 calculated in step SA15 is offset-adjusted in the calculation area by the offset adjustment value of the NVM 35, and then the frequency after the offset adjustment is adjusted. Correct the characteristics of the pulse signal frequency from the sensing element 21 in the calculation area using the NVM35 characteristic correction value (step SA23).
- step SA25 the pulse signal frequency from each sensing element 21 after the offset adjustment and the characteristic correction is calculated, that is, the total frequency before the gain correction is calculated (step SA25), and the total before the gain correction of the RAM 33b is calculated.
- the stored value in the frequency register evening area is updated to the value of the total frequency before gain correction calculated in step SA25 (step SA27).
- step SA29 check whether the setting mode switch 38 has been switched to the manual setting mode. If it has been switched to the manual setting mode (Y in step SA29), Check whether input key 39b is operated (Step SA 31)
- Step S A3 If the uniform load input key 39b has been operated (Y in step SA31), the process skips to step SA41 described later, and if it has not been operated (N in step SA31), the left offset load key 39a is operated. (Step S A3 3)
- step SA33 When the left offset load key 39a is operated (Y in step SA33), the process skips to step SA53 described later, and when it is not operated (N in step SA33), the process skips to step SA63 described later.
- step SA29 the output of each sensing element 21 determined in step SA15 is used.
- n is the axis number of axle 9
- £ R are the frequencies before the gain correction of the output pulse signals of left and right sensing elements 21
- B is the frequency band of the pulse signal that each sensing element 21 can output Indicates the width (maximum frequency minus minimum frequency).
- step SA35 the axle deviation values (51 to 63) calculated in step SA35 are multiplied by the weighting factors Q1 to Q3 stored in the NVM 35, and the axle deviation values 6l to d3 for each axle 9 are calculated. Is weighted, and the axle deviation values c51 XQ1 to (53XQ3) for each axle 9 after the weighting are summed to obtain the vehicle deviation value 6 (step SA37).
- step S A39 the vehicle deviation value obtained in step S A37 (5 is the deviation determination value stored in the NVM 35 ⁇ 5 ⁇ (5 ⁇ 5 It is checked whether it is within the range. If it is not within the range (N in step SA39), the process proceeds to step SA51 described later. If it is within the range (Y at step SA39), the step Proceed to SA4 1.
- step SA41 the flags F3 and F4 of the left and right bias flag areas of the RAM 33b are set to "0", respectively.
- step SA43 it is determined whether the flag F2 of the loading flag area is "0".
- step SA43 If the flag F2 of the loading flag area is “0” (Y in step SA43), the process proceeds to step SA47 described later. If not “0” (N in step SA43), the flag of the pre-traveling calculation flag area Check whether F1 is “0” (step S A45).
- step SA 45 If the flag F 1 in the pre-travel calculation flag area is not “0” (N in step SA 45), the process proceeds to step SA 49 described below. If it is “0” (Y in step SA 45), the step SA Go to 47.
- S A47 After the gain correction by multiplying the total frequency before gain correction stored in the total frequency register area before gain correction by the first correction value Z1 stored in the gain correction value table of NVM35, Find the total frequency of ⁇
- step SA49 the total frequency before the gain correction is added to the total frequency in the gain correction value table.
- the total frequency after gain correction is calculated by multiplying the correction value Z 2 by 2 and then the process proceeds to step SA73 described later.
- step SA51 the process proceeds to step SA37 in which the vehicle deviation value obtained in step SA37 (when 5 is not within the range of the deviation determination value 1-5 ⁇ ⁇ 5 ⁇ 5 (N in step SA39)) If the bias value (5 is positive or not, if not brass (N in step SA51), go to step SA63, described below; if it is brass (Y in step SA51), Proceed to step SA53.
- step SA53 Set the flag F3 to "1", set the rightward flag area flag F4 to "0", and then check whether the flag F2 in the loading flag area is "0".
- step SA 55 If the flag F 2 in the loading flag area is “0” (Y in step SA 55), the process proceeds to step SA 59 described later, and if not “0” (N in step SA 55), the output flag before traveling It is checked whether or not the area flag F1 is "0” (step SA57).
- step SA57 If the flag F1 in the pre-travel calculation flag area is not "0" (N in step SA57), the process proceeds to step SA61 described later. If it is "0" (Y in step SA57), the step SA Go to 59.
- the total frequency before the gain correction is multiplied by a third correction value Z3 in the gain correction value table to obtain the total frequency after the gain correction, and thereafter, the process proceeds to step SA73 described later.
- step SA57 if the flag F1 in the pre-travel calculation flag area is “0j” in step SA57, and proceed to (Y), in step SA61, the total frequency before gain correction is 0 The total frequency after the gain correction is obtained by multiplying the fourth correction value Z4 in the gain correction value table, and then, the process proceeds to Step SA73 described later.
- step SA51 If the left offset load key 39a is not operated in step SA33 (N), and if the vehicle deviation value is not positive (5 in step SA51), go to step SA51.
- the flag F4 of the flag area is set to "1"
- the flag F3 of the leftward flag area is set to "0”
- the flag F2 of the loading flag area is set to "0”.
- step SA65 If the flag F 2 of the loading flag area is “0” (Y in step SA65), the process proceeds to step SA69 described below. If the flag F2 is not “0” (N in step SA65), It is checked whether the flag F1 is "0” (step SA67).
- step SA67 If the flag F1 in the pre-travel calculation flag area is not “0” (N in step SA67), the process proceeds to step SA71 described below. If it is “0” (Y in step SA67), step SA69 Proceed to.
- Step SA65 if the flag F2 of the loading flag area is "0" (Y), and step SA67 if the flag F1 of the pre-traveling flag area is "0" (Y).
- step SA69 the total frequency before gain correction is multiplied by a fifth correction value Z5 in the gain correction value table to obtain a total frequency after gain correction, and thereafter, the flow proceeds to step SA73 described later.
- step SA71 the total frequency before the gain correction is added to the total frequency in the gain correction value table.
- the total frequency after gain correction is obtained by multiplying by the sixth correction value Z6, and thereafter, the flow proceeds to Step SA73 described later.
- step SA47 step SA49, step SA59, step SA61, step SA69, and step SA73, which proceeds after obtaining the total frequency after the gain correction in step SA71, in the calculation area, the total after the gain correction is performed.
- the load weight is calculated using the weight conversion formula of the NVM35.
- the stored value of the load weight register area of the RAM 33 b is updated to the load weight calculated in step SA 73 (step SA 75),
- the display on the loading weight display 37 Update to the loading weight stored in the loading weight registration area at step SA75 (step SA77)
- step SA79 it is checked whether or not the loading weight stored in the loading weight register area in step SA75 is “0”, and if the loading weight is “0”, If there is (Y in step SA79), the flag F2 in the loading flag area is set to "0j" (step SA81), and then the process returns to step S3, and if the loading weight is not "0" (step SA79). After N in 79), the flag F2 in the loading flag area is set to "1" (step SA83), and the flow proceeds to step SA85.
- step SA85 it is checked whether the flags F3 and F4 in the left and right bias flag areas are both "0", and if both the flags F3 and F4 are "0", the process proceeds to step SA85. Y) After turning on the uniform load display lamp 40b and turning off both the left and right unbalanced load display lamps 40a and 40c (step SA87), the flow proceeds to step SA91.
- step SA85 If one of the flags F3 and F4 is not “0” (N in step SA85), of the left and right eccentric load display lamps 40a and 40c, the flag “F3, which is not 0j, After turning on the unbalanced load indicating lamps 40a and 40c corresponding to F4 and turning off the uniform load indicating lamp 40b (step SA89), the process proceeds to step SA91.
- step SA91 it is checked whether or not the load weight stored in the load weight registration area in step SA75 exceeds the overload value of the NVM 35. If not, (N in step SA91)
- the overload indicator 41 is turned off (step SA93), the flag F5 in the overload flag area is set to "0j" (step SA95), and the process proceeds to step SA101.
- Y the overload display lamp 41 is turned on (step SA97), and the flag F5 in the overload flag area of the ram 33b is set to “1” (step SA99), and the process proceeds to step SA101.
- step SA101 it is checked whether all of the flags F3 to F5 in the leftwardly biased, rightwardly biased, and overloaded flag areas are all “0”, and even one is not “0”.
- step SA101 the alarm buzzer 43 is sounded for a predetermined time (step SA103), and the process returns to step SA3. If all are "0" (Y in step SA101). ), And return to step SA3.
- the pre-calculation traveling detecting means 33D in the claims is composed of step SA45, step SA57, and step SA67 in the flowchart of FIG.
- the setting means 33E performs steps SA31, SA33, and step SA37 in the flowchart of FIG. 14 and steps SA39, SA41, SA51, SA53, SA53, and SA63 in FIG. It is configured.
- the correction value data selecting means 33F and the output correcting means 33G are used in step SA47, step SA49, step SA59, step SA61, step SA69, and step SA71 in FIG.
- the axle deviation value calculating means 33B is configured by step S A35 in FIG. 15, the weighting means 33C is configured by step SA 37 in FIG. 14, and the eccentric load information selecting means 33H is configured as follows. It is composed of the step SA29 in FIG.
- a pulse signal having a frequency corresponding to a load applied to both ends of each axle 9 is generated by sensing elements at both ends of each axle 9. 21.
- the total frequency before the gain correction is calculated by adding the frequency of the pulse signal from each sensing element 21 after offset adjustment and characteristic correction.
- each axle 9 when the setting mode switching switch 38 is switched to the automatic setting mode side, the left and right with respect to the frequency before the gain correction of the pulse signal output from the sensing elements 21 at both ends of each axle 9 are set.
- the axle deviation values ⁇ 1 to 53 are calculated based on the frequency deviation before the gain correction of the pulse signal from each sensing element 21 and these are further multiplied by the weighting factors Q1 to Q3 of the NVM35.
- Each axle bias value (51 to 63 is weighted according to the ratio of load distribution to each axle 9).
- the axle deviation value weighted by the weighting factors Q1 to Q3 (the vehicle deviation value 6 obtained by adding up the 51 to 53 is within the range of the deviation determination value in the left-right direction of the NVM 35, or It is determined whether the load is uniformly applied in the left-right direction of the vehicle 1 or whether the load is deviated left or right depending on whether the value exceeds or falls below the bias determination value.
- the vehicle bias value with respect to the bias determination value 5 based on the determination result of the magnitude relationship of 5 is used to calculate the total frequency before the gain correction.
- the load weight of the vehicle 1 is calculated from the total frequency after the gain correction by the weight conversion formula in the NVM 35, and the load weight is displayed on the load weight display section 37.
- the vehicle bias value (the magnitude relationship of 5) with respect to the bias determination value is calculated.
- the total frequency before the gain correction is corrected by the corresponding correction value among the second, fourth, and sixth correction values Z2, Z4, and Z6 of the NVM 35 based on the determination result of From the total frequency after the gain correction, the loaded weight of the vehicle 1 is calculated by the weight conversion formula in the NVM 35 as described above, and the loaded weight is displayed on the loaded weight display section 37.
- FIG. 18 (a) when the crew judges that the baggage A on the bed 7 is deviated to the left, the left-sided load input key 39a is operated, and as shown in FIG. 18 (b). As shown in the figure, if the crew determines that the load A is evenly loaded on the loading platform 7, the uniform load input key 39b is operated, and as shown in FIG. If the crew judges that it is biased to the right of 7 3 g
- the first and third NVM 35 When the load A is not loaded on the loading platform 7 or when the load weight is calculated for the first time after loading the load A from the state where the load A is not loaded, the first and third NVM 35 , And the fifth correction value Z 1, Z 3, and Z 5, the correction values corresponding to the operated keys of the three load input keys 39 a to 39 c for leftward, uniform, and rightward
- the total frequency before the gain correction is corrected, and is set as the total frequency after the gain correction.
- the load weight is calculated, the NVM 35 second, fourth, Also, among the sixth correction values Z 2, Z 4, Z 6, corrections corresponding to the operated keys in the three load input keys 39 a to 39 c for leftward, equal, and rightward Based on the value, the total frequency before the gain correction is corrected to be the total frequency after the gain correction. Then, from the gain-corrected total frequency obtained as described above, the load weight of the vehicle 1 is calculated by the weight conversion formula in the NVM 35 as described above, and the load weight is displayed as the load weight display. Displayed in Part 37.
- the vehicle eccentricity value is displayed when the vehicle eccentricity value (5 exceeds the eccentricity determination value, or when the crew operates the left eccentric load input key 39a).
- Lamp 40a lights up, and if the vehicle deviation value (is within the range of the deviation judgment value, or if the crew operates the uniform load input key 39b, the uniform load display lamp 40 b lights up and the vehicle deviation value 5 falls below the deviation determination value, or when the crew operates the right deviation load input key 39c, the right deviation load display lamp 40c lights.
- the overload indicator lamp 41 lights up, and this overload indication is displayed. If any one of the lamp 41 and one of the left and right load indicator lamps 40a and 40c is lit, the alarm buzzer 43 will sound at the same time for a predetermined time, and the eccentric load will be applied. It notifies that it is in a state or an overloaded state. Note that the above operation is not performed while the vehicle 1 is traveling, that is, while the traveling pulse from the traveling sensor 57 is being input. The left and right, left and right load indicator lamps 40a to 40c and the overload indicator lamp 41 change the blinking state of the last vehicle 1 when it was stopped. I don't know.
- the bracket 13 connecting the carrier frame 5 and the carrier 7 to the shirt bin 17 for connecting the shirt carrier 17 before, during, and after the arrangement is completed. Based on the sum of the frequencies of the pulse signals output from the six sensing elements 21 disposed at the left and right ends of each axle 9, the output pulse of each sensing element 21 is used to calculate the loading weight of the vehicle 1.
- Correction of the total frequency before gain correction obtained from the signal, correction values Z1 to Z6 for gain adjustment, whether there is a bias in the left and right direction of the load applied to the vehicle 1, and whether there is a bias In this case, depending on whether the direction is left or right, and after loading luggage A from the state where luggage A is not loaded on the loading platform 7 or luggage A is not loaded If this is the first time you calculate the load weight, or A is selected according to whether or not A is already loaded and the loaded weight is to be calculated with the loaded weight already displayed on the loaded weight display section 37.
- the load applied to the vehicle 1 that changes depending on the posture of the vehicle 1 and the load balance of the load A during the calculation of the load weight, particularly in the left and right (vehicle width) direction, or due to the vibration accompanying the traveling of the vehicle 1
- the output of each sensing element 21 is corrected to a normal value corresponding to the actual load, whereby the load applied to the vehicle 1 becomes uneven, Regardless of whether the vehicle 1 is traveling or not, the correct loading weight can be calculated from the sum of the outputs of the sensing elements 21 and the measurement accuracy can be improved.
- the vehicle 3 g Both 1 to consuming bias orientation about lateral direction of the load is calculated based on the output of the sensing devices 2 1, vehicle Hendo value indicating the deviation direction and the size of the related lateral direction of the vehicle load 1 (Calculate from 5 and calculate the vehicle deviation value (when calculating 5, the axle deviation value (5l to tf3, NVM) is calculated from the outputs of the two sensing elements 21 at both ends of each axle 9. It is configured to multiply by 35 weighting coefficients Q1 to Q3.
- the degree of bias of the load for each axle 9 is weighted according to the proportion of the distribution of the load applied to the vehicle 1 to each axle 9, and accordingly, the vehicle is determined based on the output of each sensing element 21.
- the state of the unbalanced load of 1 can be accurately and reliably determined.
- the state of the unbalanced load of the vehicle 1 determined based on the output of each sensing element 21 as described above, and the leftward By operating the three load input keys 39a to 39c, equal and rightward, the state of the unbalanced load of the vehicle 1 to be input can be selected by the setting mode switching switch 38.
- the load weight calculating device according to the second aspect of the present invention will be described with reference to a vehicle 1 having two front and rear axes as an example, as shown in FIG.
- the loaded weight calculating device includes a plurality of weight sensors 21 attached to the vehicle 1 and a total output for calculating a weight based on a total of output signals of the weight sensors 21.
- a correction means 33 J for calculating the loaded weight of the vehicle 1 based on the weight, wherein the bias of the load applied to the vehicle 1 is determined based on the output signal of each of the weight sensors 21.
- Offset load detecting means 33 for calculating the weight of the vehicle 1 and correction value data Z (1, 1) to Z (n, n) of the calculated weight of the total output correcting means 33 J according to the bias of the load applied to the vehicle 1.
- a correction value data holding means 35 C for holding the correction value data Z (in the correction value data holding means 35 C corresponding to the deviation of the load determined by the offset load detecting means 33 K). 1, 1) to Z (n, n), the calculated weight of the total output correction means 33J is corrected and the vehicle It is configured to calculate the loading weight of 1.
- the load weight calculating device is mounted on the vehicle 1 due to the influence of an eccentric load resulting from the uneven load applied to the vehicle 1 and the weight distribution characteristics of the vehicle itself. Even if the weight calculated by the total output correction means 33 J based on the sum of the output signals of the plurality of weight sensors 21 that are calculated differs from the actual load weight of the vehicle 1, the eccentric load is detected.
- Means 33 Correction value according to the bias of load applied to vehicle 1 calculated by 3K Overnight holding means 35 Total output correction based on correction value data Z (1, 1) to Z (n, n) in 35C By correcting the calculated weight of the means 33 J, an error between the corrected weight and the actual loaded weight of the vehicle 1 is eliminated.
- the eccentric load detection means 33 K may include a ratio of the load in the front-rear direction of the vehicle 1, and a ratio of the vehicle 1 orthogonal to the front-rear direction.
- the load ratio in the left-right direction is calculated, and the correction value data holding means 35C is provided with a plurality of the correction value data Z (1,1) to Z (n) corresponding to the load ratios in the front-rear and left-right directions. , N).
- the load weight calculating device having such a configuration, the load
- the plurality of correction values Z (1,1) to Z (n, n) corresponding to the load ratios in the front-rear and left-right directions of the vehicle 1 determined by the weight detection means 33 K are corrected.
- Correction value data Z (1, 1) to Z (n, n) using the load ratio in the two directions calculated by the eccentric load detection means 33K as the address pointer ) Can be specified.
- the loaded weight calculating device includes a weight sensor level correct_stage 3 for correcting an output signal of each of the weight sensors 21 so that the characteristics of the respective weight sensors 21 match each other. 3 L, and the eccentric load detecting means 33 K detects the load applied to the vehicle 1 based on the output signal level of each sensor after being corrected by the weight sensor level correcting means 33 L. Since the bias is determined, it is possible to prevent the calculation error of the loaded weight due to the variation in the characteristics between the weight sensors 21 from occurring.
- the loaded weight calculating apparatus calculates the weight calculated by correcting the calculated weight of the total output correcting means 33 J using the correction value data Z (1,1) to Z (n, n). Since the vehicle 1 further includes a load weight display means 37 for displaying the load weight of the vehicle 1, for example, the calculated load weight is not merely used for recording and remaining as information. It will be possible to notify the crew of vehicle 1. of the current accurate loading weight, and use it as a reference when making adjustments to the loading capacity as necessary.
- the loaded weight calculating device is configured to further include input setting means B for the correction value data Z (1,1) to Z (n, n).
- Value data Z (1, 1) to Z (n, n) can be individually set in accordance with the difference between the weight sensor 21 and the weight sensor 21.
- the loaded weight calculating device includes an unbalanced load direction determination for determining a direction of the unbalanced load applied to the vehicle 1 with respect to the vehicle 1 determined by the unbalanced load detection unit 33K.
- Means 3 3 M, and the offset load direction display means 42 for displaying the direction of the deviation of the load applied to the vehicle 1 determined by the offset load direction determination means 33 M with respect to the vehicle 1.
- the direction of the load as a whole is deviated in the vehicle width. Can be visually visually recognized and easily recognizable, whereby it becomes possible to obtain information that is useful when returning a biased load to its original state.
- an overloaded state determining means 3 3 N for determining whether or not there is an overloaded state based on a magnitude of the calculated loaded weight of the vehicle 1 and a predetermined overloaded weight
- the overloaded state notifying means C for notifying the overloaded state is further provided. It is possible to make it easier to recognize that this is the case, and to allow the user to take care to resolve the condition earlier.
- FIGS. 20A and 20B are explanatory views showing a vehicle location where a sensing element of the loaded weight calculating device according to a preferred embodiment of the present invention according to the second aspect is provided, (a) is a side view, and (b) is a side view. It is a top view.
- the wheel 3 of the vehicle 1 is provided with four front, rear, left and right wheels.
- Two front wheels and two rear wheels are supported at the left and right ends of the front and rear axles 9 respectively
- the sensing elements 21 (corresponding to sensors) for load measurement are supported at the left and right ends of the front and rear axles 9 respectively. It is arranged in each shirt crumb 17 connecting the shirts 15 of the four brackets 13 on the front, rear, left and right sides of the carrier frame 5 with the carrier crane 17.
- FIG. 21 is a front view of the load scale 31 of the third embodiment that constitutes the load weight calculation device according to the second aspect of the present invention.
- Deflection value (Declination value display part 40 d for displaying 5 and reset key 54 are omitted, and instead, the front, rear, left and right used to determine whether the load is Of the front and rear and left and right offset load judgment value setting keys 49 a to 49 d that are operated when setting the unbalanced load judgment value, and the correction value for correcting the output of each sensing element 21 due to the unbalanced load.
- Configuration The point that the bias correction value setting key 51 operated at the time of loading is disposed on the front surface 31a is different in appearance from the weighing scale 31 of the first embodiment shown in FIG.
- the weighing scale 31 of the present embodiment is replaced with front-rear, left-right and right-sided offset load indicating lamps 4 2 a to 4 2 d instead of the left-sided, uniform, right-sided load indicating lamps 40 a to 40 c. (Equivalent to the unbalanced load direction display means 42) is provided on the front surface 31a, and the appearance is different from the weighing scale 31 of the first embodiment shown in FIG. The appearance is the same as that of the weighing scale 31 of the first embodiment.
- the configuration of the microcomputer 33 provided in the weighing scale 31 of the third embodiment is different from the configuration of the microcomputer 33 in the weighing scale 31 of the first embodiment.
- the CPU 33a has the front / rear / left / right offset load determination value setting keys 49a to 49d, the offset correction value setting key 51, and the front / rear / left / right offset load display lamps 42a to 4 2d together with N VM 3 5 (corresponding to correction value data holding means 35 C), offset adjustment value setting key 45, overload weight setting key 47, numeric keypad 53, and set key 55 They are directly connected to each other.
- the configuration of the microcomputer 33 of the third embodiment is different from the configuration of the microcomputer 33 of the first embodiment, as shown in a memory area map in FIG. , Calculation, total frequency register before bias correction, total frequency register, front / rear frequency ratio register, left / right frequency ratio register, and load weight register, and four front / rear / right / left bias flag areas, offset load and The point that each overloaded flag area is provided and the ROM 33c has a control program different from the ROM 33c of the first embodiment for causing the CPU 33a to perform various processing operations. At the point where it is stored.
- the NVM 35 has the offset adjustment value and the characteristic correction value table for the output pulse signal of each sensing element 21 and an offset.
- the adjustment value of the offset adjustment value table, the characteristic correction value of the characteristic correction value table, and the weight conversion formula are the same as those of the weighing scale 31 of the first embodiment. Content.
- the bias correction value table of the bias correction value table error is generated due to the bias of the load in the front-rear and left-right directions of the platform 7. Error between the total value of the pulse signal frequencies actually output by the four sensing elements 21 and the total value of the pulse signal frequencies that each sensing element 21 should originally output in response to the load applied to the four sensing elements 21 As shown in FIG. 24, the bias correction values Z (1, ⁇ 1) to Z (n, 1) and ⁇ (1,2) to ⁇ ( ⁇ -1, ⁇ ) and ⁇ ( ⁇ , ⁇ ) are set for each vehicle 1 by the setting process in the tare state of the vehicle 1.
- the bias correction value table is configured in a matrix shape corresponding to each area in which the loading platform 7 is divided into a matrix at predetermined equal intervals in the front, rear, left, and right directions.
- the table location indicated by the heavy frame indicates the table location corresponding to the area of the loading platform 7 located on the center of gravity S of the upper part of the vehicle 1 from the loading platform frame 5 in the tare state shown in FIG. 20 (b).
- bias correction values Z (1, 1) to Z (n, n) (corresponding to the correction value data) allocated in each matrix table location are obtained as follows.
- the bias correction value Z (a, a) assigned to the table location of the double frame corresponding to the area location of the bed 7 on the center of gravity S is “1”.
- the deviation correction values Z (1, 1) to Z (n, n) on the deviation correction value table to be applied to the total frequency before the deviation correction are specified.
- the front-rear frequency ratios ⁇ 1 to ⁇ are calculated by calculating the bias correction values ⁇ (1, 1) to ⁇ ( ⁇ , ⁇ ) at each table location.
- the sum of the frequencies of the pulse signals output from the two sensing elements 21 in front of the loading platform 7 is divided by the total frequency before the bias correction.
- the left / right frequency ratios X 1 to ⁇ are values obtained by dividing the total value of the pulse signals output from the two sensing elements 21 on the left of the platform 7 by the total frequency before the bias correction.
- the left-right frequency ratio X 1 ⁇ branch number of ⁇ 1 ⁇ ! ! The branch numbers 1 to ⁇ of the front-rear frequency ratio ⁇ 1 to ⁇ indicate the location of the area on the carrier 7 and the location of the table on the bias correction value table, and the numbers are large. It does not indicate the magnitude relation of the frequency of the pulse signal as much as the pulse signal.
- the front bias load determination value is a value for determining that the load is biased toward the front side of the vehicle 1 when the front-rear frequency ratio ⁇ 1 to ⁇ exceeds this value.
- the rear bias load determination value is a value for determining that the load is biased to the rear side of the vehicle 1 when the front-rear frequency ratio ⁇ 1 to ⁇ falls below this value
- a left bias load determination value Is a value for determining that the load is deviated to the left side of the vehicle 1 when the right / left frequency ratio X1 to ⁇ exceeds this value. This is a value for determining that the load is unbalanced to the left side of the vehicle 1 when the value falls below the value.
- the front and left eccentric load determination values can be set in a unit of 1% from 51% to 60% by the setting process in the tare state of the vehicle 1.
- the eccentric load judgment values for the rear, right and left sides can be set in 1% increments between 40% and 49%.
- Step SB 3 there are setting mode requests by operating the offset adjustment value setting key 45, the overload weight value setting key 47, the front / rear left / right offset load judgment value setting keys 49a to 49d, and the bias correction value setting key 51.
- Step SB 3 If there is no request (N in Step SB 3), the process proceeds to Step SB 7 described later. If there is a request (Y in Step SB 3), the process proceeds to Step S ⁇ 5. Proceed to the setting process.
- the offset adjustment value setting key 45 the overload weight value setting key 47, the front bias load determination value setting key 49a, Depending on which of the rear offset load judgment value setting key 49 b, the left offset load judgment value setting key 49 c, the right offset load judgment value setting key 49 d, and the deviation correction value setting key 51, the steps are different. move on.
- step SB5b After writing the frequency values obtained by inverting the signs of the four frequencies calculated in step SB5b into the NVM 35 as offset adjustment values of the respective sensing elements 21 (step SB5c), FIG. Return to step SB 3 of 25 main routine.
- Step SB 5 d which proceeds when the overload weight setting key 47 is operated, the input value by the ten keys 53 is read, and then it is confirmed whether or not the set key 55 is operated. Step SB 5 e).
- step SB5e If the set key 55 is not operated (N in step SB5e), the process returns to step SB5d. If the key is operated (Y in step SB5e), the input read in step SB5d is input. After the value is written to the NVM 35 as a weight value as a criterion of overloading (step SB5f), the process returns to step SB3 of the main routine.
- step SB 5g which proceeds when the front bias load determination value setting key 49a is operated, the input value by the ten keys 53 is read, and then it is confirmed whether the set key 55 is operated (step SB). 5 h).
- step SB 5 h If the set key 55 is not operated (N in step SB 5 h), the process returns to step SB 5 g, and if it is operated (Y in step SB 5 h), the data is read in step SB 5 g. After the input value is written to the NVM 35 as a pre-biased load judgment value for determining that the load is deviated to the front side (step SB5j), the process returns to step SB3 of the main routine.
- step SB5k step SB5m, step SB5n, step SB5p, step SB5r, step SB5s, and step SB5t, step SB5u, and step SB5w, step SB5g to step SB5w, respectively.
- step SB5k step SB5m, step SB5n, step SB5p, step SB5r, step SB5s, and step SB5t, step SB5u, and step SB5w, step SB5g to step SB5w, respectively.
- step SB5k step SB5m, step SB5n, step SB5p, step SB5r, step SB5s, and step SB5t, step SB5u, and step SB5w, step SB5g to step SB5w, respectively.
- step SB 5x the process proceeds when the bias correction value setting key 51 is operated, the vehicle 1 is set in the tare state, and the bias correction values Z (1, 1) to Z (n, n) assigned to each table location as described above are calculated using a known weight in the calculation area. It is determined by a calculation process.
- bias correction values Z (1, 1) to Z (n, n) are allocated to the corresponding table locations, respectively, and are assigned to all the table locations. Repeat until (n, n) is assigned, write the bias correction values Z (1, 1) to Z (n, n) assigned to all table locations to NVM35 (step SB5y), and then Return to step SB3.
- the assignment of the bias correction values Z (1, 1) to Z (n, n) to the corresponding table locations is, for example, as follows: X1, Yl to Xn, ⁇ 1 to ⁇ 1, ⁇ on the bias correction value table. 2 to ⁇ ⁇ , ⁇ 2 to ⁇ 1, ⁇ to ⁇ , ⁇
- the vehicle while moving the mounting position of the weight of the known weight in the order of the error locations on the bed 7 corresponding to the table locations of the address pointers This can be performed, for example, by operating the set key 55 while 1 is stationary.
- the input setting means ⁇ is constituted by the bias correction value setting key 51 and the set key 55.
- step SB7 the frequency of the pulse signal input from each sensing element 21 is determined, and then the travel pulse from the travel sensor 57 is input. (Step SB 9), and if it is input (Y in Step SB 9), wait for a predetermined time Tw seconds (Step SB 11), and then return to Step SB 3.
- step SB9 if the traveling pulse from the traveling sensor 57 is not input in step SB9 (N), all the frequencies of the output pulse signals of the respective sensing elements 21 determined in step SB7 are offset by the offset adjustment value. Check whether the frequency is within the adjustable range of 30 Hz to 700 Hz (step SB 13).
- the loading weight display section 37 displays, for example, an alphanumeric character. After an error is displayed by the letter “E. Lo” on the cutout (step SB15), the process returns to step SB3. . 0
- step SB15 If the frequencies of the output pulse signals of the 48 elements 21 are all within the range of 30 Hz to 700 Hz (Y in step SB15), the flow proceeds to step SB17.
- step SB17 the frequency of the pulse signal input from each sensing element 21 determined in step SB7 is offset-adjusted in the calculation area by the offset adjustment value of the NVM35, and then, after the offset adjustment. Correct the pulse signal frequency from each sensing element 21 in the calculation area using the characteristic correction value of NVM35 (step SB 19)
- step SB21 the sum of the pulse signal frequencies from each sensing element 21 after the offset adjustment and the characteristic correction, that is, the total frequency before the bias correction is calculated (step SB21), and the total frequency before the bias correction of the RAM 33b is calculated.
- the stored value in the register area is updated to the value of the total frequency before bias correction calculated in step SB21 (step SB23).
- the total value of the frequency of the pulse signal output by the two sensing elements 21 in front of the loading platform 7 is set. Is divided by the stored value of the total frequency register evening area before bias correction to calculate the front-rear frequency ratios Y1 to Yn (step S ⁇ 25), and the stored value of the front-rear frequency ratio register evening area of the RAM 33b is calculated. Is updated to the value of the front-rear frequency ratio Yl to Yn calculated in step SB25 (step SB27). In the calculation area, the frequency of the output pulse signal of each sensing element 21 after the offset adjustment and the characteristic correction is calculated.
- the left / right frequency ratio Xl is obtained by dividing the total value of the pulse signals output from the two sensing elements 21 on the left side of the bed 7 by the stored value of the total frequency register before bias correction in the evening area.
- Xn is calculated (step SB29), and the stored value of the left / right frequency ratio register area of the RAM 33b is updated to the value of the left / right frequency ratio X1 to Xn calculated in step SB29 (step SB31). It is checked whether the stored value of the frequency ratio register area has exceeded the pre-uniform load determination value of the NVM 35 (step SB 33), and if it has exceeded (Y in step SB33), the value of the front flag area of the RAM 33b is checked. Flag F1 set to "1" Thereafter (step SB35), the process proceeds to step SB37. If the value is not exceeded (N in step SB33), the process skips step SB35 and proceeds to step SB37.
- step SB37 it is checked whether or not the stored value of the front / rear frequency ratio register evening area has fallen below the rear bias load determination value of the NVM 35. If it falls below (Y in step SB37), the rear flag of the RAM 33b is set. After setting the area flag F2 to "1" (step SB39), the process proceeds to step SB41. If not (N in step SB37), the process skips step SB39 and proceeds to step SB41. In step SB41, it is checked whether or not the stored value in the left / right frequency ratio register evening area exceeds the left-sided load determination value of the NVM 35, and if it exceeds (Y in step SB41), the left flag area of the RAM 33b is set.
- step SB43 After the flag F3 is set to "1" (step SB43), the process proceeds to step SB45. If not (N in step SB41), the process skips step SB43 and proceeds to step SB45. In step SB45, it is checked whether the value stored in the left / right frequency ratio register area is lower than the right bias load determination value of the NVM 35, and if it is lower (Y in step SB45), the right flag area of the RAM 33b is read. After the flag F4 is set to "1" (step SB47), the process proceeds to step SB49. If the value is not below (N in step SB45), the process skips step SB47 and proceeds to step SB49. In step SB49, as shown in the flow chart of FIG.
- the bias correction value of the NVM 35 is set using the stored values Yl to Yn of the front-rear frequency ratio register area and the stored values X1 to ⁇ of the left-right frequency ratio register area as address pointers. From the table, specify the bias correction values ⁇ (1, 1) to ⁇ ( ⁇ , ⁇ ) to be applied to the calculation of the load weight. Next, using the specified bias correction values ⁇ (1, 1) to ⁇ ( ⁇ , ⁇ ), the stored value of the total frequency register before bias correction is corrected in the calculation area to calculate the total after bias correction. The frequency is calculated (step SB51).
- the load weight is calculated using the weight conversion formula of the NVM 35 from the bias-corrected total frequency calculated in step SB51 (step SB53), and the load weight registration area of the RAM 33b is calculated.
- the stored value is updated to the load weight calculated in step SB53 (step SB55), and the load weight display section 37 -The display of n is updated to the loading weight stored in the loading weight registration area in step SB55 (step SB57).
- step SB59 it is checked whether all the flags F1 to F4 of the front, rear, left and right flag areas are “0” (step SB59), and the flags F1 to F4 of the front, rear, left and right flag areas are all set to “0”. ”(Y in step SB59), turn off all the eccentric load display lamps 42a to 42d (step SB61), set the flag F5 in the eccentric load flag area to“ 0 ”(step SB63 ), And proceed to step SB71.
- step SB59 If one of the flags F1 to F4 is not "0" (N in step SB59), it corresponds to the non-zero flag F1 to F4 among the eccentric load display lamps 42a to 42d.
- the eccentric load display lamps 42 a to 42 d are turned on (step SB 65), the flag F 5 in the eccentric load flag area of the RAM 33 b is set to “1” (step SB 67), and the front, rear, left and right flags are further set. After setting all the area flags F1 to F4 to "0" (step SB69), the process proceeds to step SB71.
- step SB71 it is checked whether or not the load weight stored in the load weight register area in step SB55 exceeds the overload weight value of the NVM35. ), Turns off the overload display lamp 41 (step SB73), sets the flag F6 in the overload flag area to “0” (step SB75), proceeds to step SB81, and if it exceeds the value (step SB71). Y), the overload indicator 41 is turned on (step SB77), the flag F6 in the overload flag area of the RAM 33b is set to "1" (step SB79), and the process proceeds to step SB81.
- step SB81 it is checked whether or not the flags F5 and F6 of each of the eccentric load and overload flag areas are both "0". If not "0" (N in step SB81), After sounding the buzzer buzzer 43 for a predetermined time (step SB83), the process returns to step SB3. If “0j” (Y in step SB81), the process returns to step SB3.
- the total output correction means 33 J in the claims is composed of steps SB 3 and SB 21 in the flowchart of FIG. Middle Step SB 21 to Step u 1
- the weight sensor level compensating means 33 L is composed of step SB 17 and step SB 19 in FIG. 25, the bias compensation value setting key 51, and the set key 55.
- 33M is composed of Step SB 33 to Step SB 47 in FIG.
- the overload state determination means 33N is composed of step SB71, step SB75, and step SB79 in the flowchart of FIG. 26, and the overload state notification means C is an overload display lamp. It consists of 41 and an alarm buzzer 43.
- a pulse signal having a frequency corresponding to the load applied to each sensing element 21 is output from each sensing element 21.
- the vehicle 1 is stopped and the travel sensor
- the total frequency before the bias correction which is the sum of the frequency of the pulse signal from each sensing element 21 after the offset adjustment and the characteristic correction, is calculated.
- the ratio of the total frequency of the pulse signal after the offset adjustment from the two front sensing elements 21 on the front left and the front right to the total frequency before the bias correction and the pulse signal after the characteristic correction is obtained, the front-rear frequency ratio Yl to Yn Similarly, the left / right frequency ratios X 1 to ⁇ are calculated based on the total frequency of the pulse signals after offset adjustment and characteristic correction from the two sensing elements 21 on the left front and the rear left.
- the total frequency before the bias correction is determined by the front-rear frequency ratios Y1 to Yn and the left-right frequency ratios X1 to ⁇ , and the bias correction values ⁇ (1, 1) to ⁇ ⁇ on the bias correction value table of the NVM 35. ( ⁇ , ⁇ ), and after the frequency value is in the state where the error due to the eccentric load has been removed, the load weight is calculated by the weight conversion formula of NVM35. The load is converted and the load weight is displayed on the load weight display section 37.
- the overload indicator light 41 is turned on, and the overload indicator lamp 41 and the front, rear, left and right eccentric loads are used. If any one of the display lamps 42a to 42d lights up, the alarm buzzer 43 will sound at the same time for a predetermined period of time to notify that the vehicle is in an eccentric load state or overloaded. I do.
- the front, rear, left, right, and right are disposed in the connection bin 19 for connecting the bracket 13 for connecting the carrier frame 5 and the carrier 7 to the shirt carrier 17.
- the vehicle 1 is calculated based on the content of the frequency of the pulse signal from each sensing element 21.
- the presence / absence of load deviation in the front / rear and left / right directions is determined, and the deviation correction value specified in accordance with the determined deviation content is used to determine the sum of the frequencies of the pulse signals output from the sensing element 21;
- the total frequency is corrected, and the load weight of the vehicle 1 is calculated based on the total frequency after the bias correction.
- the ratio Yl to Yn of the total frequency of the two sensing elements 21 before and after each of the four sensing elements 21 and the two sensing elements left and right Judgment is made based on the ratios X1 to Xn of the total frequencies of the slaves 21 and the address pointers of the bias correction value table of the NVM 35 are referred to as the front-rear frequency ratios Y1 to Yn and the left-right frequency ratios X1 to ⁇ . Therefore, the bias correction value used for the correction can be easily specified from the bias correction value table.
- the load weight can be more accurately calculated without being affected by the offset adjustment and the characteristic correction. be able to.
- the calculated load weight is used not only for recording and remaining as information, but also for the crew of the vehicle 1, etc.
- the current accurate loading weight can be reported and used as a reference when making adjustments to the loading capacity if necessary.
- the bias correction value can be written in the bias correction value table of the NVM 35 by operating the bias correction value setting key 51 and the set key 55, so that the vehicle type of the vehicle 1
- the content of the bias correction value table can be arbitrarily set according to the difference in the characteristics of the sensing element 21 and the like.
- the direction of the bias of the load on the vehicle 1 is determined based on the frequency content of the pulse signals from the four sensing elements 21, and the eccentric load display according to the direction is determined. Since the lamps 42 a to 42 d are configured to be turned on, they can be used as a reference when adjusting the loading condition and the like as necessary. The n and the left / right frequency ratios Xl to Xn can be used for determining the direction of the load deviation.
- the load weight calculating device is similar to the load deviation calculating device of the vehicle of the present invention and the load weight calculating device according to the first aspect of the present invention, and is a vehicle having three front, middle, and rear axes. This will be described using 1 as an example.
- the load weight calculating device includes at least the vehicle 1 ⁇
- a deviation 5 which is a degree of deviation of the load applied to the vehicle 1 in the vehicle width direction, is calculated.
- the bias of the load (based on a membership function value calculating operator 33 R for calculating a membership function value corresponding to each of 5 and a fuzzy inference rule R for fuzzy correction of the temporary load weight W p.
- Fuzzy inference means for performing fuzzy inference on the membership function value
- a weight correction value calculating means 33 for calculating a correction value of the tentative loading weight Wp based on the inference result of the fuzzy inference means 33 S.
- the weight correction value calculating means 33 T The provisional load weight Wp is corrected by the correction value calculated by the controller 1 to calculate the load weight W of the vehicle 1.
- the provisional load weight Wp calculated by the membership function value calculating means 33R and the vehicle width direction of the load applied to the vehicle 1 are determined.
- the fuzzy inference means 33 S performs fuzzy inference based on the fuzzy inference rule R with respect to the bias in, that is, the membership function value corresponding to the bias 6 and the weight correction value based on the inference result.
- the indexing means 3 3 T calculates a correction value ⁇ W of the temporary loading weight Wp, and performs a fuzzy correction process of correcting the temporary loading weight Wp with the correction value ⁇ W, thereby reducing the load applied to the vehicle 1. Taking into account that the output of each weight sensor 21 changes due to the influence of the deviation 5, the load weight of the vehicle 1 is accurately calculated based on the outputs of the plurality of weight sensors 21 of the vehicle 1. Will be able to .
- the loaded weight calculating device is a member for storing a membership function X for defining a membership function value corresponding to each of the provisional loaded weight Wp and the load deviation 5. Further comprising a ship function holding means 35D and a fuzzy inference rule holding means 35E for holding the fuzzy inference rule R, wherein the membership function value determining means 33R holds the membership function Means 3
- the fuzzy inference means 33S calculates the membership function value based on the membership function X held by 5D, and the fuzzy inference rule holding means 35E holds the fuzzy inference rule R held by the fuzzy inference rule holding means 35E.
- Fuzzy inference for the membership function value is performed based on the fuzzy inference rule R held by the membership function X held by the membership function holding means 35D and the fuzzy inference rule holding means 35E held by the fuzzy inference rule holding means 35E And at least one of them is changed according to the structure of the vehicle 1.
- the membership function value calculating means 33 R calculates the membership function value corresponding to the temporary load weight W p and the load applied to the vehicle 1.
- Bias Membership function X used to determine the membership function value corresponding to 5 is stored in the membership function storage means 35D, and the fuzzy inference means 33S is temporarily loaded weight Wp
- the load weight calculation device can be changed without changing the entire load weight calculation device. Menpa By changing only the ship function X ⁇ fuzzy inference rule R, it is possible to provide versatility to the vehicle 1 of various structures.
- Correction function holding means 35 A for holding the output characteristic correction functions M 1 to M 6 corresponding to the outputs of the respective weight sensors 21 for correcting the non-linear characteristics of the respective weight sensors 21 to linear characteristics.
- output characteristic correction means 33A for correcting the output of each of the weight sensors 21 by the output characteristic correction functions M1 to M6 corresponding to the respective weight sensors 21.
- the calculating means 33P calculates the temporary loading weight Wp of the vehicle 1 from the output of each of the weight sensors 21 corrected by the output characteristic correcting means 33A, and calculates the membership function value.
- the means 33R is provided by the output characteristic correcting means 33A. Based on the load deviation 6 calculated based on the corrected outputs of the weight sensors 21, the load deviation (a membership function value corresponding to 5 is calculated. ing. 5 g 6 01066 In the loading weight calculating apparatus according to the third aspect of the present invention having such a configuration, the output characteristic correction means 33 A holds the output of each weight sensor 21 in the correction function holding means 35 A.
- the corrected output characteristic correction functions M1 to M6 corresponding to the weight sensors 21 respectively correct the nonlinear characteristics including the hysteresis and the like in the output of each weight sensor 21 linearly. By correcting to the characteristic, the output of each weight sensor 21 after correction by the output characteristic correction functions M1 to M6 becomes substantially the same value when the load of the vehicle 1 increases and decreases.
- the temporary loading weight of the vehicle 1 corresponding to this deviation is calculated.
- W p W Compared with calculating the membership function value, the output temporary loading weight W p and the calculation deviation (the degree of coincidence of 5 increases when the load increases and decreases), whereby the weight correction value calculation means 3 (3)
- the accuracy of the correction value of the temporary loading weight Wp determined by T, and thus the correction of the temporary loading weight Wp by this correction value, can significantly improve the accuracy of the loading weight W of the vehicle 1 calculated. It becomes possible.
- the weight sensor 21 is disposed at each end of the axle 9 of the vehicle 1 in the vehicle width direction, and the output characteristic correction is performed. From the output of each of the weight sensors 21 corrected by the means 33A, the axle bias value ⁇ 5 1 to (a) indicating the direction and magnitude of the bias in the vehicle width direction of the load applied to each axle 9 in the vehicle width direction.
- the load weight calculating apparatus having such a configuration, the hiss From the output of each weight sensor 21 after the effects of nonlinearity characteristics including teresis, etc. are eliminated by the correction using the output characteristic correction functions M1 to M6, the vehicle in which the weight sensors 21 are arranged
- the axle deviation value (51 to (53) for each axle 9 By calculating the axle deviation value (51 to (53) for each axle 9 by the axle deviation value calculation means 33B, the direction and magnitude of the load deviation for each axle 9 can be accurately determined.
- the weighting coefficient holding means 35 B which is determined according to the arrangement of each axle 9 in the front-rear direction of the vehicle 1, corresponds to the weighting coefficient Q 1 to Q 3 unique to each axle 9.
- the axle deviation value 53 of the axle 9 is weighted by the weighting means 3 3 C, and the weight is applied to the vehicle 1 based on the weighted axle deviation value of each axle 9 ⁇ 5 1 to (? 3.
- the load deviation ⁇ 5 the distribution of the load applied to each axle 9 in the front-rear direction of the vehicle 1 is further considered, Hendo ⁇ 5 with high degrees vehicle 1 is calculated.
- the load weight calculation device Composition
- FIG. 29 shows a fourth embodiment of the load weight calculating apparatus according to the third aspect of the present invention.
- 5 g is a front view of the weighing scale 31.
- the weighing scale 31 of the present embodiment is different from the weighing scale 31 in that the vehicle skewness value (the skewness value display section 40d for displaying 5) is omitted.
- the appearance of the weighing machine 31 of the first embodiment is partially different from that of the weighing machine 31 of the first embodiment, and the configuration of the microcomputer 33 is partially different from that of the weighing machine 31 of the first embodiment.
- the configuration of the microcomputer 33 provided in the weighing scale 31 of the fourth embodiment is different from the configuration of the microcomputer 33 in the weighing scale 31 of the first embodiment.
- each work area has a calculation area, a stack area, a quantity registration area, a calculation flag before traveling, a loading flag, a leftward deviation flag, a rightward deviation flag, and an overloading flag area.
- the ROM 33c stores a control program different from that of the ROM 33c of the first embodiment for causing the CPU 33a to perform various processing operations.
- the NVM 35 membership function holding means 35D, fuzzy inference rule holding means 35E, correction function holding means 35A, and When calculating the offset adjustment value, characteristic correction value, and error correction value table for the output pulse signal of each sensing element 21 and the vehicle bias value ⁇ 5,
- the weighting factors Q1 to Q3 unique to each axle 9, weight conversion data, overload weight value, and deviation determination value are stored in advance.
- the adjustment value of the offset adjustment value table, the characteristic correction value of the characteristic correction value table, the characteristic correction value of the error correction value table, the weighting factors Q1 to Q3, the bias determination value, and the weight conversion formula Has the same content as the load scale 31 of the first embodiment, and the overload weight value has the same content as the load scale 31 of the second embodiment.
- Q 2 0.3
- weighting factor for rear axle 9 Q3 0.6.
- the weight conversion data which is another data stored in the NVM 35 of the fourth embodiment, includes the following two equations and a fuzzy inference rule base.
- the first equation is based on the total frequency obtained by summing the frequencies of the output pulse signals of the respective sensing elements 21 after performing the offset adjustment, the characteristic correction, and the error correction.
- Weight 200 tons, which is the reference frequency of the pulse signal at 0 ton, is subtracted, and the frequency of the loaded weight after subtraction is multiplied by 0.01 ton, which is the unit conversion weight per Hz, to temporarily load the weight. This is an equation for calculating Wp.
- the second equation calculates the true loading weight W by correcting the tentative loading weight Wp calculated by the first equation with a correction value calculated using a fuzzy inference rule base described later. It is.
- the fuzzy inference rule base is used when calculating the correction value by fuzzy inference according to the tentative loading weight Wp and the vehicle axle deviation value (5 which is the sum of the axle deviation value (53) and the vehicle deviation value (5). It consists of a membership function and fuzzy inference rules.
- the membership function includes a membership function X1 for calculating a member shipping function value XI (Wp) of the provisional loading weight Wp shown in FIG. 32 (a), and a vehicle deviation value 5 shown in FIG. 32 (b).
- the membership function value X3 (the membership function X3 for calculating (5)) and the correction value from the up to four control parameters Y1, Y3, Y5, and Y7 shown in Fig. 32 (c), which will be described later. Consists of a membership function X5 for
- the membership function XI takes grade on the vertical axis, and VVL (Very Very Low), VL (Very Low), LOW, HI GH, VH (Very High) and VVH (Very Very High) are fuzzy scales of 6 levels.
- the membership function X3 has a grade on the vertical axis, and a horizontal axis shows the vehicle deviation value (VL representing the magnitude (norm) of the vector of 5; ⁇ ⁇
- VH is a four-stage fuzzy scale.
- the membership function X5 is obtained by converting the provisional loading weight Wp and the vehicle bias value (both membership function values X1 (Wp) and X3 ( ⁇ 5) of 5 into:
- the grades of up to four control parameters Yl, Y3, ⁇ 5, ⁇ 7, which are obtained as a result of fuzzy inference applied to the fuzzy inference rules described later, are plotted on the vertical axis, and NB ( Negative Big), NM (Negative Medium), N (Negative), Z (Zero), P (Positive), PM (Positive Medium), PB (Positive Big) It is.
- the correction value is obtained by dividing a fuzzy scale corresponding to up to four control parameters Yl, Y3, Y5, and Y7 obtained as a result of the fuzzy inference into respective grades by the membership function X5. It can be obtained by applying the centroid method to the center of gravity, obtaining the center of gravity, and obtaining the fuzzy scale value corresponding to the center of gravity from the horizontal axis.
- the fuzzy inference rule indicated by reference sign R in FIG. 33 is based on the membership function value X 1 (Wp) of the provisional loading weight Wp determined by the membership function X 1 and the vehicle bias calculated by the membership function X 3.
- the inference based on the fuzzy inference rule R has at least one of the membership function value X1 (Wp) of the temporary loading weight Wp and the membership function value X3 ((5) of the vehicle bias value 5). In this case, the calculation is performed for all combinations of the function values XI (Wp) and X3 ( ⁇ ) one by one.
- the fuzzy inference is not applied depending on the combination of the membership function value X 1 (Wp) of the temporary loading weight Wp and the membership function value X 3 ( ⁇ ) of the vehicle bias value 5. For example, if the membership function value XI (Wp) of the temporary loading weight Wp is VVL and the membership function value X 3 (6) of the vehicle bias value is VH, fuzzy inference is applied. Not done.
- the result of inference by the fuzzy inference rule R can be up to four o 1 Control parameters Yl, Y3, ⁇ 5, ⁇ 7, but not necessarily four, sometimes less than three.
- the maximum four control parameters Yl, ⁇ 3, ⁇ 5, and ⁇ 7 obtained by the inference using the fuzzy inference rule R are the two membership function values XI (Wp), X3 ( ⁇ ) is expressed as a fuzzy scale of the membership function X5 corresponding to the membership function X5 weighted by the lower grade of the two membership function values X1 (Wp) and X3 ( ⁇ ). .
- Step SC1 When the accessory (ACC) key (not shown) of the vehicle is turned on for the first time, the weighing scale 31 is turned on and the microcomputer 33 is started and the program is started, the CPU 33a executes the main routine shown in the flowchart of FIG. Initial setting is performed according to (Step SC1).
- step SC3 After the initial setting of step SC1, it is confirmed whether there is a setting mode request by operating the offset adjustment value setting key 45 or the overload weight setting key 47 (step SC3). If there is no request (N in step SC3), the process proceeds to step SC7 described later, and if there is a request (Y in step SC3), the process proceeds to the setting process of step SC5.
- step SC5a it is checked whether or not the request was confirmed in step SC3 by operating the offset adjustment value setting key 45 (step SC5a). If the operation is performed by operating the offset adjustment value setting key 45 (Y in step SC5a), the vehicle 1 is set in a tare state, and the sensing elements 2 1 are set via the entrance face 33d. Calculate the frequency of the pulse signal input from (Step SC5b).
- step SC5 e perform the overload weight value setting process
- step SC7 it is checked whether or not the travel pulse from the travel sensor 57 has been input. If it has been input (Y), the RAM 33b It is checked whether or not the flag F2 of the loading flag area is “0” (step SC9).
- step SC 9 If the flag F 2 of the loading flag area is not “0” (N in step SC 9), the flag F 1 of the pre-traveling calculation flag area of the RAM 33 b is set to “1” (step SC 11), and then the step Proceed to SC13, and if flag F2 is "0" (Y in step SC9), skip step SC11 and proceed to step SC13.
- step SC13 the process waits for a predetermined time Tw seconds, and then returns to step SC3.
- step SC15 the frequency of the pulse signal input from each sensing element 21 is determined (step SC15). It is checked whether or not all the frequencies of the output pulse signals of the respective sensing elements 21 determined by SC 15 are within the range of 30 Hz to 700 Hz at which the offset can be adjusted by the offset adjustment value (step SC 17). If the frequency of the output pulse signal of any one of the sensing elements 21 is out of the range of 30 Hz to 700 Hz (N in step SC17), the load weight display section 37 displays, for example, an alphanumeric character. After an error is displayed by the characters “E. L 0 j” (step SC 19), the process returns to step SC 3, while the frequency of the output pulse signal of each sensing element 21 is 30 Hz to 700 Hz. If it is within the range (Y in step SC17), the process proceeds to step SC21.
- step SC21 the frequency of the response signal input from each sensing element 21 determined in step SC15 is offset-adjusted in the calculation area by the offset adjustment value of the NVM 35, and then, after the offset adjustment.
- the pulse signal frequency from each sensing element 21 is corrected in the calculation area using the characteristic correction value of the NVM 35 (step SC23), and the pulse signal frequency from each sensing element 21 after the offset adjustment and the characteristic correction is calculated.
- the error is corrected by the error correction value of the NVM 35 (step SC25).
- the output Mi of each sensing element 21 after performing the characteristic correction is the output Wi of each sensing element 21 before the characteristic correction after the offset adjustment in step SC21, and Wi> 0. , Or depending on whether W i ⁇ 0.
- step S C27 the sum of the pulse signal frequencies from the sensing elements 21 after the offset adjustment, characteristic correction, and error correction, that is, the total frequency is calculated.
- step S C27 The output Ml to M6 of each sensing element 21 after correction and error correction, and the weighting factor Q unique to each axle 9 of the NVM 35 Based on 1 to Q3, axle deviation values (5l to c53 for each axle 9 are calculated (step SC29).
- the calculation of the axle deviation values (52, 53) of the middle axle 9 and the rear axle 9 is based on the output M3, M4, and M3, M4, after the characteristic correction of the two sensing elements 21 disposed on the left and right of the middle axle 9, respectively.
- step SC29 if the axle deviation values d1 to (? 3 for each axle 9 are calculated, each axle deviation value (a weighting factor Q1 to Q unique to each axle 9 corresponding to J1 to 63) 3), axle deviation values for each axle 9 (weighted 51 to 53, respectively), and axle deviation values 51 XQ1 to 53 xQ3 for each axle 9 after weighting are summed up, The deviation value 5 is calculated (step SC31).
- step SC33 it is determined whether the vehicle deviation value (5 calculated in step SC31 is within the range of the deviation determination value 1-5 5 stored in the NVM 35). If it is not within the range (N in step SC33), proceed to step SC39 to be described later. If it is within the range (Y in step SC33), turn on the uniform load display lamp 40b. Turn on the other display lamps 40a and 40c (step SC35), and then set flags F3 and F4 in the left and right bias flag areas of RAM 33b to "0" respectively. After that (Step SC37), the flow proceeds to Step SC49 described later.
- step SC33 the vehicle deviation value calculated in step SC31 (when 5 is not within the range of the deviation determination value -1 5 ⁇ «5 ⁇ 5 (N), the process proceeds to step SC39.
- the vehicle deviation value confirm whether 5 is brass or not, if not brass (N in step SC39), go to step S C45 described later, if it is plus
- step SC39 the left-sided load display lamp 40a is turned on, the other display lamps 4Ob, 40c are turned off (step SC41), and then the left-sided flag area flag is set.
- step SC43 the process proceeds to step SC49.
- step SC39 when the vehicle deviation value ⁇ 5 calculated in step SC31 is not brass (N), the process proceeds to step SC45.
- step SC45 the right-sided load display lamp 40c is turned on and other display lamps 40c are turned on. a, 4 Ob are turned off, and the flag F4 of the rightward flag area is set to “1”, and the flag F3 of the leftward flag area is set to “0j” (step S C47).
- step SC49 set the flag F3 of the leftward flag area and the flag F4 of the rightward flag area in step SC37, step SC43, and step SC47, respectively.
- the load weight W is calculated using the load weight data of the NVM35. Perform the load weight calculation process.
- step SC49 the offset adjustment, the characteristic correction, and the error calculated in step SC27 are performed by the first equation stored in the NVM 35.
- the tentative load weight Wp is calculated by multiplying the unit conversion weight per unit by 0.01 ton (step S C49 a).
- step SC49b the membership function value X1 (Wp) of the provisional load weight Wp calculated in step SC49a is obtained (step SC49b), and the NVM Based on the membership function X 3 stored in 35, a membership function value X 3 ( ⁇ ) of the vehicle bias value 6 calculated in step SC 31 is calculated (step S C49 c), and both these membership functions are calculated.
- the fuzzy scales corresponding to Y5 and Y7 are expanded according to each grade using the membership function X5 stored in NVM 35, and the center of gravity is calculated by applying the centroid method to them.
- the fuzzy scale value corresponding to the center of gravity is obtained from the horizontal axis as a correction value ⁇ (step SC49 e), and the correction value ⁇ obtained in step S C49 e is calculated by the second equation stored in the NVM 35, as follows: After calculating the true load weight W by adding the temporary load weight Wp calculated in step SC49a (step SC49f), the process returns to the main routine of FIG. 36 and proceeds to step SC51.
- step S C49 After the loading weight calculation processing of step S C49 is completed, the stored value of the loading weight registration area of the RAM 33b is updated to the loading weight W calculated in step SC49 (step SC 51), and the loading weight display is performed.
- the display of the part 37 is updated to the load weight W stored in the load weight registration area in step SC51 (step SC53).
- step SC55 it is checked whether or not the loading weight stored in the loading weight register evening area in step SC51 is "0", and the loading weight W is reduced. If it is "0" (Y in step SC55), the flag F2 in the loading flag area is set to "0" (step SC57), and the process returns to step SC3, where the loading weight is "0". If not (N in step SC55), the flag F2 in the loading flag area is set to "1" (step SC59), and the process proceeds to step SC61.
- step SC61 it is checked whether or not the load weight stored in the load area register area in step SC51 exceeds the overload value of the NVM35, and if not, (step SC61) N), the overload indicator 41 is turned off (step SC63), the flag F5 in the overload flag area is set to "0" (step SC65), and the process proceeds to step SC71 to exceed the value.
- the overload display lamp 41 is turned on (step SC63), and the flag F5 in the overload flag area of the RAM 33b is set to "1" (step SC61). 67) Go to step SC71.
- step SC71 it is checked whether all of the flags F3 to F5 of the leftward deviation, rightward deviation, and overload flag areas are all "0", and if at least one is not "0", (N in step SC71) After the alarm buzzer 43 sounds for a predetermined time (step SC73), the process returns to step SC3 in FIG. 35, and if all are "0j" (step SC71). Y), and return to step SC3.
- the weight calculating means 33 P in the claims is constituted by the step SC51a in the flow chart of FIG. 33 R is composed of step SC 51 b and step SC 51 c in FIG. 39, fuzzy inference means 33 S is composed of step SC 51 d in FIG. 39, and weight correction value calculating means 33 T is It consists of step SC51e in FIG.
- the output characteristic correcting means 33A in the claims is constituted by step SC23 in the flowchart of FIG. 35, and the axle deviation value calculating means 33B is controlled by step SC29 in FIG. , And the weighting means 33 is constituted by step S C31 in FIG.
- the offset adjustment value setting key 45 When the offset adjustment value setting key 45 is operated, the state of waiting for the input of the offset adjustment value is entered.
- the numerical value is input by operating the numeric keypad 53 and the set key 55, the value is set to the value of the sensing element 21. It is written to N VM35 as the offset adjustment value.
- the sensing elements 21 at both ends of each axle 9 are output.
- the pulse signal of the frequency corresponding to the load applied to both ends of the axle 9 is corrected by the offset adjustment value of the NVM 35 corresponding to the frequency, whereby the output frequency between the sensing elements 21 in the tare state is set. Is eliminated.
- the output pulse of each sensing element 21 after correction by the offset adjustment value The signal is corrected by the characteristic correction value of the NVM 35 corresponding to the frequency, whereby the output of each sensing element 21 changes from a non-linear characteristic to a linear characteristic, and the sensing element 21
- the effect of the hysteresis that the frequency of the output pulse signal is higher when the load is increased than when it is reduced is prevented from reaching a value that corresponds to a negative load that is impossible in reality.
- the output pulse signal of each sensing element 21 after the correction by the offset adjustment value and the characteristic correction value is corrected by the error correction value of the NVM 35 corresponding to the frequency. Variations in the characteristics between the load and the output pulse signal between the load and the output are eliminated.
- the axle deviation values d 1 to 53 are calculated.
- the vehicle deviation value 5 which is the deviation of the load on the entire vehicle 1, is calculated (in the present embodiment, the calculation is 0 to 1.0).
- the calculated vehicle bias value (depending on whether the value of ⁇ is within the range of 5 ⁇ 5 ⁇ 5 (equal), 5 ⁇ cJ (leftward), or 6 ⁇ -5 (rightward) , Left-sided, equal, right-sided load display lamps The corresponding lamp among the 40a to 40c lamps is turned on.
- a membership function value X 3 (6) with a vehicle deviation value ⁇ 5 is obtained based on the membership function X 3 in the NVM 35.
- the fuzzy scale value of the vehicle deviation value d 0.7 as shown by the broken line in Fig. 32 (b)
- the provisional loading weight of the vehicle 1 is calculated by the first equation in the NVM 35.
- Wp is calculated (in the present embodiment, 0 ton to: 16 ton), and the membership function value X 1 (W p) of the temporary load weight Wp is obtained based on the membership function X 1 in the NVM 35.
- the fuzzy inference rule R of NVM 35 is obtained from the membership function value X 1 (Wp) of the provisional loading weight Wp and the membership function value X 3 (6) of the vehicle deviation value c5. Based on this, the control parameters are deduced.
- the fuzzy scale is ⁇ N '' as is clear from Fig. 33, and the grade that weights this ⁇ N '' is the vehicle bias value (the grade d of the membership function value VH (0.7) of 5 is d
- the membership function value of the provisional loading weight Wp is lower than the grade a of the LO (6.5), so that "dj" is used.
- the fuzzy scale is ⁇ Z '' as is clear from Fig. 33.
- the grade that weights Zj is the grade b of the membership function value HI (6.5) of the temporary loading weight Wp
- the vehicle bias value is “b” because it is lower than the grade c of the membership function value HI (0.7) of 5.
- the fuzzy scale is ⁇ Nj ''
- the grade that weights this ⁇ N '' is the grade b of the member-ship function value HI (6.5) of the temporary load weight Wp
- the membership function value of the vehicle deviation value 5 is lower than the grade d of the HI (0.7), so it is “b”.
- this centroid method is a membership function obtained by converting four control parameters Y1 to Y7 into fuzzy scales compressed by their respective grades c, d, b, and b.
- this is a work generally performed in fuzzy control of finding the center of gravity of the area surrounded by the developed fuzzy scale, and the fuzzy scale value corresponding to the obtained center of gravity is the correction value to be obtained.
- ⁇ W this is a work generally performed in fuzzy control of finding the center of gravity of the area surrounded by the developed fuzzy scale, and the fuzzy scale value corresponding to the obtained center of gravity is the correction value to be obtained.
- the true load weight W is calculated by adding them based on the second equation of the NVM35, and the calculated load weight W is calculated. Is displayed on the loading weight display section 37.
- the overloading display lamp 41 When the calculated loading weight W exceeds a predetermined overloading weight value, the overloading display lamp 41 is turned on, and the alarm buzzer 43 sounds to notify the overloading state.
- the alarm buzzer 43 also sounds at that time to notify the eccentric load state.
- the temporary loading weight Wp of the vehicle 1 is calculated based on the outputs of the sensing elements 21 disposed at both ends of the front, middle, and rear axles 9, respectively.
- the vehicle deviation value ⁇ 5 indicating the degree of deviation of the load in the vehicle width direction of the vehicle 1 is obtained, and the respective membership function values XI (Wp), X3 of the provisional loading weight Wp and the vehicle deviation value d are obtained.
- ( ⁇ ) is obtained from the membership functions XI and ⁇ 3, respectively, and from the membership function values X 1 (Wp) and X3 ((5)), the control parameter Y 1 is calculated using the fuzzy inference rule R.
- ⁇ Y7 is fuzzy inferred, a correction value W is obtained from the inference result, and the provisional loading weight Wp is corrected by the correction value AW to obtain a true loading weight W.
- the load applied to the vehicle 1 which varies depending on the posture of the vehicle 1 and the load balance of the load during the calculation of the load weight, particularly in the left and right (vehicle width) direction, or the vibration accompanying the traveling of the vehicle 1. Therefore, even if the output of each sensing element 21 changes, the correct loading weight corresponding to the actual load can be calculated from the total output of each sensing element 21 with high accuracy without being affected by the change. .
- the output of each sensing element 21 is corrected from the non-linear characteristic to the linear characteristic by the characteristic correction value of the NVM 35.
- the frequency of the output pulse signal of each sensing element 21 becomes higher when the load increases than when the load decreases, resulting in a value corresponding to a negative load that is impossible in reality due to the effect of hysteresis. Therefore, the tentative loading weight Wp and the vehicle bias value (5, which is calculated based on the output of each sensing element 21), and the correction value AW and the The accuracy of W can be significantly improved.
- the load 63 for each axle 9 in the vehicle width direction of the vehicle 1 is calculated from the output of the two sensing elements 21 for each axle 9.
- the vehicle deviation value 6 is calculated by weighting with the unique weighting factors Q1 to Q3, and the correction value AW is calculated from the vehicle deviation value ⁇ 5 to obtain the loaded weight W.
- the degree of bias of the load for each axle 9 is weighted according to the proportion of the distribution of the load applied to the vehicle 1 to each axle 9, and accordingly, the vehicle is determined based on the output of each sensing element 21.
- the correction value and the loaded weight W can be accurately and reliably determined based on the deviation value 5, and thus the vehicle deviation value (5.
- the left, right, and right load indicator lamps 40a to 40c provided on the weighing scale 31 of the first, second, and fourth embodiments described above and blink these.
- the configuration for this purpose may be omitted, if these load display lamps 40a to 40c and the configuration for blinking them are provided, either the load, It can be visually noticed that the image is biased in the direction of, so that it can be easily recognized.
- each of the front, rear, left and right biases provided in the weighing scale 31 of the third embodiment may be omitted, but the configuration of each of the eccentric load display lamps 42a to 42d and the structure for blinking these may be omitted. If provided, it is possible to visually and easily recognize whether the load is deviated in the front, rear, left, or right direction as viewed from the entire vehicle 1 and to easily recognize the load.
- the deviation display section 40 d provided in the weighing machine 31 and the configuration for numerically displaying the vehicle deviation value d on the deviation display section 40 d may be omitted.
- the load will appear in either direction of the vehicle width when viewed from the whole of the vehicle 1 depending on the sign of the value and the magnitude of the numerical value.
- the degree of bias can be easily and easily recognized under certain criteria.
- the deviation is taken into account when calculating the load weight of the vehicle 1. Not only that, this display allows the state of the inclination of the load applied to the vehicle 1 to be more accurately recognized than by judging the load on the bed 7.
- the loading weight display section 37 provided in the loading weight meter 31 of the first to fourth embodiments and a configuration for displaying the calculated loading weight value on the loading weight display section 37 are omitted. Is also good.
- the loading weight display section 37 and the configuration for displaying the calculated loading weight are provided, it is not only necessary to record the calculated loading weight, etc., but also whether or not the crew can add more luggage. Can be notified in an easy-to-understand manner.
- the overload indication lamp 41 and the alarm buzzer 43 provided in the overload meter 31 of the first to fourth embodiments will be used.
- the configuration for turning on the loading indicator lamp 41 and the configuration for sounding the alarm buzzer 43 when the loaded weight exceeds the specified overload weight value or when the load is uneven are omitted. Good.
- the overload indicator lamp 41 and its lighting configuration are provided, the overloaded state can be easily and easily visually recognized. If the alarm buzzer 43 and its sounding configuration are provided, the load will be uneven. It is possible to easily and easily recognize the presence state and the overloaded state by hearing.
- the reference value for the determination is set by the setting, as in the load scale 31 of the third embodiment. It is optional whether it can be changed or fixed as in the weighing scale 31 of the first, second and fourth embodiments.
- a configuration provided in the weighing scale 31 of the second and third embodiments for correcting the output of each sensing element 21 with the characteristic correction value, and the names of the second and third embodiments may be omitted.
- the correlation between the load applied to each sensing element 21 and the output pulse signal does not fluctuate among the sensing elements 21, and the honor is eliminated.
- the accuracy of the payload calculated based on the output of the sensing element 21 can be significantly improved.
- the configuration for correcting to be Hz may be omitted ⁇
- the configuration for correcting the output of each sensing element 21 from the non-linear characteristic to the linear characteristic by the characteristic correction value provided in the weighing scale 31 of the first and fourth embodiments is as follows. , May be omitted.
- the frequency of the output pulse signal of each sensing element 21 becomes higher when the frequency increases than when the load decreases. Due to the effect of hysteresis, a value corresponding to a negative load that cannot be realized in reality is not reached, and therefore, the accuracy of the load weight calculated based on the output of each sensing element 21 can be significantly improved. it can.
- the correction values Z1 to Z6 for gain adjustment used to correct the output of the sensing element 21 by selecting according to the magnitude of the vehicle bias value ( The characteristic correction values described above may be collectively used as one type of correction value. In this case, if the characteristics of the sensing element 21 change according to the frequency band of the output pulse signal, each correction for gain adjustment is performed.
- the values Z1 to Z6 may be set to different values for each frequency band as needed.
- each axle deviation value d1 to (53 is a weighting coefficient Q1 to
- the configuration for weighting in Q3 may be omitted, but if this configuration is provided, even if the ratio of load distribution to each axle 9 differs depending on the type of vehicle, etc.
- the above-described correction, adjustment, and gain adjustment for the output pulse signal of each sensing element 21 apply to the total frequency of the output pulse signals of all sensing elements 21 as in the weighing scale 31 of each embodiment.
- the processing may be performed on the frequency of each output pulse signal of each sensing element 21.
- the microcomputer 33 detects the setting of the biased state of the load based on the output of each sensing element 21 by switching the setting mode switch 38. It is configured so that it can be selected from two modes: an automatic setting mode to set, and a manual setting mode to set manually by operating the left, right, and right load input keys 39a to 39c. Either mode and its necessary components may be omitted.
- the weighing machine 31 of the first, second, and fourth embodiments detects the deviation of the load only in the vehicle width direction of the vehicle 1, and outputs the sensing elements 21 according to the content.
- the true loading weight W is calculated by correcting the force and correcting the temporary loading weight Wp calculated from the output of each sensing element 21 with the correction value ⁇ .
- the correction value used to calculate the true loading weight W by correcting the tentative loading weight W p and the temporary loading weight W p is calculated only in the vehicle width direction of the vehicle 1 as in the loading weight meter 31 of the third embodiment. To be determined according to the content of the load deviation in the front-rear direction. Is also good.
- the weighing scale 31 of the second embodiment determines the correction content of the output of each sensing element 21 1 by referring to not only the deviation of the load but also the running and stopping states of the vehicle 1.
- this configuration may be omitted, and conversely, this configuration may be applied to the weighing scale 31 of the first, third, and fourth embodiments.
- the configuration in which the sensing element 21 is disposed in the shrink bin 19 has been described.
- the location of the sensing element 21 is, for example, a steering wheel.
- the inside of the knuckle spindle (in the case of a steering wheel) and other parts of the vehicle 1 where a load is applied from the loading platform 7 side to the wheel 3 side are not limited to the shackle bin 19 and are arbitrary.
- the weighing scale 31 of the first, second, and fourth embodiments since the wheel 3 has six wheels and the axle 9 has three axes of front, middle, and rear, six sensing elements 21 are used.
- the weighing scale 31 of the third embodiment has four sensing elements 21 because the wheels 3 are four wheels and the axle 9 is two front and rear axes.
- the magnetostrictive sensing element 21 is used as the weight sensor, but a weighing sensor having another configuration may be used.
- the output of the sensing element 21 is determined by a gain adjustment value determined with reference to the presence or absence of traveling of the vehicle 1 before calculating the loading weight.
- the object to be corrected and adjusted is not limited to the frequency of the output pulse signal of the sensing element 21 as in the first to fourth embodiments, but may be a voltage, a current level, a weight value after weight conversion, or the like. Other values may be targeted according to the difference in the configuration.
- the correction target according to the bias of the load is not limited to the frequency of the output signal of the sensing element 21, but may be a voltage, a current level, a weight value after weight conversion, or a sensor configuration. Other values may be targeted according to the difference or the like.
- the fuzzy inference rule holding means 35E may be constituted by the RAM 33b of the microcomputer 33.
- membership functions X 1, X 3 3 X 5 held by the membership function holding means 35 D and the fuzzy inference rule R held by the fuzzy inference rule holding means 35 E are the structure of the vehicle 1, that is, the number of axles 9 It may be changed according to the type of vehicle such as the maximum load weight and the like.
- the membership function holding means 35 D and the fuzzy inference rule holding means 35 E are configured by the NVM 35 outside the microcomputer 33 as in this embodiment, the membership function and the fuzzy inference
- the other parts of the weighing scale 31 can be made common regardless of the vehicle type by installing NVMs having different contents of rules.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Air Bags (AREA)
- Indication And Recording Devices For Special Purposes And Tariff Metering Devices (AREA)
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1019980702654A KR100301746B1 (ko) | 1995-10-12 | 1996-04-19 | 차량의하중편도산출장치및적재중량산출장치 |
US09/051,275 US6069324A (en) | 1995-10-12 | 1996-04-19 | Load deflecting degree computing apparatus and carrying weight computing apparatus for vehicle |
DE69629041T DE69629041T2 (de) | 1995-10-12 | 1996-04-19 | Vorrichtung zur berechnung ungünstiger ladungsverteilung auf einem fahrzeug und zur berechnung der ladung auf einem fahrzeug |
EP96910202A EP0855581B1 (en) | 1995-10-12 | 1996-04-19 | Device for calculating maldistribution of load on vehicle and device for calculating load on vehicle |
CA002231652A CA2231652C (en) | 1995-10-12 | 1996-04-19 | Load deflecting degree computing apparatus and carrying weight computing apparatus for vehicle |
JP16666296A JP3285121B2 (ja) | 1995-10-12 | 1996-06-07 | 車両の荷重偏度算出装置及び積載重量算出装置 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP7/264429 | 1995-10-12 | ||
JP26442995 | 1995-10-12 | ||
JP9105296 | 1996-04-12 | ||
JP8/91052 | 1996-04-12 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1997014019A1 true WO1997014019A1 (fr) | 1997-04-17 |
Family
ID=26432533
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1996/001066 WO1997014019A1 (fr) | 1995-10-12 | 1996-04-19 | Dispositif pour calculer une mauvaise repartition d'une charge supportee par un vehicule, et dispositif pour calculer une charge supportee par un vehicule |
Country Status (9)
Country | Link |
---|---|
US (1) | US6069324A (ja) |
EP (1) | EP0855581B1 (ja) |
KR (1) | KR100301746B1 (ja) |
CN (1) | CN1136442C (ja) |
CA (1) | CA2231652C (ja) |
DE (1) | DE69629041T2 (ja) |
ES (1) | ES2202433T3 (ja) |
MX (1) | MX9802785A (ja) |
WO (1) | WO1997014019A1 (ja) |
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Also Published As
Publication number | Publication date |
---|---|
EP0855581A1 (en) | 1998-07-29 |
DE69629041D1 (de) | 2003-08-14 |
ES2202433T3 (es) | 2004-04-01 |
EP0855581B1 (en) | 2003-07-09 |
DE69629041T2 (de) | 2004-04-22 |
CN1136442C (zh) | 2004-01-28 |
KR100301746B1 (ko) | 2001-09-22 |
CA2231652C (en) | 2001-07-31 |
KR19990064173A (ko) | 1999-07-26 |
US6069324A (en) | 2000-05-30 |
MX9802785A (es) | 1998-10-31 |
CA2231652A1 (en) | 1997-04-17 |
EP0855581A4 (en) | 2000-01-12 |
CN1199462A (zh) | 1998-11-18 |
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