CN115849270A - Weight verification method and device for vehicle, vehicle and storage medium - Google Patents

Abstract

The application relates to the field of vehicle detection, and discloses a weight verification method and device for a vehicle, the vehicle and a storage medium. The vehicle comprises an operation platform, an operation arm, a hydraulic oil cylinder, a pressure sensor and a platform weighing device, wherein the operation platform is provided with a carried object, and the weight verification method for the vehicle comprises the following steps: determining a first total weight of the operation platform and a carried object by using a platform weighing device, and determining an acting force of a hydraulic oil cylinder when the hydraulic oil cylinder lifts an operation arm by using a pressure sensor; determining the total relationship between the acting force and the second total weight; calculating a second total weight according to the total relation and the acting force; generating weight check information based on the error value of the first total weight and the second total weight. On the basis that the vehicle does not need to additionally set up new devices, the accuracy of the platform weighing device is detected by using the calculated second total weight, and further the inaccuracy of the weight value obtained by using the platform weighing device is avoided.

Description

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

technical field

The invention relates to the field of vehicle detection, in particular to a weight verification method and device for vehicles, a vehicle and a storage medium.

Background technique

An aerial work vehicle is a manned device used to lift people or equipment in an aerial work platform to a specified height. When the aerial work platform of the aerial work vehicle is overloaded, it will not only damage the parts in the aerial work vehicle and affect the aerial work, but also lead to safety accidents. Usually, the aerial work vehicle is equipped with a load cell, and the weight value obtained by the load cell can be used. When the aerial work platform is equipped with loads, the weight value obtained by the load cell is the sum of the weight of the aerial work platform and the weight of the load. According to the weight value obtained by the load cell, adjust the limit range of the boom of the aerial work vehicle, and determine whether the aerial work platform is overloaded.

However, when using a load cell to weigh the aerial work platform, there is a situation that the weight value obtained by the load cell is inaccurate. When the weight value obtained by the load cell is greater than the actual weight, the boom limit of the aerial work vehicle is relatively large, which affects the efficiency of aerial work. In the case where the weight value obtained by the load cell is less than the actual weight, there is a risk of vehicle rollover. When the load cell has a fault such as data offset, the weight value of the aerial work platform obtained by the load cell is inaccurate, that is, the load cell cannot truly reflect the actual weight of the aerial work platform, which in turn affects the user's aerial work.

Contents of the invention

The purpose of the embodiments of the present invention is to provide a device, which is used to solve the problem of inaccurate obtained weight values of aerial work platforms.

In order to achieve the above object, in the first aspect, the present application provides a weight verification method for a vehicle, the vehicle includes a working platform, a working arm, a hydraulic cylinder, a pressure sensor and a platform weighing device, and the working platform is equipped with load, the method comprising:

Using the platform weighing device to determine the first total weight of the operating platform and the load, and using the pressure sensor to determine the force of the hydraulic cylinder when lifting the operating arm;

determining a total relationship between the force and a second total weight, wherein the second total weight is the sum of the weight of the working platform and the weight of the load;

calculating said second total weight based on said total relationship and said force;

Weight verification information is generated based on an error value of the first total weight and the second total weight.

With reference to the first aspect, in a first possible implementation manner, the working arm includes a first working arm and a second working arm, and the first working arm is connected to the working platform through the second working arm, so The hydraulic cylinder is respectively connected to the first operating arm and the second operating arm, and the determination of the total relationship between the active force and the second total weight includes:

Based on a first connection node between the hydraulic cylinder and the second working arm, and a second connection node between the first working arm and the second working arm, determining a position of the second working arm first arm length;

determining a second arm length of the first working arm based on the first connection node and a third connection node between the hydraulic cylinder and the first working arm;

determining a triangular relationship among the current length of the hydraulic cylinder, the first arm length, and the second arm length;

Based on the triangular relationship, a total relationship of the force to the second total weight is determined.

With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner, the determining the total relationship between the acting force and the second total weight according to the triangular relationship includes:

Calculate the current length of the hydraulic cylinder according to the triangular relationship;

calculating a first angle between the hydraulic cylinder and the second working arm based on the first arm length, the second arm length, and the current length of the hydraulic cylinder;

According to the first included angle, the overall relationship between the acting force and the second total weight is determined.

With reference to the second possible implementation of the first aspect, in a third possible implementation, the working arm further includes a third working arm, and the second working arm is connected to the The working platform, according to the first angle, determines the total relationship between the force and the second total weight, including:

determining a third arm length of the second working arm based on the second connection node and a fourth connection node between the second working arm and the third working arm;

determining a fourth arm length of the third working arm based on the fourth connection node and a fifth connection node between the third working arm and the working platform;

According to the length of the third arm, the length of the fourth arm, the inclination angle of the second operating arm, the inclination angle of the third operating arm and the side length of the operating platform, calculate the relationship between the operating platform and the first operating platform the first distance between two connected nodes;

calculating a second distance between the first connection node and the second connection node according to the first arm length and the inclination angle of the second operating arm;

Based on the first distance, the second distance and the first included angle, a total relationship between the acting force and a second total weight is determined.

With reference to the second possible implementation manner of the first aspect, in a fourth possible implementation manner, the determining the current length of the hydraulic cylinder according to the triangular relationship includes:

calculating a second included angle between the first operating arm and the second operating arm based on the inclination angle of the first operating arm and the inclination angle of the second operating arm;

Calculate the current length of the hydraulic oil cylinder according to the second included angle and the triangular relationship.

With reference to the first aspect, in a fifth possible implementation manner, the generating weight verification information based on the error value between the first total weight and the second total weight includes:

calculating an error value between the first total weight and the second total weight;

When the error value is less than a preset threshold, generating weight verification information that there is no abnormality in the first total weight;

In a case where the error value is greater than or equal to a preset threshold, weight verification information indicating that the first total weight is abnormal is generated.

With reference to the first aspect, in a sixth possible implementation manner, using the platform weighing device to determine the first total weight of the working platform and the load, and using the pressure sensor to determine the hydraulic pressure After the active force when the oil cylinder lifts the working arm, it also includes:

performing temperature compensation on the acting force according to the current temperature of the pressure sensor and the temperature drift coefficient of the pressure sensor;

The temperature-compensated force is filtered to update the force.

In a second aspect, the present application provides a weight verification device for a vehicle, the vehicle includes a working platform, a working arm, a hydraulic cylinder, a pressure sensor, and a platform weighing device, the working platform is equipped with loads, and the Devices include:

The first total weight determination module is configured to use the platform weighing device to determine the first total weight of the operation platform and the load, and use the pressure sensor to determine when the hydraulic cylinder lifts the operation arm force;

A total relationship determination module, configured to determine a total relationship between the force and a second total weight, wherein the second total weight is the sum of the weight of the working platform and the weight of the load;

a second total weight determination module, configured to calculate the second total weight according to the total relationship and the force;

The verification information generation module is configured to generate weight verification information based on the error value between the first total weight and the second total weight.

In a third aspect, the present application provides a vehicle, the vehicle includes a working platform, a working arm, a hydraulic cylinder, a pressure sensor, a platform weighing device, a memory and a processor, the memory stores a computer program, and the computer program is When the processor is executed, the method for verifying the weight of a vehicle as described in the first aspect is realized.

In a fourth aspect, the present application provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program for a vehicle as described in the first aspect is implemented. Method of weight verification.

The present application provides a method for checking the weight of a vehicle, the vehicle includes a work platform, a work arm, a hydraulic cylinder, a pressure sensor and a platform weighing device, the work platform is equipped with loads, and the method includes: using The platform weighing device determines the first total weight of the operating platform and the load, and uses the pressure sensor to determine the force when the hydraulic cylinder lifts the operating arm; determine the force and A total relationship of the second total weight; calculating the second total weight according to the total relationship and the acting force; generating weight verification information based on an error value between the first total weight and the second total weight. On the basis that the vehicle does not need additional new devices, the calculated second total weight is used to detect the accuracy of the platform weighing device, thereby avoiding inaccurate weight values obtained by using the platform weighing device.

Other features and advantages of the present invention will be described in detail in the detailed description that follows.

Description of drawings

The accompanying drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification, and are used together with the following specific embodiments to explain the embodiments of the present invention, but do not constitute limitations to the embodiments of the present invention. In the attached picture:

Fig. 1 shows the flow chart of the weight checking method for vehicle provided by the embodiment of the present application;

Fig. 2 shows the first structural schematic diagram of the vehicle provided by the embodiment of the present application;

Fig. 3 shows a second structural schematic diagram of the vehicle provided by the embodiment of the present application;

Fig. 4 shows a schematic structural diagram of a weight verification device for a vehicle provided by an embodiment of the present application.

Explanation of reference signs

200-vehicle

210-Working platform 220-Working arm 230-Hydraulic cylinder

221-First working arm 222-Second working arm 223-Third working arm

Detailed ways

The specific implementation manners of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. It should be understood that the specific implementation manners described here are only used to illustrate and explain the embodiments of the present invention, and are not intended to limit the embodiments of the present invention.

The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

Hereinafter, the terms "comprising", "having" and their cognates that may be used in various embodiments of the present invention are only intended to represent specific features, numbers, steps, operations, elements, components or combinations of the foregoing, And it should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing or adding one or more features, numbers, steps, operations, elements, components or a combination of the foregoing possibilities.

In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, Unless clearly defined in various embodiments of the present invention.

Example 1

Please refer to FIG. 1 . FIG. 1 shows a flow chart of a weight verification method for a vehicle provided by an embodiment of the present application.

The vehicle includes a work platform, a work arm, a hydraulic cylinder, a pressure sensor and a platform weighing device, and the work platform is equipped with loads. The weight verification method for the vehicle in Fig. 1 includes:

S110, using the platform weighing device to determine a first total weight of the working platform and the load, and using the pressure sensor to determine the force when the hydraulic cylinder lifts the working arm.

Please also refer to FIG. 2 . FIG. 2 shows a schematic diagram of a first structure of a vehicle provided by an embodiment of the present application.

The vehicle 200 may be any aerial work vehicle with a working arm 220 , which is not limited here. When working at heights, the hydraulic cylinder 230 moves linearly to lift the working arm 220 , and then lifts the working platform 210 to a specific height. In this embodiment, the work platform 210 is equipped with loads, wherein the loads are set according to actual needs, and may be operators or equipment, which are not limited here. The first total weight of the working platform 210 and the load is determined by using the platform weighing device. The platform weighing device is used to weigh the operation platform 210 in real time to prevent the operation platform 210 from being overloaded. When the working arm 200 lifts the working platform 210 , the hydraulic cylinder 230 generates force when lifting the working arm 220 , and the pressure sensor is used to determine the force when the hydraulic cylinder 230 lifts the working arm 220 .

It should be understood that the pressure sensor is arranged on the hydraulic cylinder, which is not specifically shown in the figure. The vehicle 200 also includes other mechanical structures such as a vehicle chassis and a turntable structure, and other mechanical structures are set according to actual needs and are not limited here.

As an example, using the platform weighing device to determine the first total weight of the operating platform and the load, and using the pressure sensor to determine the force of the hydraulic cylinder when lifting the operating arm After that, also include:

performing temperature compensation on the acting force according to the current temperature of the pressure sensor and the temperature drift coefficient of the pressure sensor;

The temperature-compensated force is filtered to update the force.

The pressure sensor is a device that detects the force based on the elastic deformation of the material. The material used in the pressure sensor will produce elastic fatigue after each elastic recovery. The temperature drift of the pressure sensor is a phenomenon that the temperature change causes the elastic change of the material, which in turn causes the parameter change of the pressure sensor. During the process of pre-detecting the temperature drift of the pressure sensor, the temperature drift coefficient of the pressure sensor is determined. When the hydraulic cylinder raises the boom, the temperature of the hydraulic cylinder affects the current temperature of the pressure sensor. According to the current temperature of the pressure sensor and the temperature drift coefficient of the pressure sensor, temperature compensation is performed on the force to avoid inaccurate force obtained by the pressure sensor due to temperature changes.

At the same time, there are pressure shocks during the operation of the vehicle. The temperature compensated force can be filtered to update the force obtained with the pressure sensor. Perform temperature compensation and filter processing on the force obtained by using the pressure sensor to improve the accuracy of the obtained force.

S120. Determine a total relationship between the acting force and the second total weight.

When performing high-altitude operations, the hydraulic cylinder lifts the operating arm by adjusting the current length, and then uses the operating arm to lift the operating platform with the load. In this embodiment, the force exerted by the hydraulic cylinder when lifting the working arm is the force generated by the interaction between the working platform and the hydraulic cylinder. Determine the overall relationship between the active force and the second total weight, and then determine the second total weight according to the obtained active force, wherein the second total weight is the sum of the weight of the working platform and the weight of the load.

As an example, the working arm includes a first working arm and a second working arm, the first working arm is connected to the working platform through the second working arm, and the hydraulic cylinders are respectively connected to the first working arm and said second working arm, said determining a total relationship of said force to a second total weight comprises:

Based on a first connection node between the hydraulic cylinder and the second working arm, and a second connection node between the first working arm and the second working arm, determining a position of the second working arm first arm length;

determining a second arm length of the first working arm based on the first connection node and a third connection node between the hydraulic cylinder and the first working arm;

determining a triangular relationship among the current length of the hydraulic cylinder, the first arm length, and the second arm length;

Based on the triangular relationship, a total relationship of the force to the second total weight is determined.

Please refer to FIG. 3 together. FIG. 3 shows a second structural schematic view of the vehicle provided by the embodiment of the present application.

For ease of understanding, in the embodiment of the present application, the first connection node between the hydraulic cylinder 230 and the second working arm 222 is point A in the figure, and the second connecting node between the first working arm 221 and the second working arm 222 is The connection node is point B in the figure, and the third connection node between the hydraulic cylinder 230 and the first working arm 221 is point C in the figure. Based on the two points forming a line, the first arm length of the second operating arm 222 is determined to be the length of a straight line formed by point A and point B, and the second arm length of the first operating arm 221 is determined to be the length of a straight line formed by point B and point C. In addition, the current length of the hydraulic cylinder 230 is the length of the straight line formed by point A and point C.

When the hydraulic cylinder 230 lifts the second arm 222, the current length of the hydraulic cylinder 230 changes dynamically, while the first arm length of the second arm 222 and the second arm length of the first arm 221 are fixed values. The triangular relationship among the current length of the hydraulic cylinder 230 , the first arm length and the second arm length is determined by the law of cosines.

According to the triangle relationship, calculate the angle of the triangle formed by point A, point B and point C. Based on the angle of the triangle, the action force is decomposed into a force along the horizontal wind direction and a force along the vertical direction, and then the overall relationship between the action force and the second total weight is determined.

In an optional example, the determining the total relationship between the force and the second total weight according to the triangular relationship includes:

Calculate the current length of the hydraulic cylinder according to the triangular relationship;

calculating a first angle between the hydraulic cylinder and the second working arm based on the first arm length, the second arm length, and the current length of the hydraulic cylinder;

According to the first included angle, the overall relationship between the acting force and the second total weight is determined.

Knowing the first arm length of the second operating arm 222 and the second arm length of the first operating arm 221, the hydraulic cylinder 230 is calculated according to the current length of the hydraulic cylinder 230, the triangular relationship between the first arm length and the second arm length. the current length of .

Based on the length of the first arm, the length of the second arm and the current length of the hydraulic cylinder 230, the first angle between the hydraulic cylinder 230 and the second operating arm 222 is calculated by the law of cosines:

Wherein, ∠BAC is the first included angle between the hydraulic cylinder 230 and the second working arm 222, AB is the first arm length of the second working arm 222, BC is the second arm length of the first working arm 221, and AC is the hydraulic cylinder The current length of 230.

Based on the first included angle between the hydraulic cylinder 230 and the second working arm 222 , the force is decomposed into a force along the horizontal wind direction and a force along the vertical direction, and then a total relationship between the force and the second total weight is determined.

In an optional example, the working arm further includes a third working arm, the second working arm is connected to the working platform through the second working arm, and according to the first included angle, the determined The overall relationship between the above forces and the second total weight, including:

determining a third arm length of the second working arm based on the second connection node and a fourth connection node between the second working arm and the third working arm;

determining a fourth arm length of the third working arm based on the fourth connection node and a fifth connection node between the third working arm and the working platform;

According to the length of the third arm, the length of the fourth arm, the inclination angle of the second operating arm, the inclination angle of the third operating arm and the side length of the operating platform, calculate the relationship between the operating platform and the first operating platform the first distance between two connected nodes;

calculating a second distance between the first connection node and the second connection node according to the first arm length and the inclination angle of the second operating arm;

Based on the first distance, the second distance and the first included angle, a total relationship between the acting force and a second total weight is determined.

As shown in FIG. 3 , for ease of understanding, in the embodiment of the present application, the fourth connection node between the second operating arm 222 and the third operating arm 223 is point D, and between the third operating arm 223 and the operating platform 210 The fifth connection node of is point H. Based on the two points forming a line, the third arm length of the second operating arm 222 is determined to be the length of a straight line formed by points B and D, and the fourth arm length of the third operating arm 223 is determined to be the length of a straight line formed by points D and H. It should be understood that, in the embodiment of the present application, the side length of the working platform 210 is half of the width of the working platform 210 , that is, the side length of the working platform 210 is the distance between the centroid of the working platform 210 and the fifth connection node.

The inclination angles of the first working arm 221 , the second working arm 222 , and the third working arm 223 can be acquired in real time through the angle sensor provided on the vehicle 100 , which will not be repeated here.

It should be understood that the first distance and the second distance are distances in the same direction. For ease of understanding, in the embodiment of the present application, the first distance and the second distance are distances along the horizontal direction. The first distance is the length of a straight line formed by point k and point B, and the second distance is the length of a straight line formed by point a and point B. Specifically, according to the third arm length of the second working arm 222, the fourth arm length of the third working arm 223, the inclination angle of the second working arm 222, the inclination angle of the third working arm 223 and the side length of the working platform 210, the calculation The first distance between the working platform 210 and the second connection node:

kb＝kh+DHcosγ+BDcosα formula (2)

Wherein, kb is the first distance, kh is the side length of the working platform 210, DH is the fourth arm length of the third working arm 223, BD is the third arm length of the second working arm 222, and γ is the third working arm 223 The inclination angle of , α is the inclination angle of the second working arm.

According to the first arm length of the second operating arm 222 and the inclination angle of the second operating arm, the second distance between the first connecting node and the second connecting node is calculated as:

aB＝ABcosα formula (3)

Wherein, aB is the second distance, AB is the first arm length of the second working arm 222, and α is the inclination angle of the second working arm.

The sum of the three interior angles of the triangle is 180 degrees. According to the inclination angle of the second operating arm and the first included angle, the included angle between the hydraulic cylinder 230 and the vertical direction is:

∠aAC＝90°-(∠α+∠BAC) formula (4)

Wherein, ∠aAC is the angle between the hydraulic cylinder 230 and the vertical direction, α is the inclination angle of the second working arm, and ∠BAC is the first angle between the hydraulic cylinder 230 and the second working arm 222 .

Based on the angle between the hydraulic cylinder 230 and the vertical direction, the force is decomposed into a force along the horizontal wind direction and a force along the vertical direction, and then the total relationship between the force and the second total weight is determined by the lever theorem as:

Fcos∠aAC×ABcosα＝G ₀ ×(kh+DHcosγ+BDcosα) formula (5)

Among them, F is the active force, G ₀ is the second total weight, ∠aAC is the angle between the hydraulic cylinder 230 and the vertical direction, α is the inclination angle of the second operating arm, γ is the inclination angle of the third operating arm 223, and AB is The first arm length of the second working arm 222 , kh is the side length of the working platform 210 , DH is the fourth arm length of the third working arm 223 , and BD is the third arm length of the second working arm 222 .

In an optional example, the determining the current length of the hydraulic cylinder according to the triangular relationship includes:

calculating a second included angle between the first operating arm and the second operating arm based on the inclination angle of the first operating arm and the inclination angle of the second operating arm;

Calculate the current length of the hydraulic oil cylinder according to the second included angle and the triangular relationship.

In this embodiment, the first working arm 221 is a scissor-type working arm, and one sub-arm of the first cheating arm 221 is connected to the second working arm 222, and the inclination angle of the first working arm 221 is the inclination angle of the sub-arm. Based on the inclination angle of the first operating arm and the inclination angle of the second operating arm, the second included angle between the first operating arm and the second operating arm is calculated as:

∠ABC＝∠α+∠β Formula (6)

Wherein, ∠ABC is the second included angle between the first working arm 221 and the second working arm 222 , α is the inclination angle of the second working arm 222 , and β is the inclination angle of the first working arm 221 .

Given the lengths of two sides of a triangle and the included angles of the two sides, according to the second included angle and the triangular relationship, the current length of the hydraulic cylinder 230 is calculated by the law of cosines as:

Wherein, ∠ABC is the second included angle between the first working arm 221 and the second working arm 222, AB is the first arm length of the second working arm 222, BC is the second arm length of the first working arm 221, and AC is The current length of the hydraulic ram 230 .

S130. Calculate the second total weight according to the total relationship and the acting force.

Substituting the action force into formula (5), according to the total relationship and action force, calculate the second total weight:

F is the force, G ₀ is the second total weight, ∠aAC is the angle between the hydraulic cylinder 230 and the vertical direction, α is the inclination angle of the second working arm, γ is the inclination angle of the third working arm 223, and AB is the second The first arm length of the working arm 222 , kh is the side length of the working platform 210 , DH is the fourth arm length of the third working arm 223 , and BD is the third arm length of the second working arm 222 .

When calculating the first total weight of the operating platform and the load, the pressure sensor and other components used are all components included in the vehicle, and the vehicle does not need to be additionally equipped with new components.

S140. Generate weight verification information based on the error value between the first total weight and the second total weight.

The platform weighing device is used to obtain the first total weight of the operation platform and the load, and the parameters of the slewing device are used to obtain the second total weight of the operation platform and the load. When the platform weighing device has a fault such as data offset, the weight value of the aerial work platform obtained by using the platform weighing device may be inaccurate. Weight verification information is generated based on the error value of the first total weight and the second total weight. When calculating the first total weight of the operating platform and the load, the pressure sensors and other devices used are all devices included in the vehicle. On the basis that the vehicle does not need to be additionally equipped with new devices, the calculated second total weight is used. Detect the accuracy of the platform weighing device, thereby avoiding inaccurate weight values obtained by using the platform weighing device.

In addition, based on the error value between the first total weight and the second total weight, when it is determined that the platform weighing device has a large error, an alarm message can also be generated to limit the turning movement of the vehicle, thereby avoiding safety risks.

As an example, the generating weight verification information based on the error value of the first total weight and the second total weight includes:

calculating an error value between the first total weight and the second total weight;

When the error value is less than a preset threshold, generating weight verification information that there is no abnormality in the first total weight;

In a case where the error value is greater than or equal to a preset threshold, weight verification information indicating that the first total weight is abnormal is generated.

Calculate the error value between the first total weight and the second total weight, and judge whether the error value is smaller than the preset threshold:

Wherein, G is the first total weight, _G0 is the second total weight, and k is the preset threshold.

It should be understood that the value of k is set according to actual requirements, and may be any value from 0.05 to 0.1, which is not limited here. If the error value is less than the preset threshold, it is determined that the weight value of the working platform obtained by the platform weighing device is within the error allowable range, and weight verification information that there is no abnormality in the first total weight is generated. Based on the first total weight, the limit range of the boom of the aerial work vehicle is adjusted in real time, and it is determined whether the work platform is overloaded. If the error value is greater than or equal to the preset threshold value, it is determined that the error of the platform weighing device is large, the weight value of the working platform obtained by the platform weighing device is inaccurate, and the weight verification information that the first total weight is abnormal is generated. .

The present application provides a method for checking the weight of a vehicle, the vehicle includes a work platform, a work arm, a hydraulic cylinder, a pressure sensor and a platform weighing device, the work platform is equipped with loads, and the method includes: using The platform weighing device determines the first total weight of the operating platform and the load, and uses the pressure sensor to determine the force when the hydraulic cylinder lifts the operating arm; determine the force and A total relationship of the second total weight; calculating the second total weight according to the total relationship and the acting force; generating weight verification information based on an error value between the first total weight and the second total weight. On the basis that the vehicle does not need additional new devices, the calculated second total weight is used to detect the accuracy of the platform weighing device, thereby avoiding inaccurate weight values obtained by using the platform weighing device.

Example 2

Please refer to FIG. 4 . FIG. 4 shows a schematic structural diagram of a weight verification device for a vehicle provided by an embodiment of the present application.

The vehicle includes an operating platform, an operating arm, a hydraulic cylinder, a pressure sensor, and a platform weighing device, and the operating platform is equipped with loads. The weight verification device 300 for the vehicle in FIG. 4 includes:

The first total weight determining module 310 is configured to use the platform weighing device to determine the first total weight of the operating platform and the load, and use the pressure sensor to determine that the hydraulic cylinder lifts the operating arm when the force;

A total relationship determination module 320, configured to determine a total relationship between the acting force and a second total weight, wherein the second total weight is the sum of the weight of the working platform and the weight of the load;

A second total weight determining module 330, configured to calculate the second total weight according to the total relationship and the force;

The verification information generating module 340 is configured to generate weight verification information based on the error value between the first total weight and the second total weight.

As an example, the working arm includes a first working arm and a second working arm, the first working arm is connected to the working platform through the second working arm, and the hydraulic cylinders are respectively connected to the first working arm and said second working arm, said total relationship determination module 320, comprising:

A first arm length determining module, configured to be based on a first connection node between the hydraulic cylinder and the second working arm, and a second connection node between the first working arm and the second working arm , determine the first arm length of the second operating arm;

A second arm length determining module, configured to determine a second arm length of the first operating arm based on the first connection node and a third connection node between the hydraulic cylinder and the first operating arm;

A triangular relationship determination module, configured to determine the triangular relationship among the current length of the hydraulic cylinder, the first arm length, and the second arm length;

A total relationship module, configured to determine the total relationship between the acting force and the second total weight according to the triangular relationship.

In an optional example, the total relationship determining module 320 includes:

a current length calculation module, configured to calculate the current length of the hydraulic cylinder according to the triangular relationship;

A first angle calculation module, configured to calculate a first angle between the hydraulic cylinder and the second working arm based on the first arm length, the second arm length, and the current length of the hydraulic cylinder;

A relationship determining module, configured to determine a total relationship between the acting force and the second total weight according to the first included angle.

In an optional example, the operating arm further includes a third operating arm, the second operating arm is connected to the operating platform through the second operating arm, and the relationship determination module includes:

A third included angle calculation module, configured to determine a third arm of the second operating arm based on the second connecting node and a fourth connecting node between the second operating arm and the third operating arm long;

A fourth included angle calculation module, configured to determine a fourth arm length of the third operating arm based on the fourth connecting node and a fifth connecting node between the third operating arm and the operating platform;

The first distance calculation module is configured to calculate according to the third arm length, the fourth arm length, the inclination angle of the second operating arm, the inclination angle of the third operating arm, and the side length of the operating platform a first distance between the working platform and the second connection node;

A second distance calculation module, configured to calculate a second distance between the first connection node and the second connection node according to the first arm length and the inclination angle of the second operating arm;

A total relationship module between the active force and the second total weight, configured to determine the overall relationship between the active force and the second total weight based on the first distance, the second distance, and the first included angle.

In an optional example, the current length calculation module includes:

A second included angle calculation module, configured to calculate a second included angle between the first operating arm and the second operating arm based on the inclination angle of the first operating arm and the inclination angle of the second operating arm;

The current length calculation module of the hydraulic cylinder is configured to calculate the current length of the hydraulic cylinder according to the second included angle and the triangular relationship.

As an example, the verification information generation module 340 includes:

an error value calculation module, configured to calculate an error value between the first total weight and the second total weight;

A non-abnormal verification module, configured to generate weight verification information indicating that the first total weight has no abnormality when the error value is less than a preset threshold;

An abnormality verification module is configured to generate weight verification information indicating that the first total weight is abnormal when the error value is greater than or equal to a preset threshold.

As an example, the weight verification device 300 for a vehicle further includes:

A temperature compensation module, configured to perform temperature compensation on the force according to the current temperature of the pressure sensor and the temperature drift coefficient of the pressure sensor;

The filter module is configured to filter the temperature-compensated force and update the force.

The vehicle weight verification device 300 is used to execute the corresponding steps in the above-mentioned vehicle weight verification method, and the specific implementation of each function will not be described one by one here. In addition, the optional examples in Embodiment 1 are also applicable to the weight verification device 300 for vehicles in Embodiment 2.

The embodiment of the present application also provides a vehicle. The vehicle includes a working platform, a working arm, a hydraulic cylinder, a pressure sensor, a platform weighing device, a memory, and a processor. When the computer program is executed by the processor, the following The method for checking the weight of a vehicle described in Embodiment 1.

In this embodiment, the first total weight determination module 310, the total relationship determination module 320, the second total weight determination module 330, the verification information generation module 340, etc. are all stored in the memory as program units, and are executed by the processor and stored in the memory. The above-mentioned program unit in to realize the corresponding function.

The processor includes a kernel, and the kernel fetches corresponding program units from the memory. One or more kernels can be set to solve the problem of inaccurate weight values of aerial work platforms obtained by adjusting kernel parameters.

Memory may include non-permanent memory in computer-readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory includes at least one memory chip.

The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the weight for the vehicle as described in Embodiment 1 is realized. Validation method.

Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowcharts and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-permanent storage in computer readable media, in the form of random access memory (RAM) and/or nonvolatile memory such as read only memory (ROM) or flash RAM. The memory is an example of a computer readable medium.

Computer-readable storage media includes both volatile and non-permanent, removable and non-removable media by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.

It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes Other elements not expressly listed, or elements inherent in the process, method, commodity, or apparatus are also included. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

The above are only examples of the present application, and are not intended to limit the present application. For those skilled in the art, various modifications and changes may occur in this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims (10)

1. A weight verification method for a vehicle, the vehicle comprising a work platform, a work arm, a hydraulic cylinder, a pressure sensor and a platform weighing device, the work platform carrying a load, the method comprising:

determining a first total weight of the operation platform and the carried object by using the platform weighing device, and determining an acting force of the hydraulic oil cylinder when the hydraulic oil cylinder lifts the operation arm by using the pressure sensor;

determining the total relation between the acting force and a second total weight, wherein the second total weight is the sum of the weight of the working platform and the weight of the carried object;

calculating the second total weight according to the total relation and the acting force;

and generating weight checking information based on the error value of the first total weight and the second total weight.

2. The method of claim 1, wherein the work jib comprises a first work jib and a second work jib, the first work jib being coupled to the work platform by the second work jib, the hydraulic rams being coupled to the first work jib and the second work jib, respectively, the determining the total relationship of the force to a second total weight comprising:

determining a first arm length of the second work boom based on a first connection node between the hydraulic ram and the second work boom and a second connection node between the first work boom and the second work boom;

determining a second arm length of the first work arm based on the first connection node and a third connection node between the hydraulic cylinder and the first work arm;

determining a triangular relationship among the current length of the hydraulic oil cylinder, the first arm length and the second arm length;

and determining the total relation between the acting force and the second total weight according to the triangular relation.

3. The weight verification method for a vehicle of claim 2, wherein said determining an overall relationship of said force to a second overall weight from said trigonometric relationship comprises:

calculating the current length of the hydraulic oil cylinder according to the triangular relation;

calculating a first included angle between the hydraulic oil cylinder and the second operation arm based on the first arm length, the second arm length and the current length of the hydraulic oil cylinder;

and determining the total relation between the acting force and the second total weight according to the first included angle.

4. The method of claim 3, wherein the work jib further comprises a third work jib, the second work jib being coupled to the work platform via the second work jib, and wherein determining the total relationship of the applied force to the second total weight based on the first included angle comprises:

determining a third arm length of the second work boom based on the second connection node and a fourth connection node between the second work boom and the third work boom;

determining a fourth arm length of the third work arm based on the fourth connection node and a fifth connection node between the third work arm and the work platform;

calculating a first distance between the operation platform and the second connecting node according to the third arm length, the fourth arm length, the inclination angle of the second operation arm, the inclination angle of the third operation arm and the side length of the operation platform;

calculating a second distance between the first connecting node and the second connecting node according to the first arm length and the inclination angle of the second working arm;

and determining the total relation between the acting force and the second total weight based on the first distance, the second distance and the first included angle.

5. The weight verification method for a vehicle of claim 3, wherein said determining a current length of said hydraulic ram according to said trigonometric relationship comprises:

calculating a second included angle between the first working arm and the second working arm based on the inclination angle of the first working arm and the inclination angle of the second working arm;

and calculating the current length of the hydraulic oil cylinder according to the second included angle and the triangular relation.

6. The weight verification method for a vehicle of claim 1, wherein generating weight verification information based on the error value for the first total weight and the second total weight comprises:

calculating an error value of the first total weight and the second total weight;

under the condition that the error value is smaller than a preset threshold value, weight verification information that the first total weight is not abnormal is generated;

and under the condition that the error value is greater than or equal to a preset threshold value, weight verification information that the first total weight is abnormal is generated.

7. The weight verification method for a vehicle of claim 1, wherein after determining the first total weight of the work platform and the load using the platform weighing device and determining the force at which the hydraulic ram lifts the work arm using the pressure sensor, further comprising:

performing temperature compensation on the acting force according to the current temperature of the pressure sensor and the temperature drift coefficient of the pressure sensor;

and filtering the acting force after temperature compensation, and updating the acting force.

8. The utility model provides a weight calibration device for vehicle, the vehicle includes work platform, operation arm, hydraulic cylinder, pressure sensor and platform weighing device, the work platform carries the thing of carrying, its characterized in that, the device includes:

the first total weight determining module is used for determining a first total weight of the operation platform and the carried object by using the platform weighing device and determining an acting force when the hydraulic oil cylinder lifts the operation arm by using the pressure sensor;

the total relation determining module is used for determining the total relation between the acting force and a second total weight, wherein the second total weight is the sum of the weight of the working platform and the weight of the carried object;

a second total weight determination module for calculating the second total weight according to the total relationship and the acting force;

and the check information generating module is used for generating weight check information based on the error value of the first total weight and the second total weight.

9. A vehicle comprising a work platform, a work arm, a hydraulic ram, a pressure sensor, a platform weighing device, a memory, and a processor, the memory storing a computer program which, when executed by the processor, carries out a weight-check method for a vehicle as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, carries out a weight check method for a vehicle according to any one of claims 1 to 7.

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