Articulated dumper weighing method and device, storage medium and program product

Abstract

The embodiment of the invention discloses a hinged dumper weighing method and device, a storage medium and a program product. Wherein the hinged dump truck is provided with a weighing oil cylinder, a pressure sensor and a tilt angle sensor; the hinged dump truck weighing method comprises the steps that the pressure value of an oil cylinder of a hinged dump truck is detected through a pressure sensor; the angle of a container on the articulated dump truck is measured through the tilt angle sensor; and according to the pressure value, the cargo tank angle, the oil cylinder sectional area on the hinged type dumper and the gravitational acceleration, the cargo tank weighing value on the hinged type dumper is determined. Weighing of the hinged dump truck is achieved through the pressure sensor and the tilt angle sensor, the weighing cost can be reduced, and the weighing accuracy and convenience are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle weighing, and particularly to a weighing method, device, storage medium and program product for an articulated dump truck. Background Art

[0002] To ensure the safety of vehicle driving, it is usually necessary to weigh the vehicle to avoid overloading. With the continuous progress of technology, automatic weighing of vehicles is of great significance.

[0003] In the prior art, a loaded vehicle is driven onto a fixed weighbridge for weighing and then the weight of the truck itself is subtracted. This weighing method has many inconveniences and cannot timely control the loading amount of the vehicle. Moreover, the weighing method using a spoke-type tension and compression sensor has a high weighing cost, poor reliability and is not convenient for maintenance. Summary of the Invention

[0004] The present invention provides a weighing method, device, storage medium and program product for an articulated dump truck to reduce the weighing cost, improve the weighing accuracy and convenience.

[0005] According to one aspect of the present invention, there is provided a weighing method for an articulated dump truck, wherein a weighing oil cylinder, a pressure sensor and an inclination sensor are arranged on the articulated dump truck; the method includes:

[0006] Detecting a pressure value on the weighing oil cylinder of the articulated dump truck through the pressure sensor;

[0007] Measuring the angle of the cargo box on the articulated dump truck through the inclination sensor;

[0008] Determining the weighing value of the cargo box on the articulated dump truck according to the pressure value, the cargo box angle, the cross-sectional area of the oil cylinder on the articulated dump truck, and the acceleration due to gravity.

[0009] Optionally, after determining the weighing value of the cargo box on the articulated dump truck according to the pressure value, the cargo box angle, the cross-sectional area of the oil cylinder on the articulated dump truck, and the acceleration due to gravity, it further includes:

[0010] Obtaining a historical cargo box weighing value obtained by using the weighing method for the articulated dump truck, and the corresponding historical actual weight of the cargo box;

[0011] Determining a weighing correction parameter for the articulated dump truck according to the historical cargo box weighing value and the corresponding historical actual weight of the cargo box;

[0012] Correcting the cargo box weighing value according to the weighing correction parameter to obtain a corrected cargo box weighing value.

[0013] Optionally, determining the weighing calibration parameter of the articulated dump truck according to the historical weighing value of the cargo box and the corresponding actual weight of the historical cargo box includes:

[0014] Calculating the deviation ratio of the historical weighing value of the cargo box from the corresponding actual weight of the historical cargo box at multiple cargo box weight levels;

[0015] Performing data fitting on the deviation ratios at each cargo box weight level to obtain a cargo box weighing deviation curve;

[0016] Taking a value on the cargo box weighing deviation curve according to the cargo box weight level to which the current cargo box weighing value belongs to obtain the current deviation ratio;

[0017] Determining the weighing calibration parameter of the articulated dump truck according to the current deviation ratio.

[0018] Optionally, after determining the weighing value of the cargo box on the articulated dump truck according to the pressure value, the cargo box angle, the cross-sectional area of the oil cylinder on the articulated dump truck, and the acceleration due to gravity, it further includes:

[0019] Predicting the fault state of the articulated dump truck and the damaged state of the cargo box according to the operating state of the articulated dump truck and the change of the cargo box weighing value within the current monitoring time range.

[0020] Optionally, predicting the fault state of the articulated dump truck and the damaged state of the cargo box according to the operating state of the articulated dump truck and the change of the cargo box weighing value within the current monitoring time range includes:

[0021] During the normal driving of the articulated dump truck, when the weighing value of the cargo box decreases by more than the first preset range within the current monitoring time range, determining that the damaged state of the cargo box is leakage;

[0022] During the normal driving of the articulated dump truck, when the weighing value of the cargo box increases by more than the second preset range within the current monitoring time range, determining that the damaged state of the cargo box is cargo box displacement, or determining that the fault state of the articulated dump truck is that the structure of the articulated dump truck is damaged resulting in the damaged state of the cargo box being cargo box displacement;

[0023] When the weighing value of the cargo box fluctuates by more than the third preset range within the current monitoring time range, determining that the fault state of the articulated dump truck is abnormal sensitivity of the pressure sensor or the inclination sensor.

[0024] Optionally, after determining the weighing value of the cargo box on the articulated dump truck according to the pressure value, the cargo box angle, the cross-sectional area of the oil cylinder on the articulated dump truck, and the acceleration due to gravity, it further includes:

[0025] Set multiple safety load thresholds according to the model, design standards, and road safety rules of the articulated dump truck, and set safety warning content corresponding to each safety load threshold;

[0026] Among them, the safety warning content includes at least one of the following: the sensitivity of the handling performance of the articulated dump truck, the braking distance length, and the tire blowout risk index;

[0027] Determine the target safety load threshold satisfied by the cargo box weighing value, and display the target safety warning content corresponding to the target safety load threshold and the cargo box weighing value at the driving end of the articulated dump truck.

[0028] Optionally, after predicting the fault state of the articulated dump truck and the damaged state of the cargo box, it further includes:

[0029] Perform safety driving warning for the articulated dump truck according to the fault state and the damaged state.

[0030] According to another aspect of the present invention, there is provided a weighing device for an articulated dump truck, wherein a weighing oil cylinder, a pressure sensor, and an inclination sensor are arranged on the articulated dump truck; the device includes:

[0031] A pressure value acquisition module for detecting the pressure value on the weighing oil cylinder of the articulated dump truck through the pressure sensor;

[0032] A cargo box angle acquisition module for measuring the angle of the cargo box on the articulated dump truck through the inclination sensor;

[0033] A cargo box weighing value determination module for determining the cargo box weighing value on the articulated dump truck according to the pressure value, the cargo box angle, the cross-sectional area of the oil cylinder on the articulated dump truck, and the acceleration due to gravity.

[0034] According to another aspect of the present invention, there is provided an electronic device, the electronic device includes:

[0035] At least one processor; and

[0036] A memory communicatively connected to the at least one processor; wherein,

[0037] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the weighing method of the articulated dump truck according to any embodiment of the present invention.

[0038] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the articulated dump truck weighing method according to any embodiment of the present invention when executed.

[0039] According to another aspect of the present invention, there is provided a computer program product including a computer program which implements the articulated dump truck weighing method according to any embodiment of the present invention when executed by a processor.

[0040] The technical solution of the embodiment of the present invention detects the pressure value on the cylinder of the articulated dump truck through a pressure sensor; measures the angle of the cargo box on the articulated dump truck through an inclination sensor; determines the weighing value of the cargo box on the articulated dump truck according to the pressure value, the cargo box angle, the cross-sectional area of the cylinder on the articulated dump truck, and the acceleration due to gravity, solving the problem of automatic weighing of the articulated dump truck. The weighing of the articulated dump truck is realized through the pressure sensor and the inclination sensor, which can reduce the weighing cost, improve the weighing accuracy and convenience.

[0041] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Description of the Drawings

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0043] Figure 1 is a flowchart of an articulated dump truck weighing method according to Embodiment 1 of the present invention;

[0044] Figure 2 is a schematic diagram of the software architecture when an articulated dump truck weighing method according to Embodiment 1 of the present invention is applied;

[0045] Figure 3 is an application flowchart of an articulated dump truck weighing method according to Embodiment 1 of the present invention;

[0046] Figure 4 is a flowchart of an articulated dump truck weighing method according to Embodiment 2 of the present invention;

[0047] Figure 5 is a schematic diagram of the structure of an articulated dump truck weighing system according to Embodiment 3 of the present invention;

[0048] Figure 6 is a schematic structural diagram of a weighing device for an articulated dump truck provided according to Embodiment 4 of the present invention;

[0049] Figure 7 is a schematic structural diagram of an electronic device for implementing the method for weighing an articulated dump truck according to the embodiment of the present invention. Detailed implementation manners

[0050] In order to enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0052] Embodiment 1

[0053] Figure 1 is a flowchart of a method for weighing an articulated dump truck provided according to Embodiment 1 of the present invention. This embodiment is applicable to the situation of automatically weighing an articulated dump truck. This method can be executed by a weighing device for an articulated dump truck, and the weighing device for an articulated dump truck can be implemented in the form of hardware and / or software. The weighing device for an articulated dump truck can be configured in an electronic device, and the electronic device can be a vehicle controller, a computer, a server, or the like.

[0054] Among them, a weighing cylinder, a pressure sensor, and an inclination sensor are provided on the articulated dump truck. The articulated dump truck can be a road or non-road vehicle. For example, the articulated dump truck can be a road or non-road vehicle with an articulated structure such as a heavy truck or a wide-body vehicle.

[0055] As Figure 1 shown, the method includes:

[0056] Step 110: Detect the pressure value on the weighing cylinder of the articulated dump truck through a pressure sensor.

[0057] The pressure sensor can be set on the weighing cylinder of the articulated dump truck to measure the pressure value of the weighing cylinder. To ensure the measurement accuracy of the pressure value, a sensor with higher precision should be selected for the pressure sensor.

[0058] Step 120: Measure the angle of the cargo box on the articulated dump truck through an inclination sensor.

[0059] The inclination sensor can be set on the surface of the weighing cylinder to measure the angle of the cargo box on the articulated dump truck. Similarly, to ensure the measurement accuracy of the cargo box angle, a sensor with higher precision is also selected for the inclination sensor.

[0060] Step 130: Determine the weighing value of the cargo box on the articulated dump truck according to the pressure value, the cargo box angle, the cross-sectional area of the cylinder on the articulated dump truck, and the acceleration due to gravity.

[0061] A hydraulic pressure difference will be generated when the weighing cylinder lifts the cargo box. In the embodiment of the present invention, the hydraulic pressure difference can be used to calculate the weighing value of the cargo box. Specifically, through the formula the weighing value of the cargo box is determined. Where m is the weighing value of the cargo box, P is the pressure value on the weighing cylinder, S is the cross-sectional area of the weighing cylinder, θ is the cargo box angle, and g is the acceleration due to gravity.

[0062] In the technical solution of this embodiment, a weighing cylinder, a pressure sensor, and an inclination sensor are provided on the articulated dump truck; the pressure value on the cylinder of the articulated dump truck is detected through the pressure sensor; the angle of the cargo box on the articulated dump truck is measured through the inclination sensor; according to the pressure value, the cargo box angle, the cross-sectional area of the cylinder on the articulated dump truck, and the acceleration due to gravity, the weighing value of the cargo box on the articulated dump truck is determined, solving the problem of automatic weighing of the articulated dump truck, and can reduce the weighing cost, improve the weighing accuracy and convenience.

[0063] In the specific implementation of the technical solution of the embodiment of the present invention, the weighing method of the articulated dump truck can be decomposed into multiple software modules for implementation, so as to facilitate the management and modification of each software module, improve the development efficiency and code quality, and facilitate the functional testing and debugging of a single program, and facilitate subsequent maintenance.

[0064] Exemplarily, Figure 2 is a schematic diagram of the software architecture when applying a weighing method for an articulated dump truck provided in Embodiment 1 of the present invention. As Figure 2As shown, in the electronic device, a pressure signal acquisition subroutine can be set up to detect the pressure value on the weighing cylinder of the articulated dump truck through a pressure sensor, and an attitude data acquisition subroutine can be set up to measure the hopper angle on the articulated dump truck through an inclination sensor. A data preprocessing subroutine can also be set up in the electronic device to preprocess the acquired pressure value and hopper angle, such as detecting the integrity and rationality of the data. Among them, the pressure signal acquisition subroutine, the attitude data acquisition subroutine, and the data preprocessing subroutine can constitute the data acquisition module in the electronic device. A data processing module can also be set up in the electronic device. A Kalman filtering algorithm for multi-condition and multi-sensor fusion can be set up in the data processing module to determine the hopper weighing value based on the pressure value and the hopper angle. A vehicle control module can also be set up in the electronic device. A Controller Area Network (CAN) bus communication subroutine can be set up in the vehicle control module to transmit the hopper weighing value to other components of the vehicle through the CAN bus for data display or component control, etc. In the data acquisition module, the data processing module, and the vehicle control module, a system clock configuration subroutine can be set up for data clock synchronization.

[0065] By such as Figure 2 The software architecture shown can simplify the programming process of each subroutine, realize the function test and debugging of a single subroutine, facilitate the testing work, and reduce the software maintenance cost. In addition, corresponding fault identification and fault handling programs can be written for each subroutine to avoid the main program failure caused by the error of the subroutine.

[0066] Figure 3 It is an application flowchart of a weighing method for an articulated dump truck provided in Embodiment 1 of the present invention. As Figure 3 shown, when applying the weighing method for an articulated dump truck, the articulated dump truck can be started to ensure the normal operation of each component on the articulated dump truck; then the hopper is placed in a suitable position and the vehicle is braked to load the articulated dump truck. The pressure sensor and the inclination sensor are used to detect the changes in the pressure value of the weighing cylinder and the hopper angle respectively. When the hopper weight is stable, the vehicle controller (VCU) determines the hopper weighing value on the articulated dump truck based on the pressure value and the hopper angle, and displays the hopper weighing value. Weighing the articulated dump truck through the pressure sensor and the inclination sensor can reduce the weighing cost, improve the weighing accuracy and convenience.

[0067] Embodiment 2

[0068] Figure 4It is a flowchart of a weighing method for an articulated dump truck according to Embodiment 2 of the present invention. This embodiment is a further supplement to the above technical solution, and the technical solution in this embodiment can be combined with each optional solution in one or more of the above embodiments.

[0069] Among them, a weighing cylinder, a pressure sensor, and an inclination sensor are provided on the articulated dump truck. After determining the weighing value of the cargo box on the articulated dump truck according to the pressure value, the cargo box angle, the cross-sectional area of the cylinder on the articulated dump truck, and the acceleration due to gravity, a pre-set weighing correction parameter can also be obtained, and the weighing value of the cargo box is corrected according to the weighing correction parameter to obtain the corrected weighing value of the cargo box.

[0070] As Figure 4 shown, the method specifically includes:

[0071] Step 410: Detect the pressure value on the weighing cylinder of the articulated dump truck through the pressure sensor.

[0072] Step 420: Measure the cargo box angle on the articulated dump truck through the inclination sensor.

[0073] Step 430: Determine the weighing value of the cargo box on the articulated dump truck according to the pressure value, the cargo box angle, the cross-sectional area of the cylinder on the articulated dump truck, and the acceleration due to gravity.

[0074] Step 440: Obtain the historical weighing value of the cargo box obtained by using the weighing method for the articulated dump truck, and the corresponding actual weight of the historical cargo box.

[0075] Among them, the historical weighing value of the cargo box can be the uncorrected weighing value of the cargo box obtained in advance by using the weighing method for the articulated dump truck provided in the embodiment of the present invention. The actual weight of the historical cargo box can be the actual weight corresponding to the historical weighing value of the cargo box. The historical weighing value of the cargo box can be the actual weight obtained by other means for the cargo box corresponding to the historical weighing value of the cargo box. For example, the actual weight is obtained by weighing with a scale.

[0076] Step 450: Determine the weighing correction parameter of the articulated dump truck according to the historical weighing value of the cargo box and the corresponding actual weight of the historical cargo box.

[0077] The weighing correction parameter of the articulated dump truck can be obtained through the historical weighing value of the cargo box and the corresponding actual weight of the historical cargo box. For example, the deviation between the historical weighing value of the cargo box and the corresponding actual weight of the historical cargo box is determined through the difference or ratio between the historical weighing value of the cargo box and the corresponding actual weight of the historical cargo box, and this deviation is used as the weighing correction parameter of the articulated dump truck. The weighing value of the cargo box is corrected through the weighing correction parameter to ensure the reliability of the weighing value of the cargo box.

[0078] In order to improve the accuracy of calibration, in an alternative embodiment of the present invention, weighing calibration parameters of the articulated dump truck are determined according to historical container weighing values and corresponding actual weights of the historical containers, including: calculating the deviation ratio of the historical container weighing value from the corresponding actual weight of the historical container at multiple container weight levels; performing data fitting on the deviation ratios at each container weight level to obtain a container weighing deviation curve; obtaining the current deviation ratio by taking a value on the container weighing deviation curve according to the container weight level to which the current container weighing value belongs; and determining the weighing calibration parameters of the articulated dump truck according to the current deviation ratio.

[0079] Among them, the container weight levels can be multiple preset weight levels. For example, the container weight levels include, but are not limited to: 10 Kg, 100 Kg, 500 Kg, 1000 Kg, 1500 Kg, 2000 Kg, 2500 Kg, ……, and 40000 Kg. One or more containers with actual weights of historical containers can be selected at each container weight level, and the corresponding historical container weighing values can be obtained by weighing using the articulated dump truck weighing method provided in the embodiment of the present invention. Then, the deviation ratio of each historical container weighing value from the corresponding actual weight of the historical container is determined. For example, the deviation ratio In the formula, x is the actual weight of the historical container, and y is the corresponding historical container weighing value.

[0080] Data fitting can be performed on each deviation ratio. For example, through linear regression, polynomial fitting, or neural network fitting, etc., to obtain the correlation between each container weight level and the corresponding deviation ratio, that is, the container weighing deviation curve.

[0081] When calibrating the current container weighing value, the container weight level to which the current container weighing value belongs can be determined. For example, if the current container weighing value is 1480 Kg, which is closer to 1500 Kg, then the container weight level to which it belongs is determined to be 1500 Kg. According to the container weight level to which it belongs, a value can be taken on the container weighing deviation curve to obtain the corresponding current deviation ratio.

[0082] The weighing calibration parameters of the articulated dump truck can be determined according to the current deviation ratio as Among them, α0 is the current deviation ratio.

[0083] By determining the deviation ratio at each container weight level and performing data fitting, more accurate weighing deviation information can be obtained to accurately calibrate the weighing and improve the reliability of weighing. Among them, when there are multiple deviation ratios at the same container weight level, the multiple deviation ratios can be fused to obtain a more reliable deviation ratio. For example, they can be fused by means of mean, median, mode, weighted value, etc.

[0084] Step 460: Correct the weighing value of the cargo box according to the weighing correction parameter to obtain the corrected weighing value of the cargo box.

[0085] Exemplarily, multiplying the weighing correction parameter by the initially obtained weighing value of the cargo box can obtain the corrected weighing value of the cargo box.

[0086] Based on the above embodiments, optionally, after determining the weighing value of the cargo box on the articulated dump truck according to the pressure value, the cargo box angle, the cylinder cross-sectional area on the articulated dump truck, and the acceleration due to gravity, it further includes: predicting the fault state of the articulated dump truck and the damaged state of the cargo box according to the operating state of the articulated dump truck and the change of the cargo box weighing value within the current monitoring time range.

[0087] Among them, the operating state of the articulated dump truck may include: normal driving and loading goods while parked, etc. When driving normally, the cargo box can be weighed in real time. When loading goods while parked, the cargo box can be weighed after the weight of the cargo box is stable and continuous weight monitoring can be carried out. According to the change of the cargo box weighing value, when the cargo box weighing value suddenly becomes abnormal, the fault of the articulated dump truck or the damage of the cargo box can be predicted. For example, during the normal driving of the articulated dump truck, if the cargo box weighing value suddenly increases significantly, it can be determined that the articulated dump truck has a fault. Or, during the normal driving of the articulated dump truck, if the cargo box weighing value suddenly decreases significantly, it can be determined that the cargo box has a leak. Again, if the cargo box weighing value fluctuates abnormally, it can be determined that the articulated dump truck has a fault.

[0088] By predicting the fault state of the articulated dump truck and the damaged state of the cargo box according to the change of the cargo box weighing value, the vehicle driver can timely understand the problems existing in the vehicle and the goods during driving, ensuring driving safety and cargo transportation safety.

[0089] Optionally, predicting the fault state of the articulated dump truck and the damaged state of the cargo box according to the operating state of the articulated dump truck and the change of the cargo box weighing value within the current monitoring time range includes: when the articulated dump truck is driving normally and the cargo box weighing value decreases by more than the first preset range within the current monitoring time range, determining that the damaged state of the cargo box is a leak; when the articulated dump truck is driving normally and the cargo box weighing value increases by more than the second preset range within the current monitoring time range, determining that the damaged state of the cargo box is a cargo box displacement, or determining that the fault state of the articulated dump truck is that the structure of the articulated dump truck is damaged resulting in the damaged state of the cargo box being a cargo box displacement; when the cargo box weighing value fluctuates by more than the third preset range within the current monitoring time range, determining that the fault state of the articulated dump truck is that the sensitivity of the pressure sensor or the tilt sensor is abnormal.

[0090] Among them, the first preset range can be the normal range of weight fluctuations during cargo transportation. When the first preset range is exceeded, the weight of the cargo box is abnormal. The second preset range can be the same as the first preset range. During the normal driving of an articulated dump truck, when the measured weight value of the cargo box decreases by an amplitude exceeding the normal range, it can be determined that the cargo box has leaked. For the leakage of the cargo box, the driver can be promptly reminded to stop and check the status of the cargo, so as to avoid losses and dangerous situations such as potential road safety hazards caused by cargo leakage.

[0091] During the normal driving of an articulated dump truck, when the measured weight value of the cargo box increases by an amplitude exceeding the normal range, it can be determined that the cargo box has shifted during vehicle operation, or the structure of the articulated dump truck has been damaged, resulting in the shift of the cargo box. For the shift of the cargo box and / or the damage to the structure of the articulated dump truck, the driver can be promptly reminded to make corresponding preparations, which helps to avoid situations such as the vehicle tipping over due to the unstable center of gravity caused by the shift of the cargo during driving.

[0092] In addition, the third preset range can be the range formed by the normal upper and lower limits of the weight fluctuation of the cargo box. The third preset range can be smaller than the first preset range. When the weight of the cargo box fluctuates within the third preset range, it can be considered that the weight fluctuation is caused by jolts during vehicle operation. When the measured weight value of the cargo box fluctuates by an amplitude exceeding the third preset range, it can be determined that the fault state of the articulated dump truck is the abnormal sensitivity of the pressure sensor or the inclination sensor.

[0093] When the sensitivity of the pressure sensor or the inclination sensor is abnormal, the driver can be reminded to update the vehicle parts to ensure the reliability of weighing.

[0094] Optionally, after predicting the fault state of the articulated dump truck and the damaged state of the cargo box, it further includes: performing a safety driving warning for the articulated dump truck according to the fault state and the damaged state.

[0095] Among them, the safety driving warning methods include but are not limited to: sound and light alarms and / or pop-up prompts. By comprehensively and continuously detecting the weight of the cargo box in real time and combining with the operating state of the vehicle, the vehicle is detected for faults and the damaged state of the cargo box in real time. When an abnormality occurs, the alarm mechanism is automatically triggered immediately, and the alarm information can be quickly transmitted to the relevant operators through the internal communication network. Through the alarm, not only can the accuracy of the weighing output data be ensured, avoiding misjudgment caused by equipment failures and misleading subsequent vehicle management and safety assessments, but also potential faults during weighing can be detected in a timely manner, providing a solid and reliable guarantee for the stable and normal operation of weighing, and keeping the cargo box weighing in the best working state.

[0096] On the basis of the above embodiments, optionally, after determining the cargo box weighing value on the articulated dump truck according to the pressure value, the cargo box angle, the cylinder cross-sectional area on the articulated dump truck, and the acceleration due to gravity, the method further includes: setting a plurality of safety load thresholds according to the model, design standard, and road safety rules of the articulated dump truck, and setting safety warning contents corresponding to each safety load threshold; wherein, the safety warning contents include at least one of the following: the sensitivity of the handling performance of the articulated dump truck, the braking distance length, and the tire blowout risk index; determining the target safety load threshold satisfied by the cargo box weighing value, and displaying the target safety warning content corresponding to the target safety load threshold and the cargo box weighing value at the driving end of the articulated dump truck.

[0097] Among them, the safety load threshold can be obtained by pre-performing safety tests on the vehicle and combining road safety rules. When the vehicle load is large, it affects the control sensitivity of its braking, steering, and acceleration. Therefore, in order to ensure the driving safety of the vehicle, multiple safety load thresholds can be set in the embodiments of the present invention. Exemplarily, the first safety load threshold is the road safety rule that the vehicle should follow, that is, the weight value that must not be overloaded; the remaining safety load thresholds are less than the first safety load threshold. Corresponding safety warning contents can be set under each safety load threshold.

[0098] The safety warning content can prompt the driver of the matters that need attention when ensuring the safe driving of the current vehicle. For example, through the sensitivity of the handling performance of the articulated dump truck, the driver can be prompted to pay extra attention when steering and accelerating, so as to avoid safety problems caused by the driver's failure to realize when the sensitivity is poor. Through the braking distance length, the driver can be prompted to pay attention to the safe vehicle distance and vehicle speed control during driving. Through the tire blowout risk index, the driver can be prompted to pay attention to avoiding sudden braking that may cause tire blowout.

[0099] The target safety load threshold is the safety load threshold that is greater than or equal to the cargo box weighing value and is the closest to the cargo box weighing value. By displaying the target safety warning content matching the target safety load threshold to the driver, the driver can be prompted to drive safely according to the target safety warning content, ensuring the safety of the driver transporting the cargo box.

[0100] In the embodiments of the present invention, when weighing an articulated dump truck, the weighing value of the cargo box can be stored in the data, and it can be recorded in the data memory for a long time and with a large capacity. When recording the weighing value of the cargo box, the weighing time can be associated. Thus, a weighing change trend report presented in a time series can be generated according to the weighing time and the corresponding weighing value of the cargo box. For different types of vehicles and different types of cargo boxes, weighing statistics can be carried out separately. Thus, by using a large amount of data and through a machine learning model, the fault state of the articulated dump truck and the damaged state of the cargo box can be predicted to prompt the driver to plan maintenance plans in advance, replace components in time, clean the cargo, etc., ensure the power performance and driving stability of the vehicle, effectively avoid the occurrence of faults, and reduce the vehicle maintenance cost and safety risk.

[0101] In addition, the articulated dump truck can also, through an efficient and stable vehicle networking communication protocol, transmit real-time weighing data and accurate warning information to the mobile devices of management personnel, such as smart phones, tablet computers, etc., or transmit them to a professional monitoring center in real time with extremely low latency and extremely high reliability. Professional management personnel can, by intuitively viewing the weighing conditions and warning information of multiple vehicles, conduct unified scheduling and management to conveniently understand the weighing conditions and fault warning information of the vehicles at any time. Through the warning information, it is convenient for management personnel to make decisions quickly and take measures to handle problems in time, such as notifying the driver to stop for inspection, arranging maintenance personnel to go to the scene, etc., significantly improving management efficiency and safety, and realizing intelligent and refined management of the entire process of vehicle transportation.

[0102] The technical solution of the embodiments of the present invention is as follows: detecting the pressure value on the weighing oil cylinder of the articulated dump truck through a pressure sensor; measuring the angle of the cargo box on the articulated dump truck through an inclination sensor; determining the weighing value of the cargo box on the articulated dump truck according to the pressure value, the angle of the cargo box, the cross-sectional area of the oil cylinder on the articulated dump truck, and the acceleration due to gravity; obtaining the historical weighing value of the cargo box obtained by using the weighing method of the articulated dump truck and the corresponding historical actual weight of the cargo box; determining the weighing correction parameter of the articulated dump truck according to the historical weighing value of the cargo box and the corresponding historical actual weight of the cargo box; and correcting the weighing value of the cargo box according to the weighing correction parameter to obtain the corrected weighing value of the cargo box, which solves the problem of automatic weighing of the articulated dump truck. Weighing of the articulated dump truck is realized through the pressure sensor and the inclination sensor, which can reduce the weighing cost, improve the weighing accuracy and convenience; and weighing value correction is carried out through the weighing correction parameter, which can ensure the reliability of weighing.

[0103] Embodiment III

[0104] Figure 5 is a schematic structural diagram of a weighing system for an articulated dump truck provided according to Embodiment III of the present invention. As Figure 5As shown in the figure, the weighing system of the articulated dump truck includes: a power supply module, a data acquisition module (including a pressure sensor and an inclination sensor), a data processing module (including a main control chip, a CAN bus communication circuit, and a pressure acquisition circuit), and a vehicle networking hardware system. Among them, the power supply module consists of a vehicle battery, such as a 24V battery, and a virtual power supply, such as a 5V power supply simulated by the VCU. The inclination sensor and the main control chip in the data processing module can be powered by the vehicle battery. The pressure sensor, the CAN bus communication circuit, and the pressure acquisition circuit in the data processing module can be powered by the virtual power supply. The pressure value on the weighing cylinder of the articulated dump truck is detected by the pressure sensor; the box angle of the articulated dump truck is measured by the inclination sensor. The main control chip can determine the weighing value of the box on the articulated dump truck according to the pressure value, the box angle, the cross-sectional area of the cylinder on the articulated dump truck, and the acceleration due to gravity. The weighing value of the box can be transmitted to the vehicle networking hardware system through the CAN bus communication circuit to control other components of the vehicle according to the weighing value of the box, such as weighing data display, fault alarm, and box damage alarm. Through the weighing system of the articulated dump truck, the weighing of the articulated dump truck can be realized, the weighing cost can be reduced, and the weighing accuracy and convenience can be improved.

[0105] Embodiment 4

[0106] Figure 6 It is a schematic structural diagram of an articulated dump truck weighing device provided according to Embodiment 4 of the present invention. A weighing cylinder, a pressure sensor, and an inclination sensor are arranged on the articulated dump truck. As Figure 6 shown, the device includes: a pressure value acquisition module 610, a box angle acquisition module 620, and a box weighing value determination module 630. Among them:

[0107] The pressure value acquisition module 610 is used to detect the pressure value on the weighing cylinder of the articulated dump truck through the pressure sensor;

[0108] The box angle acquisition module 620 is used to measure the box angle on the articulated dump truck through the inclination sensor;

[0109] The box weighing value determination module 630 is used to determine the weighing value of the box on the articulated dump truck according to the pressure value, the box angle, the cross-sectional area of the cylinder on the articulated dump truck, and the acceleration due to gravity.

[0110] Optionally, the device further includes:

[0111] The historical data acquisition module is used to obtain the historical box weighing value obtained by using the articulated dump truck weighing method and the corresponding historical actual weight of the box after determining the weighing value of the box on the articulated dump truck according to the pressure value, the box angle, the cross-sectional area of the cylinder on the articulated dump truck, and the acceleration due to gravity;

[0112] A weighing correction parameter determination module, configured to determine the weighing correction parameter of the articulated dump truck according to the historical weighing value of the cargo box and the corresponding actual weight of the historical cargo box;

[0113] A cargo box weighing value correction module, configured to correct the cargo box weighing value according to the weighing correction parameter to obtain the corrected cargo box weighing value.

[0114] Optionally, the weighing correction parameter determination module includes:

[0115] A deviation ratio determination unit, configured to calculate the deviation ratio of the historical cargo box weighing value deviating from the corresponding actual weight of the historical cargo box under multiple cargo box weight levels;

[0116] A cargo box weighing deviation curve determination unit, configured to perform data fitting on the deviation ratios under each cargo box weight level to obtain a cargo box weighing deviation curve;

[0117] A current deviation ratio determination unit, configured to obtain the current deviation ratio by taking a value on the cargo box weighing deviation curve according to the cargo box weight level to which the current cargo box weighing value belongs;

[0118] A weighing correction parameter determination unit, configured to determine the weighing correction parameter of the articulated dump truck according to the current deviation ratio.

[0119] Optionally, the device further includes:

[0120] A fault and damage state prediction module, configured to, after determining the cargo box weighing value on the articulated dump truck according to the pressure value, the cargo box angle, the cross-sectional area of the oil cylinder on the articulated dump truck, and the acceleration due to gravity, predict the fault state of the articulated dump truck and the damage state of the cargo box according to the operating state of the articulated dump truck and the change of the cargo box weighing value within the current monitoring time range.

[0121] Optionally, the fault and damage state prediction module includes:

[0122] A first prediction unit, configured to determine that the damage state of the cargo box is a leak when the cargo box weighing value decreases by more than the first preset range within the current monitoring time range during the normal driving of the articulated dump truck;

[0123] A second prediction unit, configured to determine that the damage state of the cargo box is a cargo box displacement when the cargo box weighing value increases by more than the second preset range within the current monitoring time range during the normal driving of the articulated dump truck, or determine that the fault state of the articulated dump truck is that the structure of the articulated dump truck is damaged, resulting in the damage state of the cargo box being a cargo box displacement;

[0124] A third prediction unit, configured to determine that the fault state of the articulated dump truck is abnormal sensitivity of the pressure sensor or the inclination sensor when the weighing value of the cargo box fluctuates beyond a third preset range within the current monitoring time range.

[0125] Optionally, the device further includes:

[0126] A safety load information setting module, configured to, after determining the weighing value of the cargo box on the articulated dump truck according to the pressure value, the cargo box angle, the cross-sectional area of the oil cylinder on the articulated dump truck, and the acceleration due to gravity, set a plurality of safety load thresholds according to the model, design standard, and road safety rules of the articulated dump truck, and set safety warning contents corresponding to each safety load threshold;

[0127] Wherein, the safety warning contents include at least one of the following: the sensitivity of the handling performance of the articulated dump truck, the braking distance length, and the tire blowout risk index;

[0128] A safety warning content display module, configured to determine the target safety load threshold satisfied by the weighing value of the cargo box, and display the target safety warning content corresponding to the target safety load threshold and the weighing value of the cargo box at the driving end of the articulated dump truck.

[0129] Optionally, the device further includes:

[0130] A safe driving warning module, configured to perform a safe driving warning for the articulated dump truck according to the fault state and the damaged state after predicting the fault state of the articulated dump truck and the damaged state of the cargo box.

[0131] The articulated dump truck weighing device provided by the embodiments of the present invention can execute the articulated dump truck weighing method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

[0132] Embodiment 5

[0133] Figure 7 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processing, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described herein and / or claimed.

[0134] As Figure 7As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0135] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0136] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the articulated dump truck weighing method.

[0137] In some embodiments, the articulated dump truck weighing method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the articulated dump truck weighing method described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the articulated dump truck weighing method by any other suitable means (e.g., by means of firmware).

[0138] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0139] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0140] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0141] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0142] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0143] A computing system can include a client and a server. The client and the server are generally far from each other and usually interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0144] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0145] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for weighing an articulated dump truck, characterized in that: The articulated dump truck is provided with a weighing cylinder, a pressure sensor and an inclination sensor; the method comprises: Detecting the pressure value on the weighing cylinder of the articulated dump truck by the pressure sensor; Measuring the angle of the cargo box on the articulated dump truck by means of the inclination sensor; The cargo box weighing value on the articulated dump truck is determined according to the pressure value, the cargo box angle, the cross-sectional area of ​​the oil cylinder on the articulated dump truck, and the gravitational acceleration.

2. The method according to claim 1, characterized in that After determining the cargo box weighing value on the articulated dump truck according to the pressure value, the cargo box angle, the cross-sectional area of ​​the oil cylinder on the articulated dump truck, and the gravity acceleration, the method further includes: Obtaining historical cargo box weighing values ​​obtained using the articulated dump truck weighing method and the corresponding historical cargo box actual weights; Determining a weighing correction parameter of the articulated dump truck according to the historical cargo box weighing value and the corresponding historical cargo box actual weight; The cargo box weighing value is corrected according to the weighing correction parameter to obtain a corrected cargo box weighing value.

3. The method according to claim 2, characterized in that Determining the weighing correction parameters of the articulated dump truck according to the historical cargo box weighing value and the corresponding historical cargo box actual weight, including: Under multiple cargo box weight levels, calculating the deviation ratio of the historical cargo box actual weight corresponding to the deviation of the historical cargo box weighing value; Performing data fitting on the deviation ratios at each cargo box weight level to obtain a cargo box weighing deviation curve; According to the cargo box weight grade to which the current cargo box weighing value belongs, a value is taken on the cargo box weighing deviation curve to obtain a current deviation ratio; A weighing correction parameter of the articulated dump truck is determined according to the current deviation ratio.

4. The method according to claim 1 or 2, characterized in that: After determining the cargo box weighing value on the articulated dump truck according to the pressure value, the cargo box angle, the cross-sectional area of ​​the oil cylinder on the articulated dump truck, and the gravity acceleration, the method further includes: According to the operating state of the articulated dump truck and the change of the cargo box weighing value within the current monitoring time range, the fault state of the articulated dump truck and the damage state of the cargo box are predicted.

5. The method according to claim 4, characterized in that According to the operation state of the articulated dump truck and the change of the cargo box weighing value within the current monitoring time range, the fault state of the articulated dump truck and the damage state of the cargo box are predicted, including: During normal driving of the articulated dump truck, when the cargo box weighing value decreases by a magnitude exceeding a first preset range within a current monitoring time range, determining that the damaged state of the cargo box is leakage; When the weight value of the cargo box increases by more than a second preset range during normal driving of the articulated dump truck within the current monitoring time range, it is determined that the damaged state of the cargo box is cargo box displacement, or the fault state of the articulated dump truck is determined as the damage to the structure of the articulated dump truck causing the damaged state of the cargo box to be cargo box displacement; When the cargo box weighing value fluctuates beyond a third preset range within the current monitoring time range, it is determined that the fault state of the articulated dump truck is abnormal sensitivity of the pressure sensor or the inclination sensor.

6. The method according to claim 1 or 2, characterized in that: After determining the cargo box weighing value on the articulated dump truck according to the pressure value, the cargo box angle, the cross-sectional area of ​​the oil cylinder on the articulated dump truck, and the gravity acceleration, the method further includes: According to the model, design standard and road safety rules of the articulated dump truck, multiple safe load thresholds are set, and safety warning contents corresponding to each safe load threshold are set; The safety warning content includes at least one of the following: the handling performance sensitivity, braking distance length, and tire blowout risk index of the articulated dump truck; Determine the target safe load threshold satisfied by the cargo box weighing value, and display the target safety warning content corresponding to the target safe load threshold and the cargo box weighing value on the driving end of the articulated dump truck.

7. The method according to claim 4, characterized in that After predicting the fault state of the articulated dump truck and the damage state of the cargo box, the method further includes: According to the fault state and the damaged state, a safe driving warning of the articulated dump truck is performed.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so as to enable the at least one processor to perform the articulated dump truck weighing method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the articulated dump truck weighing method according to any one of claims 1 to 7 when executed.

10. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the articulated dump truck weighing method according to any one of claims 1 to 7.

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