Multi-centroid working condition stowage verification method and device, electronic equipment and storage medium

Abstract

The invention provides a multi-mass-center working condition stowage verification method and device, electronic equipment and a storage medium. According to the method, virtual stowage adjustment of mass blocks is continuously performed on each stowage area in a simulated container of a target test truck through a constructed mass center coordinate calculation model according to a set target mass center and mass requirements, and mass block stowage can be accurately performed on each stowage area in the simulated container of the target test truck. Besides, according to the method, the theoretical centroid after stowage is verified through the set target centroid and mass and the constructed centroid coordinate calculation model, so that the theoretical centroid can be continuously close to the set target centroid. Meanwhile, the stowage verification process is realized by simulating the container, more verification working conditions can be realized, the comprehensiveness and feasibility of verification schemes of different centroid working conditions are greatly improved, and more comprehensive and objective reference basis is provided for design and development of trucks.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more specifically, to methods, apparatus, electronic devices, and storage media for verifying multi-center-of-gravity load conditions in the field of vehicles. Background Technology

[0002] With the development of vehicle technology, more and more vehicles are entering people's lives. However, this also brings about more and more vehicle-related problems, including driving safety and comfort issues for trucks.

[0003] During the development phase of truck models, manufacturers conduct a series of tests and verifications on various performance aspects, such as load testing. Traditional load testing involves loading cargo onto the bottom of the test truck's cargo box according to the total weight requirement. This method is often incomplete due to its simplistic nature. It may result in the truck's center of gravity being too low, while in actual customer use, it might be too high or too far back. A center of gravity that is too high leads to poor handling and roll stability, while a center of gravity that is too far back affects ride smoothness.

[0004] Therefore, there is an urgent need for a method for multi-center-of-gravity loading verification to conduct comprehensive and accurate loading verification of trucks, thereby providing a more comprehensive and objective reference for the design and development of trucks. Summary of the Invention

[0005] This application provides a method, apparatus, electronic device, and storage medium for multi-center-of-gravity loading verification. The method can accurately load mass blocks into each loading area of ​​the simulated cargo box of the target test truck according to the set target loading center of gravity and target total mass.

[0006] Firstly, a method for verifying multi-center-of-gravity loading under various working conditions is provided. The method includes: obtaining the target loading center-of-gravity and target total mass of the target simulated cargo box after loading; according to the target loading center-of-gravity and the target total mass, based on the center-of-gravity coordinate calculation model of the simulated cargo box of the test truck after loading, performing virtual loading of mass blocks in each loading area of ​​each compartment in the target simulated cargo box of the target test truck to obtain the theoretical loading center-of-gravity after loading; if the theoretical loading center-of-gravity does not match the target loading center-of-gravity, adjusting the loading of mass blocks in each loading area based on the center-of-gravity coordinate calculation model to make the theoretical loading center-of-gravity match the target loading center-of-gravity.

[0007] In the above technical solution, according to the target centroid (target loading centroid) and mass (target total mass) requirements set after loading of the target simulated cargo box, virtual loading is performed on each loading area of ​​the target simulated cargo box of the target test truck based on the theoretical calculation model of centroid coordinates. The theoretical centroid (theoretical loading centroid) after loading is calculated, and it is determined whether the theoretical loading centroid conforms to the target centroid. If it does not conform, the loading of each loading area is adjusted through the theoretical calculation model of centroid coordinates, that is, the mass of the mass block in the loading area is adjusted until the theoretical centroid conforms to the target centroid. In other words, this method, according to the set target loading centroid and target total mass, can continuously adjust the loading of mass blocks in each loading area of ​​the target simulated cargo box of the target test truck through the constructed centroid coordinate calculation model, so that the adjusted loading method conforms to the requirements of the target loading centroid and target total mass. Therefore, this method can accurately load mass blocks in each loading area of ​​the simulated cargo box of the target test truck according to the set target loading centroid and target total mass. Furthermore, this method verifies the theoretical load center of gravity after loading by setting a target load center of gravity and a target total mass, as well as constructing a load center of gravity coordinate calculation model. This allows the theoretical load center of gravity to continuously approach the set target load center of gravity. Simultaneously, the above-mentioned load verification process is implemented by simulating a cargo box, enabling the realization of more verification conditions. This significantly improves the comprehensiveness and feasibility of verification schemes for different load center of gravity conditions, and also provides a more comprehensive and objective reference for the design and development of freight cars.

[0008] In conjunction with the first aspect, in some possible implementations, the method for determining the centroid coordinate calculation model includes: obtaining the empty centroid coordinates and empty mass of the simulated cargo box of the test truck in an unloaded state, as well as the centroid coordinates and mass of each mass block in a plurality of mass blocks, wherein the mass blocks have different heights but the same length and width; when the mass blocks are loaded in each loading area in each compartment of the simulated cargo box, converting the centroid coordinates of each target mass block in each loading area into coordinates in the coordinate system of the simulated cargo box to obtain the target centroid coordinates of each target mass block; and constructing the centroid coordinate calculation model based on the empty centroid coordinates, the empty mass, and the target centroid coordinates and mass of each target mass block.

[0009] In the above technical solution, the center-of-gravity coordinates of the simulated cargo box of the test truck after loading are related to the empty center-of-gravity coordinates of the simulated cargo box in the unloaded state, as well as the empty mass of the simulated cargo box. They are also related to the center-of-gravity coordinates and masses of the various mass blocks loaded within the simulated cargo box. This is because when the simulated cargo box is empty, its empty center-of-gravity is determined by its own structure, and its position reflects the center of its own weight distribution. When the simulated cargo box is loaded, the empty center-of-gravity is the basis for determining the loaded center-of-gravity. Furthermore, the empty mass is a key parameter for calculating the loaded center-of-gravity after loading. The larger the empty mass, the greater its influence on the loaded center-of-gravity after loading. Moreover, the position of the mass blocks placed on the simulated cargo box determines the relative position between the mass block's center-of-gravity coordinates and the empty center-of-gravity coordinates. The farther the mass block's center-of-gravity coordinates are from the empty center-of-gravity coordinates, the greater its influence on the loaded center-of-gravity after loading. Furthermore, the larger the mass block, the more significant its impact on the loaded center of mass after loading; the larger the mass block, the greater its weight in calculating the loaded center of mass after loading. Therefore, this method, based on the coordinates of the unloaded center of mass, the unloaded mass, and the target center of mass coordinates and mass of each target mass block, can construct an accurate center of mass coordinate calculation model.

[0010] Combining the first aspect and the above implementation methods, in some possible implementation methods, based on the unloaded centroid coordinates, the unloaded mass, the target centroid coordinates and masses of each target mass block, a centroid coordinate calculation model is constructed, including: constructing the centroid coordinate calculation model based on the following formula;

[0011]

[0012] Among them, (X) c ,Y c Z c (X0, Y0, Z0) represents the centroid coordinates corresponding to the centroid coordinate calculation model, M0 represents the empty mass, (X0, Y0, Z0) represents the empty centroid coordinates, m represents the number of compartments in the simulated cargo box, and n represents the number of loading areas in each compartment. ij Let X be the mass of the target mass block loaded in the j-th loading area of ​​the i-th compartment of the simulated cargo container. ij ,Y ij Z ij ) represents the target centroid coordinates of the target mass block in the j-th loading region of the i-th compartment.

[0013] Combining the first aspect and the above implementation methods, in some possible implementation methods, according to the target loading centroid and the target total mass, based on the centroid coordinate calculation model of the simulated cargo box of the test truck after loading, the mass blocks of each loading area in each compartment of the target simulated cargo box of the target test truck are virtually loaded to obtain the theoretical loading centroid after loading. This includes: replacing the centroid coordinates corresponding to the centroid coordinate calculation model with the coordinates of the target loading centroid; replacing the empty centroid coordinates and the empty mass with the target empty centroid coordinates and the target empty mass of the target simulated cargo box in the empty state, respectively, to obtain the adjusted centroid coordinate calculation model; according to the target constraint, based on the adjusted centroid coordinate calculation model, the mass blocks of each loading area in each compartment of the target simulated cargo box are virtually loaded to obtain the theoretical loading centroid. The target constraint is that the total mass between the multiple mass blocks loaded in the multiple loading areas corresponding to the multiple compartments in the target simulated cargo box and the target simulated cargo box is the target total mass.

[0014] In the above technical solution, by replacing the centroid coordinates, empty centroid coordinates, and empty mass in the centroid coordinate calculation model with relevant information of the target simulated cargo box (coordinates of the target loaded centroid, the target empty centroid coordinates of the target simulated cargo box in the empty state, and the target empty mass of the target simulated cargo box), the centroid coordinate calculation model of the target simulated cargo box after loading is obtained, i.e., the adjusted centroid coordinate calculation model. Furthermore, by adjusting the loaded mass blocks in each loading area of ​​the target simulated cargo box using the set mass (target total mass) as a constraint, the theoretical loaded centroid after loading can be obtained. In other words, this method, through the centroid coordinate calculation model corresponding to the target simulated cargo box and the target total mass constraint, can quickly make the obtained theoretical loaded centroid approach the target loaded centroid.

[0015] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the method for determining each loading area in each compartment of the simulated cargo box includes: dividing the interior of the simulated cargo box into multiple loading spaces in the vertical direction; and arranging multiple limiting structures in the loading spaces of each compartment to construct each loading area in each compartment.

[0016] In the above technical solution, by dividing the interior of the simulated cargo container into multiple compartments for loading, and arranging multiple limiting structures within each compartment's loading space, multiple loading areas with different spatial locations can be obtained (multiple different loading areas). This allows for the loading of mass blocks within these multiple loading areas to meet the verification requirements of multiple different center-of-gravity positions, significantly improving the comprehensiveness and feasibility of the verification scheme for different center-of-gravity conditions. Furthermore, arranging limiting structures within each compartment's loading space enables precise positioning of the mass blocks, while also preventing movement of the mass blocks during the experimental verification process, thus avoiding movement of the center of gravity.

[0017] Combining the first aspect and the above implementation methods, in some possible implementation methods, the lengths of the multiple loading areas corresponding to the multiple compartments in the simulated cargo box are the same, the widths of the multiple loading areas corresponding to the multiple compartments are the same, the length and width of the mass block are the same as the length and width of the corresponding loading area, and the opening method of the simulated cargo box is a fully open side opening.

[0018] In the above technical solution, the lengths and widths of the multiple loading zones corresponding to multiple compartments are the same, which helps to accurately perform virtual loading of mass blocks in the loading zones. Furthermore, the length and width of the mass blocks are the same as the length and width of the corresponding loading zones, allowing the loading zones to effectively fix the positions of the mass blocks. This further prevents the mass blocks from moving during the experimental verification process, thus avoiding movement of the center of gravity. In addition, the simulated cargo box opens fully from the side, facilitating the placement or adjustment of mass blocks in each loading zone.

[0019] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the method further includes: storing the theoretical loading center of mass and the target total mass, as well as the loading information of the mass blocks loaded in the multiple loading areas corresponding to the multiple compartments in the target simulated cargo box, in a target database. The target database also stores the loading center of mass and the total mass of the corresponding simulated cargo box after loading of multiple other simulated cargo boxes, as well as the loading information of the mass blocks loaded in the multiple loading areas corresponding to the multiple compartments in the simulated cargo box of the corresponding test truck. The target database is used to subsequently extract the loading information of the mass blocks loaded in the multiple loading areas corresponding to the multiple compartments in the simulated cargo box that match the loading center of mass and total mass.

[0020] In the above technical solution, during the verification of the loading center of gravity, the theoretical loading center of gravity, the target total mass, and the loading information of the mass blocks loaded in multiple loading areas corresponding to multiple compartments in the target simulated cargo box are stored in the target database. Thus, as the number of verifications increases, the target database will store the loading centers of gravity of multiple simulated cargo boxes after loading, the total mass of the corresponding simulated cargo boxes, and the loading information of the mass blocks loaded in multiple loading areas corresponding to multiple compartments in the simulated cargo box of the corresponding test truck. In this way, the corresponding loading status information (i.e., the loading information of the mass blocks loaded in each loading area) can be extracted from the target database based on the set target center of gravity and mass requirements, thereby achieving precise loading of the mass blocks in the loading areas and adjustment of the center of gravity.

[0021] Secondly, a device for multi-center-of-gravity loading verification is provided. The device includes: an acquisition module for acquiring the target loading center of gravity and the target total mass of the target simulated cargo box after loading; a determination module for virtually loading mass blocks in each loading area of ​​each compartment in the target simulated cargo box of the target test truck according to the target loading center of gravity and the target total mass, based on the center of gravity coordinate calculation model of the simulated cargo box of the test truck after loading, to obtain the theoretical loading center of gravity after loading; and an adjustment module for adjusting the loading of mass blocks in each loading area based on the center of gravity coordinate calculation model when the theoretical loading center of gravity does not match the target loading center of gravity, so as to match the theoretical loading center of gravity with the target loading center of gravity.

[0022] In conjunction with the second aspect, in some possible implementations, the acquisition module is specifically used to acquire the empty center-of-gravity coordinates and empty mass of the simulated cargo box of the test truck in an empty state, as well as the center-of-gravity coordinates and mass of each mass block among multiple mass blocks, wherein the multiple mass blocks have different heights but the same length and width; the device further includes: a conversion module, used to convert the center-of-gravity coordinates of each target mass block in each loading area in each compartment of the simulated cargo box into coordinates in the coordinate system of the simulated cargo box when the mass blocks are loaded in each loading area in each compartment of the simulated cargo box, thereby obtaining the target center-of-gravity coordinates of each target mass block; the determination module is specifically used to construct the center-of-gravity coordinate calculation model based on the empty center-of-gravity coordinates, the empty mass, and the target center-of-gravity coordinates and mass of each target mass block.

[0023] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the determining module is specifically used to construct the centroid coordinate calculation model based on the following formula;

[0024]

[0025] Among them, (X) c ,Y c Zc (X0, Y0, Z0) represents the centroid coordinates corresponding to the centroid coordinate calculation model, M0 represents the empty mass, (X0, Y0, Z0) represents the empty centroid coordinates, m represents the number of compartments in the simulated cargo box, and n represents the number of loading areas in each compartment. ij Let X be the mass of the target mass block loaded in the j-th loading area of ​​the i-th compartment of the simulated cargo container. ij ,Y ij Z ij ) represents the target centroid coordinates of the target mass block in the j-th loading region of the i-th compartment.

[0026] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the determining module is specifically used to: replace the centroid coordinates corresponding to the centroid coordinate calculation model with the coordinates of the target loading centroid; replace the empty centroid coordinates and the empty mass with the target empty centroid coordinates and the target empty mass of the target simulated cargo box in the empty state, respectively, to obtain the adjusted centroid coordinate calculation model; according to the target constraint, based on the adjusted centroid coordinate calculation model, perform virtual loading of mass blocks in each loading area of ​​each compartment in the target simulated cargo box to obtain the theoretical loading centroid; the target constraint is that the total mass between the multiple mass blocks loaded in the multiple loading areas corresponding to multiple compartments in the target simulated cargo box and the target simulated cargo box is the target total mass.

[0027] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the determining module is specifically used to: divide the interior of the simulated cargo box into multiple compartment loading spaces in the vertical direction; and arrange multiple limiting structures in the loading spaces of each compartment to construct each loading area in each compartment.

[0028] Combining the second aspect and the above implementation methods, in some possible implementation methods, the lengths of the multiple loading areas corresponding to the multiple compartments in the simulated cargo box are the same, the widths of the multiple loading areas corresponding to the multiple compartments are the same, the length and width of the mass block are the same as the length and width of the corresponding loading area, and the opening method of the simulated cargo box is a fully open side opening.

[0029] In conjunction with the second aspect and the above-described implementation, in some possible implementations, the device further includes: a storage module for storing the theoretical loading center of mass, the target total mass, and the loading information of the mass blocks loaded in the multiple loading areas corresponding to the multiple compartments in the target simulated cargo box in a target database. The target database also stores the loading center of mass and the total mass of the corresponding simulated cargo box after loading of other multiple simulated cargo boxes, as well as the loading information of the mass blocks loaded in the multiple loading areas corresponding to the multiple compartments in the simulated cargo box of the corresponding test truck. The target database is used to subsequently extract the loading information of the mass blocks loaded in the multiple loading areas corresponding to the multiple compartments in the simulated cargo box that match the loading center of mass and total mass.

[0030] Thirdly, an electronic device is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, causing the electronic device to perform the methods of the first aspect or any possible implementation thereof.

[0031] Fourthly, a computer-readable storage medium is provided that stores executable program code, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of a scenario where a vehicle is used, provided in an embodiment of this application;

[0033] Figure 2 This is a schematic flowchart illustrating a method for verifying load distribution under multiple centroid conditions provided in an embodiment of this application;

[0034] Figure 3 This is a schematic diagram of a simulated cargo box for a test truck provided in an embodiment of this application;

[0035] Figure 4 This is a simulated internal structure diagram of a cargo box provided in an embodiment of this application;

[0036] Figure 5 This is a flowchart illustrating the loading verification of a simulated cargo box of a test truck in an embodiment of this application.

[0037] Figure 6 This is a schematic diagram of the structure of a device for verifying multi-center-of-gravity loading conditions provided in an embodiment of this application;

[0038] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0039] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0040] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0041] Figure 1 This is a schematic diagram of a scenario where a vehicle is used, provided in an embodiment of this application.

[0042] For example, using a truck as an example, we will describe a scenario in which the vehicle is used. Figure 1 As shown, the driver is driving truck A to transport goods to the destination.

[0043] During the development phase of truck models, manufacturers conduct a series of tests and verifications on various performance aspects, such as load testing for truck A. Traditional load testing involves loading cargo onto the bottom of the cargo box of truck A (the actual vehicle) according to the gross vehicle weight requirement. This method does not consider the truck's center of gravity position after loading. However, the center of gravity position of truck A is a crucial factor affecting its handling stability, roll stability, and ride comfort. In some user-defined configurations, an excessively high center of gravity position leads to poor handling and roll stability, while an excessively rearward center of gravity position affects ride comfort. Therefore, this load testing method is incomplete and inaccurate.

[0044] To address the aforementioned issues, this application proposes a method for verifying load distribution under multiple centroid conditions. Specific implementation steps can be found in [reference needed]. Figure 2 .

[0045] Figure 2 This is a schematic flowchart illustrating a method for verifying load distribution under multiple centroid conditions provided in an embodiment of this application.

[0046] It should be understood that the multi-center-of-gravity loading verification method provided in this application embodiment can be applied to electronic devices for loading verification of test freight cars.

[0047] For example, such as Figure 2As shown, the method 200 includes:

[0048] Step 201: Obtain the target load center of mass and target total mass of the target simulated cargo box of the target test truck after loading.

[0049] It should be understood that the "target test truck" in step 201 above refers to the simulated truck in the loading verification test, and this target test truck corresponds to the real vehicle. The "target simulated cargo box" in step 201 above refers to the simulated cargo box of the target vehicle model in the loading verification test, and this target simulated cargo box corresponds to the real cargo box. The "target loading center of gravity" and "target total mass" in step 201 above refer to the expected center of gravity and total mass of the target simulated cargo box after loading (cargo). The target loading center of gravity can be represented using world coordinates.

[0050] It should also be understood that, through the testing requirements for load verification, target load centroid and target total mass of the simulated cargo container after loading can be set.

[0051] In some embodiments, the coordinate system corresponding to the world coordinates used to characterize the center of mass of the target load has the target reference point as its origin. The target reference point is the lower left corner of the target simulated cargo box of the target test truck when the heading direction of the target test truck is taken as the reference direction. Here, the target simulated cargo box refers to the cargo box of the target test truck simulated in the load verification test, and the target simulated cargo box corresponds to the real cargo box.

[0052] Step 202: Based on the target loading center of mass and the target total mass, and using the calculation model of the center of mass coordinates of the simulated cargo box of the test truck after loading, perform virtual loading of mass blocks in each loading area of ​​each compartment in the target simulated cargo box of the target test truck to obtain the theoretical loading center of mass after loading.

[0053] It should be understood that in step 202 above, "test truck" refers to multiple truck models tested in the load verification test, and this test truck corresponds to the actual vehicle. "Simulated cargo box" refers to the cargo box of the simulated test truck in the load verification test, and this simulated cargo box corresponds to the actual cargo box. "Calculation model of the center of mass coordinates of the simulated cargo box of the test truck after loading" is used to determine the center of mass coordinates of the simulated cargo box after loading (goods, such as mass blocks) in the simulated cargo box of the test truck, that is, the loaded center of mass coordinates.

[0054] It should also be understood that the theoretical load centroid obtained in step 202 above, which involves "virtually loading mass blocks into each loading area of ​​each compartment in the target simulated cargo box of the target test truck based on the centroid coordinate calculation model," can be regarded as the centroid coordinates of the target simulated cargo box after loading (goods, such as mass blocks) into the target simulated cargo box of the target test truck, i.e., the theoretical load centroid coordinates. Furthermore, the "virtual loading" in the above scheme does not actually involve loading mass blocks into the loading area.

[0055] It should also be understood that the simulated cargo box includes the target simulated cargo box. The process of determining "each loading area in each compartment of the target simulated cargo box of the target test truck" in step 202 above is the same as the process of determining each loading area in each compartment of the simulated cargo box of the test truck.

[0056] It should also be understood that there is a correspondence between the test trucks and the simulated cargo boxes; that is, different trucks have different corresponding cargo boxes. In some embodiments, for cargo trucks, the length of their simulated cargo boxes must be adapted to the loading space of their Class II chassis frames; for tractor-trailers, the length of their simulated cargo boxes must be adapted to the length of their skeleton semi-trailers. In addition, the width and height of the simulated cargo boxes can be customized according to the test conditions required for loading verification, provided that regulatory requirements are met.

[0057] Figure 3 This is a schematic diagram of a simulated cargo box for a test truck provided in an embodiment of this application.

[0058] For example, such as Figure 3 As shown in (a) of the diagram, a cargo truck and its corresponding simulated cargo box are illustrated, the length of which is adapted to the loading space of a Class II chassis frame. Figure 3 As shown in (b), a tractor unit and its corresponding simulated cargo box are illustrated, the length of which is adapted to the length of the skeleton semi-trailer.

[0059] The process of determining the loading areas in each compartment of the simulated cargo container is discussed below.

[0060] In one possible implementation, the method for determining each loading area in each compartment of the simulated cargo box includes: dividing the interior of the simulated cargo box into multiple loading spaces in a vertical direction; and arranging multiple limiting structures in each loading space of each compartment to construct each loading area in each compartment.

[0061] It should be understood that the "multiple compartment loading spaces" in the above scheme refer to multiple independent spaces. In some embodiments, the vertical direction is either from top to bottom or from bottom to top. The "limiting structure" in the above scheme can be implemented through mechanical contact of the baffle. It should also be understood that multiple loading areas corresponding to the multiple compartments can be obtained through the above scheme.

[0062] In the above technical solution, by dividing the interior of the simulated cargo container into multiple compartments for loading, and arranging multiple limiting structures within each compartment's loading space, multiple loading areas with different spatial locations can be obtained (multiple different loading areas). This allows for the loading of mass blocks within these multiple loading areas to meet the verification requirements of multiple different center-of-gravity positions, significantly improving the comprehensiveness and feasibility of the verification scheme for different center-of-gravity conditions. Furthermore, arranging limiting structures within each compartment's loading space enables precise positioning of the mass blocks, while also preventing movement of the mass blocks during the experimental verification process, thus avoiding movement of the center of gravity.

[0063] Figure 4 This is a diagram of the internal structure of a simulated cargo box provided in an embodiment of this application.

[0064] For example, such as Figure 4 As shown in (a) of the figure, the direction of the vehicle's front is direction a. The left side is a side view of the simulated cargo box. Vertically, the interior of the simulated cargo box is divided into multiple compartments for loading. The white lines in the side view indicate the compartments. The leftmost side of the simulated cargo box is the front wall, and the topmost side is the top wall. The right side is a front view of the simulated cargo box, and the left and right sides are the side walls.

[0065] For example, taking a specific target compartment as an example, we describe multiple loading areas within the compartment. For instance... Figure 4 As shown in (b) of the diagram, a top view of the target compartment is presented. The top view reveals that the target compartment comprises multiple loading zones, each capable of loading mass blocks. The leftmost area of ​​the top view represents the front wall of the simulated cargo container, while the gray area represents the bottom wall.

[0066] In one possible implementation, the method for determining the centroid coordinate calculation model in step 202 includes: obtaining the empty centroid coordinates and empty mass of the simulated cargo box of the test truck in an empty state, as well as the centroid coordinates and mass of each mass block in a plurality of mass blocks, wherein the mass blocks have different heights but the same length and width; when the mass blocks are loaded in each loading area in each compartment of the simulated cargo box, converting the centroid coordinates of each target mass block in each loading area into coordinates in the coordinate system of the simulated cargo box to obtain the target centroid coordinates of each target mass block; and constructing the centroid coordinate calculation model based on the empty centroid coordinates, the empty mass, and the target centroid coordinates and mass of each target mass block.

[0067] It should be understood that the "empty center of gravity coordinates of the simulated cargo box of the test truck in the empty state and the empty mass of the simulated cargo box" in the above scheme refer to the center of gravity coordinates of the simulated cargo box when there is no cargo inside and the total mass of the simulated cargo box when there is no cargo inside.

[0068] It should also be understood that the "mass blocks" in the above scheme are rectangular blocks with uniform density and weight. Multiple mass blocks have the same length and width, but different heights. That is, the heights of the multiple mass blocks differ. Because of these height differences, the masses (weights) of these multiple mass blocks differ. Furthermore, the coordinates of the centroids of the aforementioned mass blocks are in the coordinate system of the mass blocks themselves. Therefore, the above scheme requires coordinate transformation of the centroid coordinates of each mass block to the coordinate system of the simulated cargo box to ensure that each mass block and the simulated cargo box in its empty state are analyzed in the same coordinate system.

[0069] In the above technical solution, the center-of-gravity coordinates of the simulated cargo box of the test truck after loading are related to the empty center-of-gravity coordinates of the simulated cargo box in the unloaded state, as well as the empty mass of the simulated cargo box. They are also related to the center-of-gravity coordinates and masses of the various mass blocks loaded within the simulated cargo box. This is because when the simulated cargo box is empty, its empty center-of-gravity is determined by its own structure, and its position reflects the center of its own weight distribution. When the simulated cargo box is loaded, the empty center-of-gravity is the basis for determining the loaded center-of-gravity. Furthermore, the empty mass is a key parameter for calculating the loaded center-of-gravity after loading. The larger the empty mass, the greater its influence on the loaded center-of-gravity after loading. Moreover, the position of the mass blocks placed on the simulated cargo box determines the relative position between the mass block's center-of-gravity coordinates and the empty center-of-gravity coordinates. The farther the mass block's center-of-gravity coordinates are from the empty center-of-gravity coordinates, the greater its influence on the loaded center-of-gravity after loading. Furthermore, the larger the mass block, the more significant its impact on the loaded center of mass after loading; the larger the mass block, the greater its weight in calculating the loaded center of mass after loading. Therefore, this method, based on the coordinates of the unloaded center of mass, the unloaded mass, and the target center of mass coordinates and mass of each target mass block, can construct an accurate center of mass coordinate calculation model.

[0070] In one possible implementation, the multiple loading areas corresponding to the multiple compartments in the simulated cargo box have the same length and the same width. The length and width of the mass block are the same as the length and width of the corresponding loading area, respectively. The simulated cargo box is a fully openable side-mounted type.

[0071] It should be understood that the statement in the above scheme that "the length and width of the mass block are the same as the length and width of the corresponding loading area" means that when the mass block is loaded into the corresponding loading area, the bottom of the mass block can fully fit with the limiting structure of the corresponding loading area. In this way, the loading area can effectively fix the position of the mass block, and can further prevent the mass block from moving during the loading verification test, thereby avoiding the movement of the center of mass.

[0072] In the above technical solution, the lengths and widths of the multiple loading zones corresponding to multiple compartments are the same, which helps to accurately perform virtual loading of mass blocks in the loading zones. Furthermore, the length and width of the mass blocks are the same as the length and width of the corresponding loading zones, allowing the loading zones to effectively fix the positions of the mass blocks. This further prevents the mass blocks from moving during the experimental verification process, thus avoiding movement of the center of gravity. In addition, the simulated cargo box opens fully from the side, facilitating the placement or adjustment of mass blocks in each loading zone.

[0073] In some embodiments, the simulated cargo box can be fully opened from the side by installing a roller shutter door on the side of the simulated cargo box.

[0074] In one possible implementation, a centroid coordinate calculation model is constructed based on the unloaded centroid coordinates, the unloaded mass, the target centroid coordinates and masses of each target mass block, including: constructing the centroid coordinate calculation model based on the following formulas (1) to (3);

[0075]

[0076] Among them, (X) c ,Y c Z c (X0, Y0, Z0) represents the centroid coordinates corresponding to the centroid coordinate calculation model, M0 represents the empty mass, (X0, Y0, Z0) represents the empty centroid coordinates, m represents the number of compartments in the simulated cargo box, and n represents the number of loading areas in each compartment. ij Let X be the mass of the target mass block loaded in the j-th loading area of ​​the i-th compartment of the simulated cargo container. ij ,Y ij Z ij ) represents the target centroid coordinates of the target mass block in the j-th loading region of the i-th compartment.

[0077] In one possible implementation, step 202 includes: replacing the centroid coordinates corresponding to the centroid coordinate calculation model with the coordinates of the target loading centroid; replacing the empty centroid coordinates and the empty mass with the target empty centroid coordinates and the target empty mass of the target simulated cargo box in the empty state, respectively, to obtain an adjusted centroid coordinate calculation model; according to the target constraint, performing virtual loading of mass blocks in each loading area of ​​each compartment in the target simulated cargo box based on the adjusted centroid coordinate calculation model to obtain the theoretical loading centroid; the target constraint is that the total mass between the multiple mass blocks loaded in the multiple loading areas corresponding to multiple compartments in the target simulated cargo box and the target simulated cargo box is the target total mass.

[0078] It should be understood that the "target constraint" in the above scheme refers to the set quality requirements, that is, the target total mass of the target simulated cargo box after loading in step 201, specifically the total mass between the target simulated cargo box and the multiple mass blocks in the multiple loading areas corresponding to the multiple compartments in the target simulated cargo box.

[0079] It should also be understood that the above scheme can be understood as replacing M0 in formula (1) with the target empty mass of the target simulated cargo box in the empty state, replacing X0 with the horizontal axis value in the target empty centroid coordinate of the target simulated cargo box in the empty state, replacing M0 in formula (2) with the target empty mass of the target simulated cargo box in the empty state, replacing Y0 with the vertical axis value in the target empty centroid coordinate of the target simulated cargo box in the empty state, replacing M0 in formula (3) with the target empty mass of the target simulated cargo box in the empty state, replacing Z0 with the vertical axis value in the target empty centroid coordinate of the target simulated cargo box in the empty state, and replacing M with the target empty mass of the target simulated cargo box in the empty state under the target constraint of the target total mass. ij Adjustments will be made. Given the total mass of the target, based on the adjusted M ij Virtual loading of mass blocks is performed on each loading area in each compartment of the target simulated cargo container, and the coordinates of the loading center of mass after loading, i.e., the theoretical loading center of mass, are determined, where M is the loading center of mass. * The target empty weight of the simulated cargo container is determined. In other words, after virtual loading, the loading information of the mass blocks loaded in multiple loading areas corresponding to multiple compartments in the simulated cargo container can be obtained. This loading information includes the number of mass blocks, the height of each mass block, and the loading position.

[0080] In the above technical solution, by replacing the centroid coordinates, empty centroid coordinates, and empty mass in the centroid coordinate calculation model with relevant information of the target simulated cargo box (coordinates of the target loaded centroid, the target empty centroid coordinates of the target simulated cargo box in the empty state, and the target empty mass of the target simulated cargo box), the centroid coordinate calculation model of the target simulated cargo box after loading is obtained, i.e., the adjusted centroid coordinate calculation model. Furthermore, by adjusting the loaded mass blocks in each loading area of ​​the target simulated cargo box using the set mass (target total mass) as a constraint, the theoretical loaded centroid after loading can be obtained. In other words, this method, through the centroid coordinate calculation model corresponding to the target simulated cargo box and the target total mass constraint, can quickly make the obtained theoretical loaded centroid approach the target loaded centroid.

[0081] Step 203: If the theoretical load center of gravity does not match the target load center of gravity, the vehicle adjusts the load distribution of mass blocks in each load area based on the center of gravity coordinate calculation model so that the theoretical load center of gravity matches the target load center of gravity.

[0082] It should be understood that step 203 above can be interpreted as applying M... ij After the adjustment, although For the total mass of the target (satisfying the target constraints), however, based on the adjusted M ijAfter virtually loading each loading area in each compartment of the target simulated cargo container using mass blocks, the determined theoretical loading centroid does not match the set target centroid (i.e., the target loading centroid). Therefore, further adjustments to M are needed. ij Adjustments are made until the final determined theoretical load center of mass matches the target load center of mass.

[0083] In some embodiments, when the theoretical loading center of mass matches the target loading center of mass, the mass blocks in each loading area of ​​each compartment in the target simulated cargo box are precisely loaded according to the loading information of the mass blocks loaded in each loading area corresponding to the multiple compartments in the target simulated cargo box obtained after virtual loading.

[0084] In one possible implementation, the method 200 further includes: storing the theoretical load center of mass and the target total mass, as well as the load information of the mass blocks loaded in the multiple load areas corresponding to the multiple compartments in the target simulated cargo box, in a target database. The target database also stores the load center of mass and the total mass of the corresponding simulated cargo box after loading of multiple other simulated cargo boxes, as well as the load information of the mass blocks loaded in the multiple load areas corresponding to the multiple compartments in the simulated cargo box of the corresponding test truck. The target database is used to subsequently extract the load information of the mass blocks loaded in the multiple load areas corresponding to the multiple compartments in the simulated cargo box that match the load center of mass and total mass.

[0085] It should be understood that the "target database" in the above scheme can be regarded as a loading center of mass coordinate database, used to store the loading information of mass blocks loaded in multiple loading areas corresponding to multiple compartments in the simulated cargo box after loading, and the loading center of mass and total mass. This loading information includes the number of mass blocks, the height and loading position of each mass block, and also the center of mass coordinates and mass of each mass block.

[0086] In the above technical solution, during the verification of the loading center of gravity, the theoretical loading center of gravity, the target total mass, and the loading information of the mass blocks loaded in multiple loading areas corresponding to multiple compartments in the target simulated cargo box are stored in the target database. Thus, as the number of verifications increases, the target database will store the loading centers of gravity of multiple simulated cargo boxes after loading, the total mass of the corresponding simulated cargo boxes, and the loading information of the mass blocks loaded in multiple loading areas corresponding to multiple compartments in the simulated cargo box of the corresponding test truck. In this way, the corresponding loading status information (i.e., the loading information of the mass blocks loaded in each loading area) can be extracted from the target database based on the set target center of gravity and mass requirements, thereby achieving precise loading of the mass blocks in the loading areas and adjustment of the center of gravity.

[0087] For example, the storage format of the target database listed in Table 1 is shown below. Table 1 stores the loading information of mass blocks loaded in multiple loading areas corresponding to multiple compartments in the simulated cargo box after loading, which are related to the loading center of mass and total mass. That is, Table 1 contains the loading center of mass and total mass of the corresponding simulated cargo box.

[0088] Table 1

[0089]

[0090] It should be understood that in Table 1 above, the loading information when the partition number is 1 and the loading area number is 1 is loading information A. 11 Due to the size limitations of Table 1, this application does not list the loading information of mass blocks loaded in other loading areas within other compartments. That is, under the loading center of gravity and total mass requirements of the simulated cargo box set after loading the test truck, the loading information A can be used as a basis. 11 Mass blocks are loaded in the first loading area of ​​the first compartment in the simulated cargo box of the test truck, and can also be loaded based on other loading information A. ij (e.g. A) 12 A 13 A 22 and A 32 (etc.) Loading of mass blocks is performed in the j-th loading area of ​​the i-th compartment in the simulated cargo box of the test truck.

[0091] In some embodiments, the method 200 further includes: responding to a loading request for a reference simulated cargo box, obtaining a reference loading center of mass and a reference total mass of the reference simulated cargo box after loading based on the loading request, wherein the loading request is used to request target loading information of mass blocks loaded in multiple loading areas corresponding to multiple compartments in the reference simulated cargo box of the reference test truck; searching from the target database for candidate loading centers of mass and candidate total masses that match the reference loading center of mass and the reference total mass; and using the loading information of mass blocks loaded in multiple loading areas corresponding to multiple compartments in the simulated cargo box corresponding to the candidate loading centers of mass and the candidate total masses as the target loading information.

[0092] It should be understood that step 202 can be regarded as: in the absence of a load center and total mass that match the target load center and the target total mass in the target database, virtual load is performed on each load area in each compartment of the target simulated cargo box of the target test truck according to the target load center and the target total mass, based on the calculation model of the center coordinate of the simulated cargo box of the test truck after loading.

[0093] Figure 5 This is a flowchart illustrating the loading verification of a simulated cargo box of a test truck in an embodiment of this application.

[0094] For example, such as Figure 5 As shown, in the load verification test, this method uses a specially designed simulated cargo box of a test truck and multiple mass blocks, wherein the mass blocks have different heights but the same length and width. The method obtains the empty center-of-gravity coordinates and empty mass of the simulated cargo box in an unloaded state, as well as the center-of-gravity coordinates and mass of each mass block. Based on the empty center-of-gravity coordinates, the empty mass, and the center-of-gravity coordinates and masses of each mass block in each loading area of ​​each compartment in the simulated cargo box, a model for calculating the center-of-gravity coordinates of the simulated cargo box after loading is constructed.

[0095] After constructing the centroid coordinate calculation model, the target loading centroid and target total mass of the simulated cargo box after loading are received. Based on the target loading centroid and target total mass, and using this centroid coordinate calculation model, the information of the mass blocks (loading information) for virtual loading in multiple loading areas corresponding to multiple compartments within the target simulated cargo box of the target test truck is determined. This information includes the number of mass blocks, the height of each mass block, and their loading position. The theoretical loading centroid after loading is determined based on this information. If the theoretical loading centroid does not match the target loading centroid, the above information is adjusted based on the centroid coordinate calculation model, and then the multiple mass blocks are loaded into the corresponding loading areas based on the adjusted loading information until the theoretical loading centroid matches the target loading centroid. If the theoretical loading centroid matches the target loading centroid, the multiple mass blocks are loaded into the corresponding loading areas according to the above information, i.e., precise loading is performed on the multiple loading areas according to the above loading information.

[0096] In the above-mentioned load verification test, the load information of the theoretical load center of mass, the target total mass, and the corresponding mass blocks after load are stored in the target database. This target database is used to extract the load information of the load mass blocks in the multiple load areas corresponding to the multiple compartments in the simulated cargo box that match the load center of mass and total mass (load center of mass requirement).

[0097] Figure 6 This is a schematic diagram of the structure of a device for verifying multi-center-of-gravity load conditions provided in an embodiment of this application.

[0098] For example, such as Figure 6 As shown, the device 600 includes:

[0099] Acquisition module 601: used to acquire the target loading center of mass and target total mass of the target simulated cargo box after loading;

[0100] Determining module 602: Based on the target loading center of mass and the target total mass, and using the calculation model of the center of mass coordinates of the simulated cargo box of the test truck after loading, the module performs virtual loading of mass blocks in each loading area of ​​each compartment in the target simulated cargo box of the target test truck to obtain the theoretical loading center of mass after loading.

[0101] Adjustment module 603: When the theoretical load center of mass and the target load center of mass do not match, the module adjusts the load of the mass blocks in each load area based on the center of mass coordinate calculation model so that the theoretical load center of mass matches the target load center of mass.

[0102] Optionally, the acquisition module 601 is specifically used to acquire the empty center-of-gravity coordinates and empty mass of the simulated cargo box of the test truck in an empty state, as well as the center-of-gravity coordinates and mass of each mass block among multiple mass blocks, wherein the multiple mass blocks have different heights, the same lengths, and the same widths; the device 600 further includes: a conversion module, used to convert the center-of-gravity coordinates of each target mass block in each loading area in each compartment of the simulated cargo box into coordinates in the coordinate system of the simulated cargo box when the mass blocks are loaded in each loading area in each compartment of the simulated cargo box, thereby obtaining the target center-of-gravity coordinates of each target mass block; the determination module 602 is specifically used to construct the center-of-gravity coordinate calculation model based on the empty center-of-gravity coordinates, the empty mass, and the target center-of-gravity coordinates and masses of each target mass block.

[0103] Optionally, the determining module 602 is further used to construct the centroid coordinate calculation model based on the following formula;

[0104]

[0105] Among them, (X) c ,Y c Z c (X0, Y0, Z0) represents the centroid coordinates corresponding to the centroid coordinate calculation model, M0 represents the empty mass, (X0, Y0, Z0) represents the empty centroid coordinates, m represents the number of compartments in the simulated cargo box, and n represents the number of loading areas in each compartment. ij Let X be the mass of the target mass block loaded in the j-th loading area of ​​the i-th compartment of the simulated cargo container. ij ,Y ij Z ij ) represents the target centroid coordinates of the target mass block in the j-th loading region of the i-th compartment.

[0106] Optionally, the determining module 602 is further configured to: replace the centroid coordinates corresponding to the centroid coordinate calculation model with the coordinates of the target loading centroid; replace the empty centroid coordinates and the empty mass with the target empty centroid coordinates and the target empty mass of the target simulated cargo box in the empty state, respectively, to obtain the adjusted centroid coordinate calculation model; according to the target constraint, perform virtual loading of mass blocks in each loading area of ​​each compartment in the target simulated cargo box based on the adjusted centroid coordinate calculation model to obtain the theoretical loading centroid; the target constraint is that the total mass between the multiple mass blocks loaded in the multiple loading areas corresponding to multiple compartments in the target simulated cargo box and the target simulated cargo box is the target total mass.

[0107] Optionally, the determining module 602 is further configured to: divide the interior of the simulated cargo box into multiple compartment loading spaces in a vertical direction; and arrange multiple limiting structures in each compartment loading space to construct each loading area in each compartment.

[0108] Optionally, the multiple loading areas corresponding to the multiple compartments in the simulated cargo box have the same length and the same width. The length and width of the mass block are the same as the length and width of the corresponding loading area, and the simulated cargo box opens fully from the side.

[0109] Optionally, the device 600 further includes: a storage module for storing the theoretical load center of mass and the target total mass, as well as the load information of the mass blocks loaded in the multiple load areas corresponding to the multiple compartments in the target simulated cargo box, in a target database. The target database also stores the load center of mass and the total mass of the corresponding simulated cargo box after loading of multiple other simulated cargo boxes, as well as the load information of the mass blocks loaded in the multiple load areas corresponding to the multiple compartments in the simulated cargo box of the corresponding test truck. The target database is used to subsequently extract the load information of the mass blocks loaded in the multiple load areas corresponding to the multiple compartments in the simulated cargo box that match the load center of mass and total mass.

[0110] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0111] For example, such as Figure 7 As shown, the electronic device 700 includes a memory 701 and a processor 702. The memory 701 stores executable program code 703, and the processor 702 is used to call and execute the executable program code 703 to perform a method for verifying multi-center-of-gravity load conditions.

[0112] Furthermore, embodiments of this application also protect an apparatus that may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a method for multi-center-of-gravity load configuration verification provided in embodiments of this application.

[0113] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0114] When each functional module is divided according to its corresponding function, the device may further include an acquisition module, a determination module, an adjustment module, a conversion module, and a storage module. It should be noted that all relevant content in the above method embodiments can be referenced in the functional descriptions of the corresponding functional modules, and will not be repeated here.

[0115] It should be understood that the apparatus provided in this embodiment is used to perform the above-described method for verifying load distribution under multiple centroid conditions, and therefore can achieve the same effect as the above-described implementation method.

[0116] When using integrated units, the device may include a processing module and a storage module. When applied to an electronic device, the processing module can be used to control and manage the operation of the electronic device. The storage module can be used to support the execution of relevant executable program code by the electronic device.

[0117] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits shown in conjunction with the disclosure of this application. The processor may also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0118] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute a multi-centroid load configuration verification method provided in the above embodiments.

[0119] This embodiment also provides a computer-readable storage medium storing executable program code. When the executable program code is run on a computer, the computer performs the above-described related method steps to implement the multi-centimeter load configuration verification method provided in the above embodiment.

[0120] This embodiment also provides a computer program product. When the computer program product is run on a computer, it causes the computer to perform the above-mentioned related steps to realize the method for multi-center-of-gravity load configuration verification provided in the above embodiment.

[0121] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0122] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0123] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0124] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for verifying load distribution under multiple centroid conditions, characterized in that, The method includes: Obtain the target load center of mass and target total mass of the target simulated cargo box of the target test truck after loading; Based on the target loading centroid and the target total mass, the simulated cargo box of the test truck is used to calculate the centroid coordinates after loading. The mass blocks of each loading area in each compartment of the target simulated cargo box of the target test truck are then virtually loaded to obtain the theoretical loading centroid after loading. If the theoretical load centroid does not match the target load centroid, the load of each load area is adjusted based on the centroid coordinate calculation model to make the theoretical load centroid match the target load centroid.

2. The method according to claim 1, characterized in that, The method for determining the centroid coordinate calculation model includes: The coordinates of the center of mass of the simulated cargo box of the test truck under no-load conditions and the no-load mass of the simulated cargo box are obtained, as well as the coordinates of the center of mass and the mass of each mass block in multiple mass blocks, wherein the multiple mass blocks have different heights, the same lengths, and the same widths. When the mass blocks are loaded in each loading area of ​​each compartment in the simulated cargo box, the centroid coordinates of each target mass block in each loading area are transformed into coordinates in the coordinate system of the simulated cargo box to obtain the target centroid coordinates of each target mass block. Based on the unloaded centroid coordinates, the unloaded mass, and the target centroid coordinates and mass of each target mass block, a centroid coordinate calculation model is constructed.

3. The method according to claim 2, characterized in that, The process of constructing a centroid coordinate calculation model based on the unloaded centroid coordinates, the unloaded mass, and the target centroid coordinates and masses of each target mass block includes: The centroid coordinate calculation model is constructed based on the following formula; Among them, (X) c ,Y c Z c (X0, Y0, Z0) represents the centroid coordinates corresponding to the centroid coordinate calculation model, M0 represents the empty mass, (X0, Y0, Z0) represents the empty centroid coordinates, m represents the number of compartments in the simulated cargo box, and n represents the number of loading areas in each compartment. ij The mass of the target mass block in the j-th loading area of ​​the i-th compartment of the simulated cargo container, (X) ij ,Y ij Z ij ) represents the target centroid coordinates of the target mass block in the j-th loading region of the i-th compartment.

4. The method according to claim 3, characterized in that, The method involves virtually loading mass blocks in each loading area of ​​each compartment in the target simulated cargo box of the target test truck according to the target loading centroid and the target total mass, based on the centroid coordinate calculation model of the simulated cargo box of the test truck after loading, to obtain the theoretical loading centroid after loading, including: Replace the centroid coordinates corresponding to the centroid coordinate calculation model with the coordinates of the target loaded centroid, and replace the empty centroid coordinates and the empty mass with the target empty centroid coordinates and the target empty mass of the target simulated cargo box in the empty state, respectively, to obtain the adjusted centroid coordinate calculation model; According to the target constraint, based on the adjusted centroid coordinate calculation model, the mass blocks in each loading area of ​​each compartment in the target simulated cargo box are virtually loaded to obtain the theoretical loading centroid. The target constraint is that the total mass between the multiple mass blocks loaded in the multiple loading areas corresponding to the multiple compartments in the target simulated cargo box and the target simulated cargo box is the target total mass.

5. The method according to claim 2, characterized in that, The method for determining each loading area in each compartment of the simulated cargo container includes: The interior of the simulated cargo box is divided into multiple compartments for loading in a vertical direction; For the loading space of each compartment, multiple limiting structures are arranged in the loading space of each compartment to construct each loading area in each compartment.

6. The method according to claim 5, characterized in that, The simulated cargo box has multiple compartments with the same length and multiple loading areas with the same width. The length and width of the mass block are the same as the length and width of the corresponding loading area. The simulated cargo box opens fully from the side.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: The theoretical load center of mass, the target total mass, and the load information of the mass blocks loaded in the multiple load areas corresponding to the multiple compartments in the target simulated cargo box are stored in the target database. The target database also stores the load center of mass and the total mass of the corresponding simulated cargo box after loading of multiple other simulated cargo boxes, as well as the load information of the mass blocks loaded in the multiple load areas corresponding to the multiple compartments in the simulated cargo box of the corresponding test truck. The target database is used to subsequently extract the load information of the mass blocks loaded in the multiple load areas corresponding to the multiple compartments in the simulated cargo box that match the load center of mass and total mass.

8. A device for verifying load distribution under multiple center-of-gravity conditions, characterized in that, The device includes: The acquisition module is used to acquire the target loading center of mass and target total mass of the target simulated cargo box after loading. The determination module is used to perform virtual loading of mass blocks in each loading area of ​​each compartment in the target simulated cargo box of the target test truck according to the target loading center of mass and the target total mass, based on the calculation model of the center of mass coordinates of the simulated cargo box of the test truck after loading, so as to obtain the theoretical loading center of mass after loading. The adjustment module is used to adjust the load distribution of mass blocks in each load distribution area based on the centroid coordinate calculation model when the theoretical load centroid does not match the target load centroid, so as to match the theoretical load centroid with the target load centroid.

9. An electronic device, characterized in that, The electronic device includes: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the electronic device to perform the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores executable program code that, when executed, implements the method as described in any one of claims 1 to 7.

Images