Vehicle attitude balance system, method, device and storage medium

Abstract

The present invention provides a vehicle attitude balance system, method, device and storage medium. The system includes: several groups of balance suspension assemblies, and each group of balance suspension assemblies includes: a balance suspension support seat connected to the lower part of the vehicle frame; a balance beam, each balance beam is arranged below the corresponding balance suspension support seat, and both ends of the balance beam are respectively connected to a wheel; a pin-type gravity sensor that pin-joints the balance suspension support seat and the balance beam, and the pin-type gravity sensor detects the gravity transmitted through the balance suspension support seat in real time to obtain gravity data, and the vehicle frame is horizontally adjusted at least based on the position of the pin-type gravity sensor on the vehicle frame and the corresponding gravity data. The present invention can obtain the load weight data of each part of the vehicle in real time, know the overloading or uneven loading situation of the vehicle body, and timely allocate devices such as vehicle body suspensions to implement compensation for the vehicle attitude balance.

Description

Background Art

[0002] During the actual operation of port AGVs (Automated Guided Vehicles), we found that the vehicle's motion control strategy is highly related to the load. When the vehicle's load capacity changes, it is necessary to adjust the parameters of the electric control system to more effectively help the vehicle save electricity and adjust the speed. And in order to explore the structural fatigue of the vehicle under long-term motion conditions, it is necessary to monitor the load capacity of the AGV to study the vehicle's load spectrum. Currently, there is no effective way to obtain the weight of the containers unloaded from the spreader such as the quay crane to the AGV from the terminal dispatching system. The uncertain driving path of the AGV also makes it impossible to set a weighbridge on its "necessary route", nor can it transmit data such as impact loads in real time.

[0003] In the current use of AGVs, due to the inability to obtain real-time information such as the vehicle's load capacity, impact conditions, and whether there is uneven loading, it is impossible to timely allocate devices such as the vehicle body suspension and implement compensation for dangerous situations such as overloading and uneven loading of the vehicle.

[0004] Therefore, the present invention provides a vehicle attitude balance system, method, device, and storage medium applicable to the horizontal battery swapping mode. Summary of the Invention

[0005] Aiming at the problems in the prior art, the purpose of the present invention is to provide a vehicle attitude balance system, method, device, and storage medium, which overcome the difficulties of the prior art, can obtain real-time bearing weight data of each part of the vehicle, know whether the vehicle body is overloaded or unevenly loaded, timely allocate devices such as the vehicle body suspension, and implement compensation for the vehicle attitude balance.

[0006] An embodiment of the present invention provides a vehicle attitude balance system, including:

[0007] Several groups of balance suspension components, each group of the balance suspension components including:

[0008] A balance suspension support, connected to the lower part of the vehicle frame;

[0009] A balance beam, each balance beam is arranged below the corresponding balance suspension support, and both ends of the balance beam are respectively connected to a wheel; and

[0010] A pin-type gravity sensor, pin-connected to the balance suspension support and the balance beam, the pin-type gravity sensor detects in real time the gravity transmitted through the balance suspension support to obtain gravity data, and at least based on the position of the pin-type gravity sensor on the vehicle frame and the corresponding gravity data, the vehicle frame is horizontally adjusted (so that the plane where the vehicle frame 7 is located fits the horizontal plane).

[0011] Preferably, the balance suspension assemblies are arranged in pairs in the vehicle body width direction below the frame.

[0012] Preferably, the balance suspension assembly is arranged between a pair of axles, and the extension direction of the kingpin type gravity sensor is parallel to the extension direction of the axle.

[0013] Preferably, it further includes

[0014] a plurality of axles, with both ends of the axles respectively connected to the wheels;

[0015] a plurality of transverse tie rods, with both ends of the transverse tie rods respectively hinged to the bearings of the wheels through connecting arms;

[0016] a plurality of thrust rods, with both ends of the thrust rods respectively connected to the balance suspension support and the middle parts of the axles on both sides of the balance suspension support.

[0017] Preferably, it further includes an active suspension assembly and a processing unit;

[0018] The processing unit is respectively connected to the kingpin type gravity sensor and the active suspension assembly. The processing unit receives the gravity data of the kingpin type gravity sensor, obtains the attitude compensation data of the frame according to the position of the kingpin type gravity sensor on the frame and the corresponding gravity data, and sends the attitude compensation data to the active suspension assembly according to the attitude compensation data. The active suspension distributed below the frame independently compensates in the vertical direction to keep the frame in a horizontal state.

[0019] Preferably, the active suspension assembly includes a plurality of active suspensions, and the active suspensions are respectively located above or on the sides of the balance suspension support.

[0020] Preferably, a mapping relation table is pre-stored in the processing unit. The mapping relation table is provided with the mapping relation between the gravity data group and the attitude compensation data group. The gravity data group is a gravity data sequence sorted according to the preset positions of the kingpin type gravity sensors, and the attitude compensation data group is an attitude compensation data sequence sorted according to the preset positions of the active suspensions;

[0021] The active suspension drives the suspension to lift according to the corresponding attitude compensation data in the attitude compensation data sequence, and the attitude compensation data is the lifting distance in the vertical direction.

[0022] Preferably, the data collected by the kingpin type gravity sensor in the vehicle attitude balance system of the present invention can be used to adjust the height of the chassis system, prevent other systems of the vehicle from being too close to the ground and being touched by protruding objects on the ground when overloaded; it can also prevent the bumper from colliding with the ground when the slope is uneven during climbing. The calculation process of obtaining the deformation amount Lm of the frame ground clearance is as follows:

[0023] The ground clearance of the vehicle frame in the natural state is \(L0 = H0 + R0 - 200\);

[0024] The ground clearance of the vehicle frame under load is \(L1 = H1 + R1 - 200\);

[0025] Where, \(H0\) is the height of the suspension in the natural state; \(H1\) is the height of the suspension after deformation under load; \(R0\) is the height of the suspension in the natural state; \(R1\) is the height of the suspension after deformation under load; \(L0\) is the ground clearance of the vehicle frame in the natural state; \(L1\) is the ground clearance of the vehicle frame under load.

[0026] The relationship between the vertical deformation of the suspension and the load of the rubber suspension, and its inverse function is:

[0027] The vertical deformation of the suspension \(h = 4E - 06*f3 - 0.0024*f2 + 0.6*f + 0.8\), where \(E\) is the load of the rubber suspension and \(h\) is the vertical deformation of the suspension;

[0028] In this embodiment, the inverse function of the relationship between the vertical deflection of the tire and the vertical load of the tire is:

[0029] The vertical deflection of the tire \(r = -0.0008f2 + 0.5f + 0.5\), where \(r\) is the vertical deflection of the tire and \(f\) is the vertical load of the tire;

[0030] When the reading of the kingpin gravity sensor is \(M\), \(fm = Mg\), where \(M\) is the vehicle load mass reading after the kingpin gravity sensor is installed and zeroed, and \(g\) is the gravitational constant.

[0031] \(H0 - H1 = hm = 4E - 06*fm3 - 0.0024*fm2 + 0.6*fm + 0.8\);

[0032] \(R0 - R1 = rm = -0.0008fm2 + 0.5fm + 0.5\);

[0033] The deformation amount of the ground clearance of the vehicle frame is \(Lm\):

[0034] \(Lm = L0 - L1 = hm + rm = 4E - 06*fm3 - 0.0016*fm2 + 1.1*fm + 1.3\).

[0035] When the vehicle is unevenly loaded, the four suspensions are not at the same height. The vehicle adjusts the deformation amount \(Lm\) of the ground clearance of the vehicle frame through the system control of the lifting cylinder, so that the deformation amounts of the ground clearances of the four vehicle frames are approximately at the same height, ensuring that the vehicle load plane is in a horizontal state.

[0036] The embodiment of the present invention also provides a vehicle attitude balance method, which adopts the above vehicle attitude balance system, and includes the following steps:

[0037] The pin - type gravity sensor pins the balance suspension support and the balance beam, and detects in real time the gravity transmitted through the balance suspension support to obtain gravity data.

[0038] Based at least on the position of the pin - type gravity sensor on the vehicle frame and the corresponding gravity data, the vehicle frame is horizontally adjusted.

[0039] An embodiment of the present invention further provides a vehicle attitude balance device, including:

[0040] A processor;

[0041] A memory, in which executable instructions of the processor are stored;

[0042] Wherein, the processor is configured to execute the steps of the above - mentioned vehicle attitude balance method by executing the executable instructions.

[0043] An embodiment of the present invention further provides a computer - readable storage medium for storing a program, and when the program is executed, the steps of the above - mentioned vehicle attitude balance method are implemented.

[0044] The purpose of the present invention is to provide a vehicle attitude balance system, method, device and storage medium, which can obtain the load weight data of each part of the vehicle in real time, know the overloading or uneven loading conditions of the vehicle body, and timely deploy devices such as vehicle body suspensions to implement compensation for vehicle attitude balance. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] By reading the detailed description of the non - restrictive embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious.

[0046] Figure 1 is the front view of the vehicle attitude balance system of the present invention.

[0047] Figure 2 is the top view of the vehicle attitude balance system of the present invention applied under the vehicle frame.

[0048] Figure 3 is Figure 2 the sectional view taken along the line A - A in

[0049] Figure 4 is the schematic diagram of the vehicle attitude balance system of the present invention obtaining the deformation amount of the vehicle frame from the ground height.

[0050] Figure 5 is the schematic diagram of the functional relationship between the vertical deformation amount of the suspension and the rubber suspension load in the vehicle attitude balance system of the present invention.

[0051] Figure 6 is the flowchart of the vehicle attitude balance method of the present invention.

[0052] Figure 7 It is a schematic structural diagram of the vehicle attitude balance device of the present invention.

[0053] Figure 8 It is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.

[0054] Reference numerals

[0055] 1 Wheel

[0056] 2 Traverse rod

[0057] 3 Axle

[0058] 4 Balance beam

[0059] 5 Pin-type gravity sensor

[0060] 6 Thrust rod

[0061] 7 Frame

[0062] 8 Balance suspension support Detailed implementation manners

[0063] The following uses specific specific examples to illustrate the implementation manners of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the present application. The present application can also be implemented or applied through other different specific implementation manners. Various details in the present application can also be modified or changed according to different viewpoints and application systems without departing from the spirit of the present application. It should be noted that, without conflict, the embodiments and features in the embodiments of the present application can be combined with each other.

[0064] The following takes the drawings as a reference and details the embodiments of the present application so that those skilled in the technical field to which the present application belongs can easily implement it. The present application can be embodied in many different forms and is not limited to the embodiments described herein.

[0065] In the description of the present application, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc., mean that the specific features, structures, materials, or characteristics represented in connection with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials, or characteristics represented can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples represented in the present application and the features of different embodiments or examples.

[0066] In addition, the terms "first" and "second" are used for illustrative purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "a plurality of" means two or more unless specifically defined otherwise.

[0067] To clearly illustrate the present application, devices irrelevant to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0068] Throughout the specification, when it is said that a device is "connected" to another device, this includes not only the case of "direct connection" but also the case of "indirect connection" with other elements interposed therebetween. Additionally, when it is said that a certain device "includes" a certain component, unless there is a particularly contrary record, it does not exclude other components but means that other components may also be included.

[0069] When it is said that a device is "above" another device, this may be directly above the other device, but there may also be other devices in between. When it is said that a device is "directly" "above" another device, there are no other devices in between.

[0070] Although in some instances the terms first, second, etc. are used herein to denote various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, first interface and second interface, etc. are indicated. Further, as used herein, the singular forms "a", "an", and "the" are also intended to include the plural forms unless the context indicates otherwise. It should be further understood that the terms "comprising", "including" indicate the presence of the features, steps, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or meaning any one or any combination. Thus, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C". An exception to this definition occurs only when the combination of elements, functions, steps, or operations is inherently mutually exclusive in some manner.

[0071] The technical terms used herein are only for referring to specific embodiments and are not intended to limit the present application. The singular forms used herein also include plural forms as long as the context does not clearly indicate the contrary. The meaning of "including" used in the specification is to specify a particular feature, region, integer, step, operation, element, and / or component, and does not exclude the existence or addition of other features, regions, integers, steps, operations, elements, and / or components.

[0072] Although not defined differently, all terms, including the technical and scientific terms used herein, have the same meaning as commonly understood by those skilled in the technical field to which the present application pertains. Terms defined in commonly used dictionaries are further interpreted to have meanings consistent with the relevant technical literature and the content presented herein. Unless otherwise defined, they should not be over-interpreted as ideal or overly formal meanings.

[0073] Figure 1 It is the front view of the vehicle attitude balance system of the present invention. Figure 2 It is the top view of the vehicle attitude balance system of the present invention applied under the vehicle frame. Figure 3 is Figure 2 the sectional view taken along the line A-A in Figures 1 to 3 As shown, the vehicle attitude balance system of the present invention includes: several groups of balance suspension components. Each group of balance suspension components includes: a balance suspension support 8, a balance beam 4, and a pin-type gravity sensor 5. The balance suspension support 8 is connected below the vehicle frame 7. Each balance beam 4 is disposed below the corresponding balance suspension support 8, and both ends of the balance beam 4 are respectively connected to a wheel 1. The pin-type gravity sensor 5 is pinned to connect the balance suspension support 8 and the balance beam 4. The pin-type gravity sensor 5 detects in real time the gravity transmitted through the balance suspension support 8 to obtain gravity data, and based at least on the position of the pin-type gravity sensor 5 on the vehicle frame 7 and the corresponding gravity data, the vehicle frame 7 is horizontally adjusted (so that the plane where the vehicle frame 7 is located fits the horizontal plane). In this embodiment, the pin-type gravity sensor 5 is provided with a central hole, and a double-shear type resistance strain gauge is pasted in the central hole. When the pin-type gravity sensor 5 is subjected to extrusion forces in various directions, the double-shear type resistance strain gauge pasted in the central hole undergoes strain under the action of the force and is converted into an electrical signal for output. The pin-type gravity sensor 5 in the present invention can not only act as a pin, but also convert the strain into an electrical signal through the signal wire at the tail to help better control the vehicle.

[0074] The balance suspension support 8 in the present invention can be a rubber balance suspension. In the vehicle chassis assembly of the present invention, when the vehicle is in motion, the axle 3 rotates around the rubber balance suspension pin according to the road conditions. The pin bears the forces from the upper and lower halves of the suspension, and the magnitude and direction of the pressure are constantly changing as the vehicle moves. Therefore, a high-precision pin-type gravity sensor is provided at the rubber suspension balance shaft. On the one hand, it acts as the original balance shaft, and on the other hand, it records the load condition at this position in real time. By setting four pin-type gravity sensors on two groups of suspensions, the vehicle load, impact conditions, and whether there is uneven loading can be clearly known. The collected weights are studied and the load spectrum data is processed using the rain flow counting method to refine the dynamic load spectrum, which effectively helps to analyze the fatigue condition of the vehicle structure and estimate the fatigue life.

[0075] In a preferred embodiment, the high-precision pin-type gravity sensor replaces the balance shaft of the existing balance suspension assembly and is symmetric about the vehicle frame center. Any change in weight in the front-rear or left-right direction of the vehicle will be sensed by the pin-type gravity sensor, helping the vehicle to cope with abnormal phenomena such as uneven loading or uneven load distribution.

[0076] In a preferred embodiment, after analyzing the overall system structure of the vehicle, the present invention also proposes a weighing system for the vehicle balance suspension.

[0077] In a preferred embodiment, the balance suspension assemblies are arranged in pairs along the width direction of the vehicle body below the vehicle frame 7 for more accurate attitude compensation in a targeted manner, but not limited thereto.

[0078] In a preferred embodiment, the balance suspension assembly is arranged between a pair of axles 3, and the extension direction of the pin-type gravity sensor 5 is parallel to the extension direction of the axle 3, but not limited thereto.

[0079] In a preferred embodiment, it further includes

[0080] Several axles 3, with both ends of the axle 3 respectively connected to the wheels 1.

[0081] Several cross tie rods 2, with both ends of the cross tie rod 2 respectively hinged to the bearings of the wheels 1 through connecting arms.

[0082] Several thrust rods 6, with both ends of the thrust rod 6 respectively connected to the balance suspension support 8 and the middle parts of the axles 3 on both sides of the balance suspension support 8, but not limited thereto.

[0083] In a preferred embodiment, it further includes an active suspension assembly (not shown in the figure) and a processing unit. The processing unit is respectively connected to the kingpin gravity sensor 5 and the active suspension assembly. The processing unit receives the gravity data of the kingpin gravity sensor 5, obtains the attitude compensation data of the vehicle frame 7 based on the position of the kingpin gravity sensor 5 on the vehicle frame 7 and the corresponding gravity data, and sends the attitude compensation data to the active suspension assembly according to the attitude compensation data. The active suspensions distributed under the vehicle frame 7 independently perform vertical compensation to keep the vehicle frame 7 in a horizontal state. By inputting the gravity data obtained by the kingpin gravity sensor 5 into the processing unit, the preset attitude compensation data can be accurately obtained. The active suspension assembly uses the attitude compensation data to perform actual attitude compensation to ensure the overall horizontal of the vehicle frame 7. The active suspension can be an independent air suspension or an oil cylinder in the vertical direction, but is not limited thereto.

[0084] In a preferred embodiment, the active suspension assembly includes a plurality of active suspensions, and the active suspensions are respectively located above or on the side of the balance suspension support 8.

[0085] In a preferred embodiment, a mapping relation table is pre-stored in the processing unit. The mapping relation table is provided with the mapping relation between the gravity data group and the attitude compensation data group. The gravity data group is a sequence of gravity data sorted according to the preset positions of the kingpin gravity sensors 5, and the attitude compensation data group is a sequence of attitude compensation data sorted according to the preset positions of the active suspensions. The active suspension drives the suspension to rise and fall according to the corresponding attitude compensation data in the attitude compensation data sequence. The attitude compensation data is the up and down distance in the vertical direction, but is not limited thereto.

[0086] Figure 4 It is a schematic diagram of the vehicle attitude balance system of the present invention obtaining the deformation amount of the vehicle frame ground clearance. Figure 5 It is a schematic diagram of the functional relationship between the vertical deformation amount of the suspension and the rubber suspension load in the vehicle attitude balance system of the present invention. Figure 4 and 5 As shown in and, in a variation, the data collected by the kingpin gravity sensor of the vehicle attitude balance system of the present invention can be used to adjust the height of the chassis system to prevent other systems of the vehicle from being too close to the ground and being hit by protruding objects on the ground when the vehicle is heavily loaded; it can also prevent the bumper from colliding with the ground due to uneven slopes when climbing. The calculation process for obtaining the deformation amount Lm of the vehicle frame ground clearance is as follows:

[0087] The ground clearance of the vehicle frame in the natural state L0 = H0 + R0 - 200;

[0088] The ground clearance of the vehicle frame under load L1 = H1 + R1 - 200;

[0089] Among them, H0 is the natural state height of the suspension; H1 is the height after the suspension is deformed under load; R0 is the natural state height of the suspension; R1 is the height after the suspension is deformed under load; L0 is the ground clearance height of the frame in the natural state; L1 is the ground clearance height of the frame under load.

[0090] Figure 5 It is the relationship between the vertical deformation of the suspension (x-axis) and the rubber suspension load (y-axis), and its inverse function is:

[0091] The vertical deformation of the suspension h = 4E-06*f3 - 0.0024*f2 + 0.6*f + 0.8, where E is the rubber suspension load and h is the vertical deformation of the suspension;

[0092] In this embodiment, the inverse function of the relationship between the vertical deflection of the tire and the vertical load of the tire is:

[0093] The vertical deflection of the tire r = -0.0008f2 + 0.5f + 0.5, where r is the vertical deflection of the tire and f is the vertical load of the tire;

[0094] When the reading of the kingpin gravity sensor is M, fm = Mg, where M is the vehicle load mass reading after the kingpin gravity sensor is installed and zeroed, and g is the gravitational constant.

[0095] H0 - H1 = hm = 4E-06*fm3 - 0.0024*fm2 + 0.6*fm + 0.8;

[0096] R0 - R1 = rm = -0.0008fm2 + 0.5fm + 0.5;

[0097] The deformation amount of the ground clearance height of the frame is Lm:

[0098] Lm = L0 - L1 = hm + rm = 4E-06*fm3 - 0.0016*fm2 + 1.1*fm + 1.3.

[0099] When the vehicle is unevenly loaded, the four suspensions are not at the same height. The vehicle adjusts the deformation amount Lm of the ground clearance height of the frame through the system control of the lifting cylinder, so that the four deformation amounts of the ground clearance height are roughly at the same height, ensuring that the vehicle load plane is in a horizontal state.

[0100] Since the present invention has the above technical features, it has at least the following technical advantages:

[0101] 1. There is no need to additionally set a weighing device outside the vehicle body and other infrastructure. It is directly integrated into the vehicle body. On the one hand, it acts as a balance kingpin, and on the other hand, it records the load weight, helps the electronic control system adjust parameters and control speed, making the vehicle more energy-efficient and efficient.

[0102] 2. A pin - type high - precision gravity sensor is set at the balance pin shaft, which can record the load condition in real time for fatigue life estimation and compilation of fatigue test load spectra.

[0103] 3. Four pin - type gravity sensors are set on two groups of balance rubber suspensions, which can clearly know the vehicle's off - loading condition.

[0104] 4. The pin - type gravity sensor has a compact structure, a simple geometric shape. The hollow cross - section has strong anti - torsion and anti - bending capabilities, high dimensional and geometric tolerances, and is easy to assemble with the suspension load - bearing components and convenient to use.

[0105] Figure 6 is the flowchart of the vehicle attitude balance method of the present invention. As Figure 6 shown, the vehicle attitude balance method of the present invention adopts the above - mentioned vehicle attitude balance system, including the following steps:

[0106] S110. The pin - type gravity sensor 5 is pinned to the balance suspension support 8 and the balance beam 4 to detect the gravity transmitted through the balance suspension support 8 in real time and obtain gravity data. And

[0107] S120. At least based on the position of the pin - type gravity sensor 5 on the vehicle frame 7 and the corresponding gravity data, the vehicle frame 7 is horizontally adjusted.

[0108] The vehicle attitude balance method of the present invention can obtain the bearing weight data of each part of the vehicle in real time, know whether the vehicle body is overloaded or off - loaded, and timely allocate devices such as the vehicle body suspension to implement compensation for the vehicle attitude balance.

[0109] The embodiment of the present invention also provides a vehicle attitude balance device, including a processor and a memory, in which the executable instructions of the processor are stored. Among them, the processor is configured to execute the steps of the vehicle attitude balance method by executing the executable instructions.

[0110] As shown above, the vehicle attitude balance system of the present invention can obtain the bearing weight data of each part of the vehicle in real time, know whether the vehicle body is overloaded or off - loaded, and timely allocate devices such as the vehicle body suspension to implement compensation for the vehicle attitude balance.

[0111] Those skilled in the art can understand that various aspects of the present invention can be implemented as a system, a method or a program product. Therefore, various aspects of the present invention can be specifically implemented in the following forms: a complete hardware implementation, a complete software implementation (including firmware, micro - code, etc.), or an implementation combining hardware and software aspects, which can be collectively referred to as "circuit", "module" or "platform" here.

[0112] Figure 7is a schematic structural diagram of the vehicle attitude balance device of the present invention. The following will refer to Figure 7 to describe the electronic device 600 according to this embodiment of the present invention. Figure 7 The displayed electronic device 600 is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present invention.

[0113] As Figure 7 shown, the electronic device 600 is presented in the form of a general computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including the storage unit 620 and the processing unit 610), a display unit 640, etc.

[0114] Among them, the storage unit stores program codes, and the program codes can be executed by the processing unit 610, so that the processing unit 610 executes the steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription transfer processing method part of this specification. For example, the processing unit 610 can execute the steps as Figure 6 shown in.

[0115] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 6201 and / or a cache storage unit 6202, and may further include a read-only storage unit (ROM) 6203.

[0116] The storage unit 620 may also include a program / utilities 6204 having a set (at least one) of program modules 6205. Such program modules 6205 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. The implementation of a network environment may be included in each or some combination of these examples.

[0117] The bus 630 may represent one or more of several types of bus structures, including a storage unit bus or a storage unit controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any bus structure in a variety of bus structures.

[0118] The electronic device 600 can also communicate with one or more external devices 700 (such as keyboards, pointing devices, Bluetooth devices, etc.), and can also communicate with one or more devices that enable users to interact with the electronic device 600, and / or communicate with any device that enables the electronic device 600 to communicate with one or more other computing devices (such as routers, modems, etc.). Such communication can be carried out through the input / output (I / O) interface 650. Moreover, the electronic device 600 can also communicate with one or more networks (such as local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through the network adapter 660. The network adapter 660 can communicate with other modules of the electronic device 600 through the bus 630. It should be understood that although not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, etc.

[0119] An embodiment of the present invention also provides a computer-readable storage medium for storing a program, and the steps of the vehicle attitude balance method are implemented when the program is executed. In some possible implementation manners, various aspects of the present invention can also be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to cause the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription circulation processing method part of this specification.

[0120] As shown above, the vehicle attitude balance system of the embodiment of the present invention can obtain the bearing weight data of each part of the vehicle in real time, know the overloading or uneven loading situation of the vehicle body, and timely deploy devices such as vehicle suspensions to implement compensation for the vehicle attitude balance.

[0121] Figure 8 is a schematic structural diagram of the computer-readable storage medium of the present invention. Refer to Figure 8 As shown, a program product 800 for implementing the above method according to an embodiment of the present invention is described. It can be a portable compact disc read-only memory (CD-ROM) and includes program code, and can run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited to this. In this document, the readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, device, or device.

[0122] The program product may employ any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, 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.

[0123] A computer-readable storage medium may include a data signal propagated in a baseband or as part of a carrier wave, in which the readable program code is carried. Such a propagated data signal may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. The readable storage medium may also be any readable medium other than the readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0124] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0125] In summary, the object of the present invention is to provide a vehicle attitude balance system, method, device, and storage medium, which can obtain the load weight data of each part of the vehicle in real time, know the overloading or partial loading situation of the vehicle body, and timely allocate devices such as the vehicle body suspension to implement compensation for the vehicle attitude balance.

[0126] The above content is a further detailed description of the present invention in combination with specific preferred embodiments. It cannot be determined that the specific implementation of the present invention is only limited to these descriptions. For those of ordinary skill in the technical field to which the present invention pertains, without departing from the concept of the present invention, several simple deductions or substitutions can be made, and all should be regarded as belonging to the protection scope of the present invention.

Claims

1. A vehicle attitude balance system, characterized in that, Comprising: A number of groups of balance suspension assemblies, each group of the balance suspension assemblies comprising: A balance suspension support (8), connected below the vehicle frame (7); A balance beam (4), each of the balance beams (4) being disposed below the corresponding balance suspension support (8), both ends of the balance beam (4) being respectively connected to a wheel (1); A pin-type gravity sensor (5), pin-connected to the balance suspension support (8) and the balance beam (4), the pin-type gravity sensor (5) being provided with a central hole, and a double-shear type resistance strain gauge being pasted in the central hole, the pin-type gravity sensor (5) detecting in real time the gravity transmitted through the balance suspension support (8) to obtain gravity data, and at least based on the position of the pin-type gravity sensor (5) on the vehicle frame (7) and the corresponding gravity data, performing horizontal adjustment on the vehicle frame (7), the balance suspension assembly being disposed between a pair of axles (3), the extension direction of the pin-type gravity sensor (5) being parallel to the extension direction of the axle (3); and An active suspension assembly and a processing unit, the processing unit being respectively connected to the pin-type gravity sensor (5) and the active suspension assembly, the processing unit receiving the gravity data of the pin-type gravity sensor (5), obtaining attitude compensation data of the vehicle frame (7) according to the position of the pin-type gravity sensor (5) on the vehicle frame (7) and the corresponding gravity data, and sending the attitude compensation data to the active suspension assembly according to the attitude compensation data, and independently performing vertical compensation through the active suspensions distributed below the vehicle frame (7) so that the vehicle frame (7) maintains a horizontal state.

2. The vehicle attitude balance system according to claim 1, characterized in that The balance suspension assemblies are arranged in pairs along the vehicle body width direction below the vehicle frame (7).

3. The vehicle attitude balance system according to claim 1, characterized in that, Further comprising A number of axles (3), both ends of the axles (3) being respectively connected to the wheels (1); A number of cross tie rods (2), both ends of the cross tie rods (2) being respectively hinged to the bearings of the wheels (1) through connecting arms; A number of thrust rods (6), both ends of the thrust rods (6) being respectively connected to the balance suspension support (8) and the middle parts of the axles (3) on both sides of the balance suspension support (8).

4. The vehicle attitude balance system according to claim 1, characterized in that: The active suspension assembly comprises a number of active suspensions, the active suspensions being respectively located above or on the sides of the balance suspension supports (8).

5. The vehicle attitude balance system according to claim 4, characterized in that: A mapping relation table is pre-stored in the processing unit, the mapping relation table being provided with a mapping relation between a gravity data group and an attitude compensation data group, the gravity data group being a gravity data sequence sorted according to the preset positions of the pin-type gravity sensors (5), and the attitude compensation data group being an attitude compensation data sequence sorted according to the preset positions of the active suspensions; The active suspensions drive the suspensions to lift and lower according to the corresponding attitude compensation data in the attitude compensation data sequence, and the attitude compensation data is the lifting and lowering distance in the vertical direction.

6. A vehicle attitude balance method, characterized in that, Adopting the vehicle attitude balance system as described in claim 1, comprising the following steps: The pin-type gravity sensor is pin-connected to the balance suspension support and the balance beam, and detects in real time the gravity transmitted through the balance suspension support to obtain gravity data; Perform a horizontal adjustment on the vehicle frame at least based on the position of the pivot pin type gravity sensor on the vehicle frame and the corresponding gravity data.

7. A vehicle attitude balance device, characterized in that, Comprising: A processor; A memory in which executable instructions of the processor are stored; Wherein, the processor is configured to execute the steps of the vehicle attitude balance method according to claim 6 by executing the executable instructions.

8. A computer-readable storage medium for storing a program, characterized in that, When the program is executed by the processor, the steps of the vehicle attitude balance method according to claim 6 are implemented.

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