Vehicle Load Calculation Method, System and Aerial Work Platform

Abstract

The present invention relates to a vehicle load calculation method, system and aerial work platform. Among them, the vehicle load calculation method includes: obtaining the gravity of a tire assembly installed on a wheel, where the tire assembly is connected to a chassis; taking the center of the pin shaft on the tire assembly as the first origin; constructing a first constraint condition that the resultant moment about the first origin is zero and the center of gravity of the tire assembly and the wheel are on the same side of the pin shaft; obtaining the third moment of the gravity about the first origin, and the first distance between the wheel reaction force and the first origin; obtaining the second moment of the supporting force on the pin shaft about the pin shaft, and a force sensor is used to measure the supporting force on the pin shaft; based on the first constraint condition, calculating the wheel reaction force according to the third moment, the first distance and the second moment. The vehicle load calculation method, system and aerial work platform provided by this application can accurately obtain vehicle load data and effectively evaluate the stress conditions of the wheels or the chassis.

Description

Technical Field

[0001] The present invention belongs to the field of aerial work equipment, and particularly relates to a vehicle load calculation method, system and aerial work platform. Background Art

[0002] An aerial work platform is a product that serves aerial work, equipment installation, maintenance and other mobile aerial work in various industries. According to the difference in structural characteristics, aerial work platforms mainly include boom aerial work platforms, scissor aerial work platforms, trailer aerial work platforms, off-road aerial work platforms, telescopic cylinder aerial work platforms, spider aerial work platforms, etc.

[0003] The chassis of the aerial work platforms on the market includes a transmission system, a running system, a steering system and a control system. The function of the chassis is to support, install the engine and its component assemblies, and receive the power of the engine to make the aerial work platform move. When the running system is wheels, the aerial work platform has better walking efficiency.

[0004] Currently, for the load detection of such aerial work platforms, the pressure of the hydraulic cylinder on the aerial work vehicle is usually detected to calculate the bearing pressure of the chassis. The accuracy of this measurement method is affected by many factors, such as the influence of environmental temperature on the hydraulic oil pressure. In this way, the calculated vehicle load data is inaccurate, and it is difficult to make an accurate judgment on the next action of the aerial work platform. Summary of the Invention

[0005] To solve the above technical problems, the purpose of the present invention is to provide a vehicle load calculation method, system and aerial work platform, which can accurately obtain vehicle load data and effectively evaluate the force conditions of the wheels or the chassis.

[0006] The technical solution of the present invention is as follows:

[0007] A vehicle load calculation method, the calculation method includes:

[0008] Obtain the gravity of the tire assembly installed on the wheel, wherein the tire assembly is connected to the chassis;

[0009] Take the center of the pin shaft on the tire assembly as the first origin;

[0010] Construct a first constraint condition that the resultant moment of the first origin is zero and the center of gravity of the tire assembly and the wheel are on the same side of the pin shaft;

[0011] Obtain the third moment of the gravity about the first origin, and the first distance between the wheel reaction force and the first origin;

[0012] Obtain a second moment of the force sensor on one side of the pin shaft with respect to the pin shaft, where the force sensor is used to measure the supporting force on the pin shaft;

[0013] Based on the first constraint condition, calculate the wheel reaction force according to the third moment, the first distance, and the second moment.

[0014] Preferably, obtaining the third moment of the gravity with respect to the first origin includes:

[0015] Obtain a first included angle between the wheel and the ground in the width direction of the wheel;

[0016] Determine a first component force of the gravity perpendicular to the ground according to the first included angle;

[0017] Calculate the third moment according to the first component force and the first included angle.

[0018] Preferably, obtaining the third moment of the gravity with respect to the first origin includes:

[0019] Obtain a second included angle between the wheel and the ground in the driving direction of the wheel;

[0020] Determine a second component force of the gravity perpendicular to the ground according to the second included angle;

[0021] Calculate the third moment according to the second component force and the second included angle.

[0022] Preferably, obtaining the third moment of the gravity with respect to the first origin includes:

[0023] Obtain a third included angle between the wheel and the ground in the width direction of the wheel;

[0024] Obtain a fourth included angle between the wheel and the ground in the driving direction of the wheel;

[0025] Determine a third component force of the gravity perpendicular to the ground according to the third included angle and the fourth included angle;

[0026] Calculate the third moment according to the third component force, the third included angle, and the fourth included angle.

[0027] A vehicle load calculation system, comprising:

[0028] A first acquisition module, configured to acquire the gravity of the wheel and the tire assembly mounted on the wheel;

[0029] A first construction module, configured to construct a first constraint condition that the resultant moment of the first origin is zero, and the centers of gravity of the wheel and the connecting plate are on the same side of the pin shaft as the wheel;

[0030] A second acquisition module, configured to acquire a third moment of the gravity about the first origin and a first distance between the wheel reaction force and the first origin;

[0031] A third acquisition module, configured to acquire a second moment of a force sensor on one side of the pin shaft about the pin shaft;

[0032] A calculation module, configured to calculate the wheel reaction force based on the first constraint condition according to the third moment, the first distance, and the second moment.

[0033] Preferably, it includes: a fourth acquisition module, configured to acquire a first included angle between the wheel and the ground in the width direction of the wheel;

[0034] A first determination module, configured to determine a first component force of the gravity perpendicular to the ground according to the first included angle;

[0035] A first calculation unit, configured to calculate the third moment according to the first component force and the first included angle.

[0036] Preferably, it includes: a fifth acquisition module, configured to acquire a second included angle between the wheel and the ground in the traveling direction of the wheel;

[0037] A second determination module, configured to determine a second component force of the gravity perpendicular to the ground according to the second included angle;

[0038] A second calculation unit, configured to calculate the third moment according to the second component force and the second included angle.

[0039] Preferably, it includes: a sixth acquisition module, configured to acquire a third included angle between the wheel and the ground in the width direction of the wheel and a fourth included angle between the wheel and the ground in the traveling direction of the wheel;

[0040] A third determination module, configured to determine a third component force of the gravity perpendicular to the ground according to the third included angle and the fourth included angle;

[0041] A third calculation unit, configured to calculate the third moment according to the third component force, the third included angle, and the fourth included angle.

[0042] An aerial work platform, comprising:

[0043] A vehicle load calculation system, the above vehicle load calculation system;

[0044] A controller, configured to: determine the working load of the aerial work platform by obtaining the wheel reaction force calculated by the vehicle load calculation system, and if the working load is greater than a preset maximum load, restrict the operation of the execution system and / or give an alarm; and / or if the sum of the wheel reaction forces of two adjacent wheels is less than a set threshold, restrict the operation of the execution system and / or give an alarm.

[0045] Preferably, it includes: an execution system, the execution system includes an actuator and an alarm device, and the execution system is configured to stop the operation of the actuator and / or activate the alarm device when receiving a signal for restricting the operation of the execution system and / or giving an alarm sent by the controller.

[0046] Preferably, it includes a wheel reaction force detection device, and the wheel reaction force detection device includes:

[0047] A connecting plate, connected to the chassis, and an accommodation cavity with an opening downward is provided on the connecting plate;

[0048] A mounting plate, embedded in the accommodation cavity for mounting a speed reducer;

[0049] A base, the base is fixed to one side of the connecting plate and fits with the mounting plate;

[0050] A pin shaft, and the pin shaft is placed inside the base.

[0051] The present invention provides a vehicle load calculation method, system and aerial work platform. The vehicle load calculation method obtains the reaction force of each wheel, and based on the balance relationship between the acting force and the reaction force of the force, the load borne by the wheel is known. The vehicle load calculation method includes obtaining the gravity of the tire assembly installed on the wheel. The tire assembly is connected to the chassis, and through the connection between the tire assembly and the chassis, the force conduction is realized, and other components or heavy loads arranged above the chassis can be transmitted to the wheels. Specifically, taking the center of the pin shaft on the tire assembly as the first origin, a first constraint condition is constructed. The first constraint condition is that the resultant moment of the first origin is zero, and the center of gravity of the tire assembly and the wheel are on the same side of the pin shaft. Since the center of gravity of the tire assembly and the wheel are on the same side of the pin shaft, the third moment of the gravity on the first origin and the moment of the wheel reaction force on the first origin must be in opposite directions. In addition, a force sensor is arranged on one side of the pin shaft, and the force sensor is used to measure the supporting force on the pin shaft, and then the second moment of the supporting force on the pin shaft is obtained. Finally, through the first constraint condition, the third moment, the first distance and the second moment, the wheel reaction force is calculated, and then according to the balance relationship between the acting force and the reaction force of the force, the vehicle load can be obtained through the wheel reaction force (the vehicle load is in the opposite direction to the wheel reaction force). The core of the present invention is to select the pin shaft as the fixed reference point, with the resultant moment at the first origin on the pin shaft being zero, construct the balance of the moments generated by all the forces on the pin shaft, and inversely calculate the wheel reaction force. In this way, on the one hand, in the absence of external abnormalities, the first constraint condition, the position of the first origin and the distance of the wheel relative to the first origin are all fixed and unchanged. The wheel reaction force calculated based on the first constraint condition is also relatively determined. Compared with the prior art method of calculating the vehicle bearing pressure by detecting the pressure of the oil cylinder on the aerial work vehicle, the problem of inaccurate calculation of the vehicle load data caused by the unstable hydraulic oil pressure is solved. Therefore, the vehicle load calculation method, system and aerial work platform provided by the present application can accurately obtain the vehicle load data and effectively evaluate the stress conditions of the wheels or the chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The drawings are used to provide an understanding of the present invention and constitute a part of the specification, and are used to explain the present invention together with the following specific embodiments, but do not constitute a limitation to the present invention. In the drawings:

[0053] Figure 1 is a flowchart of the vehicle load calculation method provided by an embodiment of the present invention;

[0054] Figure 2 is a framework diagram of the vehicle load calculation system provided by an embodiment of the present invention;

[0055] Figure 3 is a framework diagram of the vehicle load calculation system provided by an embodiment of the present invention;

[0056] Figure 4 It is a framework diagram of the vehicle load calculation system provided by the embodiment of the present invention;

[0057] Figure 5 It is a framework diagram of the vehicle load calculation system provided by the embodiment of the present invention;

[0058] Figure 6 It is a structural diagram of the wheel reaction force detection device provided by the embodiment of the present invention;

[0059] Figure 7 It is an analysis diagram of the force and moment of the wheel in a certain state provided by the embodiment of the present invention;

[0060] Figure 8 It is an analysis diagram of the force and moment of the wheel on the inclined slope with the first included angle provided by the embodiment of the present invention;

[0061] Figure 9 It is an analysis diagram of the force and moment of the wheel on the inclined slope with the second included angle provided by the embodiment of the present invention;

[0062] Figure 10 It is an analysis diagram of the force of the wheel on the inclined slope inclined at two angles (the third included angle and the fourth included angle) provided by the embodiment of the present invention;

[0063] Figure 11 It is a schematic diagram of the system architecture when the aerial work platform provided by the embodiment of the present invention has a weighing function;

[0064] Figure 12 It is a schematic diagram of the system architecture when the aerial work platform provided by the embodiment of the present invention has an anti-tipping function;

[0065] Figure 13 It is a schematic diagram of the scissor aerial work platform walking on a 20° slope provided by the embodiment of the present invention.

[0066] Description of reference numerals

[0067] 1. Connecting plate; 2. Mounting plate; 3. Base; 4. Pin shaft; 6. Force sensor; 7. Tire assembly 8. Reducer; 100. Wheel reaction force detection device; 110. First acquisition module; 120. First construction module; 130. Second acquisition module; 140. Third acquisition module; 150. Calculation module; 160. Fourth acquisition module; 170. First determination module; 180. First calculation unit; 190. Fifth acquisition module; 210. Second determination module; 220. Second calculation unit; 230. Sixth acquisition module; 240. Third determination module; 250. Third calculation unit; 200. Controller; 300. Execution system; 301. Execution mechanism; 302. Alarm device. Detailed implementation mode

[0068] In order to enable those skilled in the art to better understand the technical solutions in this application, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of this application.

[0069] In the description of the present invention, it should be understood that the terms "upper", "lower", etc. indicating the orientation or position relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation of the present invention.

[0070] As Figures 1 to 13 shown in the embodiment, the present invention provides a vehicle load calculation method.

[0071] S10. Obtain the gravity of the tire assembly 7 installed on the wheel, where the tire assembly 7 is connected to the chassis;

[0072] S20. Take the center of the pin shaft on the tire assembly 7 as the first origin;

[0073] S30. Construct a first constraint condition where the resultant moment about the first origin is zero and the center of gravity of the tire assembly 7 and the wheel are on the same side of the pin shaft;

[0074] S40. Obtain the third moment of the gravity about the first origin and the first distance between the wheel reaction force and the first origin;

[0075] S50. Obtain the second moment of the supporting force on the pin shaft about the pin shaft, and the force sensor is used to measure the supporting force on the pin shaft;

[0076] S60. Based on the first constraint condition, calculate the wheel reaction force according to the third moment, the first distance, and the second moment.

[0077] The present invention provides a vehicle load calculation method, and the calculation method includes: obtaining the gravity of the tire assembly 7 installed on the wheel, where the tire assembly 7 is connected to the chassis; taking the center of the pin shaft on the tire assembly 7 as the first origin; constructing a first constraint condition where the resultant moment about the first origin is zero and the center of gravity of the tire assembly 7 and the wheel are on the same side of the pin shaft; obtaining the third moment of the gravity about the first origin and the first distance between the wheel reaction force and the first origin; based on the first constraint condition, calculating the wheel reaction force according to the third moment and the first distance.

[0078] By calculating the reaction force of each wheel and based on the balance relationship between the acting force and the reaction force of the force, the load borne by the wheel is obtained. The vehicle load calculation method includes obtaining the gravity of the tire assembly 7 installed on the wheel. The tire assembly 7 is connected to the chassis, and through the connection between the tire assembly 7 and the chassis, the force conduction is realized, and other components or heavy loads arranged above the chassis can be transmitted to the wheel. Specifically, taking the center of the pin shaft on the tire assembly 7 as the first origin, a first constraint condition is constructed. The first constraint condition is that the resultant moment of the first origin is zero, and the center of gravity of the tire assembly 7 and the wheel are on the same side of the pin shaft. Since the center of gravity of the tire assembly 7 and the wheel are on the same side of the pin shaft, the third moment of the gravity about the first origin and the moment of the wheel reaction force about the first origin must be in opposite directions. In addition, a force sensor 6 is arranged on one side of the pin shaft, and the force sensor 6 is used to measure the supporting force on the pin shaft, and then the second moment of the supporting force about the pin shaft is obtained. Finally, through the first constraint condition, the third moment, the first distance, and the second moment, the wheel reaction force is calculated, and then according to the balance relationship between the acting force and the reaction force of the force, the vehicle load can be obtained through the wheel reaction force (the vehicle load is in the opposite direction to the wheel reaction force). The core of the present invention is to select the pin shaft as the fixed reference point, with the resultant moment at the first origin on the pin shaft being zero, to construct the balance of the moments generated by all the forces acting on the pin shaft, and to inversely calculate the wheel reaction force. By adopting this method, on the one hand, in the absence of external abnormalities, the first constraint condition, the position of the first origin, and the distance of the wheel relative to the first origin are all fixed and unchanged. The wheel reaction force calculated based on the first constraint condition is also relatively certain. Compared with the prior art method of calculating the vehicle bearing pressure by detecting the pressure of the oil cylinder on the aerial work vehicle, the problem of inaccurate calculation of the vehicle load data caused by the unstable factor of the hydraulic oil pressure is solved. Therefore, the vehicle load calculation method provided by the present application can accurately obtain the vehicle load data and can effectively evaluate the stress conditions of the wheel or the chassis.

[0079] Among them, the tire assembly 7 may include a speed reducer 8 and a connecting plate 1 connected to the speed reducer 8. The pin shaft is fixedly installed on the connecting plate 1, and is connected to the wheel through the speed reducer 8, and then drives the wheel to turn independently. The speed reducer 8 and the chassis are connected through the connecting plate 1. Since the position of the pin shaft remains unchanged all the time, whether the wheel is in a stationary state or a running state, by taking the resultant moment at the first origin on the pin shaft as zero and the first constraint condition that the center of gravity of the tire assembly 7 and the wheel are on the same side of the pin shaft, the wheel reaction force is calculated and then the vehicle load is determined.

[0080] Please as Figures 6 to 10 As shown, according to the vehicle load calculation method in the above embodiment, if the wheel is running on a horizontal ground, assuming the wheel reaction force is F r , and the supporting force on the pin shaft is F k, the distance from this supporting force to the first origin is the second distance l2, then the second moment is F k × l2, the gravity of the tire assembly 7 is G, the distance from the gravity of the tire assembly 7 to the first origin is the third distance l3. When the resultant moment of the first origin O is 0, F k l2 + Gl3 - F r l1 = 0, and then the wheel reaction force can be obtained

[0081] Please as Figures 6 to 7 As shown, in the embodiment provided by the present invention, obtaining the third moment of the gravity with respect to the first origin includes: obtaining the first angle between the wheel and the ground along the width direction of the wheel; determining the first component force of the gravity perpendicular to the ground according to the first angle; calculating the third moment according to the first component force and the first angle. When the ground where the wheel is located forms an angle with the horizontal plane along the width direction of the wheel, it means that the wheel is traveling on an inclined slope. By obtaining the first angle, the inclination angle of the wheel when traveling on the inclined slope can be obtained. At this time, the tire assembly 7 will generate a decomposed force. According to the first angle, the first component force of the gravity of the tire assembly 7 in the direction perpendicular to the ground is determined, and then the third moment is calculated according to the first component force and the first angle. It can be seen that the embodiment provided by the present invention can be applied when the wheel is traveling on an inclined slope at an angle (i.e., the first angle), and the vehicle load can also be accurately obtained. Suppose the first angle is θ1, then the angle between the wheel reaction force and the supporting force perpendicular to the ground of the wheel is θ1 at this time. If the direction perpendicular to the ground of the wheel is the Z-axis, the direction along the width direction of the wheel is the X-axis, and the traveling direction of the wheel is the Y-axis, and the wheel reaction force is F r then there will be a component force F along the X-axis rx , and a component force F along the Z-axis rz , where F rx = F rz tanθ1. Similarly, the gravity G also generates a component force G along the X-axis x , a component force G along the Z-axis z , then G x = Gsinθ1, G z = Gcosθ1; by analyzing the force conduction path and balance relationship between the wheel and the chassis in the XZ plane, the component force of the ground reaction force along the Z-axis direction, that is, the first component force F rz can be obtained; among them, the distance between F rx and the first origin is l5, and the distance between G x and the first origin is l4, then the third moment is G x l4 + G z l3; when the resultant moment of the first origin O is 0, F k l2 + G z l3 + G x l4 - Frz l5tanθ1 - F rz l1 = 0, and then obtain Then, through the first component force F rz and the first included angle θ1, the wheel reaction force F is calculated and obtained r , that is It can be seen that through the embodiment provided by the present invention, when the wheel travels on an inclined slope at an angle (i.e., the first included angle), the vehicle load can also be accurately obtained.

[0082] In another embodiment provided by the present invention, obtaining the third moment of gravity about the first origin includes: obtaining the second included angle between the wheel and the ground along the traveling direction of the wheel; determining the second component force of gravity perpendicular to the ground according to the second included angle; calculating the third moment according to the second component force and the second included angle. When the vehicle travels on an inclined slope where the traveling direction of the vehicle forms a second included angle with the horizontal plane, the vehicle load can also be accurately obtained. Assuming the second included angle is θ2, at this time, the included angle between the wheel reaction force and the supporting force of the wheel perpendicular to the ground is θ2. If the direction perpendicular to the ground of the wheel is the Z-axis, the direction along the width of the wheel is the X-axis, and the traveling direction of the wheel is the Y-axis, and the wheel reaction force is F r then there will be a component force F along the Y-axis ry , and a component force F along the Z-axis rz , F ry = F rz tanθ2. Similarly, the gravity G also generates a component force G along the Y-axis y and a component force G along the Z-axis z , then G y = Gsinθ1, G z = Gcosθ1; by analyzing the force conduction path and balance relationship between the wheel and the chassis in the YZ plane, the component force of the ground reaction force along the Z-axis direction, that is, the second component force, can be obtained; when the resultant moment of the first origin O is 0, similarly to the previous embodiment, the wheel reaction force F is calculated and obtained through the second component force and the second included angle θ2 r . It can be seen that through the embodiment provided by the present invention, when the wheel travels on an inclined slope with a second included angle of inclination, the vehicle load can also be accurately obtained.

[0083] Please as Figures 6 to 10As shown in the figure, in a preferred embodiment, when the vehicle travels on inclined slopes in two different directions, accurate vehicle loads can also be obtained through the vehicle load calculation method provided by the present invention. The obtaining of the third moment of gravity about the first origin in the vehicle load calculation method provided in this embodiment includes: obtaining a third angle between the ground where the wheel is located and the horizontal plane along the width direction of the wheel; obtaining a fourth angle between the ground where the wheel is located and the horizontal plane along the traveling direction of the wheel; determining a third component force of gravity perpendicular to the ground according to the third angle and the fourth angle; calculating the third moment according to the third component force, the third angle, and the fourth angle. Suppose the third angle is θ3 and the fourth angle is θ4. If the direction perpendicular to the ground of the wheel is the Z-axis, the direction along the width direction of the wheel is the X-axis, the traveling direction of the wheel is the Y-axis, and the wheel reaction force is F r then there will be a component force F along the X-axis rx , a component force F along the Y-axis ry , and a component force F along the Z-axis rz , F rx = F rz tanθ3, F ry = F rz tanθ4; similarly, the component forces of gravity G, G x , G y , G z can also be obtained, where G z is the third component force, the distance between F rx and the first origin is l5, the distance between G x and the first origin is l4, the distance between G z and the first origin is l3, and then the third moment is determined to be Gl3cosθ4cosθ3 + Gl4cosθ4sinθ1, and then It can be seen that when the vehicle travels on inclined slopes in two different directions, accurate vehicle loads can also be obtained through the vehicle load calculation method provided by the present invention.

[0084] Please as Figures 1 to 5 shown, the present invention provides a vehicle load calculation system, including a first acquisition module 110 for acquiring the gravity of the wheel and the tire assembly 7 mounted on the wheel; a first construction module 120 for constructing a first constraint condition that the resultant moment about the first origin is zero and the center of gravity of the wheel and the connecting plate 1 is on the same side of the pin shaft as the wheel; a second acquisition module 130 for acquiring the third moment of gravity about the first origin and the first distance between the wheel reaction force and the first origin; a third acquisition module 140 for acquiring the second moment of the force sensor 6 on one side of the pin shaft about the pin shaft; and a calculation module 150 for calculating the wheel reaction force based on the first constraint condition according to the third moment, the first distance, and the second moment.

[0085] Among them, the vehicle load calculation system further includes: a fourth acquisition module 160, configured to acquire a first included angle between a wheel and the ground in the width direction of the wheel; a first determination module 170, configured to determine a first component force of gravity perpendicular to the ground according to the first included angle; a first calculation unit 180, configured to calculate a third moment according to the first component force and the first included angle.

[0086] Further, the vehicle load calculation system further includes: a fifth acquisition module 190, configured to acquire a second included angle between a wheel and the ground in the traveling direction of the wheel; a second determination module 210, configured to determine a second component force of gravity perpendicular to the ground according to the second included angle; a second calculation unit 220, configured to calculate a third moment according to the second component force and the second included angle.

[0087] Preferably, it includes: the vehicle load calculation system includes a sixth acquisition module 230, configured to acquire a third included angle between a wheel and the ground in the width direction of the wheel, and acquire a fourth included angle between the wheel and the ground in the traveling direction of the wheel; a third determination module 240, configured to determine a third component force of gravity perpendicular to the ground according to the third included angle and the fourth included angle; a third calculation unit 250, configured to calculate a third moment according to the third component force, the third included angle and the fourth included angle. For the technical effects of the vehicle load calculation system provided by the present invention, please refer to the vehicle load calculation method provided by the present invention above, and details will not be elaborated here.

[0088] Please as Figures 1 to 13 As shown in the figure, the present invention further provides an aerial work platform, including the above vehicle load calculation system and a controller 200, wherein the controller 200 is configured to: determine the working load of the aerial work platform by acquiring the wheel reaction force calculated by the vehicle load calculation system, and if the working load is greater than a preset maximum load, restrict the operation of the execution system 300 and / or give an alarm; and / or if the sum of the wheel reaction forces of two adjacent wheels is less than a set threshold, restrict the operation of the execution system 300 and / or give an alarm.

[0089] Taking a scissor aerial work platform as an example, according to the wheel reaction force, the force load of each wheel can be obtained in real time. Perform an initial calibration when the work platform is unloaded, record the total weight m0 of the work platform when it is unloaded, and directly transmit its load data to the controller through a signal line. The controller directly receives the real-time load data (F r1 、F r2 、F r3 、F r4 ) of 4 wheels, add the 4 load data, and then subtract the total weight m0 when unloaded to obtain the working load weight m z , that is, m z =(F r1 +F r2 +F r3 +Fr4 ) - m0. The working load weight m z When the specified maximum load is exceeded, the controller restricts the actions of the execution system on the aerial work platform and / or gives an alarm. The actions of the execution system can be lifting, walking actions, etc. The execution system in the aerial work platform includes an actuator and / or an alarm device. When the controller sends an instruction to the execution system according to the working load of the aerial work platform determined by the wheel reaction force detection system, for example, the actuator in the execution system restricts the lifting and walking functions by adjusting the opening and closing of the hydraulic control valve, and / or the alarm device will give an alarm to prompt the user of the risk. In addition, the load result can also be directly displayed on the operation handle. If an overload occurs, an overload fault code will be displayed.

[0090] The aerial work platform provided by the present invention also realizes the anti - tipping function, or has both the weighing and anti - tipping functions at the same time. Taking the scissor - type aerial work platform as an example, according to the determined wheel reaction forces, the force loads on each wheel can be obtained in real time, and the load data is directly transmitted to the controller through a signal line. The controller directly receives the real - time load data (F r1 、F r2 、F r3 、F r4 ), and then calculates the sum of the wheel reaction forces of two adjacent wheels (i.e., each circumferential side forming the chassis) F S1 、F S2 、F S3 、F S4 (F S1 =F r1 +F r2 、F S2 =F r2 +F r3 、F S3 =F r3 +F r4 、F S4 =F r4 +F r1 ). If the sum of the wheel reaction forces of two adjacent wheels is less than the set threshold, the controller sends an instruction to the execution system. The actuator in the execution system restricts the lifting and walking functions by adjusting the opening and closing of the hydraulic control valve, and / or the alarm device will give an alarm to prompt the user of the risk. In addition, the load result can also be directly displayed on the operation handle. If an overload occurs, an overload fault code will be displayed.

[0091] By using this method to obtain the sum of the reaction forces of two adjacent wheels for anti-rollover control, the applicable range of the ground angle of the aerial work platform can be greatly expanded, rather than uniformly setting the maximum allowable chassis inclination angle to a small value under different working conditions. For example, when a scissor aerial work platform is traveling on a 20° slope, the traditional detection method will determine that there is a risk of the work platform tipping over based on the slope inclination angle being greater than 3°, triggering the alarm device to alarm and restricting the current movement. However, according to the working load being greater than the preset maximum load, and the sum of the reaction forces of two wheels on the front side, rear side, left side or right side (any one side or multiple sides) being greater than the set threshold, it is determined that the work platform can still operate normally at this time, greatly expanding the operating range of the work platform.

[0092] The aerial work platform provided by the present invention includes a wheel reaction force detection device, and the wheel reaction force detection device includes: a connecting plate 1, connected to the chassis, and the connecting plate 1 is provided with a receiving cavity opening downward; a mounting plate, embedded in the receiving cavity for mounting a speed reducer; a base, fixed to one side of the connecting plate 1 and fitting with the mounting plate; a pin shaft, placed inside the base.

[0093] During the driving process of the vehicle, the wheels are driven to rotate by the speed reducer provided on the mounting plate, while the speed reducer, the connecting plate 1, the mounting plate and other components provided on the mounting plate and / or the connecting plate 1 do not rotate. During the driving process of the vehicle, due to the aerial work platform bearing a certain load and applying a downward pressure, this pressure causes deformation to the pin shaft placed inside the base through the connecting plate 1 connected to the chassis. By making the resultant moment at the first origin on the pin shaft zero, the balance of the moments generated by all the forces acting on the pin shaft is constructed, and the wheel reaction force is calculated in reverse.

[0094] The embodiments in this specification are described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0095] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle load calculation method, characterized in that, The calculation method includes: Obtaining the gravity of the tire assembly (7) installed on the wheel, where the tire assembly (7) includes a speed reducer (8) and a connecting plate (1), the connecting plate (1) is connected to the chassis and is provided with a pin shaft (4), the connecting plate (1) is provided with a receiving cavity, an installation plate (2) for installing the speed reducer (8) is arranged in the receiving cavity, a force sensor (6) is arranged on the installation plate (2), and the pin shaft (4) is located above the speed reducer (8), and the force sensor (6) is located below the speed reducer (8); Taking any point on the central axis of the pin shaft (4) on the connecting plate (1) as the first origin; Constructing a first constraint condition that the resultant moment of the first origin is zero, and the center of gravity of the tire assembly (7) and the wheel are on the same side of the pin shaft (4); Obtaining the third moment of the gravity with respect to the first origin, and the first distance between the wheel reaction force and the first origin; Get the support force of the pin (F k ) on the second moment of the pin, the force sensor (6) is used to measure the supporting force (F k ); Based on the first constraint condition, calculating the wheel reaction force according to the third moment, the first distance and the second moment.

2. The vehicle load calculation method according to claim 1, characterized in that Obtaining the third moment of the gravity with respect to the first origin includes: Obtaining a first included angle between the wheel and the ground along the width direction of the wheel; Determining a first component force of the gravity perpendicular to the ground according to the first included angle; Calculating the third moment according to the first component force and the first included angle.

3. The vehicle load calculation method according to claim 1, characterized in that Obtaining the third moment of the gravity with respect to the first origin includes: Obtaining a second included angle between the wheel and the ground along the driving direction of the wheel; Determining a second component force of the gravity perpendicular to the ground according to the second included angle; Calculating the third moment according to the second component force and the second included angle.

4. The vehicle load calculation method according to claim 1, characterized in that Obtaining the third moment of the gravity with respect to the first origin includes: Obtaining a third included angle between the wheel and the ground along the width direction of the wheel; Obtaining a fourth included angle between the wheel and the ground along the driving direction of the wheel; Determining a third component force of the gravity perpendicular to the ground according to the third included angle and the fourth included angle; Calculating the third moment according to the third component force, the third included angle and the fourth included angle.

5. A vehicle load calculation system, characterized in that, The vehicle load calculation system is used to execute the vehicle load calculation method according to any one of claims 1 to 4, and the vehicle load calculation system includes: A first acquisition module (110) for acquiring the gravity of the wheel and the tire assembly (7) installed on the wheel; A first construction module (120) for constructing a first constraint condition that the resultant moment of the first origin is zero, and the center of gravity of the tire assembly (7) and the wheel are on the same side of the pin shaft; A second acquisition module (130) for acquiring the third moment of the gravity with respect to the first origin, and the first distance between the wheel reaction force and the first origin; A third acquisition module (140) for acquiring the second moment of the force sensor (6) on one side of the pin shaft with respect to the pin shaft; A calculation module (150) for calculating the wheel reaction force based on the first constraint condition, according to the third moment, the first distance, and the second moment.

6. The vehicle load calculation system according to claim 5, characterized in that, Comprising: A fourth acquisition module (160) for acquiring a first angle between the wheel and the ground in the width direction of the wheel; A first determination module (170) for determining a first component force of the gravity perpendicular to the ground according to the first angle; A first calculation unit (180) for calculating the third moment according to the first component force and the first angle.

7. The vehicle load calculation system according to claim 5, wherein, Comprising: A fifth acquisition module (190) for acquiring a second angle between the wheel and the ground in the driving direction of the wheel; A second determination module (210) for determining a second component force of the gravity perpendicular to the ground according to the second angle; A second calculation unit (220) for calculating the third moment according to the second component force and the second angle.

8. The vehicle load calculation system according to claim 5, wherein Comprising: A sixth acquisition module (230) for acquiring a third angle between the wheel and the ground in the width direction of the wheel, and acquiring a fourth angle between the wheel and the ground in the driving direction of the wheel; A third determination module (240) for determining a third component force of the gravity perpendicular to the ground according to the third angle and the fourth angle; A third calculation unit (250) for calculating the third moment according to the third component force, the third angle, and the fourth angle.

9. An aerial work platform, characterized in that, Comprising: A vehicle load calculation system, which is the vehicle load calculation system according to any one of claims 5 to 8; A controller (200) configured to: determine the working load of the aerial work platform by acquiring the wheel reaction force calculated by the vehicle load calculation system, and if the working load is greater than a preset maximum load, restrict the operation of the execution system (300) and / or give an alarm; and / or if the sum of the wheel reaction forces of two adjacent wheels is less than a set threshold, restrict the operation of the execution system (300) and / or give an alarm.

10. The aerial work platform according to claim 9, characterized in that, Comprising: An execution system (300), the execution system (300) includes an actuator (301) and an alarm device (302), and the execution system (300) is configured to stop the operation of the actuator (301) and / or start the alarm device (302) when receiving a signal for restricting the operation of the execution system (300) and / or giving an alarm sent by the controller (200).

11. The aerial work platform according to claim 10, characterized in that, Comprising a wheel reaction force detection device (100), and the wheel reaction force detection device (100) includes: A connecting plate (1) connected to the chassis, and a receiving cavity with an opening downward is provided on the connecting plate (1); A mounting plate (2) embedded in the receiving cavity for mounting a speed reducer (8); A base (3), the base (3) is fixed to one side of the connecting plate (1) and fits with the mounting plate (2); A pin shaft (4), and the pin shaft (4) is placed inside the base (3).

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