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

Abstract

The application relates to the field of vehicle detection, and discloses a weight checking method for a vehicle. The vehicle comprises a working platform, a slewing device and a platform weighing device, the working platform is provided with a load, the slewing device comprises a slewing motor and a speed reducer, and the weight checking method for the vehicle comprises the following steps: acquiring the mass of the working platform, and determining the first total weight of the working platform and the load by using the platform weighing device; obtaining the output torque of the slewing motor according to the power of the slewing motor and the rotating speed of the slewing motor; determining the total relationship between the mass of the load and the input torque of the speed reducer; calculating the second total weight of the working platform and the load according to the total relationship, the mass of the working platform and the output torque of the slewing motor; and generating weight checking information based on the error value of the first total weight and the second total weight. The accuracy of the platform weighing device is detected by using the calculated second total weight, so that the weight value of the working platform obtained by the platform weighing device is prevented from being inaccurate.

Description

Technical Field

[0001] This invention relates to the field of vehicle inspection, and more specifically, to a method, apparatus, vehicle, and storage medium for verifying the weight of a vehicle. Background Technology

[0002] Aerial work platforms are personnel-carrying devices used to lift personnel or equipment to a designated height. Overloading an aerial work platform not only damages internal components and hinders aerial work operations, but can also lead to safety accidents. Vehicle-mounted aerial work platforms are typically equipped with load cells to determine the platform's weight. Based on the load cell readings, the boom's extension range is adjusted, and it's determined whether the platform is overloaded.

[0003] However, when using load cells to weigh aerial work platforms, inaccurate weight readings can occur. If the load cell reading is greater than the actual weight of the aerial work platform, the boom's range of motion is significantly limited, impacting operational efficiency. Conversely, if the load cell reading is less than the actual weight, there is a risk of vehicle rollover. Furthermore, when load cells malfunction, such as experiencing data drift, the resulting weight readings become inaccurate, failing to accurately reflect the platform's weight and consequently affecting the user's aerial work operations. Summary of the Invention

[0004] The purpose of this invention is to provide a device that solves the problem of inaccurate weight values ​​of aerial work platforms.

[0005] To achieve the above objectives, the present invention provides a method for weight verification of a vehicle, the vehicle comprising a working platform, a slewing device, and a platform weighing device, the working platform carrying a load, the slewing device comprising a slewing motor and a reducer, the method comprising:

[0006] The mass of the work platform is obtained, and the first total weight of the work platform and the loaded object is determined using the platform weighing device;

[0007] The output torque of the rotary motor is obtained based on its power and rotational speed.

[0008] Determine the overall relationship between the mass of the loaded object and the input torque of the reducer, wherein the input torque of the reducer is equal to the output torque of the rotary motor;

[0009] Based on the overall relationship, the mass of the work platform, and the output torque of the rotary motor, calculate the second total weight of the work platform and the loaded object;

[0010] Weight verification information is generated based on the error value between the first total weight and the second total weight.

[0011] In conjunction with the first aspect, in a first possible implementation, determining the overall relationship between the mass of the mounted object and the input torque of the reducer includes:

[0012] A first relationship between the mass of the payload and the total centrifugal force is determined, and a second relationship between the mass of the payload and the total overturning moment is determined, wherein the total centrifugal force is the sum of the centrifugal force of the working platform and the centrifugal force of the payload, and the total overturning moment is the sum of the overturning moment of the working platform and the overturning moment of the payload;

[0013] Based on the first relationship and the second relationship, the overall relationship between the mass of the mounted object and the input torque of the reducer is determined.

[0014] In a second possible implementation, in conjunction with the first possible implementation of the first aspect, determining the overall relationship between the mass of the payload and the input torque of the reducer based on the first relationship and the second relationship includes:

[0015] Based on the first relationship, the second relationship, the raceway diameter of the reducer, the friction coefficient of the reducer, the stiffness coefficient of the reducer, and the rolling element pressure angle of the reducer, a third relationship between the mass of the mounted object and the total rolling element pressure of the reducer is determined.

[0016] Based on the third relationship, the overall relationship between the mass of the mounted object and the input torque of the reducer is determined.

[0017] In a third possible implementation, in conjunction with the second possible implementation of the first aspect, determining the overall relationship between the mass of the payload and the input torque of the reducer based on the third relationship includes:

[0018] Based on the third relationship, the raceway diameter, and the friction coefficient, a fourth relationship is determined between the mass of the mounted object and the minimum starting frictional resistance torque of the reducer;

[0019] Based on the fourth relationship, the reduction ratio of the reducer, and the transmission power of the reducer, the overall relationship between the mass of the mounted object and the input torque of the reducer is determined.

[0020] In a fourth possible implementation, in conjunction with the first possible implementation of the first aspect, determining the first relationship between the mass of the payload and the total centrifugal force, and determining the second relationship between the mass of the payload and the total overturning moment, includes:

[0021] The first distance and the second distance of the working platform corresponding to the rotary device are obtained, and the third distance and the fourth distance of the loaded object corresponding to the rotary device are obtained, wherein the first distance and the third distance are in the same direction, and the second distance and the fourth distance are in the same direction;

[0022] The centrifugal force of the working platform is obtained based on the mass of the working platform, the first distance, and the rotational speed of the rotary motor.

[0023] Based on the third distance and the rotational speed of the rotary motor, a first sub-relationship between the mass of the payload and the centrifugal force of the payload is determined;

[0024] Based on the first sub-relationship and the centrifugal force of the operating platform, a first relationship between the mass of the loaded object and the total centrifugal force is determined;

[0025] Determine a second sub-relationship between the mass of the payload and the weight of the payload;

[0026] The weight of the work platform is obtained based on its mass.

[0027] Based on the centrifugal force of the work platform, the weight of the work platform, the first sub-relationship, the second sub-relationship, the first distance, the second distance, the third distance, and the fourth distance, a second relationship between the mass of the loaded object and the total overturning moment is determined.

[0028] In conjunction with the fourth possible implementation of the first aspect, in the fifth possible implementation, determining the second relationship between the mass of the payload and the total overturning moment based on the centrifugal force of the work platform, the weight of the work platform, the first sub-relationship, the second sub-relationship, the first distance, the second distance, the third distance, and the fourth distance includes:

[0029] Based on the centrifugal force of the working platform and the first distance, the centrifugal overturning moment of the working platform is obtained;

[0030] Based on the weight of the work platform and the second distance, the overturning moment of the work platform is obtained.

[0031] The overturning moment of the working platform is obtained based on the centrifugal overturning moment and the weight overturning moment of the working platform.

[0032] Based on the first sub-relationship and the third distance, a third sub-relationship between the mass of the payload and the centrifugal overturning moment of the payload is obtained;

[0033] Based on the second sub-relationship and the fourth distance, a fourth sub-relationship between the mass of the payload and the weight overturning moment of the payload is obtained;

[0034] Based on the third and fourth sub-relationships, a fifth sub-relationship between the mass of the payload and the overturning moment of the payload is obtained;

[0035] Based on the overturning moment of the work platform and the fifth sub-relationship, a second relationship between the mass of the loaded object and the total overturning moment is determined.

[0036] In conjunction with the first aspect, in the sixth possible implementation, calculating the second total weight of the working platform and the payload based on the overall relationship, the mass of the working platform, and the output torque of the rotary motor includes:

[0037] The mass of the loaded object is obtained based on the overall relationship, the mass of the working platform, and the input torque of the reducer;

[0038] Based on the mass of the payload and the mass of the work platform, calculate the second total weight of the work platform and the payload.

[0039] In conjunction with the first aspect, in the seventh possible implementation, generating weight verification information based on the error value between the first total weight and the second total weight includes:

[0040] Calculate the error between the first total weight and the second total weight;

[0041] If the error value is less than a preset threshold, weight verification information is generated indicating that the first total weight is not abnormal.

[0042] If the error value is greater than or equal to a preset threshold, weight verification information indicating that the first total weight is abnormal is generated.

[0043] Secondly, this application provides a weight verification device for a vehicle, the vehicle including a working platform, a slewing device, and a platform weighing device, the working platform carrying a load, the slewing device including a slewing motor and a reducer, the device comprising:

[0044] The first total weight determination module is used to obtain the mass of the work platform and determine the first total weight of the work platform and the load using the platform weighing device;

[0045] The output torque obtaining module is used to obtain the output torque of the rotary motor based on the power and speed of the rotary motor.

[0046] The overall relationship determination module is used to determine the overall relationship between the mass of the loaded object and the input torque of the reducer, wherein the input torque of the reducer is equal to the output torque of the rotary motor;

[0047] The second total weight determination module is used to calculate the second total weight of the working platform and the load based on the total relationship, the mass of the working platform and the output torque of the rotary motor;

[0048] The verification information generation module is used to generate weight verification information based on the error value between the first total weight and the second total weight.

[0049] Thirdly, this application provides a vehicle, which includes a working platform, a slewing device platform weighing device, a memory, and a processor. The memory stores a computer program, which, when executed by the processor, implements the weight verification method for the vehicle as described in the first aspect.

[0050] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the weight verification method for a vehicle as described in the first aspect.

[0051] This application provides a method for weight verification of a vehicle. The vehicle includes a work platform, a slewing device, and a platform weighing device. The work platform carries a load, and the slewing device includes a slewing motor and a reducer. The method includes: acquiring the mass of the work platform and determining a first total weight of the work platform and the load using the platform weighing device; obtaining the output torque of the slewing motor based on its power and rotational speed; determining the overall relationship between the mass of the load and the input torque of the reducer; calculating a second total weight of the work platform and the load based on the overall relationship, the mass of the work platform, and the output torque of the slewing motor; and generating weight verification information based on the error value between the first and second total weights. Without requiring additional components in the vehicle, the calculated second total weight is used to check the accuracy of the platform weighing device, thereby avoiding inaccurate weight values ​​obtained using the platform weighing device.

[0052] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0053] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0054] Figure 1 A flowchart of a vehicle weight verification method provided in an embodiment of this application is shown;

[0055] Figure 2 A schematic diagram of the vehicle structure provided in an embodiment of this application is shown;

[0056] Figure 3 This application provides a partial structural schematic diagram of a vehicle according to an embodiment of the present application.

[0057] Figure 4 A schematic diagram of the structure of a weight verification device for vehicles provided in an embodiment of this application is shown.

[0058] Explanation of reference numerals in the attached figures

[0059] 200-vehicles

[0060] 210-Working platform; 220-Slewing device; 230-Platform weighing device

[0061] 221-Rotary Motor Detailed Implementation

[0062] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of the present invention.

[0063] The components of the embodiments of the invention described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0064] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of the invention, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0065] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0066] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the invention pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the invention.

[0067] Example 1

[0068] Please see Figure 1 , Figure 1 A flowchart of a weight verification method for vehicles provided in an embodiment of this application is shown.

[0069] The vehicle includes a work platform, a slewing device, and a platform weighing device. The work platform carries a load, and the slewing device includes a slewing motor and a reducer. Figure 1 The methods for verifying vehicle weight include:

[0070] S110, obtain the mass of the work platform, and use the platform weighing device to determine the first total weight of the work platform and the load.

[0071] Please see Figure 2 , Figure 2 A schematic diagram of the vehicle structure provided in an embodiment of this application is shown.

[0072] In this embodiment, vehicle 200 is a vehicle-mounted aerial work platform. Specifically, vehicle 200 includes a work platform 210, a slewing device 220, and a platform weighing device 230. When using vehicle 200 for aerial work, the work platform is used to carry the load, which is set according to actual needs and can be personnel or equipment; no limitation is made here. The slewing device 220 includes a slewing motor and a reducer. For ease of understanding, Figure 2 The rotary motor and reducer are not specifically shown. The rotary device 220 is used to transfer the work platform 210. The platform weighing device 230 is used to obtain the real-time total weight of the work platform 210. It should be understood that the vehicle 200 also includes other mechanical structures such as the vehicle chassis, the first boom structure, and the second boom structure. These other mechanical structures are set according to actual needs and are not limited here.

[0073] The work platform 210 can be weighed before leaving the factory to obtain its mass. Alternatively, the mass of the work platform 210 can be determined using a platform weighing device when the platform is unloaded; this will not be elaborated upon here. In this embodiment, the work platform 210 carries a load, and the first total weight of the work platform 210 and the load is determined using a platform weighing device 230. By weighing the work platform 210 in real time, overloading of the work platform is avoided.

[0074] S120, the output torque of the rotary motor is obtained based on the power and speed of the rotary motor.

[0075] Please see Figure 3 , Figure 3 A partial structural schematic diagram of the vehicle provided in an embodiment of this application is shown.

[0076] When the work platform 210 of vehicle 200 performs slewing operations, the slewing motor 221 drives the rolling elements in the raceway of the reducer to move, thereby driving the slewing device 200 to rotate. During the operation of the slewing motor 221, its power and torque can be monitored in real time. Based on the power and torque of the slewing motor 221, the output torque of the slewing motor 221 is obtained as follows:

[0077]

[0078] Where M is the output torque of the rotary motor, P is the power of the rotary motor, n is the speed of the rotary motor, U is the voltage of the rotary motor, and I is the current of the rotary motor.

[0079] S130, determine the overall relationship between the mass of the mounted object and the input torque of the reducer.

[0080] The reduction ratio and transmission power of a speed reducer are usually known specifications. Therefore, the input torque of the speed reducer can be calculated.

[0081]

[0082] Where M is the input torque of the reducer, i is the reduction ratio of the reducer, η is the transmission power of the reducer, and f is the minimum starting frictional resistance torque of the reducer.

[0083] It is important to understand that when the rotary motor drives the reducer, the input torque of the reducer is equal to the output torque of the rotary motor. When the reducer drives the rotary device to rotate, the minimum starting frictional resistance torque of the reducer is affected by the mass of the working platform and the mass of the load. Therefore, the overall relationship between the mass of the load and the input torque of the reducer can be determined based on formula (2).

[0084] As an example, determining the overall relationship between the mass of the payload and the input torque of the reducer includes:

[0085] A first relationship between the mass of the payload and the total centrifugal force is determined, and a second relationship between the mass of the payload and the total overturning moment is determined, wherein the total centrifugal force is the sum of the centrifugal force of the working platform and the centrifugal force of the payload, and the total overturning moment is the sum of the overturning moment of the working platform and the overturning moment of the payload;

[0086] Based on the first relationship and the second relationship, the overall relationship between the mass of the mounted object and the input torque of the reducer is determined.

[0087] The total centrifugal force is the sum of the centrifugal force of the working platform and the centrifugal force of the loaded object. The total centrifugal force is affected by the combined mass of the working platform and the loaded object. Once the mass of the working platform is obtained, the first relationship between the mass of the loaded object and the total centrifugal force can be determined. Similarly, the total overturning moment is the sum of the overturning moment of the working platform and the overturning moment of the loaded object. The total overturning moment is affected by the combined mass of the working platform and the loaded object. Once the mass of the working platform is obtained, the second relationship between the mass of the loaded object and the total overturning moment can be determined. Given that the input torque of the reducer is equal to the output torque of the rotary motor, the total centrifugal force and the total overturning moment can be obtained from the input torque of the reducer. Based on the obtained total centrifugal force and total overturning moment, the mass of the loaded object can be calculated.

[0088] In an optional example, determining a first relationship between the mass of the payload and the total centrifugal force, and determining a second relationship between the mass of the payload and the total overturning moment, includes:

[0089] The first distance and the second distance of the working platform corresponding to the rotary device are obtained, and the third distance and the fourth distance of the loaded object corresponding to the rotary device are obtained, wherein the first distance and the third distance are in the same direction, and the second distance and the fourth distance are in the same direction;

[0090] The centrifugal force of the working platform is obtained based on the mass of the working platform, the first distance, and the rotational speed of the rotary motor.

[0091] Based on the third distance and the rotational speed of the rotary motor, a first sub-relationship between the mass of the payload and the centrifugal force of the payload is determined;

[0092] Based on the first sub-relationship and the centrifugal force of the operating platform, a first relationship between the mass of the loaded object and the total centrifugal force is determined;

[0093] Determine a second sub-relationship between the mass of the payload and the weight of the payload;

[0094] The weight of the work platform is obtained based on its mass.

[0095] Based on the centrifugal force of the work platform, the weight of the work platform, the first sub-relationship, the second sub-relationship, the first distance, the second distance, the third distance, and the fourth distance, a second relationship between the mass of the loaded object and the total overturning moment is determined.

[0096] Based on the center of mass of the working platform and the center of mass of the rotating device, a first distance and a second distance between the working platform and the rotating device are obtained. Based on the center of mass of the object being carried and the center of mass of the rotating device, a third distance and a fourth distance between the object being carried and the rotating device are obtained. For ease of understanding, in the embodiments of this application, the first distance is the horizontal distance between the working platform and the rotating device, and the third distance is the horizontal distance between the object being carried and the rotating device; the first distance and the third distance are in the same direction. The second distance is the vertical distance between the working platform and the rotating device, and the fourth distance is the vertical distance between the object being carried and the rotating device; the second distance and the fourth distance are in the same direction.

[0097] Based on the mass of the working platform, the initial distance, and the rotational speed of the rotary motor, the centrifugal force of the working platform is calculated as follows:

[0098] F1=m1*V1*V1*X1 Formula (3)

[0099] Where F1 is the centrifugal force of the working platform, m1 is the mass of the working platform, V1 is the rotational speed of the rotary motor, and X1 is the first distance.

[0100] The mass of the payload and the working platform can be calculated using the same centrifugal force formula. Since the mass of the payload is unknown, based on the third distance and the rotational motor speed, the first sub-relationship between the mass of the payload and the centrifugal force of the payload is determined as follows:

[0101] F2=m2*V2*V2*X2 Formula (4)

[0102] Where F2 is the centrifugal force of the object being carried, m2 is the mass of the object being carried, V2 is the rotational speed of the rotary motor, and X2 is the third distance.

[0103] The total centrifugal force is the sum of the centrifugal force of the work platform and the centrifugal force of the carried object. Based on the first sub-relationship and the centrifugal force of the work platform, the first relationship between the mass of the carried object and the total centrifugal force is determined as follows:

[0104] F r =F1+F2=m1*V1*V1*X1+m2*V2*V2*X2 Formula (5)

[0105] Among them, F rF1 is the total centrifugal force, F2 is the centrifugal force of the work platform, F2 is the centrifugal force of the load, m1 is the mass of the work platform, m2 is the mass of the load, V2 is the rotation speed of the rotary motor, V1 is the rotation speed of the rotary motor, X1 is the first distance, and X2 is the third distance.

[0106] For ease of understanding, the acceleration due to gravity is taken as 9.8 in the embodiments of this application. Based on the mass of the work platform and the acceleration due to gravity, the weight of the work platform is obtained as follows:

[0107] G1=m1*9.8 Formula (6)

[0108] Where G1 is the gravity of the work platform and m1 is the mass of the work platform.

[0109] The mass of the payload and the work platform can be calculated using the same mass formula. Since the mass of the payload is unknown, the second sub-relationship between the mass of the payload and the weight of the payload can be determined as follows:

[0110] G2 = m2 * 9.8 Formula (7)

[0111] Where G2 is the gravity of the payload and m2 is the mass of the payload.

[0112] The sum of the weight of the payload and the weight of the work platform is:

[0113] F a =G1+G2 Formula (8)

[0114] Among them, F a G1 is the sum of the weight of the load and the weight of the work platform, and G2 is the weight of the load.

[0115] Based on the torque of the centrifugal force of the working platform and the centrifugal force of the load, as well as the torque of the weight of the working platform and the weight of the load, a second relationship between the mass of the load and the total overturning moment is determined.

[0116] In an optional example, a second relationship between the mass of the payload and the total overturning moment is determined based on the centrifugal force of the work platform, the weight of the work platform, the first sub-relationship, the second sub-relationship, the first distance, the second distance, the third distance, and the fourth distance, including:

[0117] Based on the centrifugal force of the working platform and the first distance, the centrifugal overturning moment of the working platform is obtained;

[0118] Based on the weight of the work platform and the second distance, the overturning moment of the work platform is obtained.

[0119] The overturning moment of the working platform is obtained based on the centrifugal overturning moment and the weight overturning moment of the working platform.

[0120] Based on the first sub-relationship and the third distance, a third sub-relationship between the mass of the payload and the centrifugal overturning moment of the payload is obtained;

[0121] Based on the second sub-relationship and the fourth distance, a fourth sub-relationship between the mass of the payload and the weight overturning moment of the payload is obtained;

[0122] Based on the third and fourth sub-relationships, a fifth sub-relationship between the mass of the payload and the overturning moment of the payload is obtained;

[0123] Based on the overturning moment of the work platform and the fifth sub-relationship, a second relationship between the mass of the loaded object and the total overturning moment is determined.

[0124] Based on the centrifugal force of the working platform and the first distance, the centrifugal overturning moment of the working platform is obtained. Based on the weight of the working platform and the second distance, the weight overturning moment of the working platform is obtained. The sum of the centrifugal overturning moment and the weight overturning moment of the working platform is the overturning moment of the working platform:

[0125] M1=G1*X1+F1*H1 formula (9)

[0126] Where M1 is the overturning moment of the work platform, G2 is the weight of the load, X2 is the third distance, F1 is the centrifugal force of the work platform, and H1 is the second distance.

[0127] Based on the first sub-relation and the third distance, the third sub-relationship between the mass of the payload and its centrifugal overturning moment is obtained. Based on the second sub-relationship and the fourth distance, the fourth sub-relationship between the mass of the payload and its weight overturning moment is obtained. The sum of the centrifugal overturning moment and the weight overturning moment of the payload is the overturning moment of the payload:

[0128] M2=G2*X2+F2*H2 Formula (10)

[0129] Where M2 is the overturning moment of the object being carried, G1 is the gravity of the working platform, X1 is the first distance, F2 is the centrifugal force of the object being carried, and H2 is the fourth distance.

[0130] Substituting the formulas (4) corresponding to the first sub-relationship and (7) corresponding to the second sub-relationship into formula (10), we obtain the fifth sub-relationship between the mass of the load and the overturning moment of the load. The formula for the fifth sub-relationship is not shown here. Adding the overturning moment of the work platform and the overturning moment of the load, we obtain the total overturning moment as follows:

[0131] M Q =M1+M2=G1*X1+F1*H1+G2*X2+F2*H2 Formula (11)

[0132] Among them, M Q M1 is the total overturning moment, M2 is the overturning moment of the work platform, G1 is the gravity of the work platform, G2 is the gravity of the load, X1 is the first distance, X2 is the third distance, F1 is the centrifugal force of the work platform, F2 is the centrifugal force of the load, H1 is the second distance, and H2 is the fourth distance.

[0133] Substitute the formula (4) corresponding to the first sub-relationship and the formula (7) corresponding to the second sub-relationship into the formula (11) to determine the second relationship between the mass of the load and the total overturning moment. The formula for the second relationship will not be shown here.

[0134] In an optional example, determining the overall relationship between the mass of the payload and the input torque of the reducer based on the first relationship and the second relationship includes:

[0135] Based on the first relationship, the second relationship, the raceway diameter of the reducer, the friction coefficient of the reducer, the stiffness coefficient of the reducer, and the rolling element pressure angle of the reducer, a third relationship between the mass of the mounted object and the total rolling element pressure of the reducer is determined.

[0136] Based on the third relationship, the overall relationship between the mass of the mounted object and the input torque of the reducer is determined.

[0137] When the work platform rotates, the rolling elements in the reducer raceway move, thereby driving the slewing device to rotate. The pressure of all rolling elements in the raceway is affected by the mass of the load. Based on the first relationship, the second relationship, the reducer raceway diameter, the reducer friction coefficient, the reducer stiffness coefficient, and the reducer rolling element pressure angle, the total rolling element pressure is determined as follows:

[0138]

[0139]

[0140] Where ∑N is the total pressure of the rolling elements, F a The weight of the load is the sum of the weight of the work platform, D0 is the raceway diameter of the reducer, μ is the friction coefficient of the reducer, K is the stiffness coefficient of the reducer, γ is the rolling element pressure angle of the reducer, and M is the total weight of the load. Q For the total overturning moment, F r This represents the total centrifugal force.

[0141] Substituting formula (5) corresponding to the first relationship and formula (11) corresponding to the second relationship into formula (12), we obtain the third relationship between the mass of the mounted object and the total pressure of the rolling elements of the reducer. The formula for the third relationship is not shown here. Based on the third relationship, we determine the total relationship between the mass of the mounted object and the input torque of the reducer.

[0142] In an optional example, determining the overall relationship between the mass of the payload and the input torque of the reducer based on the third relationship includes:

[0143] Based on the third relationship, the raceway diameter, and the friction coefficient, a fourth relationship is determined between the mass of the mounted object and the minimum starting frictional resistance torque of the reducer;

[0144] Based on the fourth relationship, the reduction ratio of the reducer, and the transmission power of the reducer, the overall relationship between the mass of the mounted object and the input torque of the reducer is determined.

[0145] The minimum starting frictional resistance torque of the reducer is affected by the pressure of the rolling elements in the reducer. Based on the third relationship, raceway diameter, and friction coefficient, the mass of the loaded object and the minimum starting frictional resistance torque of the reducer are determined as follows:

[0146] f = 0.5 * D0 * μ * ∑N Formula (14)

[0147] Where f is the minimum starting frictional resistance torque of the reducer, D0 is the raceway diameter of the reducer, μ is the friction coefficient of the reducer, and ∑N is the total pressure of the rolling elements.

[0148] Substituting the formulas (5) corresponding to the first relationship, (11) corresponding to the second relationship, and (12) corresponding to the third relationship into formula (14), we obtain the fourth relationship between the mass of the mounted object and the minimum starting frictional resistance torque of the reducer. The formula for the fourth relationship is not shown here. Substituting the formulas (5) corresponding to the first relationship, (11) corresponding to the second relationship, (12) corresponding to the third relationship, and (14) corresponding to the fourth relationship into formula (2), we obtain the overall relationship between the mass of the mounted object and the input torque of the reducer. The formula for the overall relationship is not shown here.

[0149] S140, calculate the second total weight of the working platform and the load based on the total relationship, the mass of the working platform and the output torque of the rotary motor.

[0150] The input torque of the reducer is equal to the output torque of the rotary motor, thus establishing a calculation equation for the input torque of the reducer and the output torque of the rotary motor. Based on the overall relationship, the mass of the working platform, and the output torque of the rotary motor, the second total weight of the working platform and the loaded load is calculated.

[0151] In an optional example, calculating the second total weight of the work platform and the payload based on the total relationship, the mass of the work platform, and the output torque of the rotary motor includes:

[0152] The mass of the loaded object is obtained based on the overall relationship, the mass of the working platform, and the input torque of the reducer;

[0153] Based on the mass of the payload and the mass of the work platform, calculate the second total weight of the work platform and the payload.

[0154] The input torque of the reducer can be obtained based on the minimum starting frictional resistance torque, the reduction ratio, and the transmission power of the reducer. An equation is established to calculate the input torque of the reducer and the output torque of the rotary motor. Substituting the formulas (5), (11), (12), and (14) corresponding to the first, second, third, and fourth relationships into the formula (2) for calculating the input torque of the reducer, the mass of the loaded object is obtained as follows:

[0155]

[0156] Where n is the rotational speed of the rotary motor, U is the voltage of the rotary motor, I is the current of the rotary motor, i is the reduction ratio of the reducer, η is the transmission power of the reducer, m1 is the mass of the working platform, m2 is the mass of the loaded object, V2 is the rotational speed of the rotary motor, V1 is the rotational speed of the rotary motor, X1 is the first distance, X2 is the third distance, H1 is the second distance, H2 is the fourth distance, D0 is the raceway diameter of the reducer, μ is the friction coefficient of the reducer, K is the stiffness coefficient of the reducer, and γ is the rolling element pressure angle of the reducer.

[0157] Based on the calculated mass of the payload and the obtained mass of the work platform, the second total weight of the work platform and the payload is calculated.

[0158] S150, Based on the error value between the first total weight and the second total weight, generate weight verification information.

[0159] When the platform weighing device malfunctions, such as data offset, the weight value of the aerial work platform obtained using the platform weighing device may be inaccurate. Weight verification information is generated based on the error between the first and second total weights. When calculating the first total weight of the work platform and its load, the rotary motor and reducer used are components already included in the vehicle. Without requiring additional components on the vehicle, the calculated second total weight is used to check the accuracy of the platform weighing device, thereby avoiding inaccurate weight values ​​obtained using the platform weighing device.

[0160] Furthermore, based on the error values ​​between the first and second total weights, if the error of the platform weighing device is determined to be large, an alarm message can be generated to restrict the vehicle's turning motion, thereby mitigating safety risks. As an example, generating weight verification information based on the error values ​​between the first and second total weights includes:

[0161] Calculate the error between the first total weight and the second total weight;

[0162] If the error value is less than a preset threshold, weight verification information is generated indicating that the first total weight is not abnormal.

[0163] If the error value is greater than or equal to a preset threshold, weight verification information indicating that the first total weight is abnormal is generated.

[0164] Calculate the error between the first total weight and the second total weight, and determine whether the error is less than a preset threshold:

[0165]

[0166] Where G is the first total weight, G0 is the second total weight, and k is a preset threshold.

[0167] It's important to understand that the value of k is set based on actual needs and can be any value between 0.05 and 0.1; no specific limit is imposed here. If the error value is less than a preset threshold, the weight of the work platform obtained by the platform weighing device is determined to be within the allowable error range, and weight verification information indicating no abnormality in the first total weight is generated. Based on the first total weight, the boom limit of the aerial work platform is adjusted in real time, and it is determined whether the work platform is overloaded. If the error value is greater than or equal to the preset threshold, the error of the platform weighing device is determined to be large, and the weight value of the work platform obtained by the platform weighing device is inaccurate, generating weight verification information indicating an abnormality in the first total weight.

[0168] This application provides a method for weight verification of a vehicle. The vehicle includes a work platform, a slewing device, and a platform weighing device. The work platform carries a load, and the slewing device includes a slewing motor and a reducer. The method includes: acquiring the mass of the work platform and determining a first total weight of the work platform and the load using the platform weighing device; obtaining the output torque of the slewing motor based on its power and rotational speed; determining the overall relationship between the mass of the load and the input torque of the reducer; calculating a second total weight of the work platform and the load based on the overall relationship, the mass of the work platform, and the output torque of the slewing motor; and generating weight verification information based on the error value between the first and second total weights. Without requiring additional components in the vehicle, the calculated second total weight is used to check the accuracy of the platform weighing device, thereby avoiding inaccurate weight values ​​obtained using the platform weighing device.

[0169] Example 2

[0170] Please see Figure 4 , Figure 4 A schematic diagram of the structure of a weight verification device for vehicles provided in an embodiment of this application is shown.

[0171] The vehicle includes a work platform, a slewing device, and a platform weighing device. The work platform carries a load, and the slewing device includes a slewing motor and a reducer. Figure 4 The vehicle weight verification device 300 includes:

[0172] The first total weight determination module 310 is used to obtain the mass of the work platform and determine the first total weight of the work platform and the load using the platform weighing device;

[0173] The output torque obtaining module 320 is used to obtain the output torque of the rotary motor based on the power and speed of the rotary motor.

[0174] The overall relationship determination module 330 is used to determine the overall relationship between the mass of the loaded object and the input torque of the reducer, wherein the input torque of the reducer is equal to the output torque of the rotary motor;

[0175] The second total weight determination module 340 is used to calculate the second total weight of the working platform and the load based on the total relationship, the mass of the working platform and the output torque of the rotary motor;

[0176] The verification information generation module 350 is used to generate weight verification information based on the error value between the first total weight and the second total weight.

[0177] As an example, the total relationship determination module 330 includes:

[0178] The first relationship and second relationship modules are used to determine a first relationship between the mass of the payload and the total centrifugal force, and to determine a second relationship between the mass of the payload and the total overturning moment, wherein the total centrifugal force is the sum of the centrifugal force of the working platform and the centrifugal force of the payload, and the total overturning moment is the sum of the overturning moment of the working platform and the overturning moment of the payload;

[0179] The first overall relationship module is used to determine the overall relationship between the mass of the load and the input torque of the reducer based on the first relationship and the second relationship.

[0180] In an optional example, the first total relation module includes:

[0181] The third relationship module is used to determine a third relationship between the mass of the mounted object and the total pressure of the rolling elements of the reducer based on the first relationship, the second relationship, the raceway diameter of the reducer, the friction coefficient of the reducer, the stiffness coefficient of the reducer, and the rolling element pressure angle of the reducer.

[0182] The second overall relationship module is used to determine the overall relationship between the mass of the mounted object and the input torque of the reducer based on the third relationship.

[0183] In an optional example, the second total relation module includes:

[0184] The fourth relationship module is used to determine a fourth relationship between the mass of the mounted object and the minimum starting frictional resistance torque of the reducer based on the third relationship, the raceway diameter, and the friction coefficient.

[0185] The third overall relationship module is used to determine the overall relationship between the mass of the mounted object and the input torque of the reducer based on the fourth relationship, the reduction ratio of the reducer, and the transmission power of the reducer.

[0186] In an optional example, the first relation and the second relation modules include:

[0187] The distance acquisition module is used to acquire a first distance and a second distance between the working platform and the rotary device, and to acquire a third distance and a fourth distance between the loaded object and the rotary device, wherein the first distance and the third distance are in the same direction, and the second distance and the fourth distance are in the same direction;

[0188] The centrifugal force module of the work platform is used to obtain the centrifugal force of the work platform based on the mass of the work platform, the first distance, and the rotation speed of the rotary motor.

[0189] The first sub-relationship module is used to determine the first sub-relationship between the mass of the payload and the centrifugal force of the payload based on the third distance and the rotation speed of the rotary motor.

[0190] The first relationship determination module is used to determine a first relationship between the mass of the payload and the total centrifugal force based on the first sub-relationship and the centrifugal force of the operating platform;

[0191] The second sub-relationship module is used to determine a second sub-relationship between the mass of the payload and the weight of the payload;

[0192] The work platform quality module is used to obtain the weight of the work platform based on its quality.

[0193] The second relationship determination module is used to determine a second relationship between the mass of the load and the total overturning moment based on the centrifugal force of the work platform, the weight of the work platform, the first sub-relationship, the second sub-relationship, the first distance, the second distance, the third distance, and the fourth distance.

[0194] In an optional example, the second relationship determination module includes:

[0195] The centrifugal force overturning moment module of the working platform is used to obtain the centrifugal force overturning moment of the working platform based on the centrifugal force of the working platform and the first distance;

[0196] The overturning moment module for the work platform is used to obtain the overturning moment of the work platform based on the weight of the work platform and the second distance;

[0197] The overturning moment module of the work platform is used to obtain the overturning moment of the work platform based on the centrifugal force overturning moment and the weight overturning moment of the work platform;

[0198] The third sub-relationship module is used to obtain a third sub-relationship between the mass of the payload and the centrifugal overturning moment of the payload based on the first sub-relationship and the third distance;

[0199] The fourth sub-relationship module is used to obtain a fourth sub-relationship between the mass of the payload and the weight overturning moment of the payload based on the second sub-relationship and the fourth distance;

[0200] The fifth sub-relationship module is used to obtain a fifth sub-relationship between the mass of the payload and the overturning moment of the payload based on the third sub-relationship and the fourth sub-relationship;

[0201] The second relationship module is used to determine the second relationship between the mass of the loaded object and the total overturning moment based on the overturning moment of the working platform and the fifth sub-relationship.

[0202] As an example, the second total weight determination module 340 includes:

[0203] The payload mass module is used to obtain the mass of the payload based on the overall relationship, the mass of the working platform, and the input torque of the reducer.

[0204] The second total weight module is used to calculate the second total weight of the work platform and the payload based on the mass of the payload and the mass of the work platform.

[0205] As an example, the verification information generation module 350 includes:

[0206] An error value calculation module is used to calculate the error value between the first total weight and the second total weight;

[0207] The non-abnormal verification module is used to generate weight verification information indicating that the first total weight is not abnormal when the error value is less than a preset threshold.

[0208] An anomaly verification module is used to generate weight verification information indicating that the first total weight is abnormal when the error value is greater than or equal to a preset threshold.

[0209] The vehicle weight verification device 300 performs the corresponding steps in the vehicle weight verification method described above. The specific implementation of each function will not be described in detail here. Furthermore, the optional examples in Embodiment 1 are also applicable to the vehicle weight verification device 300 in Embodiment 2.

[0210] This application also provides a vehicle, which includes a working platform, a slewing device platform, a weighing device, a memory, and a processor. The memory stores a computer program, which, when executed by the processor, implements the weight verification method for the vehicle as described in Embodiment 1.

[0211] In this embodiment, the first total weight determination module 310, the output torque acquisition module 320, the total relationship determination module 330, the second total weight determination module 340, and the verification information generation module 350 are all stored as program units in the memory, and the processor executes the above program units stored in the memory to realize the corresponding functions.

[0212] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured; adjusting kernel parameters can correct inaccurate weight readings of aerial work platforms.

[0213] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0214] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the weight verification method for vehicles as described in Embodiment 1.

[0215] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0216] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0217] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0218] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0219] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0220] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0221] Computer-readable storage media include both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0222] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0223] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for verifying the weight of a vehicle, the vehicle comprising a working platform, a slewing device, and a platform weighing device, the working platform carrying a load, the slewing device comprising a slewing motor and a reducer, characterized in that, The method includes: The mass of the work platform is obtained, and the first total weight of the work platform and the loaded object is determined using the platform weighing device; The output torque of the rotary motor is obtained based on its power and rotational speed. Determine the overall relationship between the mass of the loaded object and the input torque of the reducer, wherein the input torque of the reducer is equal to the output torque of the rotary motor; Based on the overall relationship, the mass of the work platform, and the output torque of the rotary motor, calculate the second total weight of the work platform and the loaded object; Based on the error value between the first total weight and the second total weight, weight verification information is generated; The determination of the overall relationship between the mass of the loaded object and the input torque of the reducer includes: A first relationship between the mass of the payload and the total centrifugal force is determined, and a second relationship between the mass of the payload and the total overturning moment is determined, wherein the total centrifugal force is the sum of the centrifugal force of the working platform and the centrifugal force of the payload, and the total overturning moment is the sum of the overturning moment of the working platform and the overturning moment of the payload; Based on the first relationship and the second relationship, determine the overall relationship between the mass of the loaded object and the input torque of the reducer; Determining the first relationship between the mass of the payload and the total centrifugal force, and determining the second relationship between the mass of the payload and the total overturning moment, includes: The first distance and the second distance of the working platform corresponding to the rotary device are obtained, and the third distance and the fourth distance of the loaded object corresponding to the rotary device are obtained, wherein the first distance and the third distance are in the same direction, and the second distance and the fourth distance are in the same direction; The centrifugal force of the working platform is obtained based on the mass of the working platform, the first distance, and the rotational speed of the rotary motor. Based on the third distance and the rotational speed of the rotary motor, a first sub-relationship between the mass of the payload and the centrifugal force of the payload is determined; Based on the first sub-relationship and the centrifugal force of the operating platform, a first relationship between the mass of the loaded object and the total centrifugal force is determined; Determine a second sub-relationship between the mass of the payload and the weight of the payload; The weight of the work platform is obtained based on its mass. Based on the centrifugal force of the work platform, the weight of the work platform, the first sub-relationship, the second sub-relationship, the first distance, the second distance, the third distance, and the fourth distance, a second relationship between the mass of the loaded object and the total overturning moment is determined.

2. The method for verifying the weight of a vehicle according to claim 1, characterized in that, Determining the overall relationship between the mass of the loaded object and the input torque of the reducer based on the first relationship and the second relationship includes: Based on the first relationship, the second relationship, the raceway diameter of the reducer, the friction coefficient of the reducer, the stiffness coefficient of the reducer, and the rolling element pressure angle of the reducer, a third relationship between the mass of the mounted object and the total rolling element pressure of the reducer is determined. Based on the third relationship, the overall relationship between the mass of the mounted object and the input torque of the reducer is determined.

3. The method for verifying the weight of a vehicle according to claim 2, characterized in that, Determining the overall relationship between the mass of the loaded object and the input torque of the reducer based on the third relationship includes: Based on the third relationship, the raceway diameter, and the friction coefficient, a fourth relationship is determined between the mass of the mounted object and the minimum starting frictional resistance torque of the reducer; Based on the fourth relationship, the reduction ratio of the reducer, and the transmission power of the reducer, the overall relationship between the mass of the mounted object and the input torque of the reducer is determined.

4. The method for verifying the weight of a vehicle according to claim 1, characterized in that, The determination of the second relationship between the mass of the loaded object and the total overturning moment based on the centrifugal force of the working platform, the weight of the working platform, the first sub-relationship, the second sub-relationship, the first distance, the second distance, the third distance, and the fourth distance includes: Based on the centrifugal force of the working platform and the first distance, the centrifugal overturning moment of the working platform is obtained; Based on the weight of the work platform and the second distance, the overturning moment of the work platform is obtained. The overturning moment of the working platform is obtained based on the centrifugal overturning moment and the weight overturning moment of the working platform. Based on the first sub-relationship and the third distance, a third sub-relationship between the mass of the payload and the centrifugal overturning moment of the payload is obtained; Based on the second sub-relationship and the fourth distance, a fourth sub-relationship between the mass of the payload and the weight overturning moment of the payload is obtained; Based on the third and fourth sub-relationships, a fifth sub-relationship between the mass of the payload and the overturning moment of the payload is obtained; Based on the overturning moment of the work platform and the fifth sub-relationship, a second relationship between the mass of the loaded object and the total overturning moment is determined.

5. The method for verifying the weight of a vehicle according to claim 1, characterized in that, The step of calculating the second total weight of the working platform and the load based on the overall relationship, the mass of the working platform, and the output torque of the rotary motor includes: The mass of the loaded object is obtained based on the overall relationship, the mass of the working platform, and the input torque of the reducer; Based on the mass of the payload and the mass of the work platform, calculate the second total weight of the work platform and the payload.

6. The method for verifying the weight of a vehicle according to claim 1, characterized in that, The step of generating weight verification information based on the error value between the first total weight and the second total weight includes: Calculate the error between the first total weight and the second total weight; If the error value is less than a preset threshold, weight verification information is generated indicating that the first total weight is not abnormal. If the error value is greater than or equal to a preset threshold, weight verification information indicating that the first total weight is abnormal is generated.

7. A weight verification device for a vehicle, the vehicle comprising a working platform, a slewing device, and a platform weighing device, the working platform carrying a load, the slewing device comprising a slewing motor and a reducer, characterized in that, The device includes: The first total weight determination module is used to obtain the mass of the work platform and determine the first total weight of the work platform and the load using the platform weighing device; The output torque obtaining module is used to obtain the output torque of the rotary motor based on the power and speed of the rotary motor. The overall relationship determination module is used to determine the overall relationship between the mass of the load and the input torque of the reducer, wherein the input torque of the reducer is equal to the output torque of the rotary motor. Determining the overall relationship between the mass of the load and the input torque of the reducer includes: determining a first relationship between the mass of the load and the total centrifugal force, and determining a second relationship between the mass of the load and the total overturning moment, wherein the total centrifugal force is the sum of the centrifugal force of the working platform and the centrifugal force of the load, and the total overturning moment is the sum of the overturning moment of the working platform and the overturning moment of the load. Determining the first relationship between the mass of the load and the total centrifugal force, and determining the second relationship between the mass of the load and the total overturning moment, includes: obtaining a first distance and a second distance between the working platform and the rotary device, and obtaining a third distance and a fourth distance between the load and the rotary device, wherein the first distance and the third distance have the same direction. The second distance is in the same direction as the fourth distance; the centrifugal force of the working platform is obtained based on the mass of the working platform, the first distance, and the rotational speed of the rotary motor; a first sub-relationship between the mass of the load and the centrifugal force of the load is determined based on the third distance and the rotational speed of the rotary motor; a first relationship between the mass of the load and the total centrifugal force is determined based on the first sub-relationship and the centrifugal force of the working platform; a second sub-relationship between the mass of the load and the weight of the load is determined; the weight of the working platform is obtained based on the mass of the working platform; a second relationship between the mass of the load and the total overturning moment is determined based on the centrifugal force of the working platform, the weight of the working platform, the first sub-relationship, the second sub-relationship, the first distance, the second distance, the third distance, and the fourth distance; and a total relationship between the mass of the load and the input torque of the reducer is determined based on the first relationship and the second relationship. The second total weight determination module is used to calculate the second total weight of the working platform and the load based on the total relationship, the mass of the working platform and the output torque of the rotary motor; The verification information generation module is used to generate weight verification information based on the error value between the first total weight and the second total weight.

8. A vehicle, characterized in that, The vehicle includes a working platform, a slewing device platform, a weighing device, a memory, and a processor. The memory stores a computer program, which, when executed by the processor, implements the weight verification method for the vehicle as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the weight verification method for a vehicle as described in any one of claims 1 to 6.

Images