Axle load calculation and loading method for multi-modular emergency vehicle

Abstract

The invention discloses an axle load calculation method for a multi-modular emergency vehicle, and the method comprises the steps: S1, inputting chassis parameters, and calculating the mass center position of a chassis; s2, inputting the size and the mass of each compartment body, and calculating the mass center position of each compartment body; s3, adjusting and determining the mounting position of each compartment body on the chassis, such as transverse arrangement or vertical arrangement, and recording the mass center position of each compartment body relative to the chassis; and S4, summarizing the mass of all the compartment bodies, calculating the total mass of the whole vehicle, calculating the mass center position of the whole vehicle, and calculating the total mass and the mass center position of the whole vehicle. According to the method, the axle load is calculated in real time before compartment loading, so that the influence of each compartment body on the mass center and the axle load of the whole vehicle can be known in time. According to a traditional loading mode, axle load calculation and adjustment often need to be carried out after installation is completed, so that time is consumed, and repeated disassembly and assembly are possibly caused. By means of the scheme, an operator can conduct adjustment according to the real-time calculation result before loading, follow-up reinstallation is avoided, and the loading efficiency is remarkably improved.

Description

Technical Field

[0001] The invention discloses an axle load calculation and installation method for a multi-modular emergency vehicle, belonging to the technical field of axle load analysis. Background Art

[0002] The multi-modular rescue vehicle is a highly modular emergency rescue vehicle, usually used for on-site rescue of emergencies such as fires, natural disasters, accidents, etc. Its feature is that it can be quickly configured according to different rescue tasks, adding or reducing different functional modules.

[0003] The rescue vehicle is composed of multiple interchangeable modules, each of which has independent functions and can be quickly assembled and disassembled according to mission requirements. This makes the rescue vehicle extremely flexible and adaptable, and can cope with a variety of complex emergency situations.

[0004] Through modular design, the rescue vehicle can be configured with multiple functional modules such as firefighting, rescue, and medical treatment according to different needs, and can be switched and adjusted in real time at the mission site. The rescue vehicle can be deployed quickly after a disaster occurs, and its modular design can respond quickly to the arrangement of on-board equipment and personnel according to on-site needs, ensuring rescue efficiency and safety.

[0005] Different modules can be quickly switched according to different mission requirements, and different modules can be configured as needed to ensure maximum utilization of the space inside the vehicle. When designing and using multi-modular emergency vehicles, axle load calculation is crucial, mainly to ensure the stability and safety of the vehicle under different configurations.

[0006] In existing modular rescue vehicles, since multiple modular rescue vehicles need to add or subtract compartments or upper modules according to different mission requirements, and each module has different functions, and the volume and weight vary greatly, it is easy to have uneven upper installation, which is mainly reflected in the installation of different modular compartments. Due to the different weights, sizes and distributions of the modular compartments, the center of mass of the vehicle as a whole is changed, which directly affects the axle load distribution of the compartment. Usually, after the compartment is installed, the assemblers can make recalculation and adjustment according to the actual center of mass offset, which leads to the need to readjust the installation, and its packing efficiency is low.

[0007] Therefore, the purpose of this study is to design an axle load calculation and installation method for a multi-modular emergency vehicle that can calculate the axle load in real time before loading the vehicle body to ensure that the load borne by each axle is within the design range and can estimate the required adjustment of the vehicle body. Summary of the invention

[0008] In view of the deficiencies in the prior art, the object of the present invention is to provide an axle load calculation and installation method for a multi-modular emergency vehicle to solve the problems of the prior art.

[0009] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0010] A method for calculating the axle load of a multi-modular emergency vehicle, comprising the following steps:

[0011] S1, input chassis parameters, calculate the center of mass position of chassis;

[0012] S2, input the size and mass of each compartment and calculate the center of mass position of each compartment;

[0013] S3, adjusting and determining the installation position of each compartment on the chassis, and recording the center of mass position of each compartment relative to the chassis;

[0014] S4, obtain the mass of each compartment, calculate the total mass of the vehicle, calculate the center of mass position of the vehicle, and calculate the total mass and center of mass position of the vehicle:

[0015] S5, calculate the actual axle load of the front and rear axles:

[0016] According to the total mass and center of mass position of the vehicle, calculate the actual axle loads G1 and G2 of the front and rear axles;

[0017] S6, comparing the rated load Gfront of the chassis front axle with the actual axle load G1, and the rated load Gback of the chassis rear axle with the actual axle load G2. If the deviations between the rated load and the actual axle load of the chassis front axle are both ≤3%, proceed to S7, otherwise proceed to step S3;

[0018] S7, output the installation position of each compartment on the chassis.

[0019] As a further improvement, in step S1, the calculating the center of mass position of the chassis specifically includes:

[0020] The center of mass position in the direction of the center line of the front axle, the center of mass position in the direction of the symmetrical center line of the whole vehicle, and the distance relative to the ground: Z;

[0021] The center of mass position of the chassis (XdP, YdP, ZdP);

[0022] Among them, the total mass of the vehicle is m, the mass of each assembly of the vehicle is mig, and the distance from the center of mass of each assembly of the vehicle to the front axle is Xi.

[0023] As a further improvement, in step S2, the center of mass position of each compartment is calculated as follows:

[0024] Input the length and width of the box body, L and W, set the loading mode to horizontal or vertical, connect the box body, upload the data of four pressure sensors ma1, ma2, ma3, ma4 through the wireless transmission module, and calculate the center of mass position (X, Y) and total mass m of the box body;

[0025] Input the length and width of the car body, L and W, set the loading mode to horizontal or vertical, connect the car body, upload the data of four pressure sensors ma1, ma2, ma3, ma4 through the wireless transmission module, calculate the center of mass position (X, Y) and total mass m of the car body, and calculate the center of mass position (Xa, Ya) of the car body;

[0026] The total mass is calculated as: ma = m1 + m2 + m3 + m4;

[0027] Calculate the centroid position:

[0028] Use the weighted average method to calculate the centroid positions Xa and Ya:

[0029] X-axis center of mass position Xa:

[0030]

[0031] Y-axis center of mass position Ya:

[0032]

[0033] The centroid location is:

[0034] As a further improvement, in step S4, the total mass of the vehicle is calculated, the center of mass position of the vehicle is calculated, and the total mass and center of mass position of the vehicle are calculated, which specifically includes:

[0035] The total mass of the vehicle includes the mass of the chassis and each compartment; input the mass of each part: chassis mass (m{chassis}), mass of each compartment;

[0036] Total vehicle mass:

[0037] m 整 =m chassis +m1+m2+m3+m4+...+m n

[0038] Calculate the center of mass position (X, Y, Z) of the vehicle:

[0039] The centroid position is calculated using a weighted average method, taking into account the centroid position and mass of each part;

[0040] Get the center of mass position of the chassis (XdP, YdP, ZdP);

[0041] The center of mass position of each compartment (X1, Y1, Z1), (X2, Y2, Z2), ... (Xn, Yn, Zn);

[0042] Calculate the centroid position using the weighted average method:

[0043]

[0044] As a further improvement, in step S5, the calculation of the actual axle loads of the front and rear axles specifically includes:

[0045] Get the total vehicle mass m 整 Get the center of mass position: (X, Y, Z);

[0046] Get the wheelbase l of the chassis, that is, the distance between the front axle and the rear axle;

[0047] Obtain the rated loads Gfront and Grear of the front and rear axles of the chassis;

[0048] Determine the actual load on each axis based on the center of mass position and the effect of gravity;

[0049] Front axle load G1:

[0050]

[0051] Where x1 is the distance from the center of mass to the front axle;

[0052] Rear axle load G2:

[0053]

[0054] Where x2 is the distance from the center of mass to the front axle;

[0055] Calculate the deviation of the front and rear axle loads to ensure that the left and right axle load deviation does not exceed 1%:

[0056]

[0057] As a further improvement, in step S6, the rated load of the front axle of the chassis Gfront and the rated load of the rear axle of the chassis Gback are compared with the actual axle loads G1 and G2, specifically including:

[0058] |(G1-G 前 )÷G 前 |≤3%;

[0059] |(G2-G 后 )÷G 后 |≤3%;

[0060] |(G3-G)+G|≤30%);

[0061] Among them, the left and right axle load deviation is ≤1%.

[0062] A method for installing a multi-modular emergency vehicle, comprising the following steps:

[0063] S1, input chassis parameters:

[0064] Input chassis information into the control system and establish a chassis database;

[0065] S2. Input the information of the compartments:

[0066] Input the length, width and total mass of each compartment into the control system to establish a compartment database.

[0067] S3. Calculate the centroid of the chassis:

[0068] Calculate the centroid position of the chassis through the chassis database, and establish a coordinate system. Mark the centroid position in the coordinate system with the centroid position X in the direction of the center line of the front axle of the whole vehicle, the centroid position Y in the direction of the symmetry center line of the whole vehicle, and the centroid position Z in the direction of the ground of the whole vehicle (XdP, YdP, ZdP).

[0069] S4. Calculate the centroid position of the compartment:

[0070] Calculate the centroid position (Xb, Yb) and total mass (mb) of each compartment through the compartment database.

[0071] S5. Determine the arrangement order, position and horizontal / vertical state of each compartment.

[0072] S6. Calculate the total mass and centroid position of the whole vehicle:

[0073] Combine the mass and centroid position of all compartments with the mass and centroid position of the chassis to calculate the total mass x 整 and the overall centroid position (X, Y, Z).

[0074] S7. Calculate the actual axle loads of the front and rear axles:

[0075] Calculate the actual axle loads G1 and G2 of the front and rear axles according to the total mass and centroid position of the whole vehicle.

[0076] S8. Check the axle load distribution:

[0077] When |G1 - Gfront| ≤ 3%, |G2 - Grear| ≤ 3%, and the deviation of the left and right axle loads ≤ 1%, output the superstructure plan and enter the superstructure steps.

[0078] If in N outputs, when |G1 - Gfront| > 3%, when |G2 - Grear| > 3%, and the deviation of the left and right axle loads > 1%, enter S5.

[0079] If in the (N + 1)th output, when |G1 - Gfront| > 3%, when |G2 - Grear| > 3%, and the deviation of the left and right axle loads > 1%, add counterweights at the bottom.

[0080] As a further improvement, in step S2, pressure sensors are installed at the bottom corners of each compartment, and the data of each pressure sensor are uploaded to the control system through a wireless transmission module to obtain the weight data of each compartment.

[0081] As a further improvement, in step S8, a counterweight block is added to the bottom, specifically:

[0082] According to the deviation of front and rear axle loads, the formula is:

[0083]

[0084] Calculate the mass of the counterweight that needs to be added and install the counterweight on the subframe under the chassis.

[0085] The beneficial effects of the present invention are:

[0086] The present invention can timely understand the impact of each compartment on the center of mass and axle load of the vehicle by calculating the axle load in real time before loading. This real-time feedback mechanism can help operators make quick adjustments before installation to ensure that the load on each axle is within the design range, thereby improving safety.

[0087] Traditional loading methods often require axle load calculation and adjustment after installation, which is not only time-consuming but may also result in multiple disassembly and assembly. With this solution, operators can make adjustments based on real-time calculation results before loading, avoiding subsequent reinstallation and significantly improving loading efficiency.

[0088] The vehicle can flexibly add or remove body or upper modules according to different mission requirements. This flexibility allows the vehicle to adapt to a variety of mission requirements, while ensuring the reasonable configuration of modules through real-time calculation to avoid uneven axle loads caused by modular design.

[0089] By accurately calculating and adjusting the axle load, the instability of the vehicle caused by the center of gravity shift can be effectively reduced. Ensuring the reasonable distribution of each axle load will help improve the handling and driving safety of the vehicle and reduce the risk of accidents caused by uneven axle loads.

[0090] Since the design of the multi-modular rescue vehicle takes into account the functions and weight differences of different modules, it can be flexibly adjusted according to specific mission requirements. This adaptability enables the vehicle to maintain optimal performance and stability when facing different rescue missions.

[0091] By optimizing the box and axle load distribution, the vehicle wear and failure caused by improper configuration can be reduced, thereby reducing maintenance costs. Reasonable axle load distribution helps to extend the service life of the vehicle and reduce the additional costs caused by maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0093] Figure 1 The invention discloses a side structural schematic diagram of an axle load calculation and upper installation method of a multi-modular emergency vehicle.

[0094] Figure 2 The invention discloses a side structural schematic diagram of an axle load calculation and upper installation method of a multi-modular emergency vehicle.

[0095] Figure 3 The invention discloses a side structural schematic diagram of an axle load calculation and upper installation method of a multi-modular emergency vehicle.

[0096] Figure 4 This is a schematic diagram of the wireless pressure sensor number setting when the car body is placed horizontally.

[0097] Figure 5 This is a schematic diagram of the wireless pressure sensor number setting when the compartment is placed vertically.

[0098] Figure 6 It is a schematic diagram of a single compartment of a multi-modular emergency vehicle.

[0099] Figure 7 It is a schematic diagram of the double compartments of a multi-modular rescue vehicle.

[0100] Figure 8 It is a schematic diagram of the four compartments of a multi-modular rescue vehicle.

[0101] 1. Chassis; 2. Horizontal body; 3. Subframe; 4. Vertical body. DETAILED DESCRIPTION

[0102] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0103] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0104] Reference Figure 1 As shown, a method for calculating the axle load of a multi-modular emergency vehicle comprises the following steps:

[0105] S1, input chassis parameters, calculate the center of mass position of chassis;

[0106] S2, input the size and mass of each compartment and calculate the center of mass position of each compartment;

[0107] S3, adjusting and determining the installation position of each compartment on the chassis, and recording the center of mass position of each compartment relative to the chassis;

[0108] S4, obtain the mass of each compartment, calculate the total mass of the vehicle, and calculate the center of mass position of the vehicle:

[0109] S5, calculating the actual axle load G1 of the front axle and the actual axle load G2 of the rear axle according to the total mass and the center of mass position of the vehicle;

[0110] S6, comparing the deviation between the rated load G3 of the front axle of the chassis and the actual load G1 of the front axle, and the deviation between the rated load G4 of the rear axle of the chassis and the actual load G2 of the rear axle. If the deviations are both ≤3%, proceed to S7, otherwise return to step S3;

[0111] S7, output the installation position of each compartment on the chassis.

[0112] In step S1, the calculation of the center of mass position of the chassis specifically includes:

[0113] The center of mass position in the direction of the center line of the front axle, the center of mass position in the direction of the symmetrical center line of the whole vehicle, and the distance relative to the ground: Z;

[0114] The center of mass position of the chassis (XdP, YdP, ZdP);

[0115] Among them, the input chassis parameters include the vehicle wheelbase l, the total mass of the vehicle m, the mass of each assembly of the vehicle mig, the distance from the center of mass of each assembly of the vehicle to the front axle Xi, the center of mass position X in the direction of the center line of the front axle of the vehicle, the center of mass position Y in the direction of the symmetric center line of the vehicle, and the center of mass position Z in the direction of the ground of the vehicle.

[0116] The chassis parameters also include the chassis front axle rated load Gfront and the chassis rear axle rated load Grear.

[0117] In step S2, the center of mass position of each compartment is calculated as follows:

[0118] Input the length and width dimensions L and W of the car body, set the loading mode to horizontal or vertical, connect the car body, upload the data ma1, ma2, ma3, ma4 of the four pressure sensors through the wireless transmission module, calculate the center of mass position (X, Y) and total mass m of the car body, and calculate the center of mass position (Xa, Ya) of the car body.

[0119] Enter length and width dimensions: Enter the length and width dimensions L and W of compartment A.

[0120] Connect pressure sensors: Make sure the four pressure sensors are connected and able to upload data. The sensor data is:

[0121] ma1: the reading of sensor 1 (located at the front left corner);

[0122] ma2: the reading of sensor 2 (located in the front right corner);

[0123] ma3: the reading of sensor 3 (located in the rear right corner);

[0124] ma4: the reading of sensor 4 (located at the rear left corner);

[0125] The total mass is calculated as: ma = m1 + m2 + m3 + m4;

[0126] Calculate the coordinates of each sensor:

[0127] Assuming that the lower left corner of compartment A is the origin (0,0), the coordinates of the four sensors are as follows:

[0128] Sensor 1 (front left corner): (0, W) (0, W)

[0129] Sensor 2 (front right corner): (L, W) (L, W)

[0130] Sensor 3 (right rear corner): (L, 0) (L, 0)

[0131] Sensor 4 (back left corner): (0,0) (0,0)

[0132] Calculate the centroid position:

[0133] Use the weighted average method to calculate the centroid positions Xa and Ya:

[0134] X-axis center of mass position Xa:

[0135]

[0136] Y-axis center of mass position Ya:

[0137]

[0138] The centroid location is:

[0139] The total mass of the car body is: ma=m1+m2+m3+m4.

[0140] In step S4, the total mass of the vehicle is calculated, the center of mass position of the vehicle is calculated, and the total mass and center of mass position of the vehicle are calculated, which specifically includes:

[0141] The steps to calculate the total vehicle mass m and center of mass position (X, Y, Z) are as follows:

[0142] Calculate the total vehicle mass m:

[0143] The gross vehicle mass is the sum of the masses of all its components, including the mass of the chassis and individual compartments.

[0144] Input the mass of each part: chassis mass (m_{chassis}), mass of each compartment, for example (m1)(m2)(m3), …(mn);

[0145] Calculate the total mass:

[0146] m 整 =m chassis +m1+m2+m3+m4+...+m n

[0147] Calculate the center of mass position (XdP, YdP, ZdP):

[0148] The centroid position is calculated using a weighted average method, taking into account the centroid position and mass of each part.

[0149] Get the center of mass position of the chassis (XdP, YdP, ZdP);

[0150] The center of mass position of each compartment is, for example, (X1, Y1, Z1) (X2, Y2, Z2), ... (Xn, Yn, Zn); the center of mass position is calculated using the weighted average method:

[0151]

[0152] In step S5, the calculation of the actual axle loads of the front and rear axles specifically includes:

[0153] The steps to calculate the actual axle loads of the front and rear axles are as follows:

[0154] Get the total mass m of the vehicle and the center of mass position: ( X, Y, Z ) ;

[0155] Get the wheelbase of the chassis, that is, the distance between the front axle and the rear axle;

[0156] Obtain the rated loads G(front) and G(rear) of the front and rear axles of the chassis;

[0157] Determine the actual load on each axis based on the center of mass position and the effect of gravity;

[0158] Front axle load (G1):

[0159]

[0160] Where (X) is the distance from the center of mass to the front axle.

[0161] Rear axle load (G2):

[0162]

[0163] Where (X) is the distance from the center of mass to the front axle.

[0164] G1+G2=m Calculate the deviation of the front and rear axle loads to ensure that the deviation of the left and right axle loads does not exceed 1%:

[0165]

[0166] Assumptions:

[0167] The total mass of the vehicle is m=3000, the wheelbase is l=4.0, and the distance from the center of mass to the front axle is X=1.5.

[0168] Calculate the front axle load:

[0169]

[0170] Calculate the rear axle load:

[0171]

[0172] In step S6, the rated load of the front axle of the chassis Gfront and the rated load of the rear axle of the chassis Gback are compared with the actual axle loads G1 and G2, which specifically includes:

[0174] |(G1-G 前 )÷G 前 |≤3%;

[0175] |(G2-G 后 )÷G 后 |≤3%;

[0176] |(G3-G)+G|≤3%);

[0177] Among them, the left and right axle load deviation is ≤1%.

[0178] Reference Figure 1-8 As shown, a method for installing a multi-modular emergency vehicle comprises the following steps:

[0179] S1, input chassis parameters:

[0180] Input chassis information into the control system and establish a chassis database;

[0181] Among them, chassis information includes the weight of each chassis assembly, size model, wheelbase, rated load of each axle, etc.;

[0182] S2, enter the compartment information:

[0183] Input the length, width and total mass of each compartment to establish a compartment database;

[0184] Among them, pressure sensors are installed at the bottom corners of each compartment. The data of each pressure sensor is uploaded to the control system through the wireless transmission module to obtain the weight data of each compartment;

[0185] S3, calculate the center of mass of the chassis:

[0186] The control system calculates the center of mass position of the chassis according to the parameters of the vehicle wheelbase l, the total mass m, and the mass of each assembly of the vehicle as mi in the chassis database, and establishes a coordinate system, with the center of mass position X in the direction of the center line of the front axle of the vehicle, the center of mass position Y in the direction of the symmetric center line of the vehicle, and the center of mass position Z in the direction of the ground of the vehicle, and marks the center of mass position in the coordinate system (XdP, YdP, ZdP);

[0187] Among them, the distance from the center of mass of each assembly of the vehicle to the front axle is Xi,

[0188] S4, calculate the center of mass position of the box:

[0189] The control system obtains data from the car body database and calculates the center of mass position (Xb, Yb) and total mass (m_b) of each car body.

[0190] S5, determining the arrangement order, position, and horizontal / vertical state of each compartment.

[0191] S6, calculate the total mass and center of mass position of the vehicle:

[0192] The mass and center of mass position of all compartments are combined with the mass and center of mass position of the chassis to calculate the total mass (m) and overall center of mass position (X, Y, Z) of the vehicle.

[0193] S7, calculate the actual axle load of the front and rear axles:

[0194] According to the total mass and center of mass position of the vehicle, calculate the actual axle loads G1 and G2 of the front and rear axles.

[0195] Front axle load G1 = (total vehicle mass × distance from front axle to center of mass) / vehicle wheelbase

[0196] Rear axle load G2 = (total vehicle mass × distance from rear axle to center of mass) / vehicle wheelbase

[0197] S8, check axle load distribution:

[0198] Determine whether the calculated front and rear axle loads meet the design requirements (such as left and right axle load deviation ≤ 1%).

[0199] If the left and right axle load deviation is ≤1%, the installation plan is output and the installation step is entered;

[0200] If the left and right axle load deviation is greater than 1% during N outputs, then enter S6;

[0201] If the left and right axle load deviation is greater than 1% in the N+1 outputs, add a counterweight at the bottom.

[0202] Determine the location of the counterweight:

[0203] The ballast weight should be placed at the bottom of the vehicle to lower the center of gravity and improve stability.

[0204] According to the calculation results of the center of mass position, the specific position of the counterweight is determined. Generally speaking, the counterweight can be placed in an area closer to the front axle or rear axle to more effectively adjust the load of the corresponding axle.

[0205] According to the deviation of the front and rear axle loads, calculate the mass of the counterweight that needs to be added. The following formula can be used:

[0206]

[0207] The adjustment ratio can be set according to actual conditions, for example, it can be set to 1:1, or adjusted according to actual test results.

[0208] The counterweight can be made of lead, steel or other high-density materials to ensure sufficient mass within a limited space.

[0209] In addition, it is necessary to ensure that the ballast weight is fixed safely and reliably to avoid movement before driving.

[0210] Recalculate axle load: After adding the counterweight, recalculate the actual axle load of the front and rear axles to ensure that the new axle load distribution meets the requirements.

[0211] After adding the ballast, perform dynamic testing to verify the stability and handling of the entire vehicle. Observe the vehicle's performance before driving to ensure there is no excessive lean or instability.

[0212] like Figure 6 As shown, a transverse car body 2 is placed on the chassis 1, and a subframe 3 is set under the chassis 1. When there is only one car body, input the chassis information and parameters (chassis model, wheelbase, mass of each axle, etc.), and the system calculates the center of mass of the chassis (XdP, Y, dP, Z, dP). The center of mass position of car body C1 on the X axis is XC1, and the distance on the Y axis is Y, C1;

[0213] Input the length and width of the car body C1, Lc1, Wc1, and set the loading mode to horizontal or vertical. Connect the car body C1, upload the data of the four pressure sensors (mc11, mc12, mc13, mc14) through the wireless transmission module, and calculate the center of mass position (XC1, YC1) and total mass mC1 of the car body C1.

[0214] Calculate the total mass m and the center of mass position (X, Y, Z) of the vehicle. Calculate the actual axle load of the front and rear axles of the vehicle to determine whether it meets the requirements. If not, re-weight and calculate according to the center of mass position of X-front axle centerline and Y-center of mass of the vehicle symmetry centerline until it is qualified. Z-ground direction, according to the principle of placing heavy equipment at the bottom, make the center of gravity of the vehicle as low as possible.

[0215] like Figure 7 As shown, two transversely placed carriages 2 are placed on the chassis 1, and a subframe 3 is arranged below the chassis 1. When there are two carriages:

[0216] Input chassis information and parameters (chassis model, wheelbase, mass of each axle, etc.), and the system calculates the center of mass of the chassis (XdP, Y, dP, Z, dP). The center of mass position of body B1 on the X axis is Xb1, and the distance on the Y axis is Y, b1; the distance on the X axis of body B2 is X, b2, and the distance on the Y axis is Y, b2.

[0217] Input the length and width dimensions Lb1 and Wb1 of the car body b1, and set the loading mode to horizontal or vertical.

[0218] Connect the car body B1, upload the data of four pressure sensors (mb11, mb12, mb13, ma14) through the wireless transmission module, and calculate the center of mass position (Xb1, Yb1) and total mass m, b1 of the car body B1.

[0219] Input the length and width dimensions Lb2 and Wb2 of the compartment B2, and set the loading method to be the same as B1.

[0220] Connect the car body B2, upload the data of four pressure sensors (mb21, mb22, mb23, mb24) through the wireless transmission module, and calculate the center of mass position (Xb2, Yb2) and total mass mb2 of the car body B2.

[0221] Calculate the total mass m and the center of mass position (X, Y, Z) of the vehicle. Calculate the actual axle load of the front and rear axles of the vehicle to determine whether it meets the requirements. If not, re-weight and calculate according to the center of mass position of X-front axle centerline and Y-center of mass of the vehicle symmetry centerline until it is qualified. Z-ground direction, according to the principle of placing heavy equipment at the bottom, make the center of gravity of the vehicle as low as possible.

[0222] Among them, Figure 8 As shown, two transverse carriages 2 and two vertical carriages 4 are placed on the chassis 1, and a subframe 3 is arranged under the chassis 1. When there are four carriages:

[0223] Input chassis information and parameters (chassis model, wheelbase, mass of each axle, etc.), and the system calculates the chassis center of mass (XdP, Y, dP, Z, dP).

[0224] The center of mass position of the compartments A1 and A2 on the X-axis is X1, and the distance between them on the Y-axis is Y1; the distance between the compartments A3 and A4 on the X-axis is X2, and the distance between them on the Y-axis is Y2.

[0225] Input the length and width dimensions La1 and Wa1 of the body A1, and set the loading mode to horizontal or vertical. Connect the body A1, upload the data of the four pressure sensors (ma11, ma12, ma13, ma14) through the wireless transmission module, and calculate the center of mass position (Xa1, Ya1) and total mass ma1 of the body A1.

[0226] Input the length and width dimensions La2 and Wa2 of the compartment A2, and set the loading mode to be the same as A1. Connect the compartment A2, upload the data of the four pressure sensors (ma21, ma22, ma23, ma24) through the wireless transmission module, and calculate the center of mass position (Xa2, Ya2) and total mass ma2 of the compartment A2.

[0227] Input the length and width dimensions La3 and Wa3 of the body A3, and set the loading mode to horizontal or vertical. Connect the body A3, upload the data of the four pressure sensors (ma31, ma32, ma33, ma34) through the wireless transmission module, and calculate the center of mass position (X32, Y32) and total mass ma3 of the body A3.

[0228] Input the length and width dimensions La4 and Wa4 of the body A4, and set the loading mode to be the same as A3. Connect the body A4, upload the data of the four pressure sensors (ma41, ma42, ma43, ma44) through the wireless transmission module, and calculate the center of mass position (Xa4, Ya4) and total mass ma4 of the body A4.

[0229] Calculate the total mass m1 and the center of mass position (X1, Y1) of carriage A1 and carriage A2, and calculate the total mass m2 and the center of mass position (X2, Y2) of carriage A3 and carriage A4.

[0230] Calculate the total vehicle mass x 整 and the center of mass position (X, Y, Z).

[0231] Calculate the actual axle load of the front and rear axles of the vehicle to determine whether it meets the requirements. If not, re-weight and calculate according to the center of mass position of X-front axle centerline and Y-center of symmetry of the vehicle until it meets the requirements. Z-ground direction, according to the principle of placing heavy equipment at the bottom, make the center of gravity of the vehicle as low as possible.

[0232] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for calculating the axle load of a multi-modular emergency vehicle, characterized in that the steps include: S1, input chassis parameters, calculate the center of mass position of chassis; S2, input the size and mass of each compartment and calculate the center of mass position of each compartment; S3, adjusting and determining the installation position of each compartment on the chassis, and recording the center of mass position of each compartment relative to the chassis; S4, obtain the mass of each compartment, calculate the total mass of the vehicle, and calculate the center of mass position of the vehicle: S5, calculating the actual axle load G1 of the front axle and the actual axle load G2 of the rear axle according to the total mass and the center of mass position of the vehicle; S6, comparing the deviation between the rated load G3 of the front axle of the chassis and the actual load G1 of the front axle, and the deviation between the rated load G4 of the rear axle of the chassis and the actual load G2 of the rear axle. If the deviations are both ≤3%, proceed to S7, otherwise return to step S3; S7, output the installation position of each compartment on the chassis.

2. The method for calculating the axle load of a multi-modular emergency vehicle according to claim 1, characterized in that: In step S1, the calculation of the center of mass position of the chassis specifically includes: Center of mass position in the direction of the front axle centerline Center of mass position of the vehicle in the direction of the symmetrical center line Distance from the ground: The center of mass position of the chassis (XdP, YdP, ZdP); Among them, the total mass of the vehicle is m, the mass of each assembly of the vehicle is mig, and the distance from the center of mass of each assembly of the vehicle to the front axle is Xi.

3. The method for calculating the axle load of a multi-modular emergency vehicle according to claim 1, characterized in that: In step S2, the center of mass position of each compartment is calculated as follows: Input the length and width of the box body, L and W, set the loading mode to horizontal or vertical, connect the box body, upload the data of four pressure sensors ma1, ma2, ma3, ma4 through the wireless transmission module, and calculate the center of mass position (X, Y) and total mass m of the box body; Input the length and width of the car body, L and W, set the loading mode to horizontal or vertical, connect the car body, upload the data of four pressure sensors ma1, ma2, ma3, ma4 through the wireless transmission module, calculate the center of mass position (X, Y) and total mass m of the car body, and calculate the center of mass position (Xa, Ya) of the car body; The total mass is calculated as: ma = m1 + m2 + m3 + m4; Calculate the centroid position: Use the weighted average method to calculate the centroid positions Xa and Ya: X-axis center of mass position Xa: Y-axis center of mass position Ya: The centroid location is:

4. The method for calculating the axle load of a multi-modular emergency vehicle according to claim 1, characterized in that: In step S4, the total mass of the vehicle is calculated, and the center of mass position of the vehicle is calculated. The total mass and center of mass position of the vehicle are calculated, which specifically includes: The total mass of the vehicle includes the mass of the chassis and each compartment; input the mass of each part: chassis mass m{chassis}, mass of each compartment; Total vehicle mass: m 整 =m chassis +m1+m2+m3+m4+...+m n ; Calculate the center of mass position (X, Y, Z) of the vehicle: The centroid position is calculated using a weighted average method, taking into account the centroid position and mass of each part; Get the center of mass position of the chassis (XdP, YdP, ZdP); The center of mass position of each compartment (X1, Y1, Z1), (X2, Y2, Z2), ... (Xn, Yn, Zn); Calculate the centroid position using the weighted average method:

5. The method for calculating the axle load of a multi-modular emergency vehicle according to claim 1, characterized in that: In step S5, the calculation of the actual axle loads of the front and rear axles specifically includes: Get the total vehicle mass m 整 Get the center of mass position: (X, Y, Z); Get the wheelbase l of the chassis, that is, the distance between the front axle and the rear axle; Obtain the rated loads Gfront and Grear of the front and rear axles of the chassis; Determine the actual load on each axis based on the center of mass position and the effect of gravity; Front axle load G1: Where x1 is the distance from the center of mass to the front axle; Rear axle load G2: Where x2 is the distance from the center of mass to the front axle; Calculate the deviation of the front and rear axle loads by G1 + G2 = m to ensure that the deviation of the left and right axle loads does not exceed 1%:

6. The method for calculating the axle load of a multi-modular emergency vehicle according to claim 1, characterized in that: In step S6, compare the rated load Gfront of the chassis front axle, the rated load Grear of the chassis rear axle with the actual axle loads G1 and G2, specifically including: |(G1-G 前 )÷G 前 |≤3%; |(G2-G 后 )÷G 后 |≤3%; |(G3 - G) + G| ≤ 3%); Among them, the deviation of the left and right axle loads ≤ 1%.

7. A method for installing a multi-modular emergency vehicle, characterized in that the steps Including: S1, input chassis parameters: Input the chassis information into the control system to establish a chassis database; S2, input body information: Input the length, width dimensions and total mass of each body into the control system to establish a body database; S3, calculate the center of mass of the chassis: Calculate the center of mass position of the chassis through the chassis database, and establish a coordinate system. Mark the center of mass position in the coordinate system with the center of mass position X in the direction of the center line of the vehicle's front axle, the center of mass position Y in the direction of the vehicle's symmetry center line, and the center of mass position Z in the direction of the vehicle's ground (XdP, YdP, ZdP); S4, calculate the center of mass position of the body: Calculate the center of mass position (Xb, Yb) and total mass (mb) of each body through the body database; S5, determine the arrangement order, position and horizontal / vertical state of each body; S6, calculate the total mass and center of mass position of the whole vehicle: Combine the mass and center of mass of all the compartments with the mass and center of mass of the chassis to calculate the total mass x of the vehicle. 整 and the overall center of mass position (X,Y,Z); S7, calculate the actual axle loads of the front and rear axles: Calculate the actual axle loads G1 and G2 of the front and rear axles according to the total mass and center of mass position of the whole vehicle; S8, check the axle load distribution: When |G1 - Gfront| ≤ 3%, |G2 - Grear| ≤ 3%, and the deviation of the left and right axle loads ≤ 1%, output the upper mounting plan and enter the upper mounting step; If in N outputs, when |G1 - Gfront| > 3%, when |G2 - Grear| > 3%, and the deviation of the left and right axle loads > 1%, enter S5; If in the (N + 1) - th output, when |G1 - Gfront| > 3%, when |G2 - Grear| > 3%, and the deviation of the left and right axle loads > 1%, add counterweight blocks at the bottom.

8. The method for installing a multi-modular emergency vehicle according to claim 7, characterized in that: In step S2, pressure sensors are installed at the bottom corners of each body. Through the wireless transmission module, upload the data of each pressure sensor to the control system to obtain the weight data of each body.

9. The method for installing a multi-modular emergency vehicle according to claim 7, characterized in that: In step S8, the adding of counterweight blocks at the bottom is specifically: According to the deviation of the front and rear axle loads, through the formula: Calculate the mass of the counterweight blocks to be added and install the counterweight blocks on the subframe under the chassis.

Images