Vehicle-mounted active weighing device and method based on distributed dynamic displacement sensor

Abstract

The invention discloses a vehicle-mounted active weighing device and method based on distributed dynamic displacement sensors, and relates to the technical field of construction vehicle dynamic weighing, and the device comprises a plurality of displacement sensors distributed on a construction vehicle axle and a positioning controller. The plurality of displacement sensors are used for acquiring the elastic displacement between the frame and the axle, the plurality of displacement sensors are electrically connected with the positioning controller and used for data synchronous calculation and fusion analysis, and the positioning controller calculates the dynamic load capacity of the construction vehicle according to the elastic displacement. A vehicle track description and positioning module used for vehicle track positioning is arranged in the positioning controller, and real-time positioning data and real-time load capacity of the vehicle are obtained. Meanwhile, the invention discloses a method based on the device, and the method is used for carrying out dynamic weighing and track positioning on the construction vehicle, and provides a data basis for earthwork deployment management, cost accounting, construction safety management, vehicle management and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of dynamic weighing of construction vehicles, and in particular to a vehicle-mounted active weighing device and method based on a distributed dynamic displacement sensor. Background Art

[0002] Construction vehicles are key tools for material transportation and engineering operations in construction projects. The effectiveness of their management and deployment directly impacts the progress, cost, and quality of the entire project. With the increasing scale of construction projects and the increasing complexity of construction processes, traditional methods of managing construction vehicles are becoming increasingly inadequate. Reasonable deployment and route optimization can reduce vehicle energy consumption and wear, lower transportation costs, and improve the company's economic benefits. These improvements are crucial for ensuring safe production and reducing costs, and represent the future direction of vehicle management.

[0003] Through intelligent sensing technology, vehicle loads are dynamically weighed, Beidou satellite positioning technology is used to obtain vehicle location information in real time and accurately, 5G and uninterrupted heartbeat packet technology are used for real-time data collection and transmission, transport vehicles are monitored and information tracked, and mathematical models for data fusion analysis and intelligent management are established. The dynamic weighing and intelligent deployment management system for construction vehicles is developed, and vehicle load and trajectory information is queried and pushed in real time. Vehicles are deployed scientifically and rationally to realize intelligent project management. This is of great significance for improving the transportation efficiency, ensuring safety and reducing costs of slag vehicles in urban construction, and is the future development direction of slag vehicle management.

[0004] A dynamic weighing system primarily consists of sensors, a data acquisition unit, a data processing unit, and a display and control unit. Currently, various types of dynamic weighing sensors have been developed both domestically and internationally, including piezoelectric, resistive strain gauge, and capacitive types. These sensors offer high sensitivity, high stability, and strong anti-interference capabilities, providing reliable hardware support for dynamic vehicle weighing. The data acquisition unit converts analog signals into digital signals and transmits them to the data processing unit. The data processing unit processes the collected data according to a preset algorithm to determine the vehicle's dynamic weight. The display and control unit provide users with real-time information on vehicle dynamics and allows for data storage and analysis. Although dynamic vehicle weighing technology has made significant progress, the stability and durability of dynamic weighing sensors in harsh environments still need to be further improved. The accuracy and robustness of dynamic weighing data processing algorithms still need to be optimized, and the integration and intelligence of dynamic vehicle weighing systems remain to be enhanced. Summary of the Invention

[0005] The purpose of the present invention is to provide a vehicle-mounted active weighing device and method based on a distributed dynamic displacement sensor to solve the above technical problems.

[0006] To achieve the above-mentioned objectives, the present invention provides a vehicle-mounted active weighing device based on distributed dynamic displacement sensors, comprising a plurality of displacement sensors and a positioning controller that are distributed, symmetrically and evenly arranged. The measurement modules of the plurality of displacement sensors are fixedly installed on the front and rear axles of the construction vehicle relative to the left and right wheels and are symmetrically arranged. The detection modules of the plurality of displacement sensors are installed on the vehicle frame through a fixing assembly. The measurement module is connected to the detection module through a connecting module, and measures the vertical displacement of the vehicle at each measuring point respectively, so as to obtain the elastic displacement between the frame and the axle. The plurality of displacement sensors are electrically connected to the positioning controller for data synchronous calculation and fusion analysis. The positioning controller calculates the dynamic load of the construction vehicle based on the elastic displacement. The positioning controller is provided with a vehicle trajectory description and positioning module for vehicle trajectory positioning to obtain real-time positioning data and real-time load of the vehicle.

[0007] Preferably, the positioning controller includes a display, a data acquisition module, a power supply module, a vehicle trajectory description and positioning module, and a data communication module. The display, data acquisition module, and data communication module are all electrically connected to the power supply module; the display is electrically connected to the data communication module for displaying measurement data and managing data; several displacement sensors are electrically connected to the data acquisition module, and the data acquisition module is used to receive measurement data from the displacement sensors and process the measurement data; the vehicle trajectory description and positioning module is used to receive satellite positioning data and perform data structuring processing and adjustment calculations; the data communication module is used to upload positioning data and measurement data to a cloud server in real time for fusion calculation and analysis, and receive calculation results and control instructions.

[0008] Preferably, the fixing assembly includes a fixing plate and fixing screws, the detection module of the displacement sensor is mounted on the fixing plate via the fixing screws, and the fixing plate is fixed to the vehicle frame.

[0009] Preferably, the displacement sensor adopts a multifunctional wire-drawn displacement sensor, and the connecting module includes a sleeve with a steel strand arranged inside, the steel strand is used to connect the measuring module and the detection module, the measuring module is fixed on the axle and the measuring module is installed downward perpendicular to the frame, and the detection module is installed upward perpendicular to the axle.

[0010] Based on the above-mentioned method of a vehicle-mounted active weighing device based on a distributed dynamic displacement sensor, the specific steps are as follows:

[0011] Step S1: acquiring measurement data of the displacement sensor and positioning data of the vehicle trajectory description and positioning module in real time;

[0012] Step S2: Calculate the dynamic load of the construction vehicle based on the measurement data and draw the driving trajectory based on the positioning data;

[0013] The calculation process for the dynamic load capacity of construction vehicles based on the measured data is as follows:

[0014] Step S21a: extracting effective values ​​from the vertical displacements collected at each measuring point and drawing a vehicle load data curve;

[0015] Step S22a: De-noising and eliminating background interference factors on the vehicle load data curve, and using an asymmetric data automatic screening and separation algorithm to remove outliers;

[0016] Step S23a: Use the recursive least squares method to perform denoising and fitting of the data curve. The denoising and fitting process is as follows:

[0017] a) Initialization parameters and data preparation;

[0018] Set the tangent value threshold of the angle difference r = m, where m is an engineering parameter related to the structural characteristics of the construction vehicle, and let i = 1, j = 2, where i and j are the starting index and the end index respectively;

[0019] The data includes N points, (t n ,x n ) is the coordinate of the nth point, t n and x n are the time and vertical displacement of the nth point respectively;

[0020] b) piecewise least squares fitting;

[0021] For the i-th point to the j-th point, the least squares method is used to calculate the fitting straight line equation as follows:

[0022] x n =kt n +b

[0023] Where k is the slope of the fitted straight line equation, and b is the intercept term of the fitted straight line equation;

[0024] c) Calculate the slope k of each segment j , the calculation formula is as follows:

[0025]

[0026] Among them, k j is the slope of the j-th segment fitting line equation, t j and x j are the time and vertical displacement of point j, t j+1 and x j+1 are the time and vertical displacement of point j+1 respectively;

[0027] d) Boundary condition judgment;

[0028] If j+1 is greater than N, the final fitting straight line equation X(t)=k·t+B is output;

[0029] e) Angle difference judgment;

[0030] when When , set j = j + 1 and return to step b;

[0031] when When , output the fitted straight line equation and execute the next step;

[0032] f) For points j and j+1, calculate the equation of the fitted line using the least squares method, set i=j, j=j+1, and return to step c until all points are fitted, obtaining the final fitted line equation X(t)=k·t+B;

[0033] Step S24a: Calculate the vehicle load; the calculation formula is as follows:

[0034] F(t)=K×X(t)

[0035] Where F(t) is the vehicle load at time t, and K is the elastic stiffness of the vehicle structure;

[0036] Finally, we get the load scatter plot after cloud noise processing;

[0037] The process of drawing a driving trajectory is as follows:

[0038] Step S21b: importing the drawing library;

[0039] Step S22b: drawing a trajectory curve according to the positioning data;

[0040] The positioning data L(A(t), B(t)) includes the longitude and latitude coordinates of the vehicle at time t;

[0041] Draw the trajectory curve with the vehicle longitude coordinate A(t) at time t as the horizontal coordinate and the vehicle latitude coordinate B(t) at time t as the vertical coordinate;

[0042] Step S23b: Setting the icon title, horizontal axis label, and vertical axis label;

[0043] Step S24b: adding grid lines to the chart;

[0044] Step S25b: displaying the drawn vehicle driving trajectory;

[0045] Step S3: The dynamic load and the driving trajectory are integrated to obtain data including the dynamic load and the driving trajectory.

[0046] Therefore, the present invention adopts the above-mentioned construction vehicle dynamic weighing and positioning device and method based on displacement sensors, which has the following beneficial effects: using anti-interference wire-type displacement sensors to dynamically monitor the vertical displacement of the frame and axle in real time, using distributed sensors to consider the dynamic imbalance state of the vehicle, and using data fusion analysis techniques such as filtering analysis to obtain the true value of the displacement at any time, and the instantaneous vehicle load capacity. The vehicle is positioned and analyzed in real time based on Beidou satellite positioning data to obtain the vehicle's driving trajectory, which facilitates scientific management of vehicle deployment. The real-time and accurate weighing and real-time positioning analysis of vehicles are achieved, which can improve the level of construction vehicle transportation management, reduce waste and save costs.

[0047] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a structural diagram of a dynamic weighing and positioning device for construction vehicles based on a displacement sensor according to the present invention;

[0049] Figure 2 This is a schematic diagram of the installation structure of the displacement sensor of the present invention;

[0050] Figure 3 It is a front view of the fixing assembly of the present invention;

[0051] Figure 4 It is a side view of the fixing assembly of the present invention;

[0052] Figure 5 Schematic diagram of the displacement sensor structure;

[0053] Figure 6 This is a schematic diagram of the connection module of the displacement sensor;

[0054] Figure 7 Schematic diagram of the detection module of the displacement sensor;

[0055] Figure 8 Schematic diagram of the steel hinge wire structure;

[0056] Figure 9 This is a schematic diagram of the linear installation structure of the measurement module of the displacement sensor;

[0057] Figure 10 This is a schematic diagram of the L-shaped installation structure of the displacement sensor's measurement module;

[0058] Figure 11 This is a schematic diagram of the U-shaped side installation structure of the displacement sensor's measurement module;

[0059] Figure 12 This is a schematic diagram of the positioning controller structure of the present invention;

[0060] Figure 13 This is a diagram showing the positioning and load data of a muck truck used in this embodiment;

[0061] Figure 14 This is a trajectory display diagram of a muck truck applied in this embodiment.

[0062] Reference numerals

[0063] 1. Vehicle frame; 2. Vehicle axle; 3. Wheel; 4. Displacement sensor; 4-1. Measurement module; 4-2. Steel hinge wire; 4-3. Casing; 4-3-1. Inner tube; 4-3-2. Spiral metal layer; 4-3-3. Outer tube; 4-4. Detection module; 4-4-1. Sliding resistor; 4-4-2. Sliding vane; 4-4-3. Sliding rod; 4-4-4. Metal rod; 4-4-5. Sliding sleeve; 4-4-6. Detection terminal; 4-5. Displacement data acquisition module; 4-5-1. Data acquisition unit; 4-5-2. Acquisition terminal; 5. Positioning controller; 5-1. Display; 5-2. Data acquisition module; 5-3. Vehicle trajectory description and positioning module; 5-4. Power supply module; 5-5. Data communication module; 6. Fixing plate; 6-1. Fixing screw. DETAILED DESCRIPTION

[0064] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the inventive product is usually placed when in use. These are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. In the description of the present invention, it should also be noted that, unless otherwise expressly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the internal parts of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0066] like Figure 1 As shown, a vehicle-mounted active weighing device based on distributed dynamic displacement sensors includes a plurality of distributedly arranged displacement sensors 4 and a positioning controller 5.

[0067] Axles 2 include front and rear axles. Measurement modules 4-1 of several displacement sensors 4 are fixedly mounted (welded) to the front and rear axles of the construction vehicle relative to the left and right wheels, and are symmetrically arranged to measure the vertical displacement of the vehicle at each measurement point. Detection modules 4-4 of several displacement sensors 4 are mounted on the vehicle frame 1 via a fixing assembly. Measurement modules 4-1 are connected to detection modules 4-4 via a connection module. Four-point distribution is used to collect the elastic displacement between the vehicle frame 1 and axle 2. This reduces the impact of unstable interference factors such as vehicle jolts, uneven loads, and dynamic and static asymmetries on the weighing results.

[0068] The frame 1 is the load-bearing structure of the construction vehicle. It supports and connects the various parts of the vehicle and bears various loads from inside and outside the vehicle. It is composed of two longitudinal beams and several cross beams. In other words, it is made up of two parallel main beams with many secondary beams connected left and right in a ladder-like manner. The axle 2, also known as the axle, is connected to the frame 1 through a suspension, and wheels 3 are installed at both ends. The axle 2 supports the vehicle body through the suspension system at both ends. Its function is to bear the load of the vehicle and maintain the normal driving of the vehicle on the road. Figure 2-Figure 4 As shown, the fixing assembly includes a fixing plate 6 and fixing screws 6-1. The detection module 4-4 in the displacement sensor 4 is mounted on the fixing plate 6 via the fixing screws 6-1. The fixing plate 6 is fixed (either by welding or by bolts) to the vehicle frame 1. The measurement module 4-1 is mounted downwardly perpendicular to the vehicle frame 1, and the detection module 4-4 is mounted upwardly perpendicular to the axle 2.

[0069] The displacement sensor 4 of this embodiment adopts a multifunctional wire displacement sensor, such as Figure 5-Figure 11 As shown, the multifunctional wire-type displacement sensor includes a measurement module 4-1, a connection module, a detection module 4-4, and a displacement data acquisition module 4-5. The measurement module 4-1 includes a measurement point and a connection structure. The connection between the measurement point and the connection structure utilizes a straight, L-shaped, or U-shaped connection, adapting to various environments and eliminating the single straight, straight connection of traditional displacement sensors. The connection module utilizes a steel wire 4-2 and a casing 4-3. The steel wire 4-2 is twisted together from multiple steel wires, allowing for flexible bending and possessing sufficient tensile and compressive strength. The casing 4-3 comprises an inner tube 4-3-1, a spiral metal layer 4-3-2, and an outer tube 4-3-3. The inner tube 4-3-1 is the innermost layer, with the steel wire 4-2 passing through it. The outer tube 4-3-3 surrounds the spiral metal layer 4-3-2, and the outer tube 4-3-3 surrounds the spiral metal layer 4-3-2. The steel strand 4-2 passes through the inner tube 4-3-1 and connects the measurement module 4-1 and the detection module 4-4. The spiral metal layer 4-3-2 is made of metal material wound in a flat spring shape. The outer tube 4-3-3 protects the spiral metal layer and is coated with a lubricant on the inner layer of the outer tube 4-3-3.

[0070] Detection module 4-4 includes a sliding rheostat 4-4-1, a slider 4-4-2, a sliding rod 4-4-3, a metal rod 4-4-4, a sliding sleeve 4-4-5, and detection terminals 4-4-6. The sliding rheostat 4-4-1 consists of a resistance wire wrapped around a rheostat bracket. The slider 4-4-2 is connected to the sliding sleeve 4-4-5 and mounted on the metal rod 4-4-4. The detection terminals 4-4-6 are mounted on the rheostat bracket and on the upper side of the metal rod.

[0071] The displacement data acquisition module 4-5 includes a data acquisition unit 4-5-1 and an acquisition terminal 4-5-2. The data acquisition unit 4-5-1 acquires analog electrical signals and uploads them to the positioning controller 5. The positioning controller 5 calculates the dynamic load of the construction vehicle based on the elastic displacement.

[0072] like Figure 12 As shown, the positioning controller 5 includes a display 5-1, a data acquisition module 5-2, a power supply module 5-4, a vehicle trajectory description and positioning module 5-3, and a data communication module 5-5. The display 5-1, data acquisition module 5-2, and data communication module 5-5 are all electrically connected to the power supply module 5-4. The display 5-1 is electrically connected to the data communication module 5-5 for displaying and managing measurement data. The data acquisition units 4-5-1 of the displacement sensors 4 are electrically connected to the data acquisition module 5-2 for receiving analog electrical signals and performing data structuring. The vehicle trajectory description and positioning module 5-3 receives satellite positioning data using a 5G network and the Beidou satellite positioning system, and performs data structuring and adjustment calculations. The data communication module 5-5 uploads positioning and measurement data to a cloud server in real time for fusion and analysis, and receives calculation results and control instructions. Data is uploaded to the cloud server in real time via the 5G network for fusion and analysis, and the calculation results and control instructions are received and displayed on the display 5-1 in the form of graphs, tables, etc.

[0073] Based on the above-mentioned method of the dynamic weighing and positioning device for construction vehicles based on displacement sensors, the specific steps are as follows:

[0074] Step S1: Acquire the measurement data of the displacement sensor 4 and the positioning data of the vehicle trajectory description and positioning module 5-3 in real time.

[0075] Step S2: Calculate the dynamic load of the construction vehicle based on the measurement data and draw a driving trajectory based on the positioning data.

[0076] The calculation process for the dynamic load capacity of construction vehicles based on the measured data is as follows:

[0077] Step S21a: extracting effective values ​​from the vertical displacements collected at each measuring point and drawing a vehicle load data curve;

[0078] Weighing accuracy and stability are affected by many factors, which can be roughly divided into two categories: deterministic factors and uncertain factors. Deterministic factors mainly include different types of on-board equipment, force analysis of geometric structures and dynamic posture models, speed and time of the loading process, etc.; uncertain factors include the hydraulic system's susceptibility to external temperature, hydraulic oil type and valve body differences, the influence of vehicle chassis tires and road undulations and slopes, the influence of on-board equipment on engine vibrations during operation, and the influence of ambient temperature on the motion characteristics of the equipment and the sampling accuracy of on-board sensors. These influencing factors will inevitably affect the accuracy and stability of the on-board dynamic weighing system. In order to effectively reduce interference data, this embodiment uses an asymmetric data automatic screening and separation group value algorithm and a recursive least squares method to perform cloud noise filtering and fitting analysis on vehicle weighing data.

[0079] Step S22a: De-noising and eliminating background interference factors on the vehicle load data curve, and using an asymmetric data automatic screening and separation algorithm to remove outliers;

[0080] Step S23a: Use the recursive least squares method to perform denoising and fitting of the data curve. The denoising and fitting process is as follows:

[0081] a) Initialization parameters and data preparation;

[0082] Set the tangent value threshold of the angle difference r = m, where m is an engineering parameter related to the structural characteristics of the construction vehicle, and let i = 1, j = 2, where i and j are the starting index and the end index respectively;

[0083] The data includes N points, (t n ,x n ) is the coordinate of the nth point, t n and x n are the time and vertical displacement of the nth point respectively;

[0084] b) piecewise least squares fitting;

[0085] For the i-th point to the j-th point, the least squares method is used to calculate the fitting straight line equation as follows:

[0086] x n =kt n +b

[0087] Where k is the slope of the fitted straight line equation, and b is the intercept term of the fitted straight line equation;

[0088] c) Calculate the slope k of each segment j , the calculation formula is as follows:

[0089]

[0090] Among them, k j is the slope of the j-th segment fitting line equation, t j and x j are the time and vertical displacement of point j, t j+1 and x j+1 are the time and vertical displacement of point j+1 respectively;

[0091] d) Boundary condition judgment;

[0092] If j+1 is greater than N, the final fitting straight line equation X(t)=k·t+B is output;

[0093] e) Angle difference judgment;

[0094] when When , let j = j + 1 and return to step b;

[0095] when When , output the fitted straight line equation and execute the next step;

[0096] f) For points j and j+1, calculate the equation of the fitted line using the least squares method, set i=j, j=j+1, and return to step c until all points are fitted, obtaining the final fitted line equation X(t)=k·t+B;

[0097] Step S24a: Calculate the vehicle load; the calculation formula is as follows:

[0098] F(t)=K×X(t)

[0099] Where F(t) is the vehicle load at time t, and K is the elastic stiffness of the vehicle structure;

[0100] Finally, we get the load scatter plot after cloud noise processing;

[0101] The process of drawing a driving trajectory is as follows:

[0102] Step S21b: importing the drawing library;

[0103] Step S22b: drawing a trajectory curve according to the positioning data;

[0104] The positioning data L(A(t), B(t)) includes the longitude and latitude coordinates of the vehicle at time t;

[0105] Draw the trajectory curve with the vehicle longitude coordinate A(t) at time t as the horizontal coordinate and the vehicle latitude coordinate B(t) at time t as the vertical coordinate;

[0106] Step S23b: Setting the icon title, horizontal axis label, and vertical axis label;

[0107] Step S24b: adding grid lines to the chart;

[0108] Step S25b: displaying the drawn vehicle driving trajectory;

[0109] Step S3: The dynamic load and the driving trajectory are integrated to obtain data including the dynamic load and the driving trajectory.

[0110] The technical solution of this embodiment is implemented in real time on a muck truck, such as Figure 13 and Figure 14 As shown, this embodiment uses anti-interference wire-type displacement sensors to dynamically monitor the vertical displacement of the vehicle frame and axle in real time. Distributed sensors are deployed to account for the vehicle's dynamic imbalance. Data fusion analysis techniques, such as filtering, are used to determine the true displacement value at any given time and the instantaneous vehicle load. Real-time vehicle positioning analysis based on Beidou satellite positioning data determines the vehicle's trajectory, facilitating scientific management of vehicle deployment. This enables accurate real-time weighing and positioning analysis of vehicles, improving construction vehicle transportation management, reducing waste, and saving costs.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A vehicle-mounted active weighing device based on a distributed dynamic displacement sensor, characterized in that: It includes a number of displacement sensors and positioning controllers that are distributed, symmetrically and evenly arranged. The measurement modules of the displacement sensors are fixedly installed on the front and rear axles of the construction vehicle relative to the left and right wheels and are symmetrically arranged. The detection modules of the displacement sensors are installed on the frame through fixed components. The measurement modules are connected to the detection modules through the connection modules, and respectively measure the vertical displacement of the vehicle at each measurement point to obtain the elastic displacement between the frame and the axle. The displacement sensors are electrically connected to the positioning controller for data synchronization calculation and fusion analysis. The positioning controller calculates the dynamic load of the construction vehicle based on the elastic displacement. The positioning controller is provided with a vehicle trajectory description and positioning module for vehicle trajectory positioning to obtain real-time positioning data and real-time load of the vehicle.

2. The vehicle-mounted active weighing device based on a distributed dynamic displacement sensor according to claim 1, characterized in that: The positioning controller includes a display, a data acquisition module, a power supply module, a vehicle trajectory description and positioning module, and a data communication module. The display, data acquisition module, and data communication module are all electrically connected to the power supply module; the display is electrically connected to the data communication module for displaying measurement data and managing data; several displacement sensors are electrically connected to the data acquisition module, and the data acquisition module is used to receive measurement data from the displacement sensors and process the measurement data; the vehicle trajectory description and positioning module is used to receive satellite positioning data and perform data structuring and adjustment calculations; the data communication module is used to upload positioning data and measurement data to the cloud server in real time for fusion calculation and analysis, and receive calculation results and control instructions.

3. The vehicle-mounted active weighing device based on a distributed dynamic displacement sensor according to claim 2, characterized in that: The fixing assembly includes a fixing plate and fixing screws. The detection module of the displacement sensor is installed on the fixing plate through the fixing screws, and the fixing plate is fixed to the vehicle frame.

4. The vehicle-mounted active weighing device based on a distributed dynamic displacement sensor according to claim 3, characterized in that: The displacement sensor adopts a multifunctional wire-drawn displacement sensor. The connection module includes a sleeve with a steel strand inside. The steel strand is used to connect the measuring module and the detection module. The measuring module is fixed on the axle and installed downward perpendicular to the frame, and the detection module is installed upward perpendicular to the axle.

5. A method for a vehicle-mounted active weighing device based on a distributed dynamic displacement sensor according to any one of claims 1 to 4, characterized in that: The specific steps are as follows: Step S1: acquiring measurement data of the displacement sensor and positioning data of the vehicle trajectory description and positioning module in real time; Step S2: Calculate the dynamic load of the construction vehicle based on the measurement data and draw the driving trajectory based on the positioning data; The calculation process for the dynamic load capacity of construction vehicles based on the measured data is as follows: Step S21a: extracting effective values ​​from the vertical displacements collected at each measuring point and drawing a vehicle load data curve; Step S22a: De-noising and eliminating background interference factors on the vehicle load data curve, and using an asymmetric data automatic screening and separation algorithm to remove outliers; Step S23a: using the recursive least squares method to perform data curve denoising and fitting; Step S24a: Calculate the vehicle load.

6. The method of the vehicle-mounted active weighing device according to claim 5, characterized in that: The denoising and fitting process in step S23a is as follows: a) Initialization parameters and data preparation; Set the tangent value threshold of the angle difference r = m, where m is an engineering parameter related to the structural characteristics of the construction vehicle, and let i = 1, j = 2, where i and j are the starting index and the end index respectively; The data includes N points, (t n ,x n ) is the coordinate of the nth point, t n and x n are the time and vertical displacement of the nth point respectively; b) piecewise least squares fitting; For the i-th point to the j-th point, the least squares method is used to calculate the fitting straight line equation as follows: x n =kt n +b Where k is the slope of the fitted straight line equation, and b is the intercept term of the fitted straight line equation; c) Calculate the slope k of each segment j , the calculation formula is as follows: Among them, k j is the slope of the j-th segment fitting line equation, t j and x j are the time and vertical displacement of point j, t j+1 and x j+1 are the time and vertical displacement of point j+1 respectively; d) Boundary condition judgment; If j+1 is greater than N, the final fitting straight line equation X(t)=k·t+B is output; e) Angle difference judgment; when When , set j = j + 1 and return to step b; when When , output the fitted straight line equation and execute the next step; f) For points j and j + 1, calculate the equation of the fitted line using the least squares method, set i = j, j = j + 1, and return to step c until all points are fitted, obtaining the final fitted line equation X(t) = k·t + B.

7. The method of the vehicle-mounted active weighing device according to claim 6, characterized in that: In step S24a, the vehicle load is calculated using the following formula: F(t)=K×X(t) Where F(t) is the vehicle load at time t, and K is the elastic stiffness of the vehicle structure; Finally, the load scatter plot after cloud noise processing is obtained.

8. The method of the vehicle-mounted active weighing device according to claim 5, characterized in that: The process of drawing a driving trajectory is as follows: Step S21b: importing the drawing library; Step S22b: drawing a trajectory curve according to the positioning data; The positioning data L(A(t), B(t)) includes the longitude and latitude coordinates of the vehicle at time t; Draw the trajectory curve with the vehicle longitude coordinate A(t) at time t as the horizontal coordinate and the vehicle latitude coordinate B(t) at time t as the vertical coordinate; Step S23b: Setting the icon title, horizontal axis label, and vertical axis label; Step S24b: adding grid lines to the chart; Step S25b: displaying the drawn vehicle driving trajectory; Step S3: The dynamic load and the driving trajectory are integrated to obtain data including the dynamic load and the driving trajectory.

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