CN-121994336-A - Method for calculating axle load of loading truck, loading truck and computer program product

CN121994336ACN 121994336 ACN121994336 ACN 121994336ACN-121994336-A

Abstract

The invention provides a loading vehicle axle load calculating method, a loading vehicle and a computer program product. The calculation method comprises the steps of obtaining the load, the pose, the wheelbase and the angle of the ground where the loading vehicle is located and the horizontal plane of the loading vehicle, obtaining the loading weight of the loading vehicle according to the load and the unloading weight of the loading vehicle, inquiring a preset relation table according to the pose and the loading weight to obtain the height of the centroid of the corresponding loading vehicle, the first distance from the centroid to the front axle of the loading vehicle and the second distance from the centroid to the rear axle of the loading vehicle, obtaining the static axle load of the front axle according to the loading weight, the second distance, the centroid height, the wheelbase and the angle, and obtaining the static axle load of the rear axle according to the loading weight, the first distance, the centroid height, the wheelbase and the angle. Therefore, the axle load calculation can be completed when the loading vehicle is at the fixed point position, namely in a non-motion state, the calculation efficiency is greatly improved, and the adverse effect of time delay is eliminated.

Inventors

WANG JINXIN
DENG JINTAO
LIU TING

Assignees

潍柴动力股份有限公司

Dates

Publication Date: 20260508
Application Date: 20251218

Claims (10)

1. A method for calculating a loading axle load, the method comprising: Acquiring the load, the pose, the wheelbase and the angle between the ground and the horizontal plane of the loading vehicle; Acquiring the loading weight of the loading vehicle according to the load and the empty weight of the loading vehicle; Inquiring a preset relation table according to the pose and the loading weight to obtain the corresponding height of the center of mass of the loading vehicle, the first distance between the center of mass and the front axle of the loading vehicle and the second distance between the center of mass and the rear axle of the loading vehicle, wherein the relation table records the mapping relation among the pose, the loading weight, the height of the center of mass, the first distance and the second distance; Acquiring a static axle load of the front axle according to the loading weight, the second distance, the centroid height, the wheelbase and the angle; Acquiring a static axle load of the rear axle according to the loading weight, the first distance, the centroid height, the wheelbase and the angle; the static axle load is the axle load of the loading vehicle in a fixed-point position state.
2. The computing method of claim 1, wherein the step of obtaining the static axle load of the front axle from the load weight, the second distance, the centroid height, the wheelbase, and the angle comprises: The static axle load of the front axle is obtained according to the following relation: Wherein the said For the static axle load of the front axle, the For the loading weight, the For the second distance, the For the wheelbase, the For the centroid height, the Is the angle.
3. The computing method of claim 1, wherein the step of obtaining the static axle load of the rear axle from the load weight, the first distance, the centroid height, the wheelbase, and the angle comprises: And obtaining the static axle load of the rear axle according to the following relation: Wherein the said For the static axle load of the rear axle, the For the loading weight, the For the first distance, the For the wheelbase, the For the centroid height, the Is the angle.
4. A computing method according to any one of claims 1-3, further comprising: Acquiring the acceleration of the loading vehicle; Acquiring the dynamic axle load of the front axle according to the acceleration of the loading vehicle and the static axle load of the front axle; Acquiring the dynamic axle load of the rear axle according to the acceleration of the loading vehicle and the static axle load of the rear axle; The dynamic axle load is the axle load of the loading vehicle in a motion state.
5. The method according to claim 4, wherein the step of acquiring the dynamic axle load of the front axle from the acceleration of the loading vehicle and the static axle load of the front axle includes: the dynamic axle load of the front axle is obtained through the following formula: Wherein the said For the dynamic axle load of the front axle, the For the static axle load of the front axle, G is the loading weight, G is the gravitational acceleration, h is the centroid height, and For the wheelbase, the Acceleration for the loading vehicle; the step of obtaining the dynamic axle load of the rear axle according to the acceleration of the loading vehicle and the static axle load of the rear axle comprises the following steps: the dynamic axle load of the rear axle is obtained by the following formula: Wherein the said For the dynamic axle load of the rear axle, the Is the static axle load of the rear axle.
6. The computing method of claim 1, wherein the pose comprises an angle of a boom of the loader; the step of obtaining the load, the pose, the wheelbase and the angle between the ground and the horizontal plane of the loading vehicle comprises the following steps: acquiring the angle of the movable arm through a first angle sensor arranged on the movable arm; acquiring the angle between the ground where the loading vehicle is located and the horizontal plane through a second angle sensor arranged on the loading vehicle; Acquiring the thrust of the load on the movable arm through the pressure value of the movable arm oil cylinder of the loading vehicle; the load is obtained by the angle of the boom and the thrust.
7. The computing method of claim 1, wherein prior to the acquiring the load of the loading vehicle, further comprising: Acquiring a movable arm pressure value and a bucket pressure value of the loading vehicle under different working conditions, and storing the movable arm pressure value and the bucket pressure value with the corresponding working conditions; the step of obtaining the load of the loading vehicle further comprises: Acquiring a current movable arm pressure value and a bucket pressure value of the loading vehicle, and acquiring working conditions of the loading vehicle according to the current movable arm pressure value and the bucket pressure value; And acquiring the load of the loading vehicle according to the working condition of the loading vehicle or the movable arm pressure value.
8. The computing method of claim 1, wherein the step of obtaining the load of the loading vehicle comprises: The load is acquired based on a load sensor of a bucket configuration of the loading truck, or the volume and the density of the bucket are identified based on an image recognition technology, and the load is acquired according to the volume and the density.
9. A loading vehicle, characterized in that it is applied to the calculation method according to any one of claims 1-8.
10. A computer program product, characterized in that the computer program product stores a computer program executable by at least one processor to cause the at least one processor to perform the calculation method according to any one of claims 1-8.

Description

Method for calculating axle load of loading truck, loading truck and computer program product Technical Field The invention relates to the technical field of vehicles, in particular to a method for calculating axle load of a loading vehicle, the loading vehicle and a computer program product. Background Under various working conditions, the loading vehicle often needs different driving forces to adapt to the working requirements of the loading vehicle. Therefore, it is an extremely important precondition to rapidly estimate the axle load of the loading truck to provide a suitable driving force. In the existing scheme, the main mode is to measure various kinds of various driving data in the driving process of the loading vehicle so as to determine the axle load value of the loading vehicle. However, the loading vehicle is not necessarily in a driving state when different working conditions such as shoveling, lifting and unloading are performed. This results in the obvious disadvantages of the prior art solutions, which require the loading truck to be able to determine the loading truck axle load in the driving state, which are mainly manifested in a relatively slow calculation speed and in a certain delay. Disclosure of Invention In view of the above, the embodiments of the present invention are directed to a computing method of an electric vehicle, and a computer program product, so as to solve the problems of slow computing speed and delay caused by that an axle load can be determined only during a dynamic driving process in the prior art. In one aspect, the invention provides a method for calculating a loading axle load, which comprises the following steps: Acquiring the load, the pose, the wheelbase and the angle between the ground and the horizontal plane of the loading vehicle; Acquiring the loading weight of the loading vehicle according to the load and the empty weight of the loading vehicle; Inquiring a preset relation table according to the pose and the loading weight to obtain the corresponding height of the center of mass of the loading vehicle, the first distance between the center of mass and the front axle of the loading vehicle and the second distance between the center of mass and the rear axle of the loading vehicle, wherein the relation table records the mapping relation among the pose, the loading weight, the height of the center of mass, the first distance and the second distance; Acquiring a static axle load of the front axle according to the loading weight, the second distance, the centroid height, the wheelbase and the angle; Acquiring a static axle load of the rear axle according to the loading weight, the first distance, the centroid height, the wheelbase and the angle; the static axle load is the axle load of the loading vehicle in a fixed-point position state. In one embodiment, the step of obtaining the static axle load of the front axle from the load weight, the second distance, the centroid height, the wheelbase, and the angle comprises: The static axle load of the front axle is obtained according to the following relation: Wherein the said For the static axle load of the front axle, theFor the loading weight, theFor the second distance, theFor the wheelbase, theFor the centroid height, theIs the angle. In one embodiment, the step of obtaining the static axle load of the rear axle from the load weight, the first distance, the centroid height, the wheelbase, and the angle comprises: And obtaining the static axle load of the rear axle according to the following relation: Wherein the said For the static axle load of the rear axle, theFor the loading weight, theFor the first distance, theFor the wheelbase, theFor the centroid height, theIs the angle. In one embodiment, the computing method further comprises: Acquiring the acceleration of the loading vehicle; Acquiring the dynamic axle load of the front axle according to the acceleration of the loading vehicle and the static axle load of the front axle; Acquiring the dynamic axle load of the rear axle according to the acceleration of the loading vehicle and the static axle load of the rear axle; The dynamic axle load is the axle load of the loading vehicle in a motion state. In one embodiment, the step of acquiring the dynamic axle load of the front axle according to the acceleration of the loading truck and the static axle load of the front axle includes: the dynamic axle load of the front axle is obtained through the following formula: Wherein the said For the dynamic axle load of the front axle, theFor the static axle load of the front axle, G is the loading weight, G is the gravitational acceleration, h is the centroid height, andFor the wheelbase, theAcceleration for the loading vehicle; the step of obtaining the dynamic axle load of the rear axle according to the acceleration of the loading vehicle and the static axle load of the rear axle comprises the following steps: the dynamic axle load of the rear axle is obtained by the