CN110414077B - Load weighing method and system of loader - Google Patents
Load weighing method and system of loader Download PDFInfo
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- CN110414077B CN110414077B CN201910609764.3A CN201910609764A CN110414077B CN 110414077 B CN110414077 B CN 110414077B CN 201910609764 A CN201910609764 A CN 201910609764A CN 110414077 B CN110414077 B CN 110414077B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
Abstract
The invention provides a load weighing method and a load weighing system of a loader, which comprise the following steps: establishing a mathematical model, collecting measurement data, correcting load weight, correcting inclination angle, correcting acceleration and displaying load weight, and particularly carrying out data filtering processing on the collected measurement data. The invention reduces the influence of factors such as load weight, inertia impact, hydraulic fluctuation, random interference and the like on the load weighing precision, and meets the requirement of the latest JJG1123-2016 (loader electronic scale) verification regulation issued by the State quality control Bureau.
Description
Technical Field
The invention relates to a weighing method and a weighing device, in particular to a load weighing method and a load weighing system of a loader.
Background
In the freight transportation of railway trucks or road automobiles, for some goods (such as coal and the like), the goods are shoveled into a bucket of a loader, and then the loader lifts the bucket up to pour the goods into a truck compartment. Since the weight of the transported cargo is known, the loader is required to weigh the weight of each shovel of cargo at the same time when loading. At present, a common method for weighing a loader is that a pressure sensor is used for acquiring the pressure of an oil cylinder from the oil cylinder for lifting a bucket, the load in the bucket is calculated through the pressure, and as the oil cylinder pressure and the bucket load are not in a linear relation at different positions in the lifting process of the bucket, a proximity switch is mounted on the loader, and when the loader is lifted to the position of the proximity switch, the oil cylinder pressure is measured and the load weight is calculated. However, this has the serious disadvantage that the accuracy of the weighing is greatly responsive to the shock of the forklift, the change in speed or acceleration of the forklift as it is lifted past this location, and other factors. The dynamic weighing is used as a static weighing processing method, and the purpose of dynamic weighing cannot be really realized.
The Chinese invention patent 'loader electronic scale A' (publication number: CN101246041A, publication number: 2008.08.20) fixes a weighing sensor on an arm body of a large arm of a loader, and corrects the measurement deviation caused by the acceleration of a bucket during movement so as to solve the problems of high price and easy damage of the acceleration sensor, but the problems of low simulation accuracy and large weighing error exist because the weight of the weighing sensor is greatly different from the actual load.
The Chinese invention patent 'loader electronic scale' (publication No. CN102788628A, publication No. 2012.11.21), discloses a loader electronic scale, which collects data through an oil pressure sensor, an angle sensor, a temperature sensor and an inclination angle sensor, uses the angle sensor as the basis of input control, and uses the oil pressure sensor as the basis of weight judgment; using a tilt angle sensor and a temperature sensor as a basis for weight correction; the calculation is corrected to improve the weighing accuracy. However, the patent does not consider the influence of the elastic deformation of the loading arm when the loading machine is lifted at different loads on the weighing precision, and the influence of factors such as inertial impact, hydraulic fluctuation and random interference on the weighing precision.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the influence of factors such as different load weights, inertial impact, hydraulic fluctuation, random interference and the like on the weighing precision of the loader in the lifting process is eliminated.
In order to solve the technical problems, the invention provides: a load weighing method of a loader adopts the technical scheme that the method comprises the following steps:
the method comprises the following steps: establishing a mathematical model of load weighing of the loader, and storing the mathematical model into a central processing unit;
step two: enabling the loader to be in a horizontal field, placing a standard weight into a bucket of the loader, collecting measurement data including an oil pressure sensor in the lifting process of the bucket of the loader, filtering the collected oil pressure difference data, establishing a weight correction array, and storing the weight correction array in a central processing unit;
step three: adjusting the loader to a set inclination angle, placing the standard weights into a bucket of the loader, collecting measurement data including an oil pressure sensor in the lifting process of the bucket of the loader, filtering the collected oil pressure difference data, establishing an inclination correction array, and storing the inclination correction array in a central processing unit;
step four: when the loader is used for loading operation, in the process of lifting operation of a bucket of the loader, measurement data including an oil pressure sensor are collected, the collected oil pressure difference data are filtered, a load array is established and stored in a central processing unit;
step five: carrying out weight correction on the collected load array according to the weight correction array;
step six: carrying out inclination correction on the collected load array according to the inclination correction array;
step seven: performing acceleration correction on the array subjected to weight correction and inclination correction;
step eight: and displaying the load weight, and alarming when the load weight exceeds the limit or the inclination exceeds the limit.
Further, in the step one, the mathematical model is:
formula one M = K F1
Formula two M = Y ADi + Z
In the formula: k =1/Sin (B) { (L1 + L2+ L3)/(L1 + L3) }
i = (A-30°)/2
M-weight of load
F1-thrust of oil cylinder
Y-coefficient of
Z-constant
i-number corresponding to measurement Angle A
ADi-analog-to-digital conversion value of thrust with serial number i corresponding to load lifting angle
A-included angle between lifting arm and horizontal direction
B-included angle between oil cylinder and horizontal direction
L1-lifting arm horizontal projection length
L2-horizontal projection Length of boom
L3-horizontal projection length of the fixed arm.
Further, the step two, the step three and the step four, the step of filtering the collected oil pressure difference data is to filter the AD data of the oil pressure difference which is measured in the lifting process and presents a sine wave: and calculating a lifting angle corresponding to a midpoint between a peak and a trough, and then calculating by using a formula II according to AD data corresponding to the midpoint lifting angle to perform filtering processing.
Further, the weight correction in the fifth step is to find two weight correction values that are closest to each other at the same lifting angle in the weight correction array according to the lifting angle of the load array, and substitute the two weight correction values into a second formula:
Ma = Y * ADai + Z
Mb = Y * ADbi + Z
solving the equation to calculate a coefficient Y and a constant Z, and then calculating the load weight according to a formula II:
Mz = Y * ADxi + Z
in the formula: mz-weight after load correction
Ma-weight of a standard weight a smaller than the load
Mb-weight of standard weight b greater than load
ADAI-A/D conversion value of thrust of standard weight with weight a when serial number corresponding to lifting angle is i
ADbi-A/D conversion value of thrust when serial number corresponding to lifting angle is i for standard weight with weight of b
Coefficient of Y-
Z is a constant.
And furthermore, the inclination angle correction in the sixth step is to find two standard inclination angle values closest to the inclination angle C in an inclination angle correction array according to the measured inclination angle C of the field, calculate the calculated weight and the inclination angle coefficient of the standard weight at the inclination angle C by adopting an interpolation method, and correct the load array by using the inclination coefficient.
And further, the acceleration correction in the seventh step is to sort the corrected load arrays according to the sizes, remove the arrays with the largest head and the smallest tail, and calculate the average value of the remaining middle arrays.
Further, the acceleration correction in step seven is to measure the actual change of the velocity or angular velocity to calculate the acceleration or angular acceleration, and perform the correction according to newton's second law.
The invention also relates to a load weighing system of the loader, which adopts the load weighing method of the loader, and the load weighing system comprises an oil pressure sensor, an angle sensor and a temperature sensor which are arranged on the lifting oil cylinder, an inclination angle sensor arranged on the body of the loader, a central processing unit and a display which are arranged in a cab, wherein the oil pressure sensor, the angle sensor, the temperature sensor, the inclination angle sensor and the display are all electrically connected with the central processing unit.
Furthermore, the weighing system of the loader further comprises an alarm installed in the cab, the alarm is electrically connected with the central processing unit, and when the loading weight or the inclination angle exceeds the limit, an alarm signal is sent out.
The invention has the beneficial effects that: the method is characterized in that a data filtering mode is adopted to eliminate the influence of factors such as different load weights, inertia impact, hydraulic fluctuation, random interference and the like on the load weighing precision of the loader in the lifting process; establishing a weight correction array in a mode of calibrating standard weights with different weights for multiple times, and using the weight correction array as a basis for weight correction to eliminate the influence of elastic deformation of a loading arm on the weighing precision of the load caused by different weights of the load; establishing an inclination angle array in a standard weight calibration mode, and taking the inclination angle array as a basis for inclination angle correction to eliminate the influence of an inclination angle on load weighing precision; and sequencing the arrays after the weight correction and the inclination correction, removing the arrays with the largest head and the smallest tail, and averaging the rest middle arrays to eliminate the influence of the lifting acceleration and the advancing acceleration of the loading arm on the weighing precision of the load.
The invention realizes the dynamic weighing function through test and test, obtains good measurement precision, meets the requirement of the latest published verification regulation of JJG1123-2016 loader electronic scale by the State quality control Bureau, and verifies the scientificity of the system design.
Drawings
FIG. 1 is a schematic view of a loader;
FIG. 2 is a schematic block diagram of a weighing method;
FIG. 3 is K-value data analyzed by a standard weight test;
FIG. 4 is a plot of K values analyzed by a standard weight test;
in the figure: m-weight of load
F-pressure at the joint of oil cylinder and movable arm
F1-thrust of oil cylinder
Component force of F2-F in the direction perpendicular to F1
A-included angle between lifting arm and horizontal direction
B-included angle between oil cylinder and horizontal direction
La-Lift arm Length
Lb-Length of boom
Lc-fixed arm length
L1-lifting arm horizontal projection length
L2-horizontal projection Length of boom
L3-fixed arm horizontal projection length.
Detailed Description
The invention is further described by the following specific embodiments in conjunction with the attached drawings.
The embodiment is as follows: as shown in fig. 1 and 2, a load weighing method of a loader includes:
the method comprises the following steps: establishing a mathematical model of load weighing of the loader, and storing the mathematical model into a central processing unit;
setting: the lifting angle of the oil cylinder is B; the angle of the movable arm Lb is A; the load weight of the loader is M; the pressure at the joint of the oil cylinder and the movable arm is F; the thrust of the oil cylinder is F1.
Then: f = M (L1 + L2+ L3)/(L1 + L3)
F1=F*Sin(B)
M=F1/Sin(B)* ｛(L1+L2+L3)/(L1+L3) ｝
Setting: k =1/Sin (B) { (L1 + L2+ L3)/(L1 + L3) }
Then: m = K F1 (formula one)
The first formula is the theoretical basis of the invention
In the formula: k =1/Sin (B) { (L1 + L2+ L3)/(L1 + L3) }
M-weight of load
F-pressure at the joint of oil cylinder and movable arm
F1-thrust of oil cylinder
A-included angle between lifting arm and horizontal direction
B-included angle between oil cylinder and horizontal direction
La-Lift arm Length
Lb-Length of boom
Lc-fixed arm length
L1-lifting arm horizontal projection length
L2-horizontal projection Length of boom
L3-fixed arm horizontal projection length
It can be seen that the value of K is not the same at every angular point during the lift of the loader and is non-linear. However, the K value at each angle point is theoretically fixed, that is, knowing the K value at a certain angle point, the load weight of the loader can be calculated according to the formula one by measuring the pressure of the oil cylinder, which is an important theoretical basis for weighing the loader.
Because the measured data is the analog signal of the differential pressure sensor at the two ends of the oil cylinder, and the AD value is obtained after analog-to-digital conversion, the formula can be expressed as follows:
m = Y ADi + Z (formula two)
i = (A-30°)/2
Second is the implementation basis of the invention
In the formula: m-weight of load
Coefficient of Y-
i-number corresponding to the measured inclination A
ADi-analog-to-digital conversion value of thrust with serial number i corresponding to load lifting angle
Z-constant
When the loader is lifted, sine wave oscillation is found in an oil pressure difference data AD sampling value, which can greatly affect the measurement precision, the reason for analyzing the oscillation is generated due to elastic deformation of a lifting arm and related components, friction resistance of each pin shaft, hydraulic impact and the like caused by the load of the loader, the filtering of sine waves is a key for ensuring the measurement precision and is also a core part of the design, so the filtering cannot be simply completed by averaging, and the specific filtering method is described as follows:
1) Analyzing and determining that the current lifting state is achieved;
2) Sampling according to 10ms, continuously averaging the previous and the next sampling, and performing sampling time filtering;
3) And because the value of the AD conversion in the lifting process is increased all the time, if the AD value is found to be continuously reduced, recording the corresponding angle x1 at the moment, finding that the AD value is continuously increased after a certain time or angle, and recording the corresponding angle x2 at the moment, wherein the corresponding angle can be regarded as a half wave of the sine wave. The angle of the midpoint between x1 and x2 is z1= (x 1+ x 2)/2, and the correction value of the point AD value is: ADz1= (ADx 1+ ADx 2)/2. Then continuously finding out a continuous descending point and a continuous ascending point;
4) And correcting the AD value measured at the intermediate point by taking the values of ADz1 and ADz2 … as a reference to obtain a filter array Lb [20] subjected to filter processing.
The key of ensuring the measurement precision is to filter the AD sampling value of the oil pressure difference data, which is also the core part of the invention, and the AD sampling value of the collected oil pressure difference data is filtered in the subsequent steps so as to eliminate the influence of factors such as inertia impact, hydraulic fluctuation, random interference and the like on the load weighing precision.
Step two: the loader is positioned in a horizontal field, a standard weight is placed in a bucket of the loader, a plurality of angles are measured in the lifting process, an area (about 2S) with the arm angular displacement larger than 30 degrees to 70 degrees is used as an effective weighing area, pressure sampling is carried out once when the arm angular displacement A is increased by 2 degrees in the effective weighing area, 20F 1[20] are obtained, and 20K values can be calculated because the weight M of the standard weight is known.
K [ i ] = M/F1[ i ], since the loading arm may deform differently when loading different loads, the resistance of the pin may change somewhat, and the like, which may also cause the K value to change slightly at the same point, in order to improve the measurement accuracy, multiple load calibration may be adopted, for example, for a 3-ton loader, loading is performed respectively: calibrating 0 ton, 1 ton, 2 ton and 3 ton to obtain measured data CL 20, filtering the collected oil pressure difference data, creating weight correcting array Bd 4 20, storing it in CPU for weight correction to raise weighing precision. The method is used as a comparison basis for eliminating the influence of the weighing precision due to different weights of loads.
Step three: because the inclination angle of the loader has a large influence on the measured value, the inclination angle can be corrected by adopting a mode of establishing an inclination angle correction array. For safety reasons, the system alarms when the maximum inclination angle is 10 °. Therefore, considering the maximum tilt angle allowed to be 9 °, 3 tilt correction arrays Qj 3 20 may be established, corresponding to 3 °, 6 °, 9 °, respectively. A standard weight is first placed in the bucket of the loader, the loader is adjusted to a 3 ° inclination, and a number of angles are measured during the lifting of the loader. Then the loader is adjusted to the inclination of 6 DEG and 9 DEG, then the measurement is carried out, the obtained measurement data CL 3 20 is filtered to obtain the inclination angle correction array Qj 3 20, and the inclination angle correction array Qj 3 is stored in the central processing unit for inclination angle correction so as to improve the weighing precision. As a comparison basis for subsequently eliminating the influence of the weighing precision due to different inclination angles.
Step four: when the loader is in loading operation, during the lifting operation of the bucket of the loader, the collecting comprises: the measurement data CL [20] of the pressure difference at two ends of the oil cylinder, the oil temperature data of the oil cylinder, the lifting arm angle and the inclination angle of the loader are filtered, a load array M [20] is established and stored in a central processing unit;
step five: carrying out weight correction on the collected load array according to the weight correction array to obtain a weight correction array Mz [20]:
when the angle changes during the lifting process of the loader, the AD value ADi of the sensor when the angle is A is obtained, the number i = (A-30)/2 of the angle is calculated, and then the number i is compared with the number i corresponding to the angle number in 4 arrays of Bda [20] -Bdc [20], and the conditions that i =17 and ADa17 is restricted ADi restricted ADb17 are assumed. Then the weight M for ADxi can be calculated using the following equation:
Mz=Y*ADi+Z
this is a one-dimensional equation, and Y and Z must be solved first.
According to Ma = Y ADa17+ Z,
Mb=Y*ADb17+Z
in the formula: mz-weight after load correction
Ma-weight of standard weight a smaller than load
Mb-weight of standard weight b greater than load
ADAI-A/D conversion value of thrust of standard weight with weight a when serial number corresponding to lifting angle is i
ADbi-A/D conversion value of thrust when serial number corresponding to lifting angle is i for standard weight with weight of b
Coefficient of Y-
Z-constant.
Solving the equation to obtain Y, Z and calculating the weight of the current load: mz = Y ADi + Z
During the lifting process, a weight correction array Mz [20] = { Mz0, mz1 …, mz18, mz19} is obtained through measurement calculation of 20 angles. Theoretically, the weights of the 20 weight correction arrays Mz [20] should be equal, but in practice will vary in magnitude due to the effects of acceleration.
After the weight is corrected, the influence of different load weights on the load weighing precision of the loader in the lifting process can be reduced.
Step six: carrying out inclination correction on the collected load array according to the inclination correction array;
the inclination angle correction is carried out by adopting an interpolation method according to the measured inclination angle C of the loader and two inclination angle arrays Qj 3 20 which are found in the inclination angle arrays Qj 3 20 and are closest to the inclination angle C and used for calibrating the inclination angle. The tilt corrected load array Mz [20] is obtained.
Assuming that the measured inclination angle of the loader is 4 DEG and the lifting angle of the loading arm is 50 DEG, the measured inclination angle of the loader is firstly Qj 3 in the inclination array][20]Checking Qj in the inclination values of 3 DEG and 6 DEG of the inclination angle of the loader and 50 DEG of the lifting angle of the loading arm 3° [10]And Qj 6° [10]And then calculating the inclination value when the inclination angle is 4 degrees by an interpolation method:
Qj 4° [10]= Qj 3° [10]+ ｛ Qj 6° [10]- Qj 3° [10] ｝/（6-3）
at 4 deg. according to the weight of the standard weightInclination coefficient of (d): k 4° =Mf/ Qj 4° [10]
The corrected load weight was: mz [20]]= M[20]* K 4°
In the formula, qj 4° [10]The standard weight calculated at an inclination angle of 4 DEG and a lifting angle of 50 DEG,
Qj 3° [10]The weight of the standard weight measured at an inclination angle of 3 DEG and a lifting angle of 50 DEG,
Qj 6° [10]The weight of the standard weight measured at an inclination angle of 6 DEG and a lifting angle of 50 DEG,
K 4° -inclination coefficient of inclination angle 4 DEG,
Mf-weight of standard weight,
M20-calculated load weight,
Mz 20-corrected load weight,
The influence of different load weights on the load weighing precision of the loader in the lifting process is reduced through inclination correction.
Step seven: and performing acceleration correction on the array subjected to weight correction and inclination correction, wherein the acceleration correction comprises the following two methods:
the first embodiment is as follows: considering that the loader cannot always accelerate or decelerate in the lifting and advancing processes, and the situation that the constant speed or acceleration and deceleration is small exists in the middle, the calculated load weight is larger when the acceleration is positive generally; when the acceleration is negative, the calculated load weight is smaller; if the calculated array Mz [20] is sorted from small to large, then the front 7 small load weights are removed, the rear 7 large load weights are removed, and the middle 6 load weights are averaged to obtain the load weight after acceleration correction.
Example two: the acceleration is calculated in real time and corrected according to newton's second law (F = m a) to eliminate the effect of acceleration on the accuracy of the weighing of the load.
By means of acceleration correction, the influence of the lifting acceleration or the traveling acceleration of the loader on weighing accuracy can be reduced.
Step eight: and displaying the load weight, and alarming when the load weight exceeds the limit or the inclination exceeds the limit.
The invention also relates to a load weighing system of the loader, which adopts the load weighing method of the loader, and the load weighing system comprises an oil pressure sensor, an angle sensor and a temperature sensor which are arranged on the lifting oil cylinder, an inclination angle sensor arranged on the body of the loader, a central processing unit and a display which are arranged in a cab, wherein the oil pressure sensor, the angle sensor, the temperature sensor, the inclination angle sensor and the display are all electrically connected with the central processing unit.
The weighing system of the loader further comprises an alarm installed in the cab, the alarm is electrically connected with the central processing unit, and when the loading weight or the inclination angle exceeds the limit, an alarm signal is sent out.
In conclusion, the beneficial effects of the invention are as follows: the method is characterized in that a data filtering mode is adopted to eliminate the influence of factors such as different load weights, inertia impact, hydraulic fluctuation, random interference and the like on the load weighing precision of the loader in the lifting process; establishing a weight correction array in a mode of calibrating standard weights with different weights for multiple times, and using the weight correction array as a basis for weight correction to eliminate the influence of elastic deformation of a loading arm on the weighing precision of the load caused by different weights of the load; establishing an inclination angle array in a standard weight calibration mode, and taking the inclination angle array as a basis for inclination angle correction to eliminate the influence of an inclination angle on load weighing precision; and sequencing the arrays after the weight correction and the inclination correction, removing the arrays with the largest head and the smallest tail, and averaging the rest middle arrays to eliminate the influence of the lifting acceleration and the advancing acceleration of the loading arm on the weighing precision of the load.
The invention realizes the dynamic weighing function through test and test, obtains good measurement precision, meets the requirement of the latest published verification regulation of JJG1123-2016 loader electronic scale by the State quality control Bureau, and verifies the scientificity of the system design.
The above embodiments are provided for illustrative purposes only and not for limiting the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and therefore all equivalent technical solutions should fall within the scope of the present invention, and the scope of the present invention should be defined by the claims.
Claims (3)
1. A load weighing method of a loader, comprising:
the method comprises the following steps: establishing a mathematical model of load weighing of the loader, and storing the mathematical model into a central processing unit, wherein the mathematical model is represented by a formula I = K F1
Formula two M = Y ADi + Z
In the formula: k =1/Sin (B) { (L1 + L2+ L3)/(L1 + L3) }
i = (A-30°)/2
M-weight of load
F1-thrust of oil cylinder
Y-coefficient of
Z-constant
i-number corresponding to the measured inclination A
ADi-analog-to-digital conversion value of thrust with serial number i corresponding to load lifting angle
A-included angle between lifting arm and horizontal direction
B-included angle between oil cylinder and horizontal direction
L1-lifting arm horizontal projection length
L2-horizontal projection Length of boom
L3, the horizontal projection length of the fixed arm;
step two: make the loader be in horizontal place, put into the scraper bowl of loader with standard weight, lift the in-process at the scraper bowl of loader, gather the measured data including oil pressure sensor, carry out filtering process to the oil pressure differential data of gathering, establish the weight correction array to store central processing unit, carrying out filtering process to the oil pressure differential data of gathering is that the AD data that the oil pressure differential that shows sine wave that rises in-process and measures carries out filtering process: firstly, calculating a lifting angle corresponding to a midpoint between a peak and a trough, and then calculating by using a formula II according to AD data corresponding to the midpoint lifting angle to perform filtering processing;
step three: adjust the inclination of settlement with the loader, put into the scraper bowl of loader with standard weight, carry out the lift in-process at the scraper bowl of loader, gather the measured data including oil pressure sensor, carry out filtering process to the oil pressure differential data of gathering, establish the slope and rectify the array to store central processing unit, carry out filtering process to the oil pressure differential data of gathering and be to lifting in-process measuring, the AD data that present sinusoidal oil pressure differential carry out filtering process: firstly, calculating a lifting angle corresponding to a midpoint between a peak and a trough, and then calculating by using a formula II according to AD data corresponding to the midpoint lifting angle to perform filtering processing;
step four: when the loader is used for loading operation, in the lifting operation process of a bucket of the loader, measurement data including an oil pressure sensor are collected, the collected oil pressure difference data are subjected to filtering processing, a load array is established and stored in a central processing unit, and the filtering processing of the collected oil pressure difference data is to be subjected to filtering processing on AD data of oil pressure difference which is measured in the lifting process and presents a sine wave: firstly, calculating a lifting angle corresponding to a midpoint between a peak and a trough, and then calculating by using a formula II according to AD data corresponding to the midpoint lifting angle to perform filtering processing;
step five: carrying out weight correction on the collected load array according to the weight correction array, wherein the weight correction is carried out by finding two closest weight correction values with the same lifting angle in the weight correction array according to the lifting angle of the load array, and substituting the two weight correction values into a formula II:
Ma = Y * ADai + Z
Mb = Y * ADbi + Z
solving the equation to calculate a coefficient Y and a constant Z, and then calculating the load weight according to a formula II:
Mz = Y * ADxi + Z
in the formula: mz-weight after load correction
Ma-weight of standard weight a smaller than load
Mb-weight of standard weight b greater than load
ADAi-A/D conversion value of thrust of standard weight with weight a when serial number corresponding to lifting angle is i
ADbi-A/D conversion value of thrust when serial number corresponding to lifting angle is i for standard weight with weight of b
Coefficient of Y-
Z-constant;
step six: carrying out inclination correction on the collected load array according to the inclination correction array, wherein the inclination correction is carried out by finding two standard inclination values closest to the inclination angle C in the inclination correction array according to the measured inclination angle C of the field, calculating the calculated weight and the inclination coefficient of the standard weight at the inclination angle C by adopting an interpolation method, and correcting the load array by using the inclination coefficient;
step seven: performing acceleration correction on the array subjected to weight correction and inclination correction, wherein the acceleration correction is to calculate acceleration or angular acceleration by measuring actual change of speed or angular velocity, and perform correction according to Newton's second law;
step eight: and displaying the load weight, and alarming when the load weight exceeds the limit or the inclination exceeds the limit.
2. A load weighing system of a loader using the load weighing method of claim 1, characterized in that: the hydraulic control system comprises an oil pressure sensor, an angle sensor, a temperature sensor, an inclination angle sensor, a central processing unit and a display, wherein the oil pressure sensor, the angle sensor and the temperature sensor are installed on a lifting oil cylinder, the inclination angle sensor is installed on a loading locomotive body, and the central processing unit and the display are installed in a cab.
3. The load weighing system of claim 2, wherein: the device is characterized by further comprising an alarm installed in the cab, wherein the alarm is electrically connected with the central processing unit and sends out an alarm signal when the loading weight or the inclination angle exceeds the limit.
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| CN111044131A (en) * | 2019-11-14 | 2020-04-21 | 浙江力普物流技术有限公司 | Weighing method with dynamic calibration for weighing forklift |
| JP7455568B2 (en) * | 2019-12-16 | 2024-03-26 | 株式会社小松製作所 | Working machines, measuring methods and systems |
| CN112964345A (en) * | 2021-02-07 | 2021-06-15 | 广东电子工业研究院有限公司 | Freight car weighing system and weighing method thereof |
| CN113074801A (en) * | 2021-03-25 | 2021-07-06 | 梅特勒-托利多(常州)精密仪器有限公司 | Real-time monitoring device and method for weighing sensor of aerial work platform |
| CN113104455B (en) * | 2021-04-13 | 2022-04-29 | 深圳市汉德网络科技有限公司 | Garbage weighing method and device based on bucket-hanging type garbage truck, electronic equipment and storage medium |
| CN114923554B (en) * | 2022-04-27 | 2023-06-20 | 株洲嘉成科技发展股份有限公司 | Self-adaptive weighing device and method for loader |
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