CN113173524B - Method, device, equipment and medium for hydraulic dynamic weighing of telescopic boom forklift - Google Patents

Method, device, equipment and medium for hydraulic dynamic weighing of telescopic boom forklift Download PDF

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CN113173524B
CN113173524B CN202110594794.9A CN202110594794A CN113173524B CN 113173524 B CN113173524 B CN 113173524B CN 202110594794 A CN202110594794 A CN 202110594794A CN 113173524 B CN113173524 B CN 113173524B
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arm
hydraulic cylinder
arm support
weighing
moment
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CN113173524A (en
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黄运保
黄泽雄
甘华权
李海艳
黄东华
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Guangdong University of Technology
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Guangdong University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/061—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks characterised by having a lifting jib
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks

Abstract

The application discloses a method, a device, equipment and a medium for hydraulic dynamic weighing of a telescopic boom forklift truck, wherein the method comprises the steps of calculating boom thrust of a pitching hydraulic cylinder to a boom, boom thrust of a follow-up hydraulic cylinder to the boom, arm arms of four joint arms, arm arms of a telescopic cylinder barrel, arm arms of a telescopic cylinder rod, arm arms of a fork tool, arm arms of a load, arm arms of the pitching hydraulic cylinder to the boom thrust and arm arms of the follow-up hydraulic cylinder to the boom thrust by the acquired coordinates of key points on the boom in a horizontal state, boom amplitude angles, boom extension lengths, pitching hydraulic cylinder hydraulic pressures and follow-up hydraulic cylinder hydraulic pressures; further, a relational expression between the load weight and the amplitude variation angle of the arm support, the extension length of the arm support, the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the servo hydraulic cylinder is constructed through a moment balance principle, and a weighing model is obtained; the weighing model is dynamically solved to obtain the dynamic weight of the load, and the technical problems that a large amount of workers are required to participate and the weighing efficiency is low in the conventional telescopic boom forklift weighing method are solved.

Description

Method, device, equipment and medium for hydraulic dynamic weighing of telescopic boom forklift
Technical Field
The application relates to the technical field of hydraulic dynamic weighing of a telescopic boom forklift, in particular to a hydraulic dynamic weighing method, a hydraulic dynamic weighing device, hydraulic dynamic weighing equipment and a hydraulic dynamic weighing medium for a telescopic boom forklift.
Background
The telescopic boom forklift is widely applied to the fields of agriculture, construction, factory building, port loading and unloading and the like, and generally weight estimation is required to be carried out on loaded materials in the operation process of the telescopic boom forklift so as to facilitate material transaction evaluation, worker wage settlement and vehicle safety protection. However, most of the telescopic-arm forklifts are not equipped with dynamic weighing devices, most of the loaded materials need to be transported over a scale, so that the loading and unloading efficiency is extremely low, and along with the increase of the loading and unloading times, a large number of workers are needed to participate, more fuel needs to be spent, and the cost is increased. At present, the research on the aspect of dynamic weighing of the telescopic boom forklift is not available, and therefore, the dynamic weighing scheme of one set of telescopic boom forklift is researched, so that the telescopic boom forklift can dynamically realize weighing of the load under a normal working period, the telescopic boom forklift is prevented from being overloaded, the operation time is saved, the operation flow is shortened, the production efficiency is improved, and the practical significance is very important.
Disclosure of Invention
The application provides a method, a device, equipment and a medium for hydraulic dynamic weighing of a telescopic boom forklift truck, which are used for solving the technical problems that the existing method for weighing the telescopic boom forklift truck needs a large amount of workers to participate and the weighing efficiency is low.
In view of the above, a first aspect of the present application provides a method for dynamically weighing a telescopic forklift, where an arm frame of the telescopic forklift includes a pitching hydraulic cylinder, a fork, a follow-up hydraulic cylinder, and four knuckle arms, and the method includes:
acquiring coordinates of each key point on the arm support in a horizontal state, an arm support amplitude variation angle, an arm support extension length, a pitching hydraulic cylinder hydraulic pressure and a follow-up hydraulic cylinder hydraulic pressure;
calculating the arm support thrust of the pitching hydraulic cylinder to the arm support and the arm support thrust of the follow-up hydraulic cylinder to the arm support according to the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the follow-up hydraulic cylinder, and calculating the force arms of the four sections of arms, the force arm of the telescopic cylinder barrel, the force arm of the telescopic cylinder rod, the force arm of the fork tool, the force arm of the load, the force arm of the pitching hydraulic cylinder to the arm support thrust and the force arm of the follow-up hydraulic cylinder to the arm support thrust based on the coordinates of each key point, the amplitude variation angle of the arm support and the extension length of the arm support;
according to the thrust of the arm support and the force arm, establishing a relational expression between the load weight and four parameters of the amplitude variation angle of the arm support, the extension length of the arm support, the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the servo hydraulic cylinder by a moment balance principle to obtain a weighing model;
and dynamically solving the weighing model to obtain the dynamic weight of the load of the telescopic arm forklift.
Optionally, a relational expression between the load weight and four parameters, namely the boom luffing angle, the boom extension length, the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the servo hydraulic cylinder, is constructed according to the boom thrust and the moment arm by using a moment balance principle, and the relational expression comprises the following steps:
according to the thrust of the arm support and the force arm, a relational expression between the load weight and four parameters of the amplitude variation angle of the arm support, the extension length of the arm support, the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the servo hydraulic cylinder is constructed by a moment balance principle;
and acquiring a weighing coefficient of the telescopic boom forklift in an idle state based on the relational expression, and acquiring a weighing model based on the weighing coefficient and the relational expression.
Optionally, the weighing model is dynamically solved to obtain the dynamic weight of the load of the telescopic forklift, including:
dynamically solving the weighing model through a Kalman filtering algorithm to obtain the dynamic weight of the load of the telescopic-arm forklift, specifically:
constructing a state space model at the t moment based on the weighing model;
constructing an observation equation at the t moment based on the weighing model and the state space model at the t moment;
calculating a system error covariance matrix at the t moment based on the state space model at the t moment and the estimated error covariance at the t-1 moment;
acquiring Kalman gain at the t moment based on the system error covariance matrix at the t moment and the observation equation;
acquiring the weight of the load of the telescopic boom forklift at the time t according to the state space model, the observation equation and the Kalman gain at the time t;
calculating an estimated error covariance at the t moment according to the Kalman gain and the system error covariance matrix at the t moment;
and setting T as T +1, and returning to the step of constructing the state space model at the T moment based on the weighing model until T is T, and acquiring the dynamic weight of the load of the telescopic arm forklift.
The second aspect of the application provides a flexible arm fork truck hydraulic dynamic weighing device, flexible arm fork truck's cantilever crane includes every single move pneumatic cylinder, fork utensil, follow-up pneumatic cylinder and four festival arms, the device includes:
the acquisition unit is used for acquiring the coordinates of each key point on the arm support in a horizontal state, the amplitude variation angle of the arm support, the extension length of the arm support, the hydraulic pressure of a pitching hydraulic cylinder and the hydraulic pressure of a servo hydraulic cylinder;
the calculation unit is used for calculating the arm support thrust of the pitching hydraulic cylinder to the arm support and the arm support thrust of the follow-up hydraulic cylinder to the arm support according to the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the follow-up hydraulic cylinder, and calculating the force arms of the four joint arms, the force arm of the telescopic cylinder barrel, the force arm of the telescopic cylinder rod, the force arm of the fork, the force arm of the load, the force arm of the pitching hydraulic cylinder to the arm support thrust and the force arm of the follow-up hydraulic cylinder to the arm support thrust based on the coordinates of each key point, the amplitude angle of the arm support and the extension length of the arm support;
the construction unit is used for constructing a relational expression between the load weight and four parameters of the boom amplitude angle, the boom extension length, the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the servo hydraulic cylinder according to the thrust of the boom and the moment arm by a moment balance principle to obtain a weighing model;
and the solving unit is used for dynamically solving the weighing model to obtain the dynamic weight of the load of the telescopic arm forklift.
Optionally, the building unit is specifically configured to:
according to the thrust of the arm support and the force arm, a relational expression between the load weight and four parameters of the amplitude variation angle of the arm support, the extension length of the arm support, the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the servo hydraulic cylinder is constructed by a moment balance principle;
and acquiring a weighing coefficient of the telescopic boom forklift in an idle state based on the relational expression, and acquiring a weighing model based on the weighing coefficient and the relational expression.
Optionally, the solving unit is specifically configured to:
dynamically solving the weighing model through a Kalman filtering algorithm to obtain the dynamic weight of the load of the telescopic-arm forklift, specifically:
constructing a state space model at the t moment based on the weighing model;
constructing an observation equation at the t moment based on the weighing model and the state space model at the t moment;
calculating a system error covariance matrix at the t moment based on the state space model at the t moment and the estimated error covariance at the t-1 moment;
acquiring Kalman gain at the t moment based on the system error covariance matrix at the t moment and the observation equation;
acquiring the weight of the load of the telescopic boom forklift at the time t according to the state space model, the observation equation and the Kalman gain at the time t;
calculating an estimated error covariance at the t moment according to the Kalman gain and the system error covariance matrix at the t moment;
and setting T as T +1, and returning to the step of constructing the state space model at the T moment based on the weighing model until T is T, and acquiring the dynamic weight of the load of the telescopic arm forklift.
A third aspect of the application provides a telescopic boom forklift hydraulic dynamic weighing apparatus, comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the method for performing the hydraulic dynamic weighing of the telescopic boom forklift according to any one of the first aspect.
A fourth aspect of the present application provides a computer-readable storage medium for storing program code for executing the method for hydraulic dynamic weighing of a telescopic boom forklift truck according to any one of the first aspect.
According to the technical scheme, the method has the following advantages:
the application provides a hydraulic dynamic weighing method for a telescopic boom forklift, wherein an arm support of the telescopic boom forklift comprises a pitching hydraulic cylinder, a fork tool, a follow-up hydraulic cylinder and four knuckle arms, and the method comprises the following steps: acquiring coordinates of each key point on the arm support in a horizontal state, an arm support amplitude variation angle, an arm support extension length, a pitching hydraulic cylinder hydraulic pressure and a follow-up hydraulic cylinder hydraulic pressure; calculating the arm support thrust of the pitching hydraulic cylinder to the arm support and the arm support thrust of the servo hydraulic cylinder to the arm support according to the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the servo hydraulic cylinder, and calculating the force arm of four joint arms, the force arm of a telescopic cylinder barrel, the force arm of a telescopic cylinder rod, the force arm of a fork tool, the force arm of a load, the force arm of the pitching hydraulic cylinder to the arm support thrust and the force arm of the servo hydraulic cylinder to the arm support thrust based on the coordinates of each key point, the amplitude variation angle of the arm support and the extension length of the arm support; according to the thrust and the force arm of the arm support, a relational expression between the load weight and four parameters of the amplitude variation angle of the arm support, the extension length of the arm support, the hydraulic pressure of a pitching hydraulic cylinder and the hydraulic pressure of a follow-up hydraulic cylinder is constructed according to the moment balance principle, and a weighing model is obtained; and dynamically solving the weighing model to obtain the dynamic weight of the load of the telescopic arm forklift.
In the application, a weighing model is constructed by combining a dynamic weighing composition principle of the telescopic boom forklift truck, data such as boom extension, boom amplitude angle, pitching hydraulic cylinder hydraulic pressure and servo hydraulic cylinder hydraulic pressure are utilized, dynamic weighing of a load is completed by solving the weighing model, excessive manual interference is not needed, response speed is high, instantaneity is strong, efficiency is high, and the technical problems that an existing weighing method of the telescopic boom forklift truck needs a large amount of workers to participate and weighing efficiency is low are solved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a hydraulic dynamic weighing method for a telescopic boom forklift truck according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a telescopic boom forklift truck according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a hydraulic dynamic weighing device of a telescopic forklift truck according to an embodiment of the present application;
wherein the reference numerals are:
o, a hinge point of the frame and the arm support; B. a knuckle arm center of gravity; C. the center of gravity of the two-section arm; D. the center of gravity of the three-section arm; E. the center of gravity of the four-section arm; F. the hinge point of the fork tool and the four-section arm; G. the center of gravity of the fork; H. a center of gravity of the load; I. the upper vertex of the pitching hydraulic cylinder; J. the lower vertex of the pitching hydraulic cylinder; K. the upper vertex of the servo hydraulic cylinder; l, a lower vertex of the servo hydraulic cylinder; m, the gravity center of the telescopic cylinder barrel; n, the center of gravity of the telescopic cylinder rod.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
For easy understanding, referring to fig. 1, the present application provides an embodiment of a hydraulic dynamic weighing method for a telescopic forklift truck, including:
step 101, obtaining coordinates of each key point on the arm support in a horizontal state, an arm support amplitude variation angle, an arm support extension length, a pitching hydraulic cylinder hydraulic pressure and a follow-up hydraulic cylinder hydraulic pressure.
The boom frame of the telescopic boom forklift comprises a pitching hydraulic cylinder, a fork tool, a follow-up hydraulic cylinder and four jibs, wherein the telescopic hydraulic cylinder performs telescopic action on the boom frame, the pitching hydraulic cylinder provides thrust, the follow-up hydraulic cylinder provides damping force to perform amplitude-variable ascending and amplitude-variable descending actions on the boom frame, and the structure of the boom frame of the telescopic boom forklift is shown in fig. 2.
According to the embodiment of the application, the load weight on the fork tool of the telescopic-arm forklift is indirectly measured by analyzing the structural characteristics of the arm support of the telescopic-arm forklift, utilizing the hydraulic pressure of each cavity of the pitching hydraulic cylinder and the servo hydraulic cylinder, combining the structural size of each component of the arm support system and establishing a geometric mechanics model and statics analysis. Therefore, in the embodiment of the application, when the hydraulic dynamic load of the telescopic boom forklift is weighed, the coordinates of each key point on the boom in the horizontal state, the boom amplitude angle, the boom extension length, the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the follow-up hydraulic cylinder need to be acquired. On the basis of the established hydraulic dynamic weighing model, the characteristics of online correction, instantaneity and the like of a Kalman filtering algorithm are combined, and the load on the fork tool of the telescopic-arm forklift is predicted and displayed in real time. The obtained coordinates of the key points of the fully-contracted boom in the horizontal state are shown in table 1.
TABLE 1 coordinates of each key point on the boom
Name (R) Coordinate symbol Name (R) Coordinate symbol
Hinge joint of frame and arm support (xo，zo) Center of gravity of load (xz，zz)
Center of gravity of one-section arm (x1，z1) Upper vertex of pitching hydraulic cylinder (xfs，zfs)
Two-section arm gravity center (x2，z2) Pitching hydraulic cylinder lower vertex (xfx，zfx)
Three-section arm gravity center (x3，z3) Follow-up hydraulic cylinder upper vertex (xss，zss)
Four-section arm gravity center (x4，z4) Follow-up hydraulic cylinder lower vertex (xsx，zsx)
Hinge point of fork tool and four-section arm (xcb，zcb) Center of gravity of telescopic cylinder (xst，zst)
Fork tool gravity center (xc，zc) Center of gravity of telescopic cylinder rod (xsg，zsg)
102, calculating the arm support thrust of the pitching hydraulic cylinder to the arm support and the arm support thrust of the servo hydraulic cylinder to the arm support according to the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the servo hydraulic cylinder, and calculating the moment arms of the four sections of arms, the moment arm of the telescopic cylinder barrel, the moment arm of the telescopic cylinder rod, the moment arm of the fork tool, the moment arm of the load, the moment arm of the pitching hydraulic cylinder to the arm support thrust and the moment arm of the servo hydraulic cylinder to the arm support thrust based on the coordinates of each key point, the amplitude angle of the arm support and the extension length of the arm support.
The calculation formula of the arm support thrust of the arm support by the pitching hydraulic cylinder is as follows:
Ff＝PfwAfw-PfyAfy；
Figure BDA0003090507680000071
in the formula, FfThe arm support thrust of the pitching hydraulic cylinder to the arm support, Pfw、PfyFor the hydraulic pressure of the rodless cavity and the hydraulic pressure of the rod cavity of the pitching hydraulic cylinder, Afw、AfyThe area of a rodless cavity and a rodless cavity of the pitching hydraulic cylinder Dfw、dfyThe diameter of a rodless cavity and the diameter of a rod cavity of the pitching hydraulic cylinder are shown.
The calculation formula of the boom thrust of the boom by the servo hydraulic cylinder is as follows:
Fs＝PswAsw-PsyAsy；
Figure BDA0003090507680000072
in the formula, FsIs the arm support thrust of the servo hydraulic cylinder to the arm support, Psw、PsyIs the hydraulic pressure of a rodless cavity and a rod cavity of a follow-up hydraulic cylinder Asw、AsyIs the area of a rodless cavity and a rodless cavity of a servo hydraulic cylinder Dsw、dsyThe diameter of the rodless cavity and the diameter of the rod cavity of the follow-up hydraulic cylinder.
The force arm of one section of arm is calculated by the formula:
L1＝LBO·cos(θ1+Δθ)；
Figure BDA0003090507680000073
Figure BDA0003090507680000074
in the formula, L1Arm of force of one arm, LBOIs the distance, theta, from the center of gravity B of the arm to the moment balance point O1Is the initial angle between the gravity center of one section of arm and the moment balance point O, and delta theta is the amplitude variation angle of the arm support.
The force arm calculation formula of the two-section arm is as follows:
L2＝LCO·cos(θ2+Δθ)+ΔL·cos(Δθ)；
Figure BDA0003090507680000075
Figure BDA0003090507680000076
in the formula, L2Arm of force of two-section arm, LCOIs the distance from the center of gravity C of the two-section arm to the moment balance point O, theta2The initial angle between the gravity center of the two-section arm and the moment balance point O is shown, and the delta L is the extension length of the arm support (namely the total length of the arm support-the initial length of the arm support).
The force arm of the three-section arm has the calculation formula as follows:
L3＝LDO·cos(θ3+Δθ)+2ΔL·cos(Δθ)；
Figure BDA0003090507680000081
Figure BDA0003090507680000082
in the formula, L3Arm of force of three-jointed arm, LDOIs the distance, theta, from the center of gravity D of the three-section arm to the moment balance point O3The initial angle between the gravity center of the three-section arm and the moment balance point O is shown.
The force arm of the four-section arm is calculated by the following formula:
L4＝LEO·cos(θ4+Δθ)+3ΔL·cos(Δθ)；
Figure BDA0003090507680000083
Figure BDA0003090507680000084
in the formula, L4Arm of force of four-section arm, LEOIs the distance, theta, from the center of gravity E of the four-section arm to the moment balance point O4The initial angle between the gravity center of the three-section arm and the moment balance point O is shown.
The force arm calculation formula of the telescopic cylinder barrel is as follows:
Lst＝LMO·cos(θst+Δθ)；
Figure BDA0003090507680000085
Figure BDA0003090507680000086
in the formula, LstArm of force, L, of telescopic cylinderMOThe distance theta from the center of gravity M of the telescopic cylinder barrel to the moment balance point OstThe initial angle between the gravity center of the telescopic cylinder barrel and the moment balance point O is shown.
The calculation formula of the force arm of the telescopic cylinder rod is as follows:
Lsg＝LNO·cos(θsg+Δθ)+3ΔL·cos(Δθ)；
Figure BDA0003090507680000087
Figure BDA0003090507680000088
in the formula, LsgArm of force for telescopic cylinder rod, LNOIs the distance between the center of gravity N of the telescopic cylinder rod and the moment balance point O, thetasgThe initial angle between the gravity center of the telescopic cylinder rod and the moment balance point O is shown.
The force arm of the fork tool is calculated by the following formula:
Lc＝LFO·cos(θcb+Δθ)3ΔL·cos(Δθ)+xc-xcb；
Figure BDA0003090507680000089
Figure BDA00030905076800000810
in the formula, LcArm of force of fork, LFOThe distance theta from the hinge point F of the center of gravity of the fork and the four-section arm to the moment balance point OcbThe initial angle from the hinge point F of the center of gravity of the fork and the four-section arm to the moment balance point O.
In the amplitude variation process of the arm support, the fork is always kept horizontal, so that the hinge point F between the gravity center G of the fork and the four-section arm is always kept horizontal, and when the force arm of the fork is calculated, the horizontal distance from the hinge point F between the gravity center G of the fork and the four-section arm to the moment balance point O is firstly calculated, and then the horizontal distance (x) between the gravity center G of the fork and the hinge point F between the four-section arm and the moment balance point O is addedc－xcb)。
The force arm of the load is calculated by the formula:
Lz＝LFO·cos(θcb+Δθ)+3ΔL·cos(Δθ)xz-xcb；
Figure BDA0003090507680000091
Figure BDA0003090507680000092
in the formula, LzIs the arm of the load.
The calculation formula of the arm support thrust force of the pitching hydraulic cylinder is as follows:
Figure BDA0003090507680000093
Figure BDA0003090507680000094
Figure BDA0003090507680000095
Figure BDA0003090507680000096
θf＝θfs+|θfx|；
Figure BDA0003090507680000097
in the formula, LfA force arm of the pitching hydraulic cylinder to push the arm support, LIOIs the distance from the top point I of the pitching hydraulic cylinder to the moment balance point O, LJOThe distance L from the lower vertex J of the pitching hydraulic cylinder to the moment balance point OIJIs the distance from the upper vertex I of the pitching hydraulic cylinder to the lower vertex J of the pitching hydraulic cylinder, thetafsIs the initial angle from the upper vertex I of the pitching hydraulic cylinder to the moment balance point O,θfxthe initial angle from the lower vertex J of the pitching hydraulic cylinder to the moment balance point O is shown.
The calculation formula of the force arm of the servo hydraulic cylinder to the arm support thrust is as follows:
Figure BDA0003090507680000098
Figure BDA0003090507680000099
Figure BDA00030905076800000910
Figure BDA0003090507680000101
θs＝θss+|θsx|；
Figure BDA0003090507680000102
in the formula, LsArm of force for the thrust of the servo hydraulic cylinder to the arm support, LKOThe distance L from the top K of the servo hydraulic cylinder to the moment balance point OLOThe distance between the lower vertex L of the servo hydraulic cylinder and the moment balance point O, LKLIs the distance theta from the upper vertex K of the follow-up hydraulic cylinder to the lower vertex L of the follow-up hydraulic cylinderssIs the initial angle theta from the top K of the servo hydraulic cylinder to the moment balance point OsxThe initial angle from the lower vertex L of the servo hydraulic cylinder to the moment balance point O.
103, according to the thrust and the force arm of the arm support, establishing a relational expression between the load weight and four parameters of the amplitude variation angle of the arm support, the extension length of the arm support, the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the servo hydraulic cylinder through a moment balance principle, and obtaining a weighing model.
The method comprises the following steps of taking a hinged point O of a frame and a section of arm of a telescopic boom forklift as a moment balance point, and constructing a relational expression between load weight and four parameters of an arm frame amplitude variation angle, an arm frame extension length, a pitching hydraulic cylinder hydraulic pressure force and a follow-up hydraulic cylinder hydraulic pressure force according to an arm frame thrust and an arm frame through a moment balance principle, namely:
G1L1+G2L2+G3L3+G4L4+GstLst+GsgLsg+GcLc+GzLz＝FfLf+FsLs；
in the formula, G1、G2、G3、G4、Gst、Gsg、Gc、GzRespectively a first-section arm, a second-section arm, a third-section arm, a fourth-section arm, a telescopic cylinder barrel, a telescopic cylinder rod, a fork tool and the gravity of a load.
And acquiring a weighing coefficient of the telescopic arm forklift in an idle state based on the relational expression, and acquiring a weighing model based on the weighing coefficient and the relational expression. Specifically, the formula of the thrust and the moment arm of each arm support is substituted into the relational expression, and then variables Δ L and Δ θ are separated from the left side of the formula, so as to obtain:
Figure BDA0003090507680000103
in the formula, a1、a2、a3、a4For weighing factor, in the unloaded state of the telescopic-arm fork-lift truck (i.e. G)z0), a can be calibrated1、a2、a3、a4Specific values for these 4 weighing factors. The final weighing model was:
Figure BDA0003090507680000104
Figure BDA0003090507680000105
in the formula, e1、e2、e3、e4Respectively the calibrated weighing coefficient, mzAnd M is the sum of moments of thrust acted on the arm support by the pitching hydraulic cylinder and the follow-up hydraulic cylinder and is the load weight.
And 104, dynamically solving the weighing model to obtain the dynamic weight of the load of the telescopic arm forklift.
Through the dynamic solution weighing model of Kalman filtering algorithm, obtain the dynamic weight of telescopic boom fork truck's load, it is specific:
s1, constructing a state space model at the t moment based on the weighing model, namely:
Figure BDA0003090507680000111
in the formula, xf(t) is a system state matrix at time t, i.e. the predicted load weight m at time tzThe initial value is half of the maximum load weight of the forklift;
Figure BDA0003090507680000112
is a state transition matrix, set to 1; w is the system noise, which is assumed to follow a gaussian white noise distribution.
S2, constructing an observation equation at the t moment based on the weighing model and the state space model at the t moment, namely:
y(t)＝Hxf(t)+v；
y(t)＝M(t)-[e1cos(Δθ)-e2sin(Δθ)+e3·ΔL·cos(Δθ)+e4]；
H＝[LFOcos(θcb+Δθ)+3ΔL·cos(θcb+Δθ)+xz-xcb]·9.8；
wherein y (t) is the observed quantity of the state matrix at the time t, H is an observation matrix, v is measurement noise, and the measurement noise is assumed to obey Gaussian white noise distribution; m (t) is a resultant moment matrix calculated for the measurement data at the time t.
S3, calculating a system error covariance matrix at the t moment based on the state space model at the t moment and the estimation error covariance at the t-1 moment;
state transition matrix from state space model
Figure BDA0003090507680000113
Covariance calculation of the sum System noise w the covariance matrix P of the System error at time tf(t), namely:
Figure BDA0003090507680000114
in the formula, Q is a covariance matrix of a system error w, is a fixed value and is a value between 0 and 1; p (t-1) is the estimation error covariance at the time of t-1, and the initial value of the estimation error covariance is 100-200.
S4, acquiring Kalman gain at the t moment based on the system error covariance matrix and the observation equation at the t moment;
system error covariance matrix P based on t momentf(t), the observation matrix H in the observation equation at the time t and the covariance of the measurement noise v calculate the Kalman gain K (t) at the time t, namely:
Figure BDA0003090507680000115
in the formula, R is a covariance matrix of a measurement error v, is a fixed value, and is a value between 0.01 and 1.
S5, acquiring the weight of the load of the telescopic boom forklift at the time t according to the state space model, the observation equation and the Kalman gain at the time t;
estimate of load weight at time t
Figure BDA0003090507680000121
Comprises the following steps:
Figure BDA0003090507680000122
s6, calculating the estimation error covariance P (t) at the time t according to the Kalman gain and the system error covariance matrix at the time t, namely:
P(t)＝[I-K(t)H]Pf(t)；
in the formula, I is an identity matrix.
And S7, setting T to T +1, returning to the step S1 until T to T, and acquiring the dynamic weight of the load of the telescopic arm forklift.
Returning to the step S1, the dynamic solution of the load weight at the next time T +1 is performed until the preset time T is reached.
It will be appreciated that the weighing model may also be solved by a least squares method, recursive two multiplication.
According to the embodiment of the application, a weighing model is built by combining the dynamic weighing composition principle of the telescopic boom forklift, the data such as the boom extension, the boom amplitude angle, the pitching hydraulic cylinder hydraulic pressure and the servo hydraulic cylinder hydraulic pressure are utilized, the dynamic weighing of the load is completed by solving the weighing model, excessive manual interference is not needed, the response speed is high, the real-time performance is strong, the efficiency is high, and the technical problems that the existing telescopic boom forklift weighing method needs a large amount of workers to participate and the weighing efficiency is low are solved.
The above is an embodiment of the method for dynamically weighing the hydraulic pressure of the telescopic forklift truck provided by the present application, and the following is an embodiment of the device for dynamically weighing the hydraulic pressure of the telescopic forklift truck provided by the present application.
Referring to fig. 3, an embodiment of the present application provides a hydraulic dynamic weighing apparatus for a telescopic forklift, where an arm support of the telescopic forklift includes a pitching hydraulic cylinder, a fork, a follow-up hydraulic cylinder, and four knuckle arms, and the apparatus includes:
the acquisition unit is used for acquiring the coordinates of each key point on the arm support in a horizontal state, the amplitude variation angle of the arm support, the extension length of the arm support, the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the servo hydraulic cylinder;
the calculation unit is used for calculating the arm support thrust of the pitching hydraulic cylinder to the arm support and the arm support thrust of the servo hydraulic cylinder to the arm support according to the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the servo hydraulic cylinder, and calculating the force arms of the four sections of arms, the force arm of the telescopic cylinder barrel, the force arm of the telescopic cylinder rod, the force arm of the fork tool, the force arm of the load, the force arm of the pitching hydraulic cylinder to the arm support thrust and the force arm of the servo hydraulic cylinder to the arm support thrust based on the coordinates of all key points, the amplitude variation angle of the arm support and the extension length of the arm support;
the construction unit is used for constructing a relational expression between the load weight and four parameters of the amplitude variation angle of the arm support, the extension length of the arm support, the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the servo hydraulic cylinder according to the thrust force and the force arm of the arm support by a moment balance principle to obtain a weighing model;
and the solving unit is used for dynamically solving the weighing model to obtain the dynamic weight of the load of the telescopic arm forklift.
As a further improvement, the construction unit is specifically configured to:
according to the thrust and the force arm of the arm support, a relational expression between the load weight and four parameters of the amplitude variation angle of the arm support, the extension length of the arm support, the hydraulic pressure of a pitching hydraulic cylinder and the hydraulic pressure of a follow-up hydraulic cylinder is constructed through a moment balance principle;
and acquiring a weighing coefficient of the telescopic arm forklift in an idle state based on the relational expression, and acquiring a weighing model based on the weighing coefficient and the relational expression.
As a further improvement, the solving unit is specifically configured to:
through the dynamic solution weighing model of Kalman filtering algorithm, obtain the dynamic weight of telescopic boom fork truck's load, it is specific:
constructing a state space model at the t moment based on the weighing model;
constructing an observation equation at the t moment based on the weighing model and the state space model at the t moment;
calculating a system error covariance matrix at the t moment based on the state space model at the t moment and the estimated error covariance at the t-1 moment;
acquiring Kalman gain at the t moment based on a system error covariance matrix and an observation equation at the t moment;
acquiring the weight of the load of the telescopic arm forklift at the time t according to the state space model, the observation equation and the Kalman gain at the time t;
calculating the estimated error covariance at the t moment according to the Kalman gain and the system error covariance matrix at the t moment;
and setting T as T +1, returning to the step of constructing the state space model at the T moment based on the weighing model until T is T, and acquiring the dynamic weight of the load of the telescopic arm forklift.
According to the embodiment of the application, a weighing model is built by combining the dynamic weighing composition principle of the telescopic boom forklift, the data such as the boom extension, the boom amplitude angle, the pitching hydraulic cylinder hydraulic pressure and the servo hydraulic cylinder hydraulic pressure are utilized, the dynamic weighing of the load is completed by solving the weighing model, excessive manual interference is not needed, the response speed is high, the real-time performance is strong, the efficiency is high, and the technical problems that the existing telescopic boom forklift weighing method needs a large amount of workers to participate and the weighing efficiency is low are solved.
The embodiment of the application also provides a hydraulic dynamic weighing device of the telescopic arm forklift, which comprises a processor and a memory;
the memory is used for storing the program codes and transmitting the program codes to the processor;
the processor is used for executing the hydraulic dynamic weighing method of the telescopic boom forklift in the embodiment of the method according to the instructions in the program codes.
The embodiment of the application also provides a computer-readable storage medium, which is used for storing program codes, wherein the program codes are used for executing the hydraulic dynamic weighing method of the telescopic forklift in the embodiment of the method.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for executing all or part of the steps of the method described in the embodiments of the present application through a computer device (which may be a personal computer, a server, or a network device). And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims (8)

1. A hydraulic dynamic weighing method for a telescopic boom forklift is characterized in that the method comprises the following steps:
acquiring coordinates of each key point on the arm support in a horizontal state, an arm support amplitude variation angle, an arm support extension length, a pitching hydraulic cylinder hydraulic pressure and a follow-up hydraulic cylinder hydraulic pressure;
calculating arm support thrust of the pitching hydraulic cylinder to the arm support and arm support thrust of the follow-up hydraulic cylinder to the arm support according to the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the follow-up hydraulic cylinder, and calculating force arms of the four sections of arms, force arms of telescopic cylinder barrels, force arms of telescopic cylinder rods, force arms of forks, force arms of loads, force arms of the pitching hydraulic cylinder to the arm support thrust and force arms of the follow-up hydraulic cylinder to the arm support thrust based on the coordinates of the key points, the amplitude variation angle of the arm support and the extension length of the arm support;
according to the thrust of the arm support and the force arm, establishing a relational expression between the load weight and four parameters of the amplitude variation angle of the arm support, the extension length of the arm support, the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the servo hydraulic cylinder by a moment balance principle to obtain a weighing model;
and dynamically solving the weighing model to obtain the dynamic weight of the load of the telescopic arm forklift.
2. The hydraulic dynamic weighing method for the telescopic boom forklift truck according to claim 1, wherein a relational expression between the load weight and four parameters of the boom luffing angle, the boom extension length, the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the follow-up hydraulic cylinder is constructed according to the thrust of the boom and the moment arm by a moment balance principle, and the relational expression comprises the following steps:
according to the thrust of the arm support and the force arm, a relational expression between the load weight and four parameters of the amplitude variation angle of the arm support, the extension length of the arm support, the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the servo hydraulic cylinder is constructed by a moment balance principle;
and acquiring a weighing coefficient of the telescopic boom forklift in an idle state based on the relational expression, and acquiring a weighing model based on the weighing coefficient and the relational expression.
3. The method according to claim 1, wherein the dynamically solving the weighing model to obtain the dynamic weight of the load of the telescopic forklift comprises:
dynamically solving the weighing model through a Kalman filtering algorithm to obtain the dynamic weight of the load of the telescopic-arm forklift, specifically:
constructing a state space model at the t moment based on the weighing model;
constructing an observation equation at the t moment based on the weighing model and the state space model at the t moment;
calculating a system error covariance matrix at the t moment based on the state space model at the t moment and the estimated error covariance at the t-1 moment;
acquiring Kalman gain at the t moment based on the system error covariance matrix at the t moment and the observation equation;
acquiring the weight of the load of the telescopic boom forklift at the time t according to the state space model, the observation equation and the Kalman gain at the time t;
calculating an estimated error covariance at the t moment according to the Kalman gain and the system error covariance matrix at the t moment;
and setting T as T +1, and returning to the step of constructing the state space model at the T moment based on the weighing model until T is T, and acquiring the dynamic weight of the load of the telescopic arm forklift.
4. The utility model provides a flexible arm fork truck hydraulic dynamic weighing device, flexible arm fork truck's cantilever crane includes every single move pneumatic cylinder, fork utensil, follow-up pneumatic cylinder and four festival arms, its characterized in that, the device includes:
the acquisition unit is used for acquiring the coordinates of each key point on the arm support in a horizontal state, the amplitude variation angle of the arm support, the extension length of the arm support, the hydraulic pressure of a pitching hydraulic cylinder and the hydraulic pressure of a servo hydraulic cylinder;
the calculation unit is used for calculating the arm support thrust of the pitching hydraulic cylinder to the arm support and the arm support thrust of the follow-up hydraulic cylinder to the arm support according to the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the follow-up hydraulic cylinder, and calculating the force arms of the four joint arms, the force arm of a telescopic cylinder barrel, the force arm of a telescopic cylinder rod, the force arm of a fork tool, the force arm of a load, the force arm of the pitching hydraulic cylinder to the arm support thrust and the force arm of the follow-up hydraulic cylinder to the arm support thrust based on the coordinates of all the key points, the amplitude variation angle of the arm support and the extension length of the arm support;
the construction unit is used for constructing a relational expression between the load weight and four parameters of the boom amplitude angle, the boom extension length, the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the servo hydraulic cylinder according to the thrust of the boom and the moment arm by a moment balance principle to obtain a weighing model;
and the solving unit is used for dynamically solving the weighing model to obtain the dynamic weight of the load of the telescopic arm forklift.
5. The telescopic boom forklift hydraulic dynamic weighing device of claim 4, wherein the building unit is specifically configured to:
according to the thrust of the arm support and the force arm, a relational expression between the load weight and four parameters of the amplitude variation angle of the arm support, the extension length of the arm support, the hydraulic pressure of the pitching hydraulic cylinder and the hydraulic pressure of the servo hydraulic cylinder is constructed by a moment balance principle;
and acquiring a weighing coefficient of the telescopic boom forklift in an idle state based on the relational expression, and acquiring a weighing model based on the weighing coefficient and the relational expression.
6. The telescopic boom forklift hydraulic dynamic weighing device according to claim 4, wherein the solving unit is specifically configured to:
dynamically solving the weighing model through a Kalman filtering algorithm to obtain the dynamic weight of the load of the telescopic-arm forklift, specifically:
constructing a state space model at the t moment based on the weighing model;
constructing an observation equation at the t moment based on the weighing model and the state space model at the t moment;
calculating a system error covariance matrix at the t moment based on the state space model at the t moment and the estimated error covariance at the t-1 moment;
acquiring Kalman gain at the t moment based on the system error covariance matrix at the t moment and the observation equation;
acquiring the weight of the load of the telescopic boom forklift at the time t according to the state space model, the observation equation and the Kalman gain at the time t;
calculating an estimated error covariance at the t moment according to the Kalman gain and the system error covariance matrix at the t moment;
and setting T as T +1, and returning to the step of constructing the state space model at the T moment based on the weighing model until T is T, and acquiring the dynamic weight of the load of the telescopic arm forklift.
7. A hydraulic dynamic weighing device of a telescopic forklift is characterized by comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the method of any one of claims 1-3 according to instructions in the program code.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium is configured to store program code for performing the method for hydraulic dynamic weighing of a telescopic boom forklift truck according to any of claims 1-3.
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