A tilt compensation device and a tilt compensation method thereof

Abstract

The present application relates to a kind of inclination compensation device and inclination compensation method thereof.The inclination compensation method includes S1, inclination angle calibration and horizontal rotation angle calibration are carried out to weighing system;S2, different inclination specified angle and different horizontal rotation specified angle are selected to set, the weight, inclination angle and horizontal rotation angle under different load are measured;S3, according to the inclination specified angle and horizontal rotation specified angle set and the weight, inclination angle and horizontal rotation angle obtained by measurement to calculate weight compensation value;S4, according to the actual measured weight of weighing system and weight compensation value to calculate actual weighing weight.The inclination compensation device and inclination compensation method proposed in the present application can provide accurate inclination compensation for weighing system with column type weighing sensor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of dynamic weighing, in particular to a tilt compensation device and a tilt compensation method thereof. BACKGROUND

[0002] Column type digital load cell is widely used in vehicle scale, axle scale, platform scale, large tank scale and other application scenarios. These application scenarios belong to multi-point application, that is, one weighing system is equipped with three, four, eight or other number of column type load cells. The column type load cells are connected through CAN, RS485 bus and accessed to a terminal. The terminal displays the weight data of the weighing system to the user. Before normal application, the terminal calibrates the address, zero point and sensitivity of the load cell, and adjusts the angle difference, so that the load cell can be normally weighed.

[0003] Each column type load cell transmits weight signal to the terminal, and transmits other characteristic signals such as temperature, humidity, gas concentration and tilt angle to the terminal for display. The user can monitor the environment and posture of the load cell according to these information.

[0004] During installation of the vehicle scale, the column type load cell is not in a vertical state. During application, the column type load cell may be tilted due to change of posture, large temperature difference between day and night (different expansion coefficients of foundation and scale platform), settlement of foundation after long-term use of the weighing system, etc., which causes inaccurate weighing of the final weighing system.

[0005] The large tank scale also has the problem of inaccurate weighing caused by tilt of the column type load cell during installation or use.

[0006] The prior art scheme can obtain the current tilt angle of the load cell through an accelerometer or an inclination sensor, and then design an algorithm to correct the weight error caused by tilt, so as to maintain a certain weighing accuracy in the tilted state. For example, Chinese patent application CN102778287A, but this scheme is only applied to horizontal tilt of commercial weighing apparatus. This technology is not applicable to the vehicle scale with vertically installed digital load cell. The algorithm and method mentioned in this patent application are only applicable to tilt compensation of beam type load cell, and the column type load cell and its application scenarios are more complex and severe, and cannot be applied. SUMMARY

[0007] In view of the above problems of the prior art, the present application provides a tilt compensation device and a tilt compensation method thereof, which can provide accurate tilt compensation for the weighing system.

[0008] In particular, the present application proposes a tilt compensation method applicable to a weighing system with a column type load cell, comprising the steps of:

[0009] S1, tilt angle calibration and horizontal rotation angle calibration are performed on the column type load cell of the weighing system;

[0010] S2, different tilt specified angles and different horizontal rotation specified angles are selected and set, and the weight, tilt angle and horizontal rotation angle under different loads are measured;

[0011] S3, the weight compensation value is calculated according to the set tilt specified angle and horizontal rotation specified angle and the measured weight, tilt angle and horizontal rotation angle;

[0012] S4, the actual weighing weight is calculated according to the actual measured weight of the weighing system and the weight compensation value.

[0013] According to an embodiment of the present application, in step S1, an accelerometer or an inclination sensor is used for tilt angle calibration, and a magnetometer is used for horizontal rotation angle calibration.

[0014] According to an embodiment of the present application, the step of using an accelerometer to perform tilt angle calibration comprises:

[0015] T1, three-axis acceleration output A X0 , A Y0 , A Z0 is collected, and

[0016]

[0017]

[0018]

[0019] T2, the rotation matrix is calculated

[0020]

[0021] T3, the collected three-axis acceleration output is multiplied by the rotation matrix to obtain three-axis acceleration output A′ X ,A′ Y ,A′ Z in the actual coordinate system;

[0022]

[0023] T4, the three-axis acceleration output A′ X ,A′Y A' Z The roll, pitch and yaw are calculated.

[0024] According to one embodiment of the present application, in step S2, the inclination specified angles of 0°, 1°, 2° and 3° are set, the horizontal rotation specified angles of 0°, 90°, 180° and 270° are set, and the load is set as zero, 1 / 2 full load and full load;

[0025] One inclination specified angle, one horizontal rotation specified angle and one set load are selected to obtain the weight, the inclination angle and the horizontal rotation angle, all the inclination specified angles, the horizontal rotation specified angles and the set loads are traversed to obtain the corresponding weights, inclination angles and horizontal rotation angles.

[0026] According to one embodiment of the present application, in step S3, the weight compensation value includes the inclination error compensation value E1 and the rotation angle error compensation value E2, and the calculation formula is:

[0027]

[0028]

[0029] Wherein, r is the roll, p is the pitch, is the horizontal rotation angle, a1, c1 are the distribution coefficients of the roll, a2, c2 are the distribution coefficients of the pitch, k is the structure coefficient of the weighing sensor, b0, b1, b2 are Turn error compensation value .

[0030] According to one embodiment of the present application, the calculation formula of the actual weighing weight is:

[0031]

[0032] Wherein, W c is the actual weighing weight, and W is the actual measured weight.

[0033] According to one embodiment of the present application, before step S4 is executed, the weight compensation value is verified.

[0034] The present application also provides a tilt compensation device, which is suitable for a weighing system with a column type weighing sensor, and comprises,

[0035] A calibration module, which is used for calibrating the inclination angle and the horizontal rotation angle of the column type weighing sensor of the weighing system to obtain calibration data;

[0036] A test module, which selects different inclination specified angles and different horizontal rotation specified angles to measure the weight, the inclination angle and the horizontal rotation angle under different loads.

[0037] a compensation value calculation module configured to calculate a weight compensation value according to the weight, the inclination angle and the horizontal rotation angle obtained by the test module;

[0038] a weighing calculation module configured to calculate an actual weighing weight based on the actual measured weight of the weighing system and the weight compensation value.

[0039] According to one embodiment of the present application, in the test module, the inclination specified angles are set as 0°, 1°, 2° and 3°, the horizontal rotation specified angles are set as 0°, 90°, 180° and 270°, and the load is set as zero, 1 / 2 full load and full load.

[0040] One inclination specified angle, one horizontal rotation specified angle and one set load are selected to obtain the weight, the inclination angle and the horizontal rotation angle, and all the inclination specified angles, the horizontal rotation specified angles and the set loads are traversed to obtain the corresponding weight, the inclination angle and the horizontal rotation angle.

[0041] According to one embodiment of the present application, the inclination compensation device further comprises a verification module configured to verify the weight compensation value calculated by the compensation value calculation module.

[0042] The inclination compensation device and the inclination compensation method provided by the present application can correct the actual measured weight by obtaining the weight compensation value, thereby providing accurate inclination compensation for the weighing system.

[0043] It should be understood that the above general description and the following detailed description of the present application are exemplary and illustrative, and are intended to provide further explanation of the present application described. BRIEF DESCRIPTION OF DRAWINGS

[0044] The accompanying drawings are included to provide a further understanding of the present application, and they are collected and constitute a part of the present application, which show embodiments of the present application, and together with the present specification, play a role in explaining the principles of the present application. In the drawings:

[0045] Figure 1 A flow chart of the inclination compensation method of one embodiment of the present application is shown.

[0046] Figure 2 A structural schematic diagram of the inclination compensation device of one embodiment of the present application is shown.

[0047] Among the above drawings, the following reference signs are included:

[0048] inclination compensation device 200

[0049] calibration module 201

[0050] test module 202

[0051] Compensation value calculation module 203

[0052] Weighting calculation module 204

[0053] Verification module 205 DETAILED DESCRIPTION

[0054] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict.

[0055] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0056] It should be noted that the terms used herein are only intended to describe specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, operation, device, component and / or combination thereof.

[0057] Unless specifically stated otherwise, the relative arrangement of the components and steps illustrated in these embodiments and the numerical expressions and values set forth herein are not limiting of the scope of the present application. It should be understood that the various parts of the drawings are not necessarily drawn to scale, and that, for the purpose of convenience and clarity, not all components can be shown in a given figure. Techniques, methods, and devices known to those of ordinary skill in the art can not be discussed in detail, but rather can be assumed to be known by those of ordinary skill in the art. In the examples shown and discussed herein, any specific values should be interpreted as merely illustrative, and not as a limitation on the scope of the exemplary embodiments. Thus, other examples of the exemplary embodiments can have different values. It should be noted that like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be discussed further in subsequent drawings.

[0058] In the description of the present application, it needs to be understood that the orientation words such as "front, back, up, down, left, right", "transverse, vertical, perpendicular, horizontal" and "top, bottom" and the like indicated orientation or position relationship is generally based on the orientation or position relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, without making the opposite statement, these orientation words do not indicate and imply that the device or element referred to must have a particular orientation or be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the scope of protection of the present application; the orientation words "inner, outer" refer to the inner and outer of the contour of each component itself.

[0059] For the convenience of description, spatial relative terms such as "over", "above", "upper surface", "upper" and the like can be used herein to describe the spatial position relationship of one device or feature with other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device described in the drawings. For example, if the device in the drawing is inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned 90 degrees or in other orientations in other different ways, and the spatial relative description used herein is interpreted accordingly.

[0060] In addition, it needs to be pointed out that the use of "first", "second" and the like to define parts is only for the convenience of distinguishing the corresponding parts, and the above words have no special meaning unless otherwise stated, therefore, it cannot be understood as a limitation on the scope of protection of the present application. In addition, although the terms used in the present application are selected from the commonly known and used terms, some terms mentioned in the description of the present application may be selected by the applicant according to his or her judgment, and the detailed meaning of each term is described in the relevant part of the description. In addition, the present application is required to be understood not only by the actual terms used, but also by the meaning implied by each term.

[0061] Figure 1 A flow chart of the tilt compensation method of one embodiment of the present application is shown. As shown in the figure, a tilt compensation method suitable for a weighing system with a column type load cell includes the steps of:

[0062] S1, tilt angle calibration and horizontal rotation angle calibration are performed on the weighing system;

[0063] S2, different tilt specified angles and different horizontal rotation specified angles are selected, and the weight, tilt angle and horizontal rotation angle under different loads are measured;

[0064] S3, calculating the weight compensation value according to the set tilt angle and horizontal rotation angle, and the measured weight, tilt angle and horizontal rotation angle;

[0065] S4, calculating the actual weighing weight according to the actual measured weight of the weighing system and the weight compensation value.

[0066] Preferably, in step S1, the accelerometer or the tilt sensor is used to calibrate the tilt angle, and the magnetometer is used to calibrate the horizontal rotation angle. The accelerometer can be a three-axis accelerometer or a two-axis, three-axis tilt sensor. The magnetometer can be a two-axis magnetic sensor, which is used in cooperation with a magnet. The magnet is installed on one side inside the column type weighing sensor. The accelerometer, the tilt sensor and the magnetometer can be designed as independent modules installed inside or outside the column type weighing sensor, or can be integrated into the main board of the column type weighing sensor.

[0067] Preferably, the step of calibrating the tilt angle by using the accelerometer comprises:

[0068] T1, collecting the three-axis acceleration output A X0 , A Y0 , A Z0 , calculating θ and

[0069]

[0070]

[0071]

[0072] T2, calculating the rotation matrix

[0073]

[0074] T3, multiplying the collected three-axis acceleration output by the rotation matrix to obtain the three-axis acceleration output A′ in the actual coordinate system X , A′ Y , A′ Z ;

[0075]

[0076] T4, calculating roll, pitch and yaw according to the three-axis acceleration output A′ X , A′ Y , A′ Z

[0077] ​Preferably, in step S2, the tilt specified angles are set as 0°, 1°, 2° and 3°, the horizontal rotation specified angles are set as 0°, 90°, 180° and 270°, and the load is set as zero, 1 / 2 full load and full load.

[0078] Selecting one tilt specified angle, one horizontal rotation specified angle and one set load, the weight, the tilt angle and the horizontal rotation angle are obtained, and all the tilt specified angles, the horizontal rotation specified angles and the set loads are traversed to obtain the corresponding weights, tilt angles and horizontal rotation angles.

[0079] It should be noted that, as an example but not limitation, the tilt specified angles can also be 0°, 1.5°, 3°, or more other optional solutions. Similarly, the horizontal rotation specified angles can also be 0°, 60°, 120°, 180°, 240°, 300°. The load can be zero, 1 / 3 full load, 2 / 3 full load and full load, and more horizontal rotation specified angles and load optional solutions can be designed according to actual needs.

[0080] Preferably, in step S3, the weight compensation value includes a tilt error compensation value E1 and a rotation error compensation value E2, and the calculation formula is:

[0081]

[0082]

[0083] wherein r is roll, p is pitch, is the horizontal rotation angle, a1, c1 are the distribution coefficients of roll, a2, c2 are the distribution coefficients of pitch, k is the structure coefficient of the weighing sensor, b0, b1, b2 are Turn error compensation value The rotation error compensation coefficients b0, b1, b2 are obtained by least square fitting of the weight and the horizontal rotation angle obtained in step S2.

[0084] Preferably, the calculation formula of the actual weighing weight is:

[0085]

[0086] wherein W c is the actual weighing weight, and W is the actual measured weight.

[0087] Preferably, before step S4 is performed, the weight compensation value is verified. By vertically tilting at any angle within 3° (R76 regulation defined range) and horizontally rotating at any angle, loading any weight to check whether the weight is within the allowable range of the set accuracy.

[0088] Preferably, when the posture of the column type load cell is inclined beyond the set range (for example, the inclination angle is 3°), the load weighing system does not compensate the posture, i.e. does not calculate the actual weighing weight, but gives an alarm information and the specific inclination and rotation direction of the column type load cell, reminding the user, so that the user can quickly and accurately adjust the posture of the column type load cell to the set compensation range. When the inclination angle of the column type load cell is within the set range of 0°-3°, the load weighing system automatically compensates the inclination, ensuring the accuracy requirement of the column type load cell and the accuracy performance of the load weighing system.

[0089] Figure 2 A structural schematic diagram of the inclination compensation device of one embodiment of the present application is shown. As shown in the figure, the present application also provides an inclination compensation device 200 suitable for a load weighing system with a column type load cell, which comprises:

[0090] A calibration module 201 for calibrating the inclination angle and the horizontal rotation angle of the load weighing system, and obtaining calibration data;

[0091] A test module 202 for selecting different inclination specified angles and different horizontal rotation specified angles, and measuring the weight, inclination angle and horizontal rotation angle under different loads;

[0092] A compensation value calculation module 203 for calculating the weight compensation value according to the weight, inclination angle and horizontal rotation angle obtained by the test module 202;

[0093] A load calculation module 204 for calculating the actual weighing weight based on the actual measured weight of the load weighing system and the weight compensation value.

[0094] Preferably, in the test module 202, the inclination specified angles are set to 0°, 1°, 2° and 3°, the horizontal rotation specified angles are set to 0°, 90°, 180° and 270°, and the loads are set to zero, 1 / 2 full load and full load.

[0095] Preferably, in the calibration module 201, an accelerometer or an inclination sensor is used for inclination angle calibration, and a magnetometer is used for horizontal rotation angle calibration.

[0096] Selecting one inclination specified angle, one horizontal rotation specified angle and one set load, obtaining the weight, inclination angle and horizontal rotation angle, and traversing all the inclination specified angles, horizontal rotation specified angles and set loads to obtain the corresponding weight, inclination angle and horizontal rotation angle.

[0097] Preferably, the inclination compensation device 200 further comprises a verification module 205 for verifying the weight compensation value calculated by the compensation value calculation module 203. The weight is verified within a set precision tolerance range by loading any weight, rotating horizontally by any angle, and inclining by any angle within 3° (defined by R76 regulation).

[0098] The inclination compensation device and the inclination compensation method provided by the application can obtain the current three-dimensional posture of the column type load cell through the inclination angle and the horizontal rotation angle, so that the service personnel can accurately and quickly position the column type load cell during installation and ensure the verticality of the installation, thereby facilitating the guarantee of the precision of the weighing system. Meanwhile, the postures, vibration directions and motion trajectories of all column type load cells during application (different vehicles, different weights, different loading methods, etc.) can be observed in real time, the effect of the inclination compensation can be better detected, and the basis for fault diagnosis or the technical research of the multi-point scale can be provided.

[0099] The application further provides a computer readable storage medium, which is a non-volatile storage medium or a non-transient storage medium, and has computer instructions stored thereon. The computer instructions perform the steps of any of the inclination compensation methods when executed.

[0100] The application further provides a weighing system, which comprises a memory and a processor. The memory has computer instructions capable of being executed on the processor stored thereon. The processor executes the steps of any of the inclination compensation methods when executing the computer instructions.

[0101] Some aspects of the inclination compensation method of the application can be completely executed by hardware, completely executed by software (including firmware, resident software, microcode, etc.), or executed by a combination of hardware and software. The above hardware or software can be referred to as a "data block", a "module", an "engine", a "unit", a "component" or a "system". The processor can be one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors or combinations thereof. In addition, aspects of the application can be computer products located in one or more computer readable media, which include computer readable program codes. For example, the computer readable medium can include, but is not limited to, magnetic storage devices (for example, hard disks, floppy disks, magnetic tapes...), optical discs (for example, compact discs CD, digital versatile discs DVD...), smart cards and flash memory devices (for example, cards, sticks, key drives...).

[0102] Computer-readable media can include a propagated data signal with computer- program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal can take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any combination thereof. Computer-readable media can be any media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or any combination thereof. The computer-readable media can be transitory, such as a modulated data signal, including, but not limited to, carrier waves, or other transmission mechanisms, or non-transitory, such as fixed or optical media, magnetic tape, magnetic disk, or the like. The computer-readable media can also be a distributed network, so that the computer-readable media is stored in a baseline and propagated signal on a network.

[0103] In addition, the order of execution or sequence of any of the processes depicted in any of the figures, unless specifically stated to the contrary, should not be construed as limiting. It is understood that any feature described in relation to one embodiment can be incorporated into any other embodiment. Although the application has been described in connection with specific embodiments thereof, it will be understood that it is capable of further modifications and this application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. For example, although the system components described above can be implemented by hardware devices, they can also be implemented by software solutions, such as installing the described system on an existing server or mobile device.

[0104] It is to be understood that the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. Pronoum forms such as "one" and "said" carry the meaning of the singular form unless the context clearly dictates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It is to be understood that the terms "comprises" and / or "comprising" are to be interpreted as specifying the presence of the stated features, integers, steps, or components, but do not preclude the presence or addition of one or more other features, integers, steps, components, or groups thereof.

[0105] In some embodiments, numerical descriptions of components, quantities of attributes are used. It should be understood that such numerical descriptions used in the embodiments are, in some examples, modified by the words "about," "approximately," or "generally." Unless otherwise indicated, "about," "approximately," or "generally" indicates that a numerical value is within ±20% of the stated value. Accordingly, numerical values used in the specification and claims, where such values are preceded by the word "about," "approximately," or "generally," are to be understood as approximations based on the preferred structure desired to be used in a given embodiment. In some embodiments, numerical values should be considered to be defined with the specified number of significant digits and rounded to the most significant digit.

[0106] As will be apparent to those of ordinary skill in the art, various modifications and variations can be made to the above-described exemplary embodiments of the present application without departing from the spirit and scope of the present application. Thus, it is intended that the present application cover modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

Claims

1. A tilt compensation method suitable for a weighing system with a column load cell, comprising the steps of: S1, calibrating the tilt angle and the horizontal rotation angle of the column load cell of the weighing system; S2, selecting different tilt specified angles and different horizontal rotation specified angles, and measuring the weight, the tilt angle and the horizontal rotation angle under different loads; S3, calculating the weight compensation value according to the tilt specified angles and the horizontal rotation specified angles, and the measured weight, the tilt angle and the horizontal rotation angle; S4, calculating the actual weighing weight according to the actual measured weight of the weighing system and the weight compensation value.

2. The tilt compensation method of claim 1, wherein, In step S1, an accelerometer or an inclinometer is used to calibrate the tilt angle, and a magnetometer is used to calibrate the horizontal rotation angle.

3. The tilt compensation method of claim 2, wherein, The step of calibrating the tilt angle with an accelerometer includes: T1, collect three-axis acceleration output A X0 , A Y0 , A z0 , calculate θ in the current state, and T2, calculating the rotation matrix T3, multiply the collected three-axis acceleration output by the rotation matrix to obtain three-axis acceleration output A' in the actual coordinate system X , A' Y , A' Z ; T4, calculate roll, pitch and yaw from triaxial acceleration output A' X , A' Y , A' Z calculate roll, pitch and yaw from triaxial acceleration output A' 4. The tilt compensation method of claim 1, wherein, In step S2, the tilt specified angles are set to 0°, 1°, 2° and 3°, the horizontal rotation specified angles are set to 0°, 90°, 180° and 270°, and the loads are set to zero, 1 / 2 full load and full load; Selecting one tilt specified angle, one horizontal rotation specified angle and one set load, obtaining the weight, the tilt angle and the horizontal rotation angle, and traversing all the tilt specified angles, the horizontal rotation specified angles and the set loads to obtain the corresponding weight, tilt angle and horizontal rotation angle.

5. The tilt compensation method of claim 1, wherein, In step S3, the weight compensation value includes a tilt error compensation value E1 and a rotation error compensation value E2, and the calculation formula is: where r is roll, p is pitch, is a horizontal rotation angle, a1, c1 are distribution coefficients of roll, a2, c2 are distribution coefficients of pitch, k is a structure coefficient of the load cell, b0, b1, b2 are rotation angle error compensation parameters.

6. The tilt compensation method of claim 5, wherein, The calculation formula of the actual weighing weight is: where W c is the actual weighed weight, W is the actual measured weight.

7. The tilt compensation method of claim 1, wherein, Before step S4 is executed, the weight compensation value is verified.

8. A tilt compensation device adapted for use in a weighing system having a column load cell, characterized by Comprising, a calibration module for calibrating the tilt angle and the horizontal rotation angle of the column load cell of the weighing system to obtain calibration data; a test module for selecting different tilt specified angles and different horizontal rotation specified angles, and measuring the weight, the tilt angle and the horizontal rotation angle under different loads; a compensation value calculation module for calculating the weight compensation value according to the weight, the tilt angle and the horizontal rotation angle obtained by the test module; a weighing calculation module for calculating the actual weighing weight based on the actual measured weight of the weighing system and the weight compensation value.

9. The tilt compensating device of claim 8, wherein In the test module, the tilt specified angles are set to 0°, 1°, 2° and 3°, the horizontal rotation specified angles are set to 0°, 90°, 180° and 270°, and the loads are set to zero, 1 / 2 full load and full load; Selecting one tilt specified angle, one horizontal rotation specified angle and one set load, obtaining the weight, the tilt angle and the horizontal rotation angle, and traversing all the tilt specified angles, the horizontal rotation specified angles and the set loads to obtain the corresponding weight, tilt angle and horizontal rotation angle.

10. The tilt compensating device of claim 8, wherein Further comprising a verification module for verifying the weight compensation value calculated by the compensation value calculation module.

Images