Weighing method of electric loader, vehicle control unit and electric loader

Abstract

The invention provides a weighing method of an electric loader, a vehicle control unit and the electric loader, and relates to the technical field of electric loaders. The method comprises the steps that in response to a movable arm lifting signal, weighing parameters in a preset sampling range when an object to be weighed is lifted are obtained, and the weighing parameters comprise the average main valve pressure, the handle opening degree, the hydraulic oil temperature and the gradient; whether the electric loader starts automatic weighing or not is determined; if automatic weighing is not started, the initial mass of the object to be weighed is obtained according to the average main valve pressure, the handle opening degree and a preset first weighing fitting relational expression; if automatic weighing is started, the initial mass of the object to be weighed is obtained according to the average main valve pressure and a preset second weighing fitting relational expression; and compensating the initial mass of the to-be-weighed object according to the hydraulic oil temperature and the gradient, and obtaining and outputting the target mass of the to-be-weighed object. According to the method, the dynamic weighing precision of the electric loader can be improved on the basis that the equipment cost is not increased.

Description

Technical Field

[0001] The present application relates to the technical field of electric loaders, and in particular to a weighing method for an electric loader, a vehicle controller and an electric loader. Background Art

[0002] Electric loaders are widely used in ports, mixing stations and other scenarios to transport bulk materials such as sand, gravel and coal. In the actual loading process, the electric loader needs to have its own weighing function, which can dynamically and real-time measure the material quality and improve the loading efficiency.

[0003] In the related technology, when an electric loader is weighing, the relationship between the boom cavity pressure and the boom angle when the electric loader boom lifts a weight of unknown mass can be fitted, and the mass of the unknown material can be calculated based on the fitting data and the calibration data when lifting an object of known mass.

[0004] However, the above weighing method usually requires the installation of multiple pressure sensors on the loader, which results in high equipment cost, large errors in calculation, and low dynamic weighing accuracy. Summary of the invention

[0005] The embodiments of the present application provide a weighing method for an electric loader, a vehicle controller and an electric loader, which can improve the accuracy of dynamic weighing of the electric loader without increasing the cost of the equipment.

[0006] In a first aspect, an embodiment of the present application provides a weighing method for an electric loader, comprising:

[0007] In response to the boom lifting signal, the weighing parameters within a preset sampling range are obtained when lifting the object to be weighed, wherein the weighing parameters include average main valve pressure, handle opening, hydraulic oil temperature and slope;

[0008] Determining whether the electric loader turns on automatic weighing;

[0009] If the automatic weighing is not turned on, the initial mass of the object to be weighed is obtained according to the average main valve pressure, the handle opening, and a preset first weighing fitting relationship;

[0010] If automatic weighing is turned on, the initial mass of the object to be weighed is obtained and output according to the average main valve pressure and a preset second weighing fitting relationship;

[0011] Compensating the initial mass of the object to be weighed according to the hydraulic oil temperature and slope to obtain the target mass of the object to be weighed;

[0012] The preset sampling range includes: the boom of the electric loader is in an ascending motion, the boom angle is within an angle interval of [G1, G2], and the output current of the D port of the electric-controlled proportional valve of the electric loader is greater than 0.

[0013] In a possible implementation manner, the first weighing fitting relationship is constructed in the following manner:

[0014] Manually calibrate the electric loader to obtain an average main valve pressure within the sampling range when lifting materials of different masses at a fixed handle opening;

[0015] According to the average main valve pressure within the sampling range when lifting materials of different masses at each fixed handle opening, determining the corresponding relationship between the material mass and the average main valve pressure at different handle openings;

[0016] Manually calibrate the electric loader to obtain an average main valve pressure within the sampling range when lifting a fixed mass of material at different handle openings;

[0017] Determine the corresponding relationship between the handle opening and the average main valve pressure when different material masses are present, according to the average main valve pressure within the sampling range when each fixed mass of material is lifted at different handle openings;

[0018] According to the corresponding relationship between the material mass and the average main valve pressure under the different handle openings, and the corresponding relationship between the handle opening and the average main valve pressure under the different material masses, fitting is performed to obtain a first weighing fitting relationship between the material mass, the handle opening and the average main valve pressure.

[0019] In a possible implementation manner, the first weighing fitting relationship is also constructed in the following manner:

[0020] Obtaining a first basic fitting relationship formula obtained by manually calibrating other loaders of the same model as the electric loader;

[0021] According to the preset handle opening and the first basic fitting relationship, a first basic relationship between the material mass and the average main valve pressure under the preset handle opening is obtained;

[0022] Manually testing the electric loader to obtain an average main valve pressure within the sampling range when lifting materials of different masses at a preset handle opening, the number of the material masses being not less than a number threshold;

[0023] According to the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening, determining the corresponding relationship between the material mass and the average main valve pressure at the preset handle opening;

[0024] According to the corresponding relationship between the material mass and the average main valve pressure under the preset handle opening, a first fitting relationship is obtained;

[0025] Determine a corrected average main valve pressure according to the first fitting relationship and the first basic relationship;

[0026] A first weighing fitting relationship when the electric loader is manually weighed is determined according to the corrected average main valve pressure and the first basic fitting relationship.

[0027] In a possible implementation manner, the second weighing fitting relationship is constructed in the following manner:

[0028] Automatically calibrate the electric loader to obtain an average main valve pressure within the sampling range when lifting materials of different masses at a preset handle opening;

[0029] According to the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening, determining the corresponding relationship between the material mass and the average main valve pressure at the preset handle opening;

[0030] According to the corresponding relationship between the material mass and the average main valve pressure under the preset handle opening, fitting is performed to obtain a second weighing fitting relationship between the material mass and the average main valve pressure.

[0031] In a possible implementation manner, the second weighing fitting relationship is also constructed in the following manner:

[0032] Obtaining a second basic fitting relationship obtained by automatically calibrating other loaders of the same model as the electric loader;

[0033] Automatically testing the electric loader to obtain an average main valve pressure within the sampling range when lifting materials of different masses at a preset handle opening, the number of the material masses being not less than a number threshold;

[0034] According to the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening, determining the corresponding relationship between the material mass and the average main valve pressure at the preset handle opening;

[0035] According to the corresponding relationship between the material mass and the average main valve pressure under the preset handle opening, a second fitting relationship is obtained;

[0036] Determine a corrected average main valve pressure according to the second fitting relationship and the second basic fitting relationship;

[0037] A second weighing fitting relationship when the electric loader is automatically weighed is determined according to the corrected average main valve pressure and the second basic fitting relationship.

[0038] In a possible implementation manner, compensating the initial mass of the object to be weighed according to the hydraulic oil temperature and the slope to obtain the target mass of the object to be weighed includes:

[0039] Determining the mass after temperature compensation according to the hydraulic oil temperature, the initial mass of the object to be weighed and a preset temperature compensation relationship;

[0040] Determining the target mass of the object to be weighed according to the slope, the mass after temperature compensation and a preset slope compensation relationship;

[0041] Among them, the temperature compensation relationship is obtained by fitting the calibrated mass of the material at different hydraulic oil temperatures with the actual mass of the material; the slope compensation relationship is obtained by fitting the calibrated mass of the material at different slopes with the actual mass of the material.

[0042] In a possible implementation, before the boom angle of the electric loader reaches G1, it is determined whether an input automatic weighing signal is received;

[0043] If no automatic weighing signal is received, automatic weighing will not be turned on;

[0044] If an automatic weighing signal is received, it is determined whether the handle opening exceeds the opening threshold; if it exceeds the opening threshold, automatic weighing is started; if it does not exceed the opening threshold, automatic weighing is not started.

[0045] In a second aspect, an embodiment of the present application provides a vehicle controller, including:

[0046] An acquisition module is used to respond to a boom lifting signal to acquire weighing parameters within a preset sampling range when lifting an object to be weighed, wherein the weighing parameters include an average main valve pressure, a handle opening, a hydraulic oil temperature, and a slope, and the preset sampling range includes: the boom of the electric loader is in an ascending motion, and the angle interval of the boom angle is within [G1, G2], and the output current of the D port of the electric-controlled proportional valve of the electric loader is greater than 0;

[0047] A processing module is used to determine whether the electric loader has turned on automatic weighing; if the automatic weighing is not turned on, the initial mass of the object to be weighed is obtained according to the average main valve pressure, the handle opening, and a preset first weighing fitting relationship; if the automatic weighing is turned on, the initial mass of the object to be weighed is obtained according to the average main valve pressure and a preset second weighing fitting relationship; the initial mass of the object to be weighed is compensated according to the hydraulic oil temperature and slope, and the target mass of the object to be weighed is obtained and output.

[0048] In a third aspect, an embodiment of the present application provides another vehicle controller, including:

[0049] A processor, and a memory communicatively connected to the processor;

[0050] Memory is used to store computer executable instructions;

[0051] The processor is used to execute the computer-executable instructions stored in the memory to implement the weighing method for the electric loader of the first aspect.

[0052] In a fourth aspect, an embodiment of the present application provides an electric loader, comprising the vehicle controller described in the third aspect.

[0053] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the weighing method of the electric loader of the first aspect.

[0054] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the weighing method of the electric loader of the first aspect.

[0055] The embodiments of the present application provide a weighing method, a vehicle controller and an electric loader for an electric loader. Automatic weighing and manual weighing can be selected according to the operator's usage preference to avoid weighing errors caused by the operator's use of inappropriate weighing methods. Both automatic weighing and manual weighing can determine the initial mass of the object to be weighed based on the average main valve pressure within the preset sampling range when lifting the object to be weighed and the weighing fitting relationship obtained during calibration. Compared with the main valve pressure collected at a single sampling point for mass calibration and measurement, the average main valve pressure within the preset sampling range is used, which has smaller fluctuations, and the measurement results are more stable and reliable. It is more stable when used to calculate the mass of materials, and the calculation and fitting are simpler when the average main valve pressure is used for calibration, which reduces the fitting error. At the same time, the measurement of the average main valve pressure does not require additional sensors on the electric loader, which avoids the influence of the errors of multiple sensors themselves on the weighing accuracy, and does not increase the equipment cost. Through such a setting, the accuracy of dynamic weighing of the electric loader can be improved without increasing the equipment cost. Furthermore, the initial mass can be compensated according to the hydraulic oil temperature and slope during the weighing process to obtain a more accurate target mass, avoiding weighing errors caused by hydraulic oil temperature and slope, and improving the accuracy of dynamic weighing of the electric loader under different working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0057] Figure 1 A system architecture diagram of an embodiment of the present application;

[0058] Figure 2 A flow chart of a weighing method for an electric loader according to an embodiment of the present application;

[0059] Figure 3 This is a schematic diagram of the structure of a vehicle controller according to an embodiment of the present application;

[0060] Figure 4 This is a schematic structural diagram of a vehicle controller according to another embodiment of the present application.

[0061] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0062] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0063] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0064] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0065] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0066] The weighing method, vehicle controller and electric loader of the electric loader of the present application can be used in the technical field of electric loaders, and can also be used in any field except the technical field of electric loaders, such as the field of weighing technology, etc. The application field of the weighing method, vehicle controller and electric loader of the present application is not limited.

[0067] The weighing method, vehicle controller and electric loader of the electric loader of the present application can be applied to scenes such as ports, mining areas, construction areas, and any scene involving material loading with an electric loader can apply the weighing method, vehicle controller and electric loader of the present application.

[0068] Electric loaders are widely used in ports, mixing stations and other scenarios to transport bulk materials such as sand, gravel and coal. In the actual transportation process, it is necessary to know the actual weight of each bucket of material to prevent underloading or overloading. Due to limited space and long distances from the scale, the efficiency of weighing materials using a scale is low, so the loader itself needs to have a weighing function that can dynamically and real-time measure the weight of the material to improve efficiency.

[0069] In the related technology, when an electric loader is weighing, the relationship between the boom cavity pressure and the boom angle when the electric loader boom lifts a weight of unknown mass can be fitted, and the mass of the unknown material can be calculated based on the fitting data and the calibration data when lifting an object of known mass.

[0070] However, the above weighing method usually requires the installation of multiple pressure sensors on the loader, which has high installation costs and damages the original structure of the vehicle. In addition, the calculation method is complicated and fitting is difficult. The pressure in the small cavity is unstable during the lifting process, the error is large, and the dynamic weighing accuracy of the loader is low.

[0071] Based on the above technical problems, the inventive concept of the present application is to provide a weighing solution for an electric loader that can improve the dynamic weighing accuracy of the electric loader without increasing the equipment cost.

[0072] The embodiments of the present application provide a weighing method, a vehicle controller and an electric loader for an electric loader, which can determine the initial mass of the object to be weighed according to the average main valve pressure within a preset sampling range when lifting the object to be weighed and the weighing fitting relationship obtained during calibration. Compared with the main valve pressure collected at a single sampling point for mass calibration and measurement, the average main valve pressure within the preset sampling range is used, which has smaller fluctuations, and the measurement results are more stable and reliable. In addition, the measurement of the average main valve pressure does not require additional sensors on the electric loader, avoiding the influence of the errors of multiple sensors themselves on the weighing accuracy, and improving the accuracy of dynamic weighing of the electric loader without increasing the equipment cost. In addition, the initial mass can be compensated according to the hydraulic oil temperature and slope during the weighing process to obtain a more accurate target mass, avoid the weighing error caused by the hydraulic oil temperature and slope, and improve the accuracy of dynamic weighing of the electric loader under different working conditions.

[0073] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0074] Figure 1 This is a system architecture diagram of an embodiment of the present application, such as Figure 1 As shown, the VCU of the electric loader is connected to the main valve pressure sensor to obtain the main valve pressure, to the boom angle sensor to obtain the boom angle, to the handle controller to obtain the handle opening, and to the display screen to receive the automatic weighing signal and output the material mass. The operator controls the electric loader to shovel full of materials and manipulates the handle to output the opening signal. The VCU responds to the boom lifting signal corresponding to the handle opening, and uses the sensor to obtain the weighing parameters within the preset sampling range when lifting the object to be weighed. The weighing parameters include the average main valve pressure, handle opening, hydraulic oil temperature and slope; determine whether the electric loader turns on automatic weighing; if the automatic weighing is not turned on, the initial mass of the object to be weighed is obtained according to the average main valve pressure, handle opening, and the preset first weighing fitting relationship; if the automatic weighing is turned on, the initial mass of the object to be weighed is obtained according to the average main valve pressure and the preset second weighing fitting relationship; the initial mass of the object to be weighed is compensated according to the hydraulic oil temperature and slope, and the target mass of the object to be weighed is obtained and output.

[0075] Figure 2 This is a flow chart of a weighing method for an electric loader according to an embodiment of the present application. This embodiment uses the vehicle controller as the execution subject to illustrate the weighing method for the electric loader. Figure 2 As shown, the weighing method of the electric loader may include the following steps:

[0076] S201: In response to the boom lifting signal, obtaining weighing parameters within a preset sampling range when lifting an object to be weighed.

[0077] In this embodiment, the weighing parameters include average main valve pressure, handle opening, hydraulic oil temperature and slope.

[0078] In this embodiment, the preset sampling range includes: the boom of the electric loader is in an ascending motion, the boom angle is within an angle interval of [G1, G2], and the output current of the D port of the electric-controlled proportional valve of the electric loader is greater than 0.

[0079] In this embodiment, the boom lifting signal may be that the output current ED of the D port of the VCU-controlled electronic proportional valve is greater than 0, thereby realizing the boom lifting action.

[0080] In this embodiment, the average main valve pressure may be the average value of the main valve pressures when the boom angle is within the angle interval [G1, G2]. The main valve of the electric loader is itself equipped with a main valve pressure sensor, and the VCU is connected to the main valve pressure sensor to obtain the main valve pressures when the boom angle is within the angle interval [G1, G2].

[0081] In this embodiment, the boom of the electric loader is itself equipped with a boom angle sensor, and the VCU is connected to the boom angle sensor to obtain the boom angle during the boom lifting process.

[0082] In this embodiment, the VCU is connected to the control handle of the electric loader, and the handle opening of the control handle can be obtained through the electrical signal of the control handle.

[0083] In this embodiment, the boom of the electric loader is in an ascending motion within the preset sampling range, and the output current of the D port of the electric-controlled proportional valve of the electric loader is greater than 0, in order to ensure that the electric loader is in a boom-lifting state. The angle interval [G1, G2] can be a stable interval close to a uniform speed during the boom lifting process, and compared with the calibration and quality measurement of the main valve pressure at a single point, the average main valve pressure in a certain interval is used, which has smaller fluctuations, and the measurement result is more stable and reliable, and is more stable when used to calculate material quality.

[0084] In this embodiment, the angle interval [G1, G2] can be flexibly set by those skilled in the art according to actual conditions. For example, [G1, G2] can be [40°, 60°] or other angle intervals, and no limitation is made here.

[0085] In this embodiment, during the boom lifting process (ED is greater than 0), the VCU can detect the boom angle in real time according to the boom angle sensor. When it is detected that the boom angle reaches G1, the main valve pressure sensor is used to obtain the main valve pressure. When it is detected that the boom angle reaches G2, the average main valve pressure is calculated according to the main valve pressures in [G1, G2]. Specifically, the main valve pressures of each sampling point in the boom angle [G1, G2] can be added and then divided by the total time for the boom to be lifted from G1 to G2 to obtain the average main valve pressure.

[0086] S202: Determine whether the electric loader starts automatic weighing.

[0087] In this embodiment, technical personnel in this field can set the automatic weighing input signal based on the display screen and handle opening of the electric loader. Of course, other automatic weighing input signals can also be set. If the VCU receives an input signal corresponding to the automatic weighing action during the boom lifting process, the automatic weighing is turned on, otherwise the automatic weighing is not turned on.

[0088] S203: If the automatic weighing is not turned on, the initial mass of the object to be weighed is obtained according to the average main valve pressure, the handle opening, and a preset first weighing fitting relationship.

[0089] In this embodiment, the first weighing fitting relationship can be obtained by manually weighing and calibrating the electric loader. The first weighing fitting relationship is a relationship between the material mass, the handle opening and the average main valve pressure.

[0090] In this embodiment, if the operator is not used to turning on the automatic weighing during the boom lifting process, the manual weighing action can be maintained. When the VCU does not detect the automatic weighing input signal, the first weighing fitting relationship obtained by manual weighing calibration will be used for weighing calculation.

[0091] S204: If automatic weighing is turned on, the initial mass of the object to be weighed is obtained and output according to the average main valve pressure and a preset second weighing fitting relationship.

[0092] In this embodiment, the second weighing fitting relationship can be obtained by automatically weighing and calibrating the electric loader, and the second weighing fitting relationship is a relationship between the material mass and the average main valve pressure.

[0093] S205: Compensating the initial mass of the object to be weighed according to the hydraulic oil temperature and the slope to obtain the target mass of the object to be weighed.

[0094] In this embodiment, the hydraulic oil temperature and slope will also affect the weighing process. Therefore, the initial mass of the object to be weighed can be compensated according to the hydraulic oil temperature and slope to obtain a more accurate target mass, thereby further improving the accuracy of dynamic weighing of the electric loader.

[0095] In this embodiment, when the weighing display conditions are met: the boom angle ≥ G2 & the boom angle is on the rising edge & ED>0, the VCU controls the weighing indication on the display screen to update to the target mass.

[0096] In this embodiment, automatic weighing and manual weighing can be selected according to the operator's usage tendency to avoid weighing errors caused by the operator's use of inappropriate weighing methods. Both automatic weighing and manual weighing can determine the initial mass of the object to be weighed according to the average main valve pressure within the preset sampling range when lifting the object to be weighed and the weighing fitting relationship obtained during calibration. Compared with the main valve pressure of a single sampling point for mass calibration and measurement, the average main valve pressure within the preset sampling range is used, which has a smaller fluctuation, and the measurement result is more stable and reliable. It is more stable when used to calculate the material mass, and the calculation and fitting are simpler when the average main valve pressure is calibrated, which reduces the fitting error. At the same time, the measurement of the average main valve pressure does not require additional sensors on the electric loader, avoiding the influence of the multi-sensor self-error on the weighing accuracy, and will not increase the equipment cost. Through such a setting, the accuracy of the dynamic weighing of the electric loader can be improved without increasing the equipment cost. Further, the initial mass can be compensated according to the hydraulic oil temperature and slope during the weighing process to obtain a more accurate target mass, avoid the weighing error caused by the hydraulic oil temperature and slope, and improve the accuracy of the dynamic weighing of the electric loader under different working conditions.

[0097] In a possible implementation, the above step S202 of determining whether the electric loader turns on automatic weighing may include:

[0098] S11: Before the boom angle of the electric loader reaches G1, it is determined whether an input automatic weighing signal is received.

[0099] S12: If no automatic weighing signal is received, automatic weighing is not started.

[0100] S13: If an automatic weighing signal is received, it is determined whether the handle opening exceeds the opening threshold; if it exceeds the opening threshold, automatic weighing is started; if it does not exceed the opening threshold, automatic weighing is not started.

[0101] In this embodiment, an automatic weighing button can be provided on the display and control screen of the electric loader. If the operator wants to turn on automatic weighing, he can click the automatic weighing button, and the lifting opening of the control handle is greater than the opening threshold (the handle can be released after only one operation). The automatic weighing signal can be sent to the VCU by the display and control screen after detecting that the operator clicks the automatic weighing button.

[0102] In this embodiment, the opening threshold can be flexibly set by those skilled in the art according to actual conditions. For example, the opening threshold can be 90% or 80%, and no limitation is made here.

[0103] In this embodiment, whether the electric loader starts automatic weighing can be simply and accurately determined based on whether the operator inputs an automatic weighing signal and whether the operator manipulates the handle to exceed the opening threshold.

[0104] In a possible implementation, the first weighing fitting relationship in the above step S203 may be constructed in the following manner:

[0105] S21: Manually calibrate the electric loader to obtain the average main valve pressure within the sampling range when lifting materials of different masses at a fixed handle opening.

[0106] S22: Determine the corresponding relationship between the material mass and the average main valve pressure at different handle openings according to the average main valve pressure within the sampling range when lifting materials of different masses at each fixed handle opening.

[0107] S23: Manually calibrate the electric loader to obtain the average main valve pressure within the sampling range when lifting a fixed mass of material at different handle openings.

[0108] S24: Determine the corresponding relationship between the handle opening and the average main valve pressure when different material masses are lifted according to the average main valve pressure within the sampling range when each fixed mass of material is lifted at different handle openings.

[0109] S25: fitting is performed according to the corresponding relationship between the material mass and the average main valve pressure at different handle openings, and the corresponding relationship between the handle opening and the average main valve pressure at different material masses, to obtain a first weighing fitting relationship between the material mass, the handle opening and the average main valve pressure.

[0110] In this embodiment, when the electric loader is manually calibrated, the corresponding average main valve pressure can be obtained under different handle openings and different material masses. Specifically:

[0111] (a1) The electric loader first shovels a load of material of known mass M, and the control handle opening is H. That is, the motor is given a constant speed R, and the VCU outputs a constant current ED to the D port of the electronically controlled proportional valve to control the boom to rise from the lowest point.

[0112] (a2) When the VCU detects that the preset sampling range is met: G1≤boom angle≤G2&boom is in rising motion&ED>0, it obtains the pressure of each main valve in the interval, and when the weighing display conditions are met: boom angle≥G2&boom is in rising motion&ED>0, it controls the weighing indication on the display screen to update and remain stable, that is, the mass M is the weighing indication displayed when the boom angle reaches G2.

[0113] (a3) VCU calculates the average main valve pressure P between the boom angles G1 and G2, and repeats the above steps (a1) and (a2) for five groups with the handle opening H, and obtains the average value Pv of the five groups of average main valve pressures. When the motor speed is constant, the average main valve pressure P value of the five groups fluctuates slightly, and taking the average value further reduces the error. At this time, the corresponding relationship between the current material mass M and Pv under the handle opening H can be obtained.

[0114] (a4) Change the handle opening, that is, change the motor speed R and the electric control valve current ED and repeat the above operations (a1)-(a3), 20%≤H≤100%, and increase H by 10% each time. The corresponding relationship between material mass and Pv under different handle openings can be obtained.

[0115] (a5) Change the material mass M and repeat the above calibration operations (a1) - (a3), 0≤M≤Mmax (design maximum load), and increase M by 0.5T each time to obtain the main valve average pressure Pv corresponding to different material masses at different handle openings.

[0116] (a6) Import the above calibration data into MATLAB to establish a three-way relationship model and fit it to obtain the relationship between material mass M and average main valve pressure Pv and handle opening H, that is, M=f(Pv,H)=(a× Pv +b)×(c×H). The highest number of Pv and H can be selected based on the fitting error. This embodiment takes one time as an example.

[0117] In this embodiment, the first weighing fitting relationship can select the highest order of the average main valve pressure Pv and the handle opening H according to the fitting error. The first weighing fitting relationship can be a linear function or a quadratic function, and no limitation is made here.

[0118] In this embodiment, during manual weighing calibration, the calibrated material mass covers the entire rated load, and the handle opening covers the entire handle opening range. By fitting and linear interpolation according to the average main valve pressure at different material masses and different handle openings, the first weighing fitting relationship between the material mass, handle opening and average main valve pressure can be obtained simply and accurately, thereby improving the weighing accuracy of different material masses at different handle openings.

[0119] In a possible implementation manner, the first weighing fitting relationship in the above step S203 can also be constructed in the following manner:

[0120] S31: Obtain a first basic fitting relationship formula obtained by manually calibrating other loaders of the same model as the electric loader.

[0121] S32: According to the preset handle opening and the first basic fitting relationship, a first basic relationship between the material mass and the average main valve pressure at the preset handle opening is obtained.

[0122] S33: Manually test the electric loader to obtain an average main valve pressure within a sampling range when lifting materials of different masses at a preset handle opening, and the number of material masses is not less than a number threshold.

[0123] S34: Determine the corresponding relationship between the material mass and the average main valve pressure at the preset handle opening according to the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening.

[0124] S35: fitting is performed according to the corresponding relationship between the material mass and the average main valve pressure under the preset handle opening to obtain a first fitting relationship.

[0125] S36: Determine a corrected average main valve pressure according to the first fitting relationship and the first basic relationship.

[0126] S37: Determine a first weighing fitting relationship when the electric loader is manually weighed according to the corrected average main valve pressure and the first basic fitting relationship.

[0127] In this embodiment, the first basic fitting relationship obtained by manually calibrating other loaders of the same model as the electric loader can be obtained through the above steps S21-S25, which will not be described in detail here.

[0128] In this embodiment, due to factors such as angle sensor measurement error, mechanical structure installation error and hydraulic system change, it is difficult to ensure consistency of the first basic fitting relationship in all vehicles. Therefore, it is necessary to modify the relationship according to the individual characteristics of each electric loader. Specifically:

[0129] (b1) Test at a preset handle opening (such as 70%) to obtain the average main valve pressure under different loads (at least 3 different loads are required), and obtain the first fitting relationship P2=K1M+b3.

[0130] (b2) Substituting the preset handle opening into the first basic fitting equation, the first basic fitting equation P1=K2M+b4 is obtained when the preset handle opening is 70%.

[0131] (b3) According to the first fitting relationship and the first basic relationship, the corrected average main valve pressure P is obtained. S =(K2 / K1)×Pv+(K2×b3 / K1-b4), the corrected average main valve pressure P S Substituting the first basic fitting relationship into the equation, we can obtain the first weighing fitting relationship M = f(P S ,H).

[0132] In this embodiment, the preset handle opening can be flexibly set by those skilled in the art according to actual conditions. For example, the preset handle opening can be 70% or 60%, and no limitation is made herein.

[0133] In this embodiment, those skilled in the art may flexibly set the number threshold according to actual conditions. For example, the number threshold may be 3 different material qualities or 4 different material qualities, and no limitation is made herein.

[0134] It should be noted that the calibration of the electric loaders mentioned in this application is carried out on a flat road surface with a hydraulic oil temperature of 40°C-50°C.

[0135] In this embodiment, manual calibration of each electric loader is very cumbersome and inefficient. Therefore, after manual calibration of one electric loader, other loaders of the same model as the electric loader can be calibrated for mass production, that is, the average main valve pressure in the first basic fitting relationship is corrected according to the structural characteristics of each electric loader to obtain a first weighing fitting relationship that better meets the characteristics of each electric loader, while improving the calibration efficiency and ensuring the individual weighing accuracy of each electric loader. Furthermore, when performing mass production calibration, the electric loader only needs to lift materials of different masses at a preset handle opening, and the number of lifting tests is greatly reduced, further improving the efficiency of mass production calibration.

[0136] In a possible implementation, the second weighing fitting relationship in the above step S204 may be constructed in the following manner:

[0137] S41: Automatically calibrate the electric loader to obtain the average main valve pressure within the sampling range when lifting materials of different masses at a preset handle opening.

[0138] S42: Determine the corresponding relationship between the material mass and the average main valve pressure at the preset handle opening according to the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening.

[0139] S43: fitting is performed according to the corresponding relationship between the material mass and the average main valve pressure under the preset handle opening to obtain a second weighing fitting relationship between the material mass and the average main valve pressure.

[0140] In this embodiment, the automatic calibration may be performed with a fixed handle opening (preset handle opening), specifically:

[0141] (c1) The electric loader first shovels a load of material with a known mass M. The VCU outputs a constant current ED2 to the D port of the electronically controlled proportional valve at a preset handle opening HG, and the control motor controls the boom to rise from the lowest point at a fixed speed R2.

[0142] (c2) When the VCU detects that the preset sampling range is met: G1≤boom angle≤G2&boom is in rising motion&ED>0, it obtains the pressure of each main valve in the interval, and when the weighing display conditions are met: boom angle≥G2&boom is in rising motion&ED>0, it controls the weighing indication on the display screen to update and remain stable, that is, the mass M is the weighing indication displayed when the boom angle reaches G2.

[0143] (c3) VCU calculates the average main valve pressure P between the boom angles G1 and G2, and repeats the above steps (c1) and (c2) for five groups with the preset handle opening HG, and obtains the average value Pv of the five groups of average main valve pressures. When the motor speed is constant, the average main valve pressure P value of the five groups fluctuates less, and taking the average value further reduces the error. At this time, the corresponding relationship between the current material mass M and Pv under the handle opening HG can be obtained.

[0144] (c4) Repeat the above calibration operation with the material mass M changed, 0≤M≤Mmax (design maximum load), and increase M by 0.5T each time to obtain the main valve average pressure Pv corresponding to different material masses at the preset handle opening HG.

[0145] (c5) Import the above calibration data into MATLAB to establish a relationship model between the two and perform fitting to obtain the relationship between the material mass M and the average main valve pressure Pv, that is, M=f(Pv)=a2*Pv+b2. The highest number of Pv can be selected based on the fitting error. This embodiment takes one time as an example.

[0146] In this embodiment, the second weighing fitting relationship can select the highest order of the average main valve pressure Pv according to the fitting error. The second weighing fitting relationship can be a linear function or a quadratic function, and no limitation is made here.

[0147] In this embodiment, during automatic weighing calibration, calibration can be performed with a preset handle opening to ensure that the motor speed and the electric control valve current are constant during the lifting process, thereby achieving a uniform lifting effect, making the average pressure of the main valve more stable, avoiding errors caused by handle opening fluctuations, improving the accuracy of the second weighing fitting relationship, and further improving the weighing accuracy.

[0148] In a possible implementation manner, the second weighing fitting relationship in the above step S204 can also be constructed in the following manner:

[0149] S51: Obtain a second basic fitting relationship formula obtained by automatically calibrating other loaders of the same model as the electric loader.

[0150] S52: Automatically test the electric loader to obtain an average main valve pressure within a sampling range when lifting materials of different masses at a preset handle opening, and the number of material masses is not less than a number threshold.

[0151] S53: Determine the corresponding relationship between the material mass and the average main valve pressure at the preset handle opening according to the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening.

[0152] S54: fitting is performed according to the corresponding relationship between the material mass and the average main valve pressure under the preset handle opening to obtain a second fitting relationship.

[0153] S55: Determine a corrected average main valve pressure according to the second fitting relationship and the second basic fitting relationship.

[0154] S56: Determine a second weighing fitting relationship when the electric loader is automatically weighed according to the corrected average main valve pressure and the second basic fitting relationship.

[0155] In this embodiment, due to factors such as angle sensor measurement error, mechanical structure installation error and hydraulic system change, it is difficult to ensure consistency of the second basic fitting relationship in all vehicles. Therefore, it is necessary to modify the relationship according to the individual characteristics of each electric loader. Specifically:

[0156] (d1) Test at a preset handle opening (such as 70%) to obtain the average main valve pressure under different loads (at least 3 different loads are required), and obtain the second fitting relationship P2=K1M+b3.

[0157] (d2) The second basic fitting relationship under the preset handle opening of 70% is P1=K2M+b4.

[0158] (d3) According to the second fitting relationship and the second basic fitting relationship, the corrected average main valve pressure P is obtained. S =(K2 / K1)×Pv+(K2×b3 / K1-b4), the corrected average main valve pressure P S Substituting the second basic fitting relationship into the equation, we can get the second weighing fitting relationship M = f(P S )=a2×P S +b2.

[0159] In this embodiment, the preset handle opening can be flexibly set by those skilled in the art according to actual conditions. For example, the preset handle opening can be 70% or 60%, and no limitation is made herein.

[0160] In this embodiment, those skilled in the art may flexibly set the number threshold according to actual conditions. For example, the number threshold may be 3 different material qualities or 4 different material qualities, and no limitation is made herein.

[0161] In this embodiment, it is very cumbersome and inefficient to automatically calibrate each electric loader. Therefore, after automatically calibrating one electric loader, other loaders of the same model as the electric loader can be calibrated for mass production, that is, the average main valve pressure in the second basic fitting relationship is corrected according to the structural characteristics of each electric loader to obtain a second weighing fitting relationship that better meets the characteristics of each electric loader, while improving the calibration efficiency and ensuring the individual weighing accuracy of each electric loader. Furthermore, when performing mass production calibration, the electric loader only needs to lift materials of different masses at a preset handle opening, and the number of lifting tests is greatly reduced, further improving the efficiency of mass production calibration.

[0162] In a possible implementation, the above step S205 compensates the initial mass of the object to be weighed according to the hydraulic oil temperature and the slope to obtain the target mass of the object to be weighed, which may include:

[0163] S61: Determine the mass after temperature compensation according to the hydraulic oil temperature, the initial mass of the object to be weighed and a preset temperature compensation relationship.

[0164] S62: Determine the target mass of the object to be weighed according to the mass after slope and temperature compensation and a preset slope compensation relationship.

[0165] The temperature compensation relationship is obtained by fitting the calibrated mass of the material at different hydraulic oil temperatures with the actual mass of the material; the slope compensation relationship is obtained by fitting the calibrated mass of the material at different slopes with the actual mass of the material.

[0166] In this embodiment, the material calibrated mass (initial mass / material calculated mass) obtained by calibrating the material with a known mass MG (mass after temperature compensation / actual mass of the material) at different hydraulic oil temperatures (fixed slope) by the electric loader can be collected, and the above data can be fitted to obtain the relationship between the temperature compensated mass, the initial mass and the hydraulic oil temperature, that is, Mt=M0+(at×T+bt), Mt represents the temperature compensated mass, M0 represents the initial mass, and T represents the hydraulic oil temperature.

[0167] In this embodiment, the calibrated mass of the material (initial mass / calculated mass of the material) obtained by calibrating the material with a known mass MG (mass after slope compensation / actual mass of the material) under different slopes (fixed hydraulic oil temperature) by the electric loader can be collected, and the above data can be fitted to obtain the relationship between the mass after slope compensation, the initial mass and the slope, that is, Ml=M0+(al×L+bl), Ml represents the mass after slope compensation, M0 represents the initial mass, and L represents the slope.

[0168] In this embodiment, slope compensation may be performed first according to the slope compensation relationship, and then temperature compensation may be performed according to the temperature compensation relationship.

[0169] In this embodiment, since the calibration of the electric loader is carried out on a flat road surface and at a hydraulic oil temperature of 40°C-50°C, and the actual weighing process of the electric loader may not meet the above conditions, it is necessary to compensate the initial mass obtained according to the first weighing fitting relationship / the second weighing fitting relationship based on the hydraulic oil temperature and slope within the preset sampling range to obtain a more accurate target mass, thereby improving the accuracy of dynamic weighing of the electric loader under different working conditions.

[0170] The weighing method of the electric loader of the present application is described below with reference to a specific embodiment.

[0171] In a specific embodiment, an electric loader is used to transport materials at a construction site. The VCU of the electric loader is connected to a main valve pressure sensor to obtain the main valve pressure. The VCU is also connected to a boom angle sensor to obtain the boom angle. The VCU is also connected to a handle controller to obtain the handle opening. The VCU performs weighing during the boom lifting process. The specific weighing process is as follows:

[0172] In the first step, the operator controls the electric loader to shovel full of materials, and the opening of the control handle is H. The VCU gives the motor a constant speed R according to the direction and opening signal of the control handle, and the D port outputs a constant current ED. At the same time, the pump motor speed is adjusted according to the handle opening to drive the hydraulic pump to operate, and the boom is controlled to lift the material from the lowest point.

[0173] In the second step, before the boom angle reaches G1, the VCU does not receive the automatic weighing signal input from the display control screen, and determines that this weighing is manual weighing.

[0174] In the third step, when the VCU detects that the preset sampling range is met during the boom lifting process: G1≤boom angle≤G2&boom is in rising action&ED>0, it obtains the main valve pressures, handle opening, hydraulic oil temperature and slope of the process.

[0175] In the fourth step, when VCU detects that the weighing display conditions are met: the boom angle ≥ G2 & the boom is in an ascending motion & ED>0, it calculates the average main valve pressure Pv in the angle interval [G1, G2], and calculates the initial mass of the material based on the first weighing fitting relationship M=f(Pv,H), the average main valve pressure Pv and the handle opening H.

[0176] In the fifth step, the VCU performs temperature compensation on the initial mass according to the temperature compensation relationship and the hydraulic oil temperature to determine the mass after temperature compensation.

[0177] In the sixth step, VCU performs slope compensation on the mass after temperature compensation according to the slope compensation relationship and the slope to obtain the mass after slope compensation, that is, the target mass of the material, and outputs the target mass on the display screen.

[0178] Figure 3 FIG. 1 is a schematic diagram of the structure of a vehicle controller VCU according to an embodiment of the present application. Figure 3 As shown, the vehicle controller includes: an acquisition module 31, which is used to respond to the boom lifting signal to obtain the weighing parameters within a preset sampling range when lifting the object to be weighed, the weighing parameters include the average main valve pressure, the handle opening, the hydraulic oil temperature and the slope, and the preset sampling range includes: the boom of the electric loader is in an upward action, and the angle interval of the boom angle is within [G1, G2], and the output current of the D port of the electric control proportional valve of the electric loader is greater than 0; a processing module 32, which is used to determine whether the electric loader turns on automatic weighing; if the automatic weighing is not turned on, the initial mass of the object to be weighed is obtained according to the average main valve pressure, the handle opening, and the preset first weighing fitting relationship; if the automatic weighing is turned on, the initial mass of the object to be weighed is obtained according to the average main valve pressure and the preset second weighing fitting relationship; the initial mass of the object to be weighed is compensated according to the hydraulic oil temperature and the slope, and the target mass of the object to be weighed is obtained and output.

[0179] The vehicle controller provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0180] Figure 4 This is a schematic diagram of the structure of a vehicle controller according to an embodiment of the present application. Figure 4 As shown, the vehicle controller includes: a processor 401, and a memory 402 that is communicatively connected to the processor 401; the memory 402 stores computer execution instructions; the processor 401 executes the computer execution instructions stored in the memory 402 to implement the steps of the weighing method of the electric loader in the above-mentioned method embodiments.

[0181] In the above vehicle controller, the memory 402 and the processor 401 are electrically connected directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines, such as through a bus connection. The memory 402 stores computer-executable instructions for implementing the data access control method, including at least one software function module that can be stored in the memory 402 in the form of software or firmware. The processor 401 executes various functional applications and data processing by running the software programs and modules stored in the memory 402.

[0182] The memory 402 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electric erasable programmable read-only memory (EEPROM), etc. The memory 402 is used to store programs, and the processor 401 executes the programs after receiving the execution instruction. Furthermore, the software programs and modules in the above-mentioned memory 402 may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

[0183] The processor 401 may be an integrated circuit chip having the ability to process signals. The processor 401 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. The methods, steps, and logic diagrams disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0184] An embodiment of the present application further provides an electric loader, the electric loader comprising Figure 4 The vehicle controller shown.

[0185] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the steps of each method embodiment of the present application.

[0186] An embodiment of the present application further provides a computer program product, including a computer program, which implements the steps of each method embodiment of the present application when executed by a processor.

[0187] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0188] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0189] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0190] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0191] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0192] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the appended claims.

[0193] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A weighing method for an electric loader, characterized in that: include: In response to the boom lifting signal, the weighing parameters within a preset sampling range are obtained when lifting the object to be weighed, wherein the weighing parameters include average main valve pressure, handle opening, hydraulic oil temperature and slope; Determining whether the electric loader turns on automatic weighing; If the automatic weighing is not turned on, the initial mass of the object to be weighed is obtained according to the average main valve pressure, the handle opening, and a preset first weighing fitting relationship; If automatic weighing is turned on, the initial mass of the object to be weighed is obtained according to the average main valve pressure and a preset second weighing fitting relationship; The initial mass of the object to be weighed is compensated according to the hydraulic oil temperature and slope, and the target mass of the object to be weighed is obtained and output; The preset sampling range includes: the boom of the electric loader is in an ascending motion, the boom angle is within an angle interval of [G1, G2], and the output current of the D port of the electric-controlled proportional valve of the electric loader is greater than 0.

2. The weighing method of the electric loader according to claim 1, characterized in that: The first weighing fitting relationship is constructed in the following way: Manually calibrate the electric loader to obtain an average main valve pressure within the sampling range when lifting materials of different masses at a fixed handle opening; According to the average main valve pressure within the sampling range when lifting materials of different masses at each fixed handle opening, determining the corresponding relationship between the material mass and the average main valve pressure at different handle openings; Manually calibrate the electric loader to obtain an average main valve pressure within the sampling range when lifting a fixed mass of material at different handle openings; Determine the corresponding relationship between the handle opening and the average main valve pressure when different material masses are present, according to the average main valve pressure within the sampling range when each fixed mass of material is lifted at different handle openings; According to the corresponding relationship between the material mass and the average main valve pressure under the different handle openings, and the corresponding relationship between the handle opening and the average main valve pressure under the different material masses, fitting is performed to obtain a first weighing fitting relationship between the material mass, the handle opening and the average main valve pressure.

3. The weighing method of the electric loader according to claim 1, characterized in that: The first weighing fitting relationship is also constructed in the following way: Obtaining a first basic fitting relationship formula obtained by manually calibrating other loaders of the same model as the electric loader; According to the preset handle opening and the first basic fitting relationship, a first basic relationship between the material mass and the average main valve pressure under the preset handle opening is obtained; Manually testing the electric loader to obtain an average main valve pressure within the sampling range when lifting materials of different masses at a preset handle opening, the number of the material masses being not less than a number threshold; According to the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening, determining the corresponding relationship between the material mass and the average main valve pressure at the preset handle opening; According to the corresponding relationship between the material mass and the average main valve pressure under the preset handle opening, a first fitting relationship is obtained; Determine a corrected average main valve pressure according to the first fitting relationship and the first basic relationship; A first weighing fitting relationship when the electric loader is manually weighed is determined according to the corrected average main valve pressure and the first basic fitting relationship.

4. The weighing method of an electric loader according to any one of claims 1 to 3, characterized in that: The second weighing fitting relationship is constructed in the following way: Automatically calibrate the electric loader to obtain an average main valve pressure within the sampling range when lifting materials of different masses at a preset handle opening; According to the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening, determining the corresponding relationship between the material mass and the average main valve pressure at the preset handle opening; According to the corresponding relationship between the material mass and the average main valve pressure under the preset handle opening, fitting is performed to obtain a second weighing fitting relationship between the material mass and the average main valve pressure.

5. The weighing method of an electric loader according to any one of claims 1 to 3, characterized in that: The second weighing fitting relationship is also constructed in the following way: Obtaining a second basic fitting relationship obtained by automatically calibrating other loaders of the same model as the electric loader; The electric loader is automatically tested to obtain an average main valve pressure within the sampling range when lifting materials of different masses at a preset handle opening, and the number of the material masses is not less than a number threshold; According to the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening, determining the corresponding relationship between the material mass and the average main valve pressure at the preset handle opening; According to the corresponding relationship between the material mass and the average main valve pressure under the preset handle opening, a second fitting relationship is obtained; Determine a corrected average main valve pressure according to the second fitting relationship and the second basic fitting relationship; A second weighing fitting relationship when the electric loader is automatically weighed is determined according to the corrected average main valve pressure and the second basic fitting relationship.

6. The weighing method of an electric loader according to any one of claims 1 to 3, characterized in that: The compensating the initial mass of the object to be weighed according to the hydraulic oil temperature and the slope to obtain the target mass of the object to be weighed includes: Determining the mass after temperature compensation according to the hydraulic oil temperature, the initial mass of the object to be weighed and a preset temperature compensation relationship; Determining the target mass of the object to be weighed according to the slope, the mass after temperature compensation and a preset slope compensation relationship; Among them, the temperature compensation relationship is obtained by fitting the calibrated mass of the material at different hydraulic oil temperatures with the actual mass of the material; the slope compensation relationship is obtained by fitting the calibrated mass of the material at different slopes with the actual mass of the material.

7. The weighing method for an electric loader according to any one of claims 1 to 3, characterized in that: The step of determining whether the electric loader turns on automatic weighing comprises: Before the boom angle of the electric loader reaches G1, determining whether an input automatic weighing signal is received; If no automatic weighing signal is received, automatic weighing will not be turned on; If an automatic weighing signal is received, it is determined whether the handle opening exceeds the opening threshold; if it exceeds the opening threshold, automatic weighing is started; if it does not exceed the opening threshold, automatic weighing is not started.

8. A vehicle controller VCU, characterized in that: include: An acquisition module is used to respond to a boom lifting signal to acquire weighing parameters within a preset sampling range when lifting an object to be weighed, wherein the weighing parameters include an average main valve pressure, a handle opening, a hydraulic oil temperature, and a slope, and the preset sampling range includes: the boom of the electric loader is in an ascending motion, and the angle interval of the boom angle is within [G1, G2], and the output current of the D port of the electric-controlled proportional valve of the electric loader is greater than 0; A processing module is used to determine whether the electric loader has turned on automatic weighing; if the automatic weighing is not turned on, the initial mass of the object to be weighed is obtained according to the average main valve pressure, the handle opening, and a preset first weighing fitting relationship; if the automatic weighing is turned on, the initial mass of the object to be weighed is obtained according to the average main valve pressure and a preset second weighing fitting relationship; the initial mass of the object to be weighed is compensated according to the hydraulic oil temperature and slope, and the target mass of the object to be weighed is obtained and output.

9. A vehicle controller VCU, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory is used to store computer-executable instructions; The processor is used to execute the computer-executable instructions stored in the memory to implement the weighing method for the electric loader according to any one of claims 1 to 7.

10. An electric loader, characterized in that: Including the vehicle controller as described in claim 9.

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