Weighing methods, vehicle controllers, and electric loaders for electric loaders

Abstract

This application provides a weighing method, a vehicle controller, and an electric loader, relating to the field of electric loader technology. The method responds to a boom lifting signal, acquires weighing parameters within a preset sampling range when lifting the object to be weighed, including average main valve pressure, handle opening, hydraulic oil temperature, and slope; determines whether the electric loader has automatic weighing enabled; if automatic weighing is not enabled, the initial mass of the object to be weighed is obtained based on the average main valve pressure, handle opening, and a preset first weighing fitting formula; if automatic weighing is enabled, the initial mass of the object to be weighed is obtained based on the average main valve pressure and a preset second weighing fitting formula; and compensates for the initial mass of the object to be weighed based on the hydraulic oil temperature and slope to obtain and output the target mass of the object. This method can improve the accuracy of dynamic weighing of the electric loader without increasing equipment costs.

Description

Technical Field

[0001] This application relates to the field of electric loader technology, and in particular to a weighing method for an electric loader, a vehicle controller, and an electric loader. Background Technology

[0002] Electric loaders are widely used in ports, concrete mixing plants, and other similar settings for transporting bulk materials such as sand, gravel, and coal. In actual loading processes, electric loaders need to have built-in weighing capabilities to dynamically calculate material weight in real time, thereby improving loading efficiency.

[0003] In related technologies, when an electric loader is weighing, the relationship between the pressure in the large and small chambers of the boom and the boom angle when the boom lifts a weight of unknown mass can be fitted. Based on the fitted data and the calibration data when lifting an object of known mass, the mass of the unknown material can be calculated.

[0004] However, the above-mentioned weighing methods usually require the installation of multiple pressure sensors on the loader, which results in high equipment costs, large calculation errors, and low dynamic weighing accuracy. Summary of the Invention

[0005] This application provides 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 equipment costs.

[0006] In a first aspect, embodiments of this application provide 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 acquired when the object to be weighed is lifted. The weighing parameters include the average main valve pressure, handle opening, hydraulic oil temperature, and slope.

[0008] Determine whether the electric loader has its automatic weighing function activated;

[0009] If automatic weighing is not activated, the initial mass of the object to be weighed is obtained based on the average main valve pressure, the handle opening, and the preset first weighing fitting formula.

[0010] If automatic weighing is enabled, the initial mass of the object to be weighed is obtained and output based on the average main valve pressure and the preset second weighing fitting formula.

[0011] The initial mass of the object to be weighed is compensated based on 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 upward motion, the boom angle is within the range of [G1, G2], and the output current of the D port of the electric proportional valve of the electric loader is greater than 0.

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

[0014] The electric loader was manually calibrated to obtain the average main valve pressure within the sampling range when lifting materials of different masses with a fixed handle opening.

[0015] Based on the average main valve pressure within the sampling range when lifting materials of different masses at each fixed handle opening, the correspondence between material mass and average main valve pressure at different handle openings is determined.

[0016] The electric loader was manually calibrated to obtain the average main valve pressure within the sampling range when lifting a fixed mass of material at different handle openings.

[0017] Based on the average main valve pressure within the sampling range when lifting each fixed mass of material at different handle openings, the correspondence between handle opening and average main valve pressure for different material masses is determined.

[0018] Based on the correspondence between material mass and average main valve pressure under different handle openings, and the correspondence between handle opening and average main valve pressure under different material masses, a first weighing fitting formula is obtained between material mass, handle opening and average main valve pressure.

[0019] In one possible implementation, the first weighing fitting formula is still constructed in the following way:

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

[0021] Based on the preset handle opening and the first basic fitting relationship, the first basic relationship between material mass and average main valve pressure under the preset handle opening is obtained.

[0022] The electric loader was manually tested to obtain the average main valve pressure within the sampling range when lifting materials of different masses at a preset handle opening, and the number of materials was not less than a number threshold.

[0023] Based on the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening, determine the correspondence between material mass and average main valve pressure at the preset handle opening.

[0024] The first fitting equation is obtained by fitting the relationship between material mass and average main valve pressure under the preset handle opening degree.

[0025] The corrected average main valve pressure is determined based on the first fitted relation and the first fundamental relation.

[0026] Based on the corrected average main valve pressure and the first basic fitting formula, the first weighing fitting formula for manual weighing of the electric loader is determined.

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

[0028] The electric loader is automatically calibrated to obtain the average main valve pressure within the sampling range when lifting materials of different masses at a preset handle opening.

[0029] Based on the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening, determine the correspondence between material mass and average main valve pressure at the preset handle opening.

[0030] Based on the relationship between material mass and average main valve pressure under the preset handle opening, a second weighing fitting formula between material mass and average main valve pressure is obtained.

[0031] In one possible implementation, the second weighing fitting formula is still constructed in the following way:

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

[0033] The electric loader is automatically tested to obtain the average main valve pressure within the sampling range when lifting materials of different masses at a preset handle opening, and the number of materials is not less than a number threshold.

[0034] Based on the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening, determine the correspondence between material mass and average main valve pressure at the preset handle opening.

[0035] The second fitting equation is obtained by fitting the relationship between material mass and average main valve pressure under the preset handle opening degree.

[0036] The corrected average main valve pressure is determined based on the second fitting equation and the second basic fitting equation.

[0037] Based on the corrected average main valve pressure and the second basic fitting formula, the second weighing fitting formula for automatic weighing of the electric loader is determined.

[0038] In one possible implementation, the step of compensating the initial mass of the object to be weighed based on the hydraulic oil temperature and slope to obtain the target mass of the object to be weighed includes:

[0039] The mass after temperature compensation is determined based on the hydraulic oil temperature, the initial mass of the object to be weighed, and the preset temperature compensation formula.

[0040] The target mass of the object to be weighed is determined based on the slope, the mass after temperature compensation, and the preset slope compensation formula.

[0041] The temperature compensation formula is obtained by fitting the material's calibrated mass at different hydraulic oil temperatures with the material's actual mass; the slope compensation formula is obtained by fitting the material's calibrated mass at different slopes with the material's actual mass.

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

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

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

[0045] Secondly, embodiments of this application provide a vehicle controller, including:

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

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

[0048] Thirdly, embodiments of this application provide another vehicle controller, including:

[0049] The processor, and the memory that is in communication with the processor;

[0050] Memory is used to store instructions that the computer executes;

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

[0052] Fourthly, embodiments of this application provide an electric loader, including the vehicle controller described in the third aspect.

[0053] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the weighing method of the electric loader of the first aspect.

[0054] In a sixth aspect, embodiments of this application provide 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] This application provides a weighing method for an electric loader, a vehicle controller, and the electric loader itself. It allows operators to choose between automatic and manual weighing based on their preferences, avoiding weighing errors caused by inappropriate weighing methods. Both automatic and manual weighing can determine the initial mass of the object to be weighed based on the average main valve pressure within a preset sampling range during lifting and the weighing fitting formula obtained during calibration. Compared to mass calibration and calculation using the main valve pressure at a single sampling point, using the average main valve pressure within a preset sampling range results in smaller fluctuations, more stable and reliable calculation results, and greater stability when calculating material mass. Furthermore, using the average main valve pressure for calibration simplifies calculation and fitting, reducing fitting errors. Simultaneously, measuring the average main valve pressure eliminates the need for additional sensors on the electric loader, avoiding the impact of multi-sensor errors on weighing accuracy and reducing equipment costs. This setup improves the accuracy of dynamic weighing of the electric loader without increasing equipment costs. Furthermore, the initial mass can be compensated based on 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 electric loaders under different working conditions. Attached Figure Description

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

[0057] Figure 1 This is a system architecture diagram of an embodiment of this application;

[0058] Figure 2 A flowchart illustrating a weighing method for an electric loader according to an embodiment of this application;

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

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

[0061] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0062] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0063] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and not to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0064] It should be noted that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, it does not mean that the applicant has used or necessarily used 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, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0066] The weighing method, vehicle controller, and electric loader of this application can be used in the field of electric loader technology, or in any field other than the field of electric loader technology, such as the field of weighing technology. The application fields of the weighing method, vehicle controller, and electric loader of this application are not limited.

[0067] The weighing method, vehicle controller, and electric loader of this application can be applied to scenarios such as ports, mining areas, and construction areas. The weighing method, vehicle controller, and electric loader of this application can be applied to any scenario involving the material handling of electric loaders.

[0068] Electric loaders are widely used in ports, concrete mixing plants, and other similar settings to transport bulk materials such as sand, gravel, and coal. During actual transport, it's crucial to know the actual weight of each bucket to prevent underloading or overloading. Due to space constraints and the distance to weighbridges, using weighbridges for material weighing is inefficient. Therefore, loaders need to have their own weighing function to dynamically calculate the material weight in real time, thereby improving efficiency.

[0069] In related technologies, when an electric loader is weighing, the relationship between the pressure in the large and small chambers of the boom and the boom angle when the boom lifts a weight of unknown mass can be fitted. Based on the fitted data and the calibration data when lifting an object of known mass, the mass of the unknown material can be calculated.

[0070] However, the above-mentioned weighing methods usually require the installation of multiple pressure sensors on the loader, which is costly, damages the original structure of the vehicle, and the calculation method is complicated and difficult to fit. The pressure in the small cavity is unstable during the lifting process, resulting in large errors and low dynamic weighing accuracy of the loader.

[0071] Based on the above-mentioned technical problems, the inventive concept of this application is to provide a weighing scheme for electric loaders that can improve the dynamic weighing accuracy of electric loaders without increasing equipment costs.

[0072] This application provides a weighing method for an electric loader, a vehicle controller, and the electric loader itself. The initial mass of the object to be weighed can be determined based on the average main valve pressure within a preset sampling range during lifting and the weighing fitting formula obtained during calibration. Compared to mass calibration and calculation using the main valve pressure at a single sampling point, using the average main valve pressure within a preset sampling range results in smaller fluctuations, more stable and reliable calculation results, and eliminates the need for additional sensors on the electric loader, avoiding the impact of multi-sensor errors on weighing accuracy. This improves the dynamic weighing accuracy of the electric loader without increasing equipment costs. Furthermore, the initial mass can be compensated for based on hydraulic oil temperature and slope during the weighing process, resulting in a more accurate target mass and avoiding weighing errors caused by hydraulic oil temperature and slope, thus improving the dynamic weighing accuracy of the electric loader under different working conditions.

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

[0074] Figure 1 This is a system architecture diagram of an embodiment of this 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 automatic weighing signals and output the material mass. The operator controls the electric loader to fill it with material and manipulates the handle to output an opening signal. The VCU responds to the boom lifting signal corresponding to the handle opening, using sensors to obtain weighing parameters within a preset sampling range when lifting the object to be weighed. These weighing parameters include average main valve pressure, handle opening, hydraulic oil temperature, and slope. The operator then determines whether automatic weighing is activated. If automatic weighing is not activated, the initial mass of the object to be weighed is obtained based on the average main valve pressure, handle opening, and a preset first weighing fitting formula. If automatic weighing is activated, the initial mass of the object to be weighed is obtained based on the average main valve pressure and a preset second weighing fitting formula. The initial mass of the object to be weighed is compensated for based on the hydraulic oil temperature and slope to obtain and output the target mass of the object.

[0075] Figure 2 This is a flowchart illustrating a weighing method for an electric loader according to an embodiment of this application. This embodiment describes the weighing method for the electric loader with the vehicle controller as the executing entity. Figure 2 As shown, the weighing method of this electric loader may include the following steps:

[0076] S201: In response to the boom lifting signal, acquire the weighing parameters within the preset sampling range when lifting the 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 upward movement, the boom angle is within the range of [G1, G2], and the output current of the D port of the electric proportional valve of the electric loader is greater than 0.

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

[0080] In this embodiment, the average main valve pressure can be the average value of the pressures of each main valve within the boom angle range [G1, G2]. The main valve of the electric loader is equipped with a main valve pressure sensor. The VCU can obtain the pressure of each main valve when the boom angle is within the angle range [G1, G2] by connecting to the main valve pressure sensor.

[0081] In this embodiment, the boom of the electric loader is equipped with a boom angle sensor. The VCU can obtain the boom angle during the boom lifting process by connecting to the boom angle sensor.

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

[0083] In this embodiment, the boom of the electric loader is in the lifting motion within the preset sampling range, and the output current of the electric loader's proportional valve D port is greater than 0. This is to ensure that the electric loader is in the boom lifting state. The angle range [G1, G2] can be a stable range with a near-uniform speed during the boom lifting process. Moreover, compared to the calibration and measurement of the main valve pressure at a single point, using the average main valve pressure of a certain range results in smaller fluctuations, more stable and reliable measurement results, and greater stability 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, without any restrictions.

[0085] In this embodiment, during boom lifting (ED > 0), the VCU can detect the boom angle in real time using the boom angle sensor. When the boom angle reaches G1, the VCU uses the main valve pressure sensor to obtain the main valve pressure. When the boom angle reaches G2, the VCU calculates the average main valve pressure based on the main valve pressures within [G1, G2]. Specifically, the average main valve pressure can be obtained by summing the main valve pressures at each sampling point within the boom angle [G1, G2] and then dividing by the total time it takes for the boom to lift from G1 to G2.

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

[0087] In this embodiment, those skilled in the art can set the automatic weighing input signal based on the display and control screen and handle opening of the electric loader. Of course, other automatic weighing input signals can also be set. If the VCU receives the input signal corresponding to the automatic weighing action during the boom lifting process, then automatic weighing is activated; otherwise, automatic weighing is not activated.

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

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

[0090] In this embodiment, if the operator is not used to activating the automatic weighing action during boom lifting, they can maintain the manual weighing action. When the VCU does not detect the automatic weighing input signal, it will use the first weighing fitting formula obtained from the manual weighing calibration to perform the weighing calculation.

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

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

[0093] S205: Compensate for the initial mass of the object to be weighed based on the hydraulic oil temperature and slope to obtain the target mass of the object to be weighed.

[0094] In this embodiment, hydraulic oil temperature and slope 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 and further improve the accuracy of dynamic weighing of the electric loader.

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

[0096] In this embodiment, automatic and manual weighing can be selected based on the operator's preference, avoiding weighing errors caused by inappropriate weighing methods. Both automatic and manual weighing can determine the initial mass of the object to be weighed based on the average main valve pressure within a preset sampling range during lifting and the weighing fitting formula obtained during calibration. Compared to mass calibration and calculation using the main valve pressure at a single sampling point, using the average main valve pressure within a preset sampling range results in smaller fluctuations, more stable and reliable calculation results, and greater stability when calculating material mass. Furthermore, calculation and fitting using the average main valve pressure during calibration are simpler, reducing fitting errors. Simultaneously, measuring the average main valve pressure does not require additional sensors on the electric loader, avoiding the impact of multi-sensor errors on weighing accuracy and not increasing equipment costs. This setup improves the accuracy of dynamic weighing of the electric loader without increasing equipment costs. Furthermore, the initial mass can be compensated for based on hydraulic oil temperature and slope during the weighing process, obtaining 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.

[0097] In one possible implementation, step S202, which determines whether the electric loader has activated automatic weighing, may include:

[0098] S11: Before the boom angle of the electric loader reaches G1, determine whether an input automatic weighing signal has been received.

[0099] S12: If no automatic weighing signal is received, automatic weighing will not be activated.

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

[0101] In this embodiment, the display and control screen of the electric loader can be equipped with an automatic weighing button. If the operator wants to turn on the automatic weighing, he / she can click the automatic weighing button and control the lifting degree of the handle to be 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 restrictions are imposed here.

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

[0104] In one possible implementation, the first weighing fitting equation in step S203 above can be constructed in the following way:

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

[0106] S22: Based on the average main valve pressure within the sampling range when lifting materials of different masses at each fixed handle opening, determine the correspondence between material mass and average main valve pressure at different handle openings.

[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: Based on the average main valve pressure within the sampling range when lifting each fixed mass of material at different handle openings, determine the correspondence between handle opening and average main valve pressure for different material masses.

[0109] S25: Based on the correspondence between material mass and average main valve pressure under different handle opening degrees, and the correspondence between handle opening degree and average main valve pressure under different material masses, fit the first weighing fitting relationship between material mass, handle opening degree and 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 opening degrees and different material masses. Specifically:

[0111] (a1) The electric loader first shovels a known mass of material M, and the control handle is opened to H, that is, the motor is given a constant speed R. 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 rising&ED>0, it acquires the pressure of each main valve in this range, and when the weighing display condition is met: boom angle≥G2&boom is rising&ED>0, it controls the display screen to update the weighing reading and keep it stable, that is, the mass M is the weighing reading displayed when the boom angle reaches G2.

[0113] (a3) The VCU calculates the average main valve pressure P between boom angles G1 and G2, and repeats steps (a1) and (a2) five times with the handle opening H, obtaining the average value Pv of the five sets of average main valve pressure. With a constant motor speed, the average main valve pressure P of the five sets fluctuates less; taking the average value further reduces the error. At this point, the correspondence between the current material mass M and Pv at 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. Repeat the above operations (a1)-(a3), 20%≤H≤100%, and increase H by 10% each time to obtain the corresponding relationship between material mass and Pv under different handle openings.

[0115] (a5) Change the material mass M and repeat the above calibration operation (a1)-(a3), 0≤M≤Mmax (design maximum load). Each time M is calibrated, it increases by 0.5T. This will give you the average pressure Pv of the main valve corresponding to different material masses and 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 the material mass M and the average main valve pressure Pv and the handle opening H, that is, M=f(Pv,H)=(a×Pv+b)×(c×H). The highest number of Pv and H can be selected according to the fitting error. In this embodiment, one time is used as an example.

[0117] In this embodiment, the first weighing fitting formula can be selected based on the fitting error to determine the highest number of times the average main valve pressure Pv and the handle opening H are compared. The first weighing fitting formula can be a linear function or a quadratic function, and no restrictions are imposed 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. Based on the average main valve pressure under different material masses and different handle openings, fitting and linear interpolation are performed to obtain the first weighing fitting relationship between material mass, handle opening and average main valve pressure simply and accurately, thereby improving the weighing accuracy of different material masses under different handle openings.

[0119] In one possible implementation, the first weighing fitting equation in step S203 above can also be constructed in the following way:

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

[0121] S32: Based on the preset handle opening and the first basic fitting relationship, the first basic relationship between the material mass and the average main valve pressure under the preset handle opening is obtained.

[0122] S33: Perform a manual test on 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, and the number of material masses is not less than the number threshold.

[0123] S34: Based on the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening, determine the correspondence between the material mass and the average main valve pressure at the preset handle opening.

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

[0125] S36: Determine the corrected average main valve pressure based on the first fitting relation and the first fundamental relation.

[0126] S37: Based on the corrected average main valve pressure and the first basic fitting relationship, determine the first weighing fitting relationship when the electric loader is manually weighed.

[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 elaborated here.

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

[0129] (b1) Test at the preset handle opening (e.g., 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) Substitute the preset handle opening into the first basic fitting relationship to obtain the first basic relationship P1=K2M+b4 under the preset handle opening of 70%.

[0131] (b3) Based on the first fitting relation and the first fundamental relation, 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 relation, we can obtain the first weighing fitting relation for manual weighing of the electric loader: 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 restrictions are imposed here.

[0133] In this embodiment, the number threshold can be flexibly set by those skilled in the art according to actual conditions. For example, the number threshold can be 3 different material masses or 4 different material masses, and no restrictions are imposed here.

[0134] It should be noted that the calibration of the electric loaders mentioned in this application was carried out on a flat road surface and under hydraulic oil temperature of 40℃-50℃.

[0135] In this embodiment, manually calibrating each electric loader is tedious and inefficient. Therefore, after manually calibrating one electric loader, mass production calibration can be performed on other loaders of the same model. This involves correcting the average main valve pressure in the first basic fitting formula based on the structural characteristics of each electric loader, resulting in a first weighing fitting formula that better suits the characteristics of each loader. This improves calibration efficiency while ensuring the individual weighing accuracy of each electric loader. Furthermore, during mass production calibration, the electric loader only needs to lift materials of different masses at a preset handle opening, significantly reducing the number of lifting tests and further improving the efficiency of mass production calibration.

[0136] In one possible implementation, the second weighing fitting relationship in step S204 above can be constructed in the following way:

[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: Based on the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening, determine the correspondence between the material mass and the average main valve pressure at the preset handle opening.

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

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

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

[0142] (c2) When the VCU detects that the preset sampling range is met: G1≤boom angle≤G2&boom is rising&ED>0, it acquires the pressure of each main valve in this range, and when the weighing display condition is met: boom angle≥G2&boom is rising&ED>0, it controls the display screen to update the weighing reading and keep it stable, that is, the mass M is the weighing reading displayed when the boom angle reaches G2.

[0143] (c3) The VCU calculates the average main valve pressure P between boom angles G1 and G2, and repeats steps (c1) and (c2) five times at a preset handle opening HG to obtain the average value Pv of the five sets of average main valve pressure. With a constant motor speed, the average main valve pressure P of the five sets fluctuates less; taking the average value further reduces the error. At this point, the correspondence between the current material mass M and Pv at the handle opening HG can be obtained.

[0144] (c4) Change the material mass M and repeat the above calibration operation. 0≤M≤Mmax (design maximum load). Each time M is calibrated, it increases by 0.5T. This will give you the average pressure Pv of the main valve 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 fit it 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 according to the fitting error. In this embodiment, one is used as an example.

[0146] In this embodiment, the second weighing fitting formula can be selected based on the fitting error to determine the highest number of average main valve pressure Pv. The second weighing fitting formula can be a linear function or a quadratic function, and no restrictions are imposed here.

[0147] In this embodiment, during automatic weighing calibration, calibration can be performed using a preset handle opening to ensure that the motor speed and the current of the electronic control valve remain constant during the lifting process, achieving a uniform lifting effect. This makes the average pressure of the main valve more stable, avoids errors caused by handle opening fluctuations, improves the accuracy of the second weighing fitting formula, and further improves weighing accuracy.

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

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

[0150] S52: Perform automatic testing on 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, and the number of material masses is not less than the number threshold.

[0151] S53: Based on the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening, determine the correspondence between the material mass and the average main valve pressure at the preset handle opening.

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

[0153] S55: Determine the corrected average main valve pressure based on the second fitting equation and the second basic fitting equation.

[0154] S56: Based on the corrected average main valve pressure and the second basic fitting relationship, determine the second weighing fitting relationship when the electric loader automatically weighs.

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

[0156] (d1) Test at the preset handle opening (e.g., 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) Based on the second fitting equation and the second fundamental fitting equation, 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 into the second basic fitting equation, we can obtain the second weighing fitting equation for the automatic weighing of this electric loader: 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 restrictions are imposed here.

[0160] In this embodiment, the number threshold can be flexibly set by those skilled in the art according to actual conditions. For example, the number threshold can be 3 different material masses or 4 different material masses, and no restrictions are imposed here.

[0161] In this embodiment, automatically calibrating each electric loader is cumbersome and inefficient. Therefore, after automatically calibrating one electric loader, mass production calibration can be performed on other loaders of the same model. This involves correcting the average main valve pressure in the second basic fitting formula based on the structural characteristics of each electric loader, resulting in a second weighing fitting formula that better suits the characteristics of each loader. This improves calibration efficiency while ensuring the individual weighing accuracy of each electric loader. Furthermore, during mass production calibration, the electric loader only needs to lift materials of different masses at a preset handle opening, significantly reducing the number of lifting tests and further improving the efficiency of mass production calibration.

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

[0163] S61: Determine the mass after temperature compensation based on the hydraulic oil temperature, the initial mass of the object to be weighed, and the preset temperature compensation formula.

[0164] S62: Determine the target mass of the object to be weighed based on the mass after slope and temperature compensation and the preset slope compensation formula.

[0165] Among them, the temperature compensation formula is obtained by fitting the material's calibrated mass at different hydraulic oil temperatures with the actual mass of the material; the slope compensation formula is obtained by fitting the material's calibrated mass at different slopes with the actual mass of the material.

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

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

[0168] In this embodiment, slope compensation can be performed first based on the slope compensation formula, and then temperature compensation can be performed based on the temperature compensation formula.

[0169] In this embodiment, since the calibration of the electric loader is carried out on a flat road surface and the hydraulic oil temperature is 40℃-50℃, the actual weighing process of the electric loader may not meet the above conditions. Therefore, the initial mass obtained by the first weighing fitting formula / second weighing fitting formula is compensated according to the hydraulic oil temperature and slope within the preset sampling range to obtain a more accurate target mass and improve the accuracy of dynamic weighing of the electric loader under different working conditions.

[0170] The weighing method of the electric loader of this application will be described below with a specific embodiment.

[0171] In one specific embodiment, an electric loader is loading 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, a boom angle sensor to obtain the boom angle, and a handle controller to obtain the handle opening. The VCU performs weighing during boom lifting. The specific weighing process is as follows:

[0172] The first step is for the operator to control the electric loader to fill it with material. The control handle is opened to H. The VCU gives the motor a constant speed R according to the direction and opening signal of the control handle. 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 control the boom to lift the material from the lowest point.

[0173] The second step is that if the VCU does not receive an automatic weighing signal from the display screen before the boom angle reaches G1, then the weighing is determined to be manual.

[0174] The third step is that when the VCU detects that the boom lifting process meets the preset sampling range: G1≤boom angle≤G2&boom is lifting&ED>0, it acquires the pressure of each main valve, as well as the handle opening, hydraulic oil temperature and slope.

[0175] Fourth step: When the VCU detects that the weighing display conditions are met: boom angle ≥ G2 & boom is in lifting 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 according to the first weighing fitting relationship M=f(Pv,H), the average main valve pressure Pv and the handle opening H.

[0176] The fifth step is for the VCU to perform temperature compensation on the initial mass based on the temperature compensation formula and the hydraulic oil temperature, and then determine the mass after temperature compensation.

[0177] The sixth step is for the VCU to perform slope compensation based on the slope compensation formula and the slope-temperature compensated mass, to obtain the slope-compensated mass, i.e. the target mass of the material, and output the target mass on the display screen.

[0178] Figure 3 This is a schematic diagram of the structure of a vehicle control unit (VCU) according to an embodiment of this application, as shown below. Figure 3 As shown, the vehicle controller includes: an acquisition module 31, used to acquire weighing parameters within a preset sampling range when lifting the object to be weighed in response to the boom lifting signal. The weighing parameters include average main valve pressure, handle opening, hydraulic oil temperature, and slope. The preset sampling range includes: the boom of the electric loader is in a lifting motion, and the boom angle is within the range of [G1, G2], and the output current of the D port of the electric proportional valve of the electric loader is greater than 0; and a processing module 32, used to determine whether the electric loader has started automatic weighing. If automatic weighing is not started, the initial mass of the object to be weighed is obtained according to the average main valve pressure, handle opening, and a preset first weighing fitting formula. 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 formula. The initial mass of the object to be weighed is compensated according to the hydraulic oil temperature and slope to obtain and output the target mass of the object to be weighed.

[0179] The vehicle controller provided in this application embodiment can execute the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar, and 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 this application, as shown below. Figure 4 As shown, the vehicle controller includes a processor 401 and a memory 402 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 method embodiments.

[0181] In the aforementioned vehicle controller, the memory 402 and the processor 401 are electrically connected directly or indirectly to enable data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines, such as a bus connection. The memory 402 stores computer-executable instructions for implementing data access control methods, 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, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory 402 stores programs, which are executed by the processor 401 upon receiving execution instructions. Furthermore, the software programs and modules within the memory 402 may also include an operating system, which may include various software components and / or drivers for managing system tasks (e.g., memory management, storage device control, power management, etc.) and can communicate with various hardware or software components to provide an operating environment for other software components.

[0183] Processor 401 can be an integrated circuit chip with signal processing capabilities. The aforementioned processor 401 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor.

[0184] One embodiment of this application also provides an electric loader, the electric loader including... Figure 4 The vehicle controller shown.

[0185] An embodiment of this application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the steps of the various method embodiments of this application.

[0186] An embodiment of this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the various method embodiments of this application.

[0187] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0188] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

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

[0190] Furthermore, unless otherwise specified, the functional units / modules in the various embodiments of this application can be integrated into one unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated together. The integrated units / modules described above can be implemented in hardware or as software program modules.

[0191] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0192] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the appended claims.

[0193] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this 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 acquired when the object to be weighed is lifted. The weighing parameters include the average main valve pressure, handle opening, hydraulic oil temperature, and slope. Determine whether the electric loader has its automatic weighing function activated; If automatic weighing is not activated, the initial mass of the object to be weighed is obtained based on the average main valve pressure, the handle opening, and the preset first weighing fitting formula; wherein, the first weighing fitting formula is the relationship between the material mass, the handle opening, and the average main valve pressure. If automatic weighing is enabled, the initial mass of the object to be weighed is obtained based on the average main valve pressure and the preset second weighing fitting formula; wherein, the second weighing fitting formula is the relationship between the material mass and the average main valve pressure. The initial mass of the object to be weighed is compensated based on the hydraulic oil temperature and slope to obtain and output the target mass of the object to be weighed. The preset sampling range includes: the boom of the electric loader is in an upward motion, the boom angle is within the range of [G1, G2], and the output current of the D port of the electric proportional valve of the electric loader is greater than 0.

2. The weighing method for an electric loader according to claim 1, characterized in that, The first weighing fitting equation was constructed in the following way: The electric loader was manually calibrated to obtain the average main valve pressure within the sampling range when lifting materials of different masses with a fixed handle opening. Based on the average main valve pressure within the sampling range when lifting materials of different masses at each fixed handle opening, the correspondence between material mass and average main valve pressure at different handle openings is determined. The electric loader was manually calibrated to obtain the average main valve pressure within the sampling range when lifting a fixed mass of material at different handle openings. Based on the average main valve pressure within the sampling range when lifting each fixed mass of material at different handle openings, the correspondence between handle opening and average main valve pressure for different material masses is determined. Based on the correspondence between material mass and average main valve pressure under different handle openings, and the correspondence between handle opening and average main valve pressure under different material masses, a first weighing fitting relationship between material mass, handle opening and average main valve pressure is obtained.

3. The weighing method for an electric loader according to claim 1, characterized in that, The first weighing fitting equation was constructed in the following way: Obtain the first basic fitting relationship obtained by manually calibrating other loaders of the same model as the electric loader; Based on the preset handle opening and the first basic fitting relationship, the first basic relationship between material mass and average main valve pressure under the preset handle opening is obtained. The electric loader was manually tested to obtain the average main valve pressure within the sampling range when lifting materials of different masses at a preset handle opening, and the number of materials was not less than a number threshold. Based on the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening, determine the correspondence between material mass and average main valve pressure at the preset handle opening. The first fitting equation is obtained by fitting the relationship between material mass and average main valve pressure under the preset handle opening degree. The corrected average main valve pressure is determined based on the first fitted relation and the first fundamental relation. Based on the corrected average main valve pressure and the first basic fitting formula, the first weighing fitting formula for manual weighing of the electric loader is determined.

4. The weighing method for an electric loader according to any one of claims 1-3, characterized in that, The second weighing fitting equation was constructed in the following way: The electric loader is automatically calibrated to obtain the average main valve pressure within the sampling range when lifting materials of different masses at a preset handle opening. Based on the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening, determine the correspondence between material mass and average main valve pressure at the preset handle opening. Based on the relationship between material mass and average main valve pressure under the preset handle opening, a second weighing fitting formula between material mass and average main valve pressure is obtained.

5. The weighing method for an electric loader according to any one of claims 1-3, characterized in that, The second weighing fitting formula was also constructed in the following way: Obtain the 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 the average main valve pressure within the sampling range when lifting materials of different masses at a preset handle opening, and the number of materials is not less than a number threshold. Based on the average main valve pressure within the sampling range when lifting materials of different masses at the preset handle opening, determine the correspondence between material mass and average main valve pressure at the preset handle opening. The second fitting equation is obtained by fitting the relationship between material mass and average main valve pressure under the preset handle opening degree. The corrected average main valve pressure is determined based on the second fitting equation and the second basic fitting equation. Based on the corrected average main valve pressure and the second basic fitting formula, the second weighing fitting formula for automatic weighing of the electric loader is determined.

6. The weighing method for an electric loader according to any one of claims 1-3, characterized in that, The step of compensating for the initial mass of the object to be weighed based on the hydraulic oil temperature and slope to obtain the target mass of the object includes: The mass after temperature compensation is determined based on the hydraulic oil temperature, the initial mass of the object to be weighed, and the preset temperature compensation formula. The target mass of the object to be weighed is determined based on the slope, the mass after temperature compensation, and the preset slope compensation formula. The temperature compensation formula is obtained by fitting the material's calibrated mass at different hydraulic oil temperatures with the material's actual mass; the slope compensation formula is obtained by fitting the material's calibrated mass at different slopes with the material's actual mass.

7. The weighing method for an electric loader according to any one of claims 1-3, characterized in that, Determining whether the electric loader has activated automatic weighing includes: Before the boom angle of the electric loader reaches G1, determine whether an input automatic weighing signal has been received; If no automatic weighing signal is received, automatic weighing will not be activated; If an automatic weighing signal is received, it determines whether the handle opening exceeds the opening threshold; if it exceeds the opening threshold, automatic weighing is activated; if it does not exceed the opening threshold, automatic weighing is not activated.

8. A vehicle control unit (VCU), characterized in that, include: The acquisition module is used to acquire weighing parameters within a preset sampling range when lifting the object to be weighed in response to the boom lifting signal. The weighing parameters include the average main valve pressure, handle opening, hydraulic oil temperature and slope. The preset sampling range includes: the boom of the electric loader is in the lifting motion and the boom angle is within the angle range of [G1, G2], and the output current of the D port of the electric proportional valve of the electric loader is greater than 0. The processing module is used to determine whether the electric loader has automatic weighing enabled. If automatic weighing is not enabled, the initial mass of the object to be weighed is obtained based on the average main valve pressure, the handle opening, and a preset first weighing fitting formula. The first weighing fitting formula is the relationship between the material mass, the handle opening, and the average main valve pressure. If automatic weighing is enabled, the initial mass of the object to be weighed is obtained based on the average main valve pressure and a preset second weighing fitting formula. The second weighing fitting formula is the relationship between the material mass and the average main valve pressure. The initial mass of the object to be weighed is compensated based on the hydraulic oil temperature and slope to obtain and output the target mass of the object.

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

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

Images