Lifting weighing method, lifting weighing system and mining dump truck

Abstract

The invention discloses a lifting weighing method, a lifting weighing system and a mining dump truck. The lifting weighing system comprises a pressure sensor, a controller, a proximity switch, a tilt angle sensor, an engine ECU, a GPS, a displayer and the like. The lifting weighing method comprises the following steps: measuring the lifting pressure when the cargo compartment is lifted, and calculating the cargo weight according to the maximum value of the lifting pressure in combination with the parameters of the whole vehicle. Meanwhile, the system further has three early warning protection functions: when the inclination angle of the vehicle does not meet the requirement, an alarm signal is sent out, and lifting is forbidden; when the cargo compartment does not fall in place and the car is started, reminding information is sent out, the rotating speed of an engine is limited, and cylinder pulling is prevented; when it is detected that the vehicle is overweight, alarm information is sent out, and if the number of overload times is too large, the engine rotating speed is limited. In this way, the cargo weight can be weighed only by lifting the cargo compartment by a small angle, and the system is simple and high in reliability.

Description

Technical Field

[0001] The invention belongs to the field of vehicle-mounted weighing and relates to a vehicle-mounted dynamic weighing method, which is particularly suitable for large-scale mining dump trucks. Background Art

[0002] There are three types of weighing technologies: static weighing, dynamic weighing, and vehicle-mounted weighing. Static road weighing system: usually called "ground scale", the principle is the traditional static load measurement method, which has high detection accuracy and long service life, but low weighing efficiency, lack of real-time performance and high price. Dynamic road weighing system: using dynamic weighing technology, it can obtain vehicle load without stopping. It has the advantages of high weighing efficiency, strong real-time performance, and high degree of automation, but its detection accuracy is not high and the application places are limited. Vehicle-mounted weighing system: the net weight of the goods is weighed by the vehicle-mounted sensor, which is of great practical value, but it is currently limited to simple applications such as overload alarm. There is little research on the development of intelligent vehicle-mounted weighing systems for mining trucks.

[0003] On-board weighing is particularly suitable for working conditions in mining areas and is a technology that OEMs need to vigorously develop. Mastering the carrying status data of vehicles during loading and operation is of great reference value for improving product design and manufacturing levels and improving after-sales operation and maintenance service capabilities. It is also of great guiding value for users to improve vehicle operation reliability, ensure vehicle operation safety, and improve vehicle economic benefits. Therefore, there is a great practical need to develop a mining truck carrying data collection system and conduct analysis.

[0004] There are currently two technical routes for on-board weighing. One is to measure the pressure of the suspension cylinder, calculate the supporting force of each suspension based on the pressure, and then perform a force analysis on the entire vehicle to calculate the weight of the cargo. The second is to measure the deformation of the force-bearing components, analyze the force conditions of the vehicle based on the measured data, and calculate the weight of the cargo. The method for measuring the pressure of the suspension cylinder generally requires measuring 4-6 pressures. The collected pressures are relatively large, and the cost cannot be reduced. The deformation method generally measures the deformation of 2-3 key force points. This method requires familiarity with the force conditions of the vehicle, and the selected force points need to be relatively representative. At present, strain gauges are prone to falling off during actual use of this method, and the stability of the system needs to be improved.

[0005] To solve the above problems, a lifting weighing system was developed to collect and analyze the vehicle lifting pressure. On this basis, some protective measures were added to ensure driving safety. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a lifting and weighing method and a lifting and weighing system, which can weigh the weight of the cargo only by lifting the cargo compartment at a small angle. The system is simple and highly reliable.

[0007] The present invention is implemented according to the following technical solutions:

[0008] In a first aspect, the present invention provides a lifting and weighing method, comprising the following steps:

[0009] Step 1: After loading is completed, the controller first determines whether a signal that the cargo compartment has fallen into place is detected. If there is no such signal, it means that the proximity switch is abnormal and an alarm message is issued; if there is a signal that the cargo compartment has fallen into place, the next step is performed, otherwise no action is performed;

[0010] Step 2: Determine whether the vehicle's tilt angle meets the requirements; if the tilt angle is within the preset range, proceed to the next step; if the tilt angle is not within the preset range, do not take any action;

[0011] Step 3: Move the lifting handle to the lifting position to slowly raise the cargo compartment. At this time, the controller starts to collect the lifting pressure. The driver observes the cargo compartment falling into place icon on the display. If this icon disappears, stop lifting and proceed to the next step, otherwise continue lifting.

[0012] Step 4: After the controller detects no landing signal, it stops collecting the lifting pressure, calculates the maximum value Pmax of the lifting pressure during this period, calculates the lifting force F of the vehicle based on Pmax, and then calculates the weight of the cargo based on the force of the cargo compartment and sends it to the display for display;

[0013] Step 5: After calculating the weight, the controller sends a weighing success sign to the display. After receiving the sign, the display lights up the corresponding icon. After seeing the icon, the driver moves the lifting handle to the lowering position, and the cargo compartment falls.

[0014] Step 6. After the cargo compartment falls onto the frame, the proximity switch is activated. After receiving the landing signal, the controller sends a Ready signal to the display. The driver can drive after seeing the Ready message. If no landing signal is received for a period of time after shifting to the downshift gear, it will indicate that the cargo compartment is abnormal or the proximity switch is abnormal.

[0015] In some embodiments, the step six further includes:

[0016] The controller can send each weighing data and alarm information to the GPS for storage.

[0017] In some embodiments, when the cargo compartment is not in place and the vehicle is moving, a reminder message is issued and a TSC message is sent to limit the engine speed to a preset range.

[0018] In some embodiments, the specific process of determining the vehicle tilt angle in step 2 is as follows:

[0019] If the vehicle tilt angle in both X and Y directions is less than 5°, proceed to the next step; if the vehicle tilt angle in either X or Y direction is greater than 5°, the controller does not respond to the lifting signal, and the lifting action is not performed even if the handle is in the lifting position; wherein, the X direction is the vehicle forward direction, and the Y direction is perpendicular to the vehicle forward direction.

[0020] In some embodiments, when the weight is detected to be greater than the limit value, the controller sends an overweight alarm message to the display to remind the driver that the weight is overweight this time; at the same time, the cumulative number of overweight times A is increased by 1; when the controller is powered on, if the A value is greater than the specified value, a TSC message is sent to limit the engine speed within a preset range.

[0021] In some embodiments, when the controller enters the restricted mode, the restriction can be removed through the display. The specific method of removing the restriction is as follows:

[0022] When the release button is pressed on the display, the display sends a request message to the controller. After receiving the request, the controller generates a random code and sends it to the display. The display displays the code. The service personnel calculates the unlock password based on the random code and inputs it into the controller through the display. After the controller receives the unlock password and verifies that it is correct, the restriction is lifted and the A value is cleared.

[0023] In some embodiments, the operation process of steps 1 to 6 can be implemented as one-button weighing, and weighing can be completed by pressing this button in the cab after loading is completed.

[0024] In some embodiments, when the vehicle is on flat ground, the calculation formula of the cargo mass m is as follows:

[0025] m=Pmax×S×L / (g×L1)-m0=K0×Pmax-m0 (1)

[0026] S is the force area of ​​the cylinder, L is the force arm when the cargo compartment is lifted, L1 is the gravity arm, g is the acceleration of gravity, m0 is the dead weight of the cargo compartment; K0 is the coefficient when the vehicle inclination angle is 0;

[0027] When the vehicle is not on flat ground, assuming the vehicle inclination angle is β, the cargo weight formula is:

[0028] m= K β ×Pmax-m0 (2)

[0029] K β is the weighing coefficient when the vehicle inclination angle is β, which is obtained by calibration.

[0030] In some embodiments, the calibration method is as follows:

[0031] Carry out a lifting test on flat ground, use standard weights for the cargo, collect multiple Pmax values ​​at different weights, calculate multiple K0s based on the weight and cargo compartment weight using formula (1), and then take the arithmetic mean to get K0;

[0032] Carry out lifting test on a certain slope, use standard weights for cargo, collect Pmax values ​​at different weights, and calculate multiple K values ​​based on the weight and cargo compartment weight using formula (2). β , and then take the arithmetic mean to get K β ;

[0033] Use different slope values ​​to test and get the K value under different slopes, and write this value into the control algorithm in advance; when weighing, call the corresponding K value according to the slope value to calculate the weight.

[0034] In a second aspect, the present invention provides a lifting and weighing system for implementing the above-mentioned lifting and weighing method, comprising:

[0035] Pressure sensor, installed in the lifting system, used to measure the lifting pressure;

[0036] The tilt sensor is installed in the middle of the vehicle to measure the tilt angle of the vehicle;

[0037] A proximity switch, installed at the rear of the vehicle, is used to detect whether the cargo compartment has been lifted to a small angle, which is used to trigger the lift weighing algorithm;

[0038] A controller is connected with the pressure sensor, the inclination sensor and the proximity switch through a wiring harness, and the controller collects pressure, inclination and position signals and converts them into digital signals and sends them to the CAN bus;

[0039] The display, GPS, engine ECU and the controller are connected together via a CAN line and communicate with each other.

[0040] In a third aspect, the present invention provides a mining dump truck equipped with the above-mentioned lifting and weighing system.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] The present invention proposes a lifting and weighing system and a lifting and weighing method. The weight of the cargo can be weighed by lifting the cargo compartment at a small angle. The system is simple and highly reliable. When the vehicle is unloading, weighing is automatically started without unnecessary operations. This system uses fewer components than a suspension weighing system and a strain gauge weighing system, and has a low cost. This system can be integrated into the vehicle control system without the need for a special weighing controller. Weighing can be completed using the vehicle controller, thereby further reducing costs. In particular, this system also has three major functions: lifting warning, driving protection, and overweight limit and release, which provide protection for the safety of the entire vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the accompanying drawings described below are only some embodiments. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0044] In the attached picture:

[0045] Figure 1 It is the principle diagram of the lifting and weighing system of the present invention;

[0046] Figure 2 It is a flow chart of the lifting and weighing method of the present invention;

[0047] Figure 3 It is a force analysis diagram of the lifting system of the present invention;

[0048] Figure 4 It is a schematic diagram of a proximity switch of the present invention.

[0049] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but are intended to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] like Figure 1 As shown, a lifting and weighing system includes a pressure sensor, a controller, a proximity switch, an inclination sensor, an engine ECU, a GPS, and a display; the pressure sensor is installed in the lifting system to measure the lifting pressure; the inclination sensor is installed in the middle of the vehicle to measure the inclination angle of the vehicle; the proximity switch is installed at the rear of the vehicle to detect whether the cargo compartment is lifted to a smaller angle, so as to trigger the lifting and weighing algorithm; the controller is connected with the pressure sensor, the inclination sensor and the proximity switch through a wiring harness, and the controller collects pressure, inclination and position signals and converts them into digital signals and sends them to the CAN bus; the display, GPS, engine ECU, and the controller are connected through a CAN line to communicate with each other.

[0053] It should be noted that the lifting system adopted is an electronically controlled lifting system.

[0054] like Figure 2 As shown, a lifting and weighing method comprises the following steps:

[0055] A. After loading is completed, the controller first determines whether a signal that the cargo compartment has fallen into place is detected. If there is no such signal, it means that the proximity switch is abnormal and an alarm message is issued; if there is a signal that the cargo compartment has fallen into place, the next step is carried out, otherwise no action is taken.

[0056] B. Determine whether the vehicle's tilt angle meets the requirements. If the X and Y directions are both less than 5°, proceed to the next step. If one is greater than 5°, do nothing. The X direction is the vehicle's forward direction, and the Y direction is perpendicular to the vehicle's forward direction.

[0057] C. Move the lifting handle to the lifting position to slowly raise the cargo compartment. At this time, the controller starts to collect the lifting pressure. The driver observes the cargo compartment falling into place icon on the instrument. If this icon disappears, stop lifting and go to the next step, otherwise continue lifting.

[0058] D. The controller stops collecting the lifting pressure after detecting no landing signal, calculates the maximum lifting pressure Pmax during this period, calculates the vehicle lifting force F based on Pmax, and then calculates the cargo weight based on the force conditions in the cargo compartment and sends it to the display for display.

[0059] E. After calculating the weight, the controller sends a weighing success mark to the instrument. After receiving it, the instrument lights up the corresponding icon. After seeing this icon, the driver moves the lifting handle to the lowered position and the cargo compartment falls.

[0060] F. After the cargo compartment falls onto the frame, the proximity switch is activated. After receiving the landing signal, the controller sends a Ready signal to the display. The driver can drive when he sees Ready. At the same time, the controller sends the weighing data to the GPS for recording, completing the entire weighing process. If no landing signal is received for 3 minutes after shifting to the downshift gear, it will indicate that the cargo compartment is abnormal or the proximity switch is abnormal.

[0061] In a further solution, the above six AF processes can be made into one-button weighing. After loading is completed, the weighing can be completed by pressing this button in the cab. In addition, the vehicle will also trigger weighing when completing the unloading process, achieving the purpose of automatic weighing.

[0062] In a further embodiment, the present invention has a lifting warning function: when one of the vehicle inclination angles in the X and Y directions is greater than 5°, it indicates that the vehicle posture is incorrect and not level. Since the lifting system adopts an electronically controlled lifting system, the controller does not respond to the lifting command at this time, and the lifting action is not performed even if the handle is turned to the lifting gear.

[0063] As a further solution, the present invention has a driving protection function: when the cargo compartment is not in place and the vehicle is driving, a reminder message is issued and a TSC message is sent to the ECU to limit the engine speed to within 1000 rpm to prevent sudden and strong acceleration from causing cylinder pulling.

[0064] In a further embodiment, the present invention has an overweight limit function: when the weight detected is greater than the limit value, the controller sends an overweight alarm message to the instrument to remind the driver that the vehicle is overweight; at the same time, the number of overweight accumulation A is increased by 1. When the controller is powered on, if the value A is greater than the specified value, a TSC message is sent to limit the engine speed to within 1000 revolutions, thereby reducing the vehicle's operating efficiency.

[0065] It should be noted that the controller only starts the restriction function when the power is turned on. At this time, the vehicle is not moving, so it is safer to restrict it. When the vehicle is in a heavily loaded climbing situation, if the engine speed is restricted at this time, the vehicle will be unable to climb the slope and will slip, thus hitting the vehicle behind and causing an accident. Therefore, the restriction process for the vehicle must be applied under safe working conditions when the vehicle is stationary.

[0066] A further solution is that after the controller enters the restriction mode, the restriction can be lifted through the instrument. The method is as follows: Press the release button on the instrument, and the instrument sends a request message to the controller. After receiving it, the controller generates a random code and sends it to the instrument. The instrument displays this code. The service personnel calculates the unlock password based on the random code and enters it into the controller through the instrument. After the controller receives the unlock password and verifies that it is correct, the restriction is lifted and the A value is cleared.

[0067] Figure 3 This is a force analysis diagram of the cargo compartment when it is lifted on flat ground. In the figure, G is the center of gravity of the cargo compartment H when fully loaded, L is the force arm when the cargo compartment is lifted, and L1 is the gravity arm.

[0068] Gravity: Assume the weight of the cargo compartment is m0, and the weight of the cargo is m, then the resultant force of gravity G = (m + m0) × g, (g is the acceleration of gravity)

[0069] Lifting force: obtained by multiplying the lifting pressure by the force area, and the maximum value is taken in this calculation. F = Pmax × S, where S is the force area of ​​the cylinder.

[0070] Force analysis: When lifting at a small angle, it can be approximately assumed that the center of gravity and related lever arms remain unchanged. According to the force balance formula, G×L1=F×L. Substitute the formula into the formula to calculate the cargo mass m.

[0071] m=Pmax×S×L / (g×L1)-m0=K0×Pmax-m0 (1)

[0072] K0 is the coefficient when the vehicle inclination angle is 0.

[0073] When the vehicle is not on flat ground, assuming the vehicle inclination angle is β, the cargo weight formula is:

[0074] m= K β ×Pmax-m0 (2)

[0075] K β is the weighing coefficient when the vehicle inclination angle is β, which is obtained by calibration. The calibration method is as follows:

[0076] Carry out lifting test on flat ground, use standard weights for cargo, collect Pmax values ​​at 10 different weights, calculate 10 K0 according to the weight and cargo compartment weight using formula (1), and then take the arithmetic mean to get K0

[0077] A lifting test was conducted on a certain slope. The cargo was loaded with standard weights. The Pmax values ​​at 10 different weights were collected. The Kmax values ​​of 10 were calculated based on the weight of the weight and the cargo compartment using formula (2). β , and then take the arithmetic mean to get K β。

[0078] Use different slope values ​​to test and get the K value under different slopes, and write this value into the control algorithm in advance. When weighing, call the corresponding K value according to the slope value to calculate the weight.

[0079] Figure 4 This is the proximity switch drawing. It can be seen from the figure that the proximity switch has a travel of 6mm. To ensure that it only starts to act when the cargo compartment is lifted 2°, the proximity switch is installed at a distance of L2=6÷tan(2°)=172mm from the hinge point. It needs to be installed close to the hinge point.

[0080] In summary, the present invention provides a lifting and weighing system and method, and the lifting and weighing system includes a pressure sensor, a controller, a proximity switch, an inclination sensor, an engine ECU, a GPS, a display, etc. The lifting and weighing method is: by measuring the lifting pressure when lifting the cargo compartment, the cargo weight is calculated according to the maximum value of the lifting pressure combined with the vehicle parameters. At the same time, the system also has three early warning protection functions: when the vehicle inclination angle does not meet the requirements, an alarm signal is issued and lifting is prohibited; when the cargo compartment is not in place and the vehicle is moving, a reminder message is issued and the engine speed is limited to prevent cylinder pulling; when the vehicle is detected to be overweight, an alarm message is issued, and if the number of overloading is too many, the engine speed is limited. In particular, all load weights and alarm information are uploaded to the GPS and can be permanently saved.

[0081] The mining dump truck provided by the present invention is described below. The mining dump truck described below and the lifting and weighing system described above can be referred to each other.

[0082] A mining dump truck provided by the present invention may include a lifting and weighing system as described in any one of the above embodiments.

[0083] The beneficial effects achieved by the mining dump truck provided by the present invention are consistent with the beneficial effects achieved by the lifting and weighing system provided by the present invention, and will not be described in detail here.

[0084] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0085] In addition, those skilled in the art will understand that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments also means being within the scope of protection of the present invention and forming different embodiments. For example, in the above embodiments, those skilled in the art can use them in combination according to the known technical solutions and the technical problems to be solved by this application.

[0086] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this patent can make some changes or modify the technical contents suggested above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the solution of the present invention.

Claims

1. A lifting and weighing method, characterized in that: The following steps are involved: Step 1: After loading is completed, the controller first determines whether a signal that the cargo compartment has fallen into place is detected. If there is no such signal, it means that the proximity switch is abnormal and an alarm message is issued; if there is a signal that the cargo compartment has fallen into place, the next step is performed, otherwise no action is performed; Step 2: Determine whether the vehicle's tilt angle meets the requirements; if the tilt angle is within the preset range, proceed to the next step; if the tilt angle is not within the preset range, do not take any action; Step 3: Move the lifting handle to the lifting position to slowly raise the cargo compartment. At this time, the controller starts to collect the lifting pressure. The driver observes the cargo compartment falling into place icon on the display. If this icon disappears, stop lifting and proceed to the next step, otherwise continue lifting. Step 4: After the controller detects no landing signal, it stops collecting the lifting pressure, calculates the maximum value Pmax of the lifting pressure during this period, calculates the lifting force F of the vehicle based on Pmax, and then calculates the weight of the cargo based on the force of the cargo compartment and sends it to the display for display; Step 5: After calculating the weight, the controller sends a weighing success sign to the display. After receiving the sign, the display lights up the corresponding icon. After seeing the icon, the driver moves the lifting handle to the lowering position, and the cargo compartment falls. Step 6. After the cargo compartment falls onto the frame, the proximity switch is activated. After receiving the landing signal, the controller sends a Ready signal to the display. The driver can drive after seeing the Ready message. If no landing signal is received for a period of time after shifting to the downshift gear, it will indicate that the cargo compartment is abnormal or the proximity switch is abnormal.

2. A lifting and weighing method according to claim 1, characterized in that: The step six also includes: The controller can send each weighing data and alarm information to the GPS for storage.

3. A lifting and weighing method according to claim 1, characterized in that: When the cargo compartment is not in place and the train is moving, a reminder message is issued and a TSC message is sent to limit the engine speed to a preset range.

4. A lifting and weighing method according to claim 1, characterized in that: The specific process of determining the vehicle tilt angle in step 2 is as follows: If the vehicle tilt angle in both X and Y directions is less than 5°, proceed to the next step; if the vehicle tilt angle in either X or Y direction is greater than 5°, the controller does not respond to the lifting signal, and the lifting action will not be performed even if the handle is in the lifting position; The X direction is the vehicle's forward direction, and the Y direction is perpendicular to the vehicle's forward direction.

5. A lifting and weighing method according to claim 1, characterized in that: When the weight detected is greater than the limit value, the controller sends an overweight alarm message to the display to remind the driver that the weight is overweight this time; at the same time, the cumulative number of overweight times A is increased by 1; When the controller is powered on, if the A value is greater than the specified value, a TSC message is sent to limit the engine speed within a preset range.

6. A lifting and weighing method according to claim 5, characterized in that: When the controller enters restricted mode, the restrictions can be lifted through the display. The specific method of lifting the restrictions is as follows: When the release button is pressed on the display, the display sends a request message to the controller. After receiving the request, the controller generates a random code and sends it to the display. The display displays the code. The service personnel calculates the unlock password based on the random code and inputs it into the controller through the display. After the controller receives the unlock password and verifies that it is correct, the restriction is lifted and the A value is cleared.

7. A lifting and weighing method according to claim 1, characterized in that: The operation process from step 1 to step 6 can be implemented as one-key weighing, and weighing can be completed by pressing this key in the cab after loading is completed.

8. A lifting and weighing method according to claim 1, characterized in that: When the vehicle is on flat ground, the calculation formula for the cargo mass m is as follows: m=Pmax×S×L / (g×L1)-m0=K0×Pmax-m0 (1) S is the force area of ​​the cylinder, L is the force arm when the cargo compartment is lifted, L1 is the gravity arm, g is the acceleration of gravity, m0 is the dead weight of the cargo compartment; K0 is the coefficient when the vehicle inclination angle is 0; When the vehicle is not on flat ground, assuming the vehicle inclination angle is β, the cargo weight formula is: m= K β ×Pmax-m0 (2) K β is the weighing coefficient when the vehicle inclination angle is β, which is obtained by calibration.

9. A lifting and weighing method according to claim 8, characterized in that: The calibration method is as follows: Carry out a lifting test on flat ground, use standard weights for the cargo, collect multiple Pmax values ​​at different weights, calculate multiple K0s based on the weight and cargo compartment weight using formula (1), and then take the arithmetic mean to get K0; Carry out lifting test on a certain slope, use standard weights for cargo, collect Pmax values ​​at different weights, and calculate multiple K values ​​based on the weight and cargo compartment weight using formula (2). β , and then take the arithmetic mean to get K β ; Use different slope values ​​to test and get the K value under different slopes, and write this value into the control algorithm in advance; when weighing, call the corresponding K value according to the slope value to calculate the weight.

10. A lifting and weighing system for implementing the lifting and weighing method according to any one of claims 1 to 9, characterized in that: include: Pressure sensor, installed in the lifting system, used to measure the lifting pressure; The tilt sensor is installed in the middle of the vehicle to measure the tilt angle of the vehicle; A proximity switch, installed at the rear of the vehicle, is used to detect whether the cargo compartment has been lifted to a small angle, which is used to trigger the lift weighing algorithm; A controller is connected with the pressure sensor, the inclination sensor and the proximity switch through a wiring harness, and the controller collects pressure, inclination and position signals and converts them into digital signals and sends them to the CAN bus; The display, GPS, engine ECU and the controller are connected together via a CAN line and communicate with each other.

11. A mining dump truck, characterized in that: The lifting and weighing system according to claim 10 is installed.

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