Hydraulic weighing method and device of hydraulic tail plate and computer equipment

Abstract

The invention relates to a hydraulic weighing method and device of a hydraulic tail plate and computer equipment. The method comprises the following steps: constructing a structural model of the hydraulic tailboard based on structural characteristics of the hydraulic tailboard; on the basis of mechanical simulation analysis on the structure model, an error correction model determined on the basis of the relation between hydraulic pressures corresponding to different mechanical structures in the hydraulic tailboard is obtained; acquiring corresponding sensor data when the target hydraulic tail plate moves at different horizontal inclination angles based on different loads; and correcting the sensor data according to the error correction model to obtain a target data set corresponding to the target hydraulic tailboard, obtaining a weighing model of the target hydraulic tailboard based on the target data set, and weighing the target hydraulic tailboard based on the weighing model. By adopting the method, the data accuracy and the model applicability of hydraulic weighing can be improved.

Description

Technical Field

[0001] The present application relates to the field of hydraulic weighing technology, and in particular to a hydraulic weighing method, device and computer equipment for a hydraulic tailgate. Background Art

[0002] In the field of hydraulic weighing technology, hydraulic pressure sensors are installed on the lifting hydraulic cylinder and the tilting hydraulic cylinder of the tail lift, and the load of the tail lift is calculated based on the pressure changes generated when the tail lift is loaded.

[0003] However, during the raising and lowering process of the tailgate, the pressure of the lifting hydraulic cylinder and the flipping hydraulic cylinder is not statically fixed, but changes with the lifting angle and flipping angle of the tailgate, so that there is no fixed linear relationship between the sensor value change and the actual load, thereby affecting the data accuracy of the hydraulic weighing process.

[0004] If a prediction model is constructed and trained based on the relationship between the value change of the sensor in the tailgate and the actual load, the sensor may be weightless, overweight, vibrate, and have unstable readings during the rising process of the tailgate, which results in a certain amount of noise. In addition, the tailgate cannot remain completely level. The simple prediction model does not have generalization ability and cannot fit the data of the entire lifting process well. It cannot adapt to different vehicle models, thereby reducing the applicability of the model in the hydraulic weighing process. Summary of the invention

[0005] Based on this, it is necessary to provide a hydraulic weighing method, device, computer equipment and computer-readable storage medium for a hydraulic tailgate that can improve the data accuracy and model applicability of hydraulic weighing in order to address the above technical problems.

[0006] In a first aspect, the present application provides a hydraulic weighing method for a hydraulic tailgate, comprising: Based on the structural characteristics of the hydraulic tailgate, a structural model of the hydraulic tailgate is constructed; Based on the mechanical simulation analysis of the structural model, an error correction model determined based on the relationship between the hydraulic pressures corresponding to different mechanical structures in the hydraulic tailgate is obtained; Acquire sensor data corresponding to the target hydraulic tail lift when it moves at different horizontal tilt angles based on different loads, wherein configuration information of each sensor in the target hydraulic tail lift matches configuration information of each sensor in the hydraulic tail lift; The sensor data is corrected according to the error correction model to obtain a target data set corresponding to the target hydraulic tail lift, a weighing model of the target hydraulic tail lift is obtained based on the target data set, and a weighing operation of the target hydraulic tail lift is performed based on the weighing model.

[0007] In a second aspect, the present application also provides a hydraulic weighing device for a hydraulic tailgate, comprising: A first construction module is used to construct a structural model of the hydraulic tail board based on the structural characteristics of the hydraulic tail board; A second building module is used to obtain an error correction model determined based on the relationship between hydraulic pressures corresponding to different mechanical structures in the hydraulic tailgate based on a mechanical simulation analysis of the structural model; an acquisition module, configured to acquire sensor data corresponding to a target hydraulic tail lift when the target hydraulic tail lift moves at different horizontal tilt angles based on different loads, wherein configuration information of each sensor in the target hydraulic tail lift matches configuration information of each sensor in the hydraulic tail lift; The third construction module is used to correct the sensor data according to the error correction model to obtain a target data set corresponding to the target hydraulic tail lift, obtain a weighing model of the target hydraulic tail lift based on the target data set, and perform a weighing operation of the target hydraulic tail lift based on the weighing model.

[0008] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the above steps when executing the computer program.

[0009] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the above steps when executed by a processor.

[0010] The hydraulic weighing method, device, computer equipment and computer-readable storage medium of the hydraulic tailboard are as follows: first, based on the structural characteristics of the hydraulic tailboard, a structural model of the hydraulic tailboard is constructed to efficiently realize the digital structural representation of the hydraulic tailboard; secondly, based on the mechanical simulation analysis of the structural model, an error correction model determined based on the relationship between the hydraulic pressures corresponding to different mechanical structures in the hydraulic tailboard is obtained to accurately obtain the error correction model for correcting the sensor data based on the mechanical behavior of the hydraulic tailboard; furthermore, the sensor data is corrected according to the error correction model to obtain the target data set corresponding to the target hydraulic tailboard to adaptively and universally construct a weighing model; based on this, by constructing a weighing model for weighing the hydraulic tailboard, on the one hand, the model is generalized and can be applied to the hydraulic weighing scenarios of different vehicles; on the other hand, the nonlinear change between the sensor value change and the actual load in the hydraulic weighing process is avoided, and the influence of the inclination of the hydraulic tailboard on the weighing accuracy is reduced, thereby ensuring the accuracy and efficiency of data processing in the hydraulic weighing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0012] Figure 1 A schematic diagram of a flow chart of a hydraulic weighing method for a hydraulic tailgate in one embodiment; Figure 2 A schematic diagram of a structural model of a hydraulic tailgate in another embodiment; Figure 3 is a schematic diagram of a sensor installation position in a hydraulic tailgate in one embodiment; Figure 4 1 is a structural block diagram of a hydraulic weighing device of a hydraulic tailgate in one embodiment. DETAILED DESCRIPTION

[0013] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0014] In one embodiment, Figure 1 As shown, a hydraulic weighing method for a hydraulic tailgate is provided. This embodiment uses the method applied to a server as an example for illustration. It can be understood that the method can also be applied to a terminal, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps S101 to S104.

[0015] Step S101: constructing a structural model of the hydraulic tail lift based on the structural characteristics of the hydraulic tail lift.

[0016] Among them, the hydraulic tailboard is a hydraulic lifting device installed at the rear of a truck or various enclosed vehicles. By installing hydraulic pressure sensors on the lifting hydraulic cylinder and the flipping hydraulic cylinder of the hydraulic tailboard, the load capacity of the hydraulic tailboard can be calculated based on the pressure changes generated when the hydraulic tailboard is loaded.

[0017] Exemplarily, the overall design parameters and local structural data of the hydraulic tailgate, including the geometric and material properties of the hydraulic cylinder, supporting structure, power system, tailgate plane, and connecting parts, are obtained and represented digitally to construct a structural model of the hydraulic tailgate. In the process of generating the structural model, the action nodes of the hydraulic system of the hydraulic tailgate, the mechanical load paths, and the dynamic responses between the structures need to be comprehensively considered to ensure that the constructed structural model can truly reflect the mechanical properties and operating behaviors of the hydraulic tailgate during operation.

[0018] Exemplarily, the structural model of the hydraulic tailboard reflects a complete digital structural model of the hydraulic tailboard, which is a virtual mathematical model that comprehensively reflects the structural geometry and mechanical properties of the hydraulic tailboard.

[0019] Step S102 , based on mechanical simulation analysis of the structural model, an error correction model determined based on the relationship between hydraulic pressures corresponding to different mechanical structures in the hydraulic tailgate is obtained.

[0020] The mechanical structure of the hydraulic tailboard may refer to various components of the hydraulic tailboard made of metal, components or materials, such as a tailboard table, a hinge, a hydraulic cylinder, etc., which together constitute the mechanical system of the entire hydraulic tailboard.

[0021] The hydraulic pressure corresponding to the mechanical structure may indicate that the mechanical structure in the hydraulic tailgate is directly or indirectly matched to the corresponding hydraulic pressure based on activities such as bearing hydraulic pressure, generating hydraulic pressure or transmitting pressure.

[0022] For example, through mechanical simulation analysis, the stress conditions of the hydraulic tailgate are simulated in a virtual environment to determine the relationship between the hydraulic pressures corresponding to the various mechanical structures of the hydraulic tailgate; wherein, the structural model can be placed under environmental simulation conditions such as different tilt angles and different loads to calculate the mechanical behaviors such as the hydraulic pressure distribution and change trend of each mechanical structure of the hydraulic tailgate; furthermore, the dynamic coupling between the hydraulic pressures corresponding to different mechanical structures is analyzed and expressed through a mathematical function relationship.

[0023] For example, the error correction model obtained by analyzing the mechanical behaviors such as the hydraulic pressure distribution and change trend of different mechanical structures reflects the precise relationship between the hydraulic pressures corresponding to different mechanical structures of the hydraulic tailgate in the form of a mathematical expression.

[0024] Step S103, obtaining sensor data corresponding to the target hydraulic tail lift moving at different horizontal tilt angles based on different loads, wherein the configuration information of each sensor in the target hydraulic tail lift matches the configuration information of each sensor in the hydraulic tail lift.

[0025] Among them, the vehicle model corresponding to the target hydraulic tail lift and the vehicle model corresponding to the hydraulic tail lift may be consistent or different; further, the tail lift model of the target hydraulic tail lift and the tail lift model of the hydraulic tail lift may be consistent or different; the number of the target hydraulic tail lift may be at least two.

[0026] For example, due to the mechanical structural differences in the installation positions of sensors on different vehicles and slight changes in the mechanical structure of the vehicles themselves, there will be differences in the sensor data collected by the sensors on the hydraulic tailgates of different vehicles, and even differences in the data between multiple rising and falling processes of the same vehicle. Based on this, it is necessary to collect sensor data of the hydraulic tailgates of different vehicles during multiple lifting and lowering processes.

[0027] Exemplarily, the configuration information of each sensor in the target hydraulic tailboard matches the configuration information of each sensor in the hydraulic tailboard, which can indicate that information such as the type, quantity, and installation position of the sensors in the target hydraulic tailboard matches information such as the type, quantity, and installation position of the sensors of the hydraulic tailboard corresponding to the structural model.

[0028] Exemplarily, under different load conditions of the target hydraulic tailboard, actions are performed corresponding to different horizontal tilt angles, and data from relevant sensors are obtained at the same time; optionally, by placing weights of standard weight on the hydraulic tailboard, the set weight of the weight and the sensor data measured by the sensor based on the set weight of the weight are recorded.

[0029] Step S104, correcting the sensor data according to the error correction model to obtain a target data set corresponding to the target hydraulic tail lift, obtaining a weighing model of the target hydraulic tail lift based on the target data set, and performing a weighing operation of the target hydraulic tail lift based on the weighing model.

[0030] Exemplarily, the error correction model is applied to the collected sensor data to correct the inaccurate values ​​in the sensor data collected by the sensor, and the processed correction results are stored as a target data set, each data item in the target data set is a quantitative representation of the working state of the target hydraulic tailgate under different inclination angles and different load conditions.

[0031] Exemplarily, the target data set is used as a training data set and a validation data set, so as to train the weighing model to be trained according to the training data set and the validation data set, thereby obtaining a trained weighing model; wherein the weighing model can be applied to measure the load of the target hydraulic tailgate, that is, the weighing model is robust and generalizable, and can be deployed in different vehicles of the same model, or in vehicles of different models, without the need for recalibration and training.

[0032] In the hydraulic weighing method of the hydraulic tailboard, firstly, based on the structural characteristics of the hydraulic tailboard, a structural model of the hydraulic tailboard is constructed to efficiently realize the digital structural representation of the hydraulic tailboard; secondly, based on the mechanical simulation analysis of the structural model, an error correction model determined by the relationship between the angle corresponding to the mechanical structure of the hydraulic tailboard and the hydraulic pressure is obtained, so as to accurately obtain the error correction model for correcting the sensor data obtained based on the mechanical behavior of the hydraulic tailboard; furthermore, the sensor data is corrected according to the error correction model to obtain the target data set corresponding to the target hydraulic tailboard so as to adaptively and universally construct a weighing model; based on this, by constructing a weighing model for weighing the hydraulic tailboard, on the one hand, the model has generalization and can be applied to the hydraulic weighing scenarios of different vehicles, and on the other hand, it avoids the influence of the nonlinear change between the sensor value change and the actual load in the hydraulic weighing process, and reduces the influence of the inclination of the hydraulic tailboard on the weighing accuracy, thereby ensuring the data processing accuracy and efficiency of the hydraulic weighing process.

[0033] In an exemplary embodiment, the structural features of the hydraulic tailboard include various mechanical structures of the hydraulic tailboard and connection methods between the various mechanical structures; based on the structural features of the hydraulic tailboard, a structural model of the hydraulic tailboard is constructed, including steps S201 to S202.

[0034] Step S201, based on the mechanical structures of the hydraulic tail lift and the connection modes between the mechanical structures, the size ratio, angle relationship and stress condition of each mechanical structure in a side view are determined.

[0035] Step S202: constructing a structural model of the hydraulic tailgate based on the size ratio, angle relationship and force condition.

[0036] The connection method of the mechanical structure may include fixed connection (such as welding), movable connection (such as hinge), and other connection forms.

[0037] Among them, the size ratio, angle relationship and force condition of each mechanical structure in the side view can represent the relative size relationship, tilt angle or mutual angle, force borne, etc. of the mechanical structure of the hydraulic tailgate in the side view.

[0038] For example, the hydraulic tailboard can be a bilaterally symmetrical structure, and a lifting hydraulic cylinder, a tilting hydraulic cylinder, and a set of lifting hydraulic arms are respectively provided on the left and right sides. Therefore, the mechanical structure of the hydraulic tailboard can be simplified as follows: Figure 2 The unilateral structural model shown.

[0039] like Figure 2 As shown, the GD rod is a lifting hydraulic cylinder with a length of ; FB rod is a tilting hydraulic cylinder, the length is The triangle ADE area formed by the combination of ED, EA, and DA is the lifting hydraulic arm, where the length of the ED segment is The triangle ABC area formed by the combination of AB, BC and CA is the hydraulic tailgate surface, and AC corresponds to the upper surface of the hydraulic tailgate surface.

[0040] The lifting hydraulic cylinder controls the lifting of the lifting hydraulic arm through the force point D, so that the lifting hydraulic arm controls the lifting of the hydraulic tail plate through the force point A; the flipping hydraulic cylinder controls the flipping of the hydraulic tail plate through the force point B.

[0041] in, It is the angle between EA and EF, i.e. the angle between the EA section corresponding to the lifting hydraulic arm and the EF section corresponding to the supporting part of the vehicle body for the hydraulic tailboard, reflecting the inclination direction of the lifting hydraulic arm relative to the supporting part of the vehicle body for the hydraulic tailboard; It is the angle between EA and ED, that is, the angle between the EA section and the ED section corresponding to the lifting hydraulic arm, which reflects the degree of folding or expansion inside the lifting hydraulic arm; It is the angle between GD and DE, that is, the angle between the GD section corresponding to the lifting hydraulic cylinder and the DE section corresponding to the lifting hydraulic arm, which reflects the thrust direction of the lifting hydraulic cylinder on the lifting hydraulic arm; It is the angle between AC and the horizontal plane, that is, the angle between the AC segment corresponding to the hydraulic tail lift table and the horizontal plane, which reflects the horizontal inclination of the hydraulic tail lift table.

[0042] Where P is the pressure of the cargo on the upper surface of the hydraulic tail lift table, is the moment of P about point A.

[0043] In this embodiment, according to the size ratio, angle relationship and force condition of each mechanical structure of the hydraulic tail lift in the side view, the structural model of the hydraulic tail lift is accurately and efficiently constructed to realize the digital visualization of the mechanical structure of the hydraulic tail lift.

[0044] In an exemplary embodiment, the mechanical structure of the hydraulic tailgate includes a flip hydraulic cylinder, a lifting hydraulic cylinder and a lifting hydraulic arm; based on a mechanical simulation analysis of the structural model, an error correction model determined based on the relationship between hydraulic pressures corresponding to different mechanical structures in the hydraulic tailgate is obtained, including steps S301 to S302.

[0045] Step S301, based on the mechanical simulation analysis of the structural model, the hydraulic pressures corresponding to the flipping hydraulic cylinder, the lifting hydraulic cylinder and the lifting hydraulic arm of the hydraulic tail plate are obtained respectively when the hydraulic tail plate is under a preset pressure load.

[0046] Step S302, based on the torque relationship between the hydraulic pressure corresponding to the flip hydraulic cylinder and the load pressure in the horizontal direction, and the force balance relationship between the hydraulic pressure corresponding to the lift hydraulic cylinder and the hydraulic pressure corresponding to the lift hydraulic arm, an error correction model corresponding to the hydraulic sensor of the hydraulic tail board is obtained.

[0047] For example, in the process of pushing the cargo onto the hydraulic tailboard, the table top of the hydraulic tailboard changes from an inclined state to a horizontal state, but the change angle is small. Therefore, in this process, the force analysis of the flip hydraulic cylinder can be performed according to the grounded state and the horizontal state of the hydraulic tailboard; in the process of the hydraulic tailboard lifting the cargo, the piston of the flip hydraulic cylinder has no axial movement, and there is no need to perform a force analysis on the flip hydraulic cylinder; in the process of closing the hydraulic tailboard, the load is the weight of the tailboard itself, the load on the flip hydraulic cylinder is small, and there is no need to perform a force analysis on the flip hydraulic cylinder.

[0048] Place a heavy object at the center of the hydraulic tailboard and analyze the force applied to the flipping hydraulic cylinder. Figure 2 In the structural model shown, the force of the tilting hydraulic cylinder acting on point B is ,according to , P take the moment of point A respectively, and we get , P are based on the moment relationship of point A in the horizontal direction, and further obtain: (1) in, Represents the height difference between point A and point B.

[0049] According to formula (1), when loading, the closer the cargo center is to point A, The smaller it is, the less force the tilting hydraulic cylinder is subjected to.

[0050] The force-bearing process of the lifting hydraulic cylinder is mainly the movement process of the hydraulic tailboard from the ground-lifting position to the fully lifted highest position. Figure 2 In the structural model shown, by listing and solving the force balance equations of the lifting hydraulic cylinder and the lifting hydraulic arm, the force condition of the lifting hydraulic cylinder is analyzed and the following is obtained: (2) In formula (2), is the force of the lifting hydraulic cylinder acting on point D; is the force of the lifting hydraulic arm acting on point A, is the horizontal component of the lifting hydraulic arm at point A, is the vertical force component of the lifting hydraulic arm at point A; is the length of ED. Furthermore, in the mechanical structure of the hydraulic tailgate, Figure 2 The length of the AE segment shown matches the length of the BF segment, that is, the length of the AE segment is also , so it can be calculate The torque on segment AE.

[0051] Among them, in formula (2): (3) (4) (5) (6) Among them, in formula (3), is the height difference between point A and point D, is the height difference between point B and point D.

[0052] Based on equations (2) to (6), another expression for pressure P is obtained: (7) Based on the above force analysis, it can be concluded that the sensor data of the lifting hydraulic sensor Corresponding correction value ,in, The corresponding correction formula is: (8) And get the sensor data of the flip hydraulic sensor Corresponding correction value ,in, The corresponding correction formula is: (9) Based on equations (8) and (9), an error correction model for correcting sensor data is obtained.

[0053] In this embodiment, based on the analysis of the relationship between the hydraulic pressures corresponding to the flip hydraulic cylinder, the lifting hydraulic cylinder and the lifting hydraulic arm, an error correction model corresponding to the hydraulic sensor of the hydraulic tailgate is efficiently and adaptively obtained for adaptive correction processing of the sensor data.

[0054] In an exemplary embodiment, obtaining corresponding sensor data of a target hydraulic tail lift when it moves at different horizontal tilt angles based on different loads includes step S401.

[0055] Step S401, when the target hydraulic tail lift moves at different horizontal inclination angles based on different loads, obtain sensor data corresponding to the first hydraulic sensor, the second hydraulic sensor, the first angle sensor, and the second angle sensor, respectively; wherein the first hydraulic sensor is used to measure the pressure of the lifting hydraulic cylinder, the second hydraulic sensor is used to measure the pressure of the flipping hydraulic cylinder, the first angle sensor is used to measure the flipping angle of the target hydraulic tail lift, and the second angle sensor is used to measure the lifting angle of the target hydraulic tail lift.

[0056] Exemplarily, a first hydraulic sensor for measuring the pressure of a lifting hydraulic cylinder may be installed in the hydraulic circuit of the lifting hydraulic cylinder; a second hydraulic sensor for measuring the pressure of a flipping hydraulic cylinder may be installed in the hydraulic circuit of the flipping hydraulic cylinder; a first angle sensor for measuring the flipping angle of a target hydraulic tail board may be installed near the flipping joint axis of the hydraulic tail board; and a second angle sensor for measuring the lifting angle of a target hydraulic tail board may be installed on the telescopic mechanism of the lifting hydraulic cylinder or on the tail board body.

[0057] Optionally, Figure 3 A schematic diagram showing the installation position of sensors in a hydraulic tailgate is shown, i.e., a tilt hydraulic sensor 1 for measuring the tilt hydraulic cylinder pressure is installed in the hydraulic circuit of the tilt hydraulic cylinder, a lift hydraulic sensor 2 for measuring the lift hydraulic cylinder pressure is installed in the hydraulic circuit of the lift hydraulic cylinder, a tilt angle sensor 3 for measuring the tilt angle of the tailgate is installed in the tilt joint shaft of the hydraulic tailgate, and a lift angle sensor 4 for measuring the lift angle of the tailgate is installed in the telescopic joint shaft of the lift hydraulic cylinder. Furthermore, Figure 3 The angle M shown is the angle between the hydraulic tailgate table and the horizontal plane, which corresponds to Figure 2 The angle shown , that is, the angle between the AC section corresponding to the hydraulic tailgate table and the horizontal plane.

[0058] Exemplarily, obtaining the corresponding sensor data when the target hydraulic tailboard moves at different horizontal tilt angles based on different loads can mean obtaining the sensor data when the target hydraulic tailboard moves upward at different horizontal tilt angles based on different loads; and can mean obtaining the sensor data when the target hydraulic tailboard moves downward at different horizontal tilt angles based on different loads. Based on the ascending data collected during the ascending process of the hydraulic tailboard and the descending data collected during the descending process, a full-operating sensor data set of the hydraulic tailboard working under multiple loads and multiple tilt angles is finally formed completely and comprehensively.

[0059] Optionally, the test conditions need to be divided according to the actual load conditions and the actual tilt angle, that is, in order to ensure that the collected data truly reflects the working characteristics of the hydraulic tail lift, different load ranges and horizontal tilt angle ranges should be predetermined according to the design parameters of the hydraulic tail lift and the actual application scenarios; for example, the load range can be divided into several ranges according to the preset maximum load of the hydraulic tail lift, such as from light load to full load, and the horizontal tilt angle can be divided into several ranges according to the preset maximum horizontal tilt angle of the hydraulic tail lift, such as from 0 degrees to a certain angle.

[0060] Among them, under a certain combination of load and horizontal tilt angle, by performing a lifting operation on the hydraulic tail board, multiple sensors installed at key positions synchronously record corresponding data, including but not limited to hydraulic pressure data recorded by the sensors, hydraulic tail board lifting displacement data, and hydraulic tail board lifting speed data.

[0061] Among them, under the combination of a specific load and horizontal tilt angle, by performing a lowering operation on the hydraulic tailboard, multiple sensors installed at key positions synchronously record corresponding data, including but not limited to the hydraulic pressure data recorded by the sensors, the hydraulic tailboard lowering displacement data, and the hydraulic tailboard lowering speed data. In this embodiment, through the preset sensor types, sensor data such as the pressure of the lifting hydraulic cylinder, the pressure of the flipping hydraulic cylinder, the flipping angle of the target hydraulic tailboard, and the lifting angle of the target hydraulic tailboard are obtained respectively, so as to realize the data processing of the hydraulic weighing process in a comprehensive and diverse manner.

[0062] In an exemplary embodiment, the sensor data is corrected according to the error correction model to obtain a target data set corresponding to the target hydraulic tailgate, including steps S501 to S503.

[0063] Step S501, according to the sensor data corresponding to the target hydraulic tailgate moving at different horizontal inclination angles based on different loads, error data corresponding to the sensor data is obtained based on the error correction model, and data fitting is performed according to the numerical relationship between the sensor data and the error data corresponding to the sensor data to obtain the error function corresponding to the initial data set.

[0064] Step S502 , based on the error correction model of the fusion error function, the sensor data is corrected to obtain corrected sensor data, and the corrected sensor data is standardized to obtain standardized sensor data.

[0065] Step S503: constructing a target data set corresponding to the target hydraulic tailgate based on the standardized sensor data.

[0066] Exemplarily, the error data collected by the sensor may indicate incorrect data measured by the sensor when the hydraulic tail lift is in a stationary state and not in a horizontal state; it may also indicate incorrect data measured by the sensor when the hydraulic tail lift is in the process of rising or falling and is not in a horizontal state and the object is overweight or underweight.

[0067] For example, first, it is determined that the hydraulic tail lift is in a static, horizontal, non-weightless, and non-overweight state, based on the hydraulic sensor data measured at each standard weight, and the average value of the hydraulic sensor data within a period of time is selected as the standard reading of the hydraulic sensor of the standard weight under static conditions. .

[0068] Furthermore, according to the reading of the hydraulic sensor , the flip angle measured by the angle sensor (corresponding to Figure 2 of ), the lifting angle measured by the angle sensor (corresponding to Figure 2 of ), the motion acceleration measured by the accelerometer , construct the initial data set S: (10) (11) Furthermore, a neural network is constructed and data fitting is performed based on the data set S. As the input value of the neural network, (i.e. error data) as the output value of the neural network, thus obtaining the error function , the error function The error correction model is used to correct the data of the hydraulic sensor according to the sensor data and the corresponding error. for: (12) The error data corresponding to the sensor data is obtained based on the sensor data input by the error correction model and the correction value of the sensor data output by the error correction model; for example, the error data corresponding to the hydraulic sensor data can be obtained based on the sensor data measurement value and the sensor data correction value corresponding to the correction formula of the hydraulic sensor reading in formula (8) or formula (9), respectively.

[0069] Furthermore, on the one hand, in order to ensure the reliability of the results, the original index data needs to be centralized and standardized. On the other hand, due to the differences in mechanical structure, the distribution of data measured by sensors of different vehicles is inconsistent, and the original index data also needs to be centralized and standardized. In this process, the lifting hydraulic sensor data, the flip hydraulic sensor data, the lifting angle sensor data, and the flip angle sensor data are recorded separately. , , , , and calculate their means respectively , , , , and calculate the standard deviation , , , Finally, we get , , , After centralization and standardization , , , : (13) In this embodiment, based on the fitting of the sensor data, an error function corresponding to the initial data set is obtained, the sensor data is accurately corrected according to the obtained error function, and the corrected data is standardized to obtain accurate sensor data to improve the accuracy of hydraulic weighing.

[0070] In an exemplary embodiment, the sensor data includes lifting hydraulic sensor data, flip angle sensor data, lifting angle sensor data and acceleration sensor data corresponding to the target moments respectively; based on the error correction model of the fusion error function, the sensor data is corrected to obtain the corrected sensor data, including steps S601 to S602.

[0071] Step S601, input the lifting hydraulic sensor data, flip angle sensor data, lifting angle sensor data and acceleration sensor data corresponding to the target moment into the error correction model of the fusion error function, and obtain the target error data corresponding to the lifting hydraulic sensor data based on the fitting relationship between the lifting hydraulic sensor data, flip angle sensor data, lifting angle sensor data and acceleration sensor data in the error function.

[0072] Step S602, based on the difference between the lifting hydraulic pressure sensor data and the target error data, obtain the corrected lifting hydraulic pressure sensor data, and use the corrected lifting hydraulic pressure sensor data as the corrected sensor data.

[0073] Among them, the lifting hydraulic sensor data can represent the hydraulic pressure of the lifting hydraulic cylinder measured by the lifting hydraulic sensor; the flip angle sensor data can represent the horizontal flip angle of the hydraulic tail lift table measured by the flip angle sensor; the lifting angle sensor data can represent the lifting angle of the lifting hydraulic arm measured by the lifting angle sensor; the acceleration sensor data can represent the movement acceleration of the hydraulic tail lift table measured by the acceleration sensor.

[0074] For example, referring to equation (10), the error function is based on the reading of the hydraulic sensor at the same time , the flip angle measured by the angle sensor , the lifting angle measured by the angle sensor , the motion acceleration measured by the accelerometer And the error data corresponding to the hydraulic sensor is fitted. Based on this, in the error function, based on each determined input value, that is, , , , calculated Corresponding error data ; Furthermore, referring to formula (12), according to and The difference between The corresponding correction data.

[0075] In this embodiment, based on the error function fitted by a large amount of collected data, the error data corresponding to the hydraulic sensor data is accurately calculated, so that the hydraulic sensor data is efficiently and accurately corrected according to the calculated error data, thereby improving the reliability of the data.

[0076] In an exemplary embodiment, obtaining a weighing model of a target hydraulic tail lift based on a target data set includes steps S701 to S702.

[0077] Step S701, based on the time series characteristics of the target data set corresponding to the target hydraulic tail lift, obtain a first data set and a second data set corresponding to the target hydraulic tail lift, wherein the first data set is determined according to the sensor data corresponding to the target hydraulic tail lift when it moves upward, and the second data set is determined according to the sensor data corresponding to the target hydraulic tail lift when it moves downward.

[0078] Step S702, obtaining a first weighing model of the target hydraulic tailboard based on the first data set, and obtaining a second weighing model of the target hydraulic tailboard based on the second data set, wherein the first weighing model is used to weigh the target hydraulic tailboard during ascending movement, and the second weighing model is used to weigh the target hydraulic tailboard during descending movement.

[0079] For example, in an actual scenario, during the ascent process, the porters may need to ascend together with the cargo, while during the descent process, there are only porters. Therefore, it is necessary to extract a data set suitable for the ascent process and a data set suitable for the descent process from the target data set.

[0080] During the rise or fall of the weight, due to the response frequency of the hydraulic sensor Less than or equal to 10kHz, while the response frequency of the angle sensor Greater than or equal to 10Hz and less than or equal to 10kHz. Based on this, the time series data information corresponding to a lifting process measured by the hydraulic sensor can be extracted according to the frequency of 10Hz, and the time series data information corresponding to a lifting process measured by the angle sensor can be extracted according to the frequency of 0Hz. The time series data information X can refer to the following formula: (14) In formula (14), a set of lifting hydraulic pressure sensors can be obtained: Data at a moment , for the overturning hydraulic sensor, a set of data at T moments can be obtained For the lift angle sensor, a set of data at T moments can be obtained For the flip angle sensor, a set of data at T moments can be obtained ; Among them, due to the weight of the weight and the differences in the hydraulic systems and mechanical structures of different vehicles, the value of T is not limited.

[0081] Extract the sensor time series data of a certain ascent process respectively And the sensor timing data of a certain descent process , refer to the following formula: (15) (16) in, , , , They are respectively the lifting hydraulic sensor data, the flipping hydraulic sensor data, the lifting angle sensor data, and the flipping angle sensor data collected during the ascending process at the first moment; , , , They are respectively the lifting hydraulic sensor data, the flipping hydraulic sensor data, the lifting angle sensor data, and the flipping angle sensor data collected during the descent process at the first moment.

[0082] During each ascent and descent, it is necessary to record the weight of the weights and the porter during the ascent, as well as the weight of the porter during the descent, as the label values ​​of the training set: (17) (18) in, Indicates the weight tag value recorded during the ascent process, , , Respectively represent the weight label values ​​recorded during the ascent at the first moment, the second moment, and the nth moment; Indicates the weight tag value recorded during the descent process. , , They represent the weight label values ​​recorded during the descent process at the first moment, the second moment, and the nth moment respectively.

[0083] Furthermore, in order to make the model more robust, Gaussian noise can be added to the time series data. Based on this, the data set of the rising process is constructed as , the data set of the descending process is }.

[0084] Exemplarily, the tailgate lifting and weighing is a dynamically changing process. Therefore, the data measured in this process changes with time and has time series characteristics. According to the time series characteristics of the time series data, a weighing model based on the time series model is constructed; based on loss functions such as mean square error (MSE) and absolute error (MAE), the network parameters of the weighing model can be updated using a gradient descent algorithm to obtain a trained weighing model; optionally, the time series model can adopt an LSTM model (Long Short-Term Memory).

[0085] In this embodiment, based on the time series characteristics of the target data set corresponding to the target hydraulic tailgate, a data set suitable for the ascending process and a data set suitable for the descending process are determined, so as to obtain weighing models suitable for different motion scenes respectively, so as to improve the multi-scenario applicability of the model.

[0086] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0087] Based on the same inventive concept, the embodiment of the present application also provides a hydraulic weighing device for a hydraulic tailboard for implementing the hydraulic weighing method of the hydraulic tailboard involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of the hydraulic weighing device for one or more hydraulic tailboards provided below can refer to the limitations of the hydraulic weighing method for the hydraulic tailboard above, and will not be repeated here.

[0088] In an exemplary embodiment, Figure 4 As shown, a hydraulic weighing device for a hydraulic tailgate is provided, comprising: a first building module 301, a second building module 302, an acquisition module 303 and a third building module 304, wherein: The first construction module 301 is used to construct a structural model of the hydraulic tail lift based on the structural characteristics of the hydraulic tail lift; The second building module 302 is used to obtain an error correction model determined based on the relationship between hydraulic pressures corresponding to different mechanical structures in the hydraulic tailgate based on mechanical simulation analysis of the structural model; An acquisition module 303 is used to acquire sensor data corresponding to the target hydraulic tail lift when it moves at different horizontal tilt angles based on different loads, wherein the configuration information of each sensor in the target hydraulic tail lift matches the configuration information of each sensor in the hydraulic tail lift; The third building module 304 is used to correct the sensor data according to the error correction model to obtain a target data set corresponding to the target hydraulic tail lift, obtain a weighing model of the target hydraulic tail lift based on the target data set, and perform a weighing operation of the target hydraulic tail lift based on the weighing model.

[0089] In an exemplary embodiment, the structural features of the hydraulic tail board include various mechanical structures of the hydraulic tail board and the connection methods between the various mechanical structures. The first construction module 301 is also used to: determine the size ratio, angle relationship and force condition of each mechanical structure in a side perspective based on the various mechanical structures of the hydraulic tail board and the connection methods between the various mechanical structures; and construct a structural model of the hydraulic tail board based on the size ratio, angle relationship and force condition.

[0090] In an exemplary embodiment, the second construction module 302 is also used to: obtain the hydraulic pressures corresponding to the flipping hydraulic cylinder, the lifting hydraulic cylinder and the lifting hydraulic arm of the hydraulic tail board at a preset load pressure based on the mechanical simulation analysis of the structural model; obtain the error correction model corresponding to the hydraulic sensor of the hydraulic tail board based on the torque relationship between the hydraulic pressure corresponding to the flipping hydraulic cylinder and the load pressure in the horizontal direction, and the force balance relationship between the hydraulic pressure corresponding to the lifting hydraulic cylinder and the hydraulic pressure corresponding to the lifting hydraulic arm.

[0091] In an exemplary embodiment, the acquisition module 303 is also used to: when the target hydraulic tailgate moves at different horizontal inclination angles based on different loads, obtain sensor data corresponding to the first hydraulic sensor, the second hydraulic sensor, the first angle sensor, and the second angle sensor, respectively; wherein the first hydraulic sensor is used to measure the pressure of the lifting hydraulic cylinder, the second hydraulic sensor is used to measure the pressure of the flipping hydraulic cylinder, the first angle sensor is used to measure the flipping angle of the target hydraulic tailgate, and the second angle sensor is used to measure the lifting angle of the target hydraulic tailgate.

[0092] In an exemplary embodiment, the third construction module 304 is also used to: construct an initial data set based on sensor data corresponding to the target hydraulic tailgate moving at different horizontal inclination angles based on different loads, and perform data fitting based on the sensor data in the initial data set and the numerical relationship between the corresponding errors to obtain an error function corresponding to the initial data set; correct the sensor data based on an error correction model of the fused error function to obtain corrected sensor data, and standardize the corrected sensor data to obtain standardized sensor data; and construct a target data set corresponding to the target hydraulic tailgate based on the standardized sensor data.

[0093] In an exemplary embodiment, the third construction module 304 is also used to: input the lifting hydraulic sensor data, flip angle sensor data, lifting angle sensor data and acceleration sensor data corresponding to the target time into the error correction model of the fusion error function, and obtain the target error data corresponding to the lifting hydraulic sensor data based on the fitting relationship between the lifting hydraulic sensor data, flip angle sensor data, lifting angle sensor data and acceleration sensor data in the error function; obtain the corrected lifting hydraulic sensor data based on the difference between the lifting hydraulic sensor data and the target error data, and use the corrected lifting hydraulic sensor data as the corrected sensor data.

[0094] In an exemplary embodiment, the third construction module 304 is further used to: obtain a first data set and a second data set corresponding to the target hydraulic tailgate based on the timing characteristics of the target data set corresponding to the target hydraulic tailgate, wherein the first data set is determined according to the sensor data corresponding to the target hydraulic tailgate when it moves upward, and the second data set is determined according to the sensor data corresponding to the target hydraulic tailgate when it moves downward; obtain a first weighing model of the target hydraulic tailgate based on the first data set, and obtain a second weighing model of the target hydraulic tailgate based on the second data set, wherein the first weighing model is used to weigh the target hydraulic tailgate when it moves upward, and the second weighing model is used to weigh the target hydraulic tailgate when it moves downward.

[0095] Each module in the hydraulic weighing device of the hydraulic tailgate can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0096] In an exemplary embodiment, a computer device is provided, which may be a server. The computer device includes a processor, a memory, an input / output interface (I / O for short) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data for constructing a weighing model of a hydraulic tail plate. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a hydraulic weighing method of a hydraulic tail plate is implemented.

[0097] In an exemplary embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected via a system bus, and the communication interface, the display unit, and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a hydraulic weighing method of a hydraulic tail plate is implemented. The display unit of the computer device is used to form a visually visible picture, which may be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0098] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in any of the above embodiments when executing the computer program.

[0099] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in any of the above embodiments are implemented.

[0100] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0101] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0102] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A hydraulic weighing method for a hydraulic tailgate, characterized in that: The method comprises: Based on the structural characteristics of the hydraulic tailgate, a structural model of the hydraulic tailgate is constructed; Based on the mechanical simulation analysis of the structural model, an error correction model determined based on the relationship between the hydraulic pressures corresponding to different mechanical structures in the hydraulic tailgate is obtained; Acquire sensor data corresponding to the target hydraulic tail lift when it moves at different horizontal tilt angles based on different loads, wherein configuration information of each sensor in the target hydraulic tail lift matches configuration information of each sensor in the hydraulic tail lift; The sensor data is corrected according to the error correction model to obtain a target data set corresponding to the target hydraulic tail lift, a weighing model of the target hydraulic tail lift is obtained based on the target data set, and a weighing operation of the target hydraulic tail lift is performed based on the weighing model.

2. The method according to claim 1, characterized in that The structural features of the hydraulic tailboard include various mechanical structures of the hydraulic tailboard and the connection methods between the various mechanical structures. The structural model of the hydraulic tailboard is constructed based on the structural features of the hydraulic tailboard, including: Based on the mechanical structures of the hydraulic tailgate and the connection methods between the mechanical structures, determining the size ratio, angle relationship and stress condition of each mechanical structure in a side view; Based on the size ratio, angle relationship and force condition, a structural model of the hydraulic tailgate is constructed.

3. The method according to claim 1, characterized in that The mechanical structure of the hydraulic tailgate includes a tilting hydraulic cylinder, a lifting hydraulic cylinder and a lifting hydraulic arm; The error correction model determined based on the relationship between the hydraulic pressures corresponding to different mechanical structures in the hydraulic tailgate is obtained based on the mechanical simulation analysis of the structural model, including: Based on the mechanical simulation analysis of the structural model, the hydraulic pressures corresponding to the flipping hydraulic cylinder, the lifting hydraulic cylinder and the lifting hydraulic arm of the hydraulic tailgate are obtained respectively when the load pressure is preset; Based on the torque relationship between the hydraulic pressure corresponding to the flip hydraulic cylinder and the load pressure in the horizontal direction, and the force balance relationship between the hydraulic pressure corresponding to the lifting hydraulic cylinder and the hydraulic pressure corresponding to the lifting hydraulic arm, an error correction model corresponding to the hydraulic sensor of the hydraulic tail board is obtained.

4. The method according to claim 1, characterized in that: The step of obtaining sensor data corresponding to the target hydraulic tailgate moving at different horizontal tilt angles based on different loads includes: When the target hydraulic tailgate moves at different horizontal inclination angles based on different loads, sensor data corresponding to the first hydraulic sensor, the second hydraulic sensor, the first angle sensor, and the second angle sensor are obtained; wherein the first hydraulic sensor is used to measure the pressure of the lifting hydraulic cylinder, the second hydraulic sensor is used to measure the pressure of the flipping hydraulic cylinder, the first angle sensor is used to measure the flipping angle of the target hydraulic tailgate, and the second angle sensor is used to measure the lifting angle of the target hydraulic tailgate.

5. The method according to claim 1, characterized in that The step of correcting the sensor data according to the error correction model to obtain a target data set corresponding to the target hydraulic tailgate includes: According to sensor data corresponding to the target hydraulic tailgate moving at different horizontal tilt angles based on different loads, error data corresponding to the sensor data is acquired based on the error correction model, and data fitting is performed based on a numerical relationship between the sensor data and the error data corresponding to the sensor data to obtain an error function; Based on the error correction model integrating the error function, the sensor data is corrected to obtain corrected sensor data, and the corrected sensor data is standardized to obtain standardized sensor data; Based on the standardized sensor data, a target data set corresponding to the target hydraulic tailgate is constructed.

6. The method according to claim 5, characterized in that The sensor data includes lifting hydraulic pressure sensor data, flip angle sensor data, lifting angle sensor data and acceleration sensor data corresponding to the target time respectively; The step of correcting the sensor data based on the error correction model integrated with the error function to obtain the corrected sensor data includes: Inputting the lifting hydraulic sensor data, the flip angle sensor data, the lifting angle sensor data and the acceleration sensor data respectively corresponding to the target time into the error correction model integrated with the error function, and obtaining the target error data corresponding to the lifting hydraulic sensor data based on the fitting relationship between the lifting hydraulic sensor data, the flip angle sensor data, the lifting angle sensor data and the acceleration sensor data in the error function; Based on the difference between the lifting hydraulic pressure sensor data and the target error data, corrected lifting hydraulic pressure sensor data is obtained, and the corrected lifting hydraulic pressure sensor data is used as corrected sensor data.

7. The method according to claim 1, characterized in that The step of obtaining a weighing model of the target hydraulic tailgate based on the target data set includes: Based on the time series characteristics of the target data set corresponding to the target hydraulic tail lift, a first data set and a second data set corresponding to the target hydraulic tail lift are obtained, wherein the first data set is determined according to the sensor data corresponding to the target hydraulic tail lift when it moves upward, and the second data set is determined according to the sensor data corresponding to the target hydraulic tail lift when it moves downward; A first weighing model of the target hydraulic tail lift is obtained based on the first data set, and a second weighing model of the target hydraulic tail lift is obtained based on the second data set, wherein the first weighing model is used to weigh the target hydraulic tail lift during an upward movement, and the second weighing model is used to weigh the target hydraulic tail lift during a downward movement.

8. A hydraulic weighing device for a hydraulic tailgate, characterized in that: The device comprises: A first construction module is used to construct a structural model of the hydraulic tail board based on the structural characteristics of the hydraulic tail board; A second building module is used to obtain an error correction model determined based on the relationship between hydraulic pressures corresponding to different mechanical structures in the hydraulic tailgate based on a mechanical simulation analysis of the structural model; an acquisition module, used to acquire sensor data corresponding to the target hydraulic tail lift when it moves at different horizontal tilt angles based on different loads, wherein the configuration information of each sensor in the target hydraulic tail lift matches the configuration information of each sensor in the hydraulic tail lift; The third construction module is used to correct the sensor data according to the error correction model to obtain a target data set corresponding to the target hydraulic tail lift, obtain a weighing model of the target hydraulic tail lift based on the target data set, and perform a weighing operation of the target hydraulic tail lift based on the weighing model.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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