Hydraulic weighing method, device and computer equipment for hydraulic tailboard

Abstract

The present application relates to a hydraulic weighing method, device and computer equipment for a hydraulic tailboard. The method includes: constructing a structural model of the hydraulic tailboard based on the structural characteristics of the hydraulic tailboard; obtaining an error correction model determined based on the relationship between the hydraulic pressures corresponding to different mechanical structures in the hydraulic tailboard through mechanical simulation analysis of the structural model; acquiring sensor data corresponding to the target hydraulic tailboard when it moves at different horizontal tilt angles under different load weights; 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 performing a weighing operation on the target hydraulic tailboard based on the weighing model. Using this method can improve the data accuracy and model applicability of hydraulic weighing.

Description

Technical Field

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

[0002] In the technical field of hydraulic weighing, hydraulic pressure sensors are installed on the lifting hydraulic cylinder and the tilting hydraulic cylinder of the tailgate, and the load weight of the tailgate is calculated based on the pressure change generated when the tailgate is loaded.

[0003] However, during the ascending and descending processes of the tailgate, the pressures of the lifting hydraulic cylinder and the tilting hydraulic cylinder are not statically fixed. They change with the changes in the ascending and descending angles and the tilting angle of the tailgate, so that there is no fixed linear relationship between the sensor value changes 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 sensor value changes in the tailgate and the actual load, then during the ascending process of the tailgate, the sensors have weightlessness, overweight, vibration, and unstable readings, with certain noise. Moreover, the tailgate cannot be completely horizontal. A simple prediction model does not have generalization ability, cannot well fit the data of the entire lifting process, and cannot adapt to different vehicle models, thereby reducing the model applicability of the hydraulic weighing process. Summary of the Invention

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

[0006] In a first aspect, the present application provides a hydraulic weighing method for a hydraulic tailgate, including:

[0007] Based on the structural characteristics of the hydraulic tailgate, construct a structural model of the hydraulic tailgate;

[0008] Based on the mechanical simulation analysis of the structural model, obtain an error correction model determined based on the relationship between the hydraulic pressures corresponding to different mechanical structures in the hydraulic tailgate;

[0009] Obtain sensor data corresponding to different load weights of the target hydraulic tailgate when moving at different horizontal tilt angles, where the configuration information of each sensor in the target hydraulic tailgate matches the configuration information of each sensor in the hydraulic tailgate;

[0010] Correct the sensor data according to the error correction model to obtain the target data set corresponding to the target hydraulic tailgate. Based on the target data set, obtain the weighing model of the target hydraulic tailgate, and perform the weighing operation of the target hydraulic tailgate based on the weighing model.

[0011] In a second aspect, the present application further provides a hydraulic weighing device for a hydraulic tailgate, including:

[0012] A first construction module for constructing a structural model of the hydraulic tailgate based on the structural characteristics of the hydraulic tailgate;

[0013] A second construction module for obtaining an error correction model determined based on the relationship between the hydraulic pressures corresponding to different mechanical structures in the hydraulic tailgate through mechanical simulation analysis of the structural model;

[0014] An acquisition module for acquiring sensor data corresponding to a target hydraulic tailgate when it moves at different horizontal tilt angles based on different loads, wherein the configuration information of each sensor in the target hydraulic tailgate matches the configuration information of each sensor in the hydraulic tailgate;

[0015] A third construction module for correcting the sensor data according to the error correction model to obtain the target data set corresponding to the target hydraulic tailgate, obtaining the weighing model of the target hydraulic tailgate based on the target data set, and performing the weighing operation of the target hydraulic tailgate based on the weighing model.

[0016] In a third aspect, the present application further provides a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the above steps are implemented.

[0017] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above steps are implemented.

[0018] The above-mentioned hydraulic weighing method, device, computer equipment and computer-readable storage medium for a hydraulic tailboard. First, based on the structural characteristics of the hydraulic tailboard, a structural model of the hydraulic tailboard is constructed to efficiently achieve a 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 hydraulic pressures corresponding to different mechanical structures in the hydraulic tailboard is obtained to accurately obtain an error correction model for correcting 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 a target data set corresponding to the target hydraulic tailboard to adaptively and generally construct a weighing model. Based on this, by constructing a weighing model for performing the weighing operation of the hydraulic tailboard, on the one hand, the model has generalization and can be applied to the hydraulic weighing scenarios of different vehicles. On the other hand, it avoids the non-linear variation influence between the sensor numerical change and the actual load during the hydraulic weighing process, and reduces the influence of the inclination of the hydraulic tailboard on the weighing accuracy, thereby ensuring the accuracy and efficiency of data processing during the hydraulic weighing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a schematic flowchart of the hydraulic weighing method for a hydraulic tailboard in an embodiment;

[0021] Figure 2 It is a schematic diagram of the structural model of the hydraulic tailboard in another embodiment;

[0022] Figure 3 It is a schematic diagram of the sensor installation position in the hydraulic tailboard in an embodiment;

[0023] Figure 4 It is a structural block diagram of the hydraulic weighing device for a hydraulic tailboard in an embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] In order to make the objectives, technical solutions and advantages of the present application clearer, the following further describes the present application in detail with reference to the 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.

[0025] In an embodiment, as Figure 1As shown, a hydraulic weighing method for a hydraulic tailgate is provided. In this embodiment, this method is exemplified by its application to a server. It can be understood that this method can also be applied to a terminal, or 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.

[0026] Step S101: Based on the structural characteristics of the hydraulic tailgate, construct a structural model of the hydraulic tailgate.

[0027] Among them, the hydraulic tailgate 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 tailgate, the load weight of the hydraulic tailgate is calculated according to the pressure change generated when the hydraulic tailgate is loaded.

[0028] Exemplarily, by obtaining the overall design parameters and local structural data of the hydraulic tailgate, including the geometric and material characteristics of the hydraulic cylinder, support structure, power system, tailgate plane, and connection components, etc., and presenting them digitally, a structural model of the hydraulic tailgate is constructed. Among them, during the generation process of the structural model, the action nodes of the hydraulic system of the hydraulic tailgate, the mechanical load path, and the dynamic response between structures need to be comprehensively considered to ensure that the constructed structural model can truly reflect the mechanical characteristics and operating behaviors of the hydraulic tailgate during the working process.

[0029] Exemplarily, the structural model of the hydraulic tailgate reflects the complete digital structural model of the hydraulic tailgate, which is a virtual mathematical model that comprehensively reflects the structural geometry and mechanical characteristics of the hydraulic tailgate.

[0030] Step S102: Based on the mechanical simulation analysis of the structural model, obtain an error correction model determined by the relationship between the hydraulic pressures corresponding to different mechanical structures in the hydraulic tailgate.

[0031] Among them, the mechanical structure of the hydraulic tailgate can represent each component of the hydraulic tailgate composed of metal, components, or materials, such as the tailgate table, hinge, hydraulic cylinder, etc. These components together form the mechanical system of the entire hydraulic tailgate.

[0032] Among them, the hydraulic pressure corresponding to the mechanical structure can represent that the mechanical structure in the hydraulic tailgate directly or indirectly matches the corresponding hydraulic pressure based on activities such as bearing hydraulic pressure, generating hydraulic pressure, or transmitting pressure.

[0033] Exemplarily, through mechanical simulation analysis, the force-bearing conditions of the hydraulic tailboard are simulated in a virtual environment to determine the relationship between the hydraulic pressures corresponding to the respective mechanical structures of the hydraulic tailboard. Among them, the structural model can be placed under environmental simulation conditions such as different tilting angles and different loads to calculate the mechanical behaviors such as the hydraulic pressure distribution and change trend of the respective mechanical structures of the hydraulic tailboard. Furthermore, the dynamic coupling between the hydraulic pressures corresponding to different mechanical structures is analyzed and can be expressed through mathematical function relationships.

[0034] Exemplarily, the error correction model obtained based on the analysis of 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 tailboard in the form of a mathematical expression.

[0035] Step S103, obtain the sensor data corresponding to the target hydraulic tailboard when it moves at different horizontal tilting angles based on different load weights, where the configuration information of each sensor in the target hydraulic tailboard matches the configuration information of each sensor in the hydraulic tailboard.

[0036] Among them, the vehicle model corresponding to the target hydraulic tailboard and the vehicle model corresponding to the hydraulic tailboard can be the same or different; further, the tailboard model of the target hydraulic tailboard and the tailboard model of the hydraulic tailboard can be the same or different; the number of target hydraulic tailboards can be at least two.

[0037] Exemplarily, due to the mechanical structure differences in the installation positions of sensors on different vehicles and the slight changes in the mechanical structures of the vehicles themselves, the sensor data collected by the sensors on the hydraulic tailboards of different vehicles will be different, and even the data between multiple ascending and descending processes of the same vehicle will also be different. Based on this, it is necessary to collect the sensor data of the hydraulic tailboards of different vehicles during multiple lifting and lowering processes.

[0038] 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 the information such as the type, quantity, and installation position of the sensors in the target hydraulic tailboard matches the information such as the type, quantity, and installation position of the sensors of the hydraulic tailboard corresponding to the structural model.

[0039] Exemplarily, under different load conditions of the target hydraulic tailboard, perform action operations corresponding to different horizontal tilting angles, and simultaneously obtain the data of relevant sensors. Optionally, standard-weight weights can be placed on the hydraulic tailboard, and the set weight of the weights and the sensor data measured by the sensors based on the set weight of the weights can be recorded.

[0040] Step S104: Correct the sensor data according to the error correction model to obtain the target data set corresponding to the target hydraulic tailgate, obtain the weighing model of the target hydraulic tailgate based on the target data set, and perform the weighing operation of the target hydraulic tailgate based on the weighing model.

[0041] 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 result is stored as the target data set. Each piece of data 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.

[0042] Exemplarily, the target data set is used as the training data set and the validation data set to train the weighing model to be trained according to the training data set and the validation data set, so as to obtain the trained weighing model. Among them, the weighing model is applicable to measuring the load of the target hydraulic tailgate, that is, the weighing model has robustness and generalization, and can be deployed to different vehicles of the same vehicle model or deployed to vehicles of different vehicle models without re-calibration and training.

[0043] In the above hydraulic weighing method of the hydraulic tailgate, first, based on the structural characteristics of the hydraulic tailgate, a structural model of the hydraulic tailgate is constructed to efficiently realize the digital structural representation of the hydraulic tailgate; second, based on the mechanical simulation analysis of the structural model, an error correction model determined by the relationship between the angle and the hydraulic pressure corresponding to the mechanical structure of the hydraulic tailgate is obtained to accurately obtain the error correction model for correcting and processing the sensor data based on the mechanical behavior of the hydraulic tailgate; furthermore, the sensor data is corrected according to the error correction model to obtain the target data set corresponding to the target hydraulic tailgate to adaptively and generally construct the weighing model. Based on this, by constructing a weighing model for performing the weighing operation of the hydraulic tailgate, 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 non-linear change influence between the sensor value change and the actual load during the hydraulic weighing process, and reduces the influence of the inclination of the hydraulic tailgate on the weighing accuracy, thereby ensuring the accuracy and efficiency of data processing during the hydraulic weighing process.

[0044] In an exemplary embodiment, the structural characteristics of the hydraulic tailgate include the various mechanical structures of the hydraulic tailgate and the connection methods between the various mechanical structures. Based on the structural characteristics of the hydraulic tailgate, constructing the structural model of the hydraulic tailgate includes steps S201 to S202.

[0045] Step S201: Based on the various mechanical structures of the hydraulic tailgate and the connection methods between the various mechanical structures, determine the size ratio, angle relationship, and force condition of each mechanical structure from the side view.

[0046] Step S202: Based on the dimensional ratios, angular relationships, and force conditions, construct a structural model of the hydraulic tailgate.

[0047] Among them, the connection methods of the mechanical structures can represent connection forms such as fixed connections (e.g., welding) and movable connections (e.g., hinges).

[0048] Among them, the dimensional ratios, angular relationships, and force conditions of each mechanical structure from the side view can represent the relative size relationships, inclination angles, or mutual included angles, and the forces borne by the mechanical structure of the hydraulic tailgate in the side view.

[0049] Exemplarily, the hydraulic tailgate can be a left-right symmetric structure, and a lifting hydraulic cylinder, a tilting hydraulic cylinder, and a set of lifting hydraulic arms are respectively arranged on the left and right sides. Therefore, the mechanical structure of the hydraulic tailgate can be simplified to Figure 2 the unilateral structural model shown.

[0050] As Figure 2 shown, the GD rod is the lifting hydraulic cylinder with a length of ; the FB rod is the tilting hydraulic cylinder with a length of ; the triangular 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 triangular ABC area formed by the combination of AB, BC, and CA is the hydraulic tailgate platform surface, and AC corresponds to the upper surface of the hydraulic tailgate platform surface.

[0051] Among them, the lifting hydraulic cylinder controls the lifting of the lifting hydraulic arm through the force application point D, so as to realize the lifting of the hydraulic tailgate controlled by the lifting hydraulic arm through the force application point A; the tilting hydraulic cylinder controls the tilting of the hydraulic tailgate through the force application point B.

[0052] Among them, is the included angle between EA and EF, that is, the included angle between the EA segment corresponding to the lifting hydraulic arm and the EF segment corresponding to the supporting part of the vehicle body for the hydraulic tailgate, reflecting the tilting direction of the lifting hydraulic arm relative to the supporting part of the vehicle body for the hydraulic tailgate; is the included angle between EA and ED, that is, the included angle between the EA segment and the ED segment respectively corresponding to the lifting hydraulic arm, reflecting the degree of folding or expansion inside the lifting hydraulic arm; is the included angle between GD and DE, that is, the included angle between the GD segment corresponding to the lifting hydraulic cylinder and the DE segment corresponding to the lifting hydraulic arm, reflecting the thrust direction of the lifting hydraulic cylinder on the lifting hydraulic arm; is the included angle between AC and the horizontal plane, that is, the included angle between the AC segment corresponding to the hydraulic tailgate platform surface and the horizontal plane, reflecting the horizontal tilting degree of the hydraulic tailgate platform surface.

[0053] Among them, P is the pressure of the goods on the upper surface of the hydraulic tailgate platform surface. The moment of P based on point A.

[0054] In this embodiment, according to the dimensional ratios, angular relationships, and force conditions of the various mechanical structures of the hydraulic tailgate in the side view, the structural model of the hydraulic tailgate is accurately and efficiently constructed to achieve digital visualization of the mechanical structure of the hydraulic tailgate.

[0055] In an exemplary embodiment, the mechanical structure of the hydraulic tailgate includes a tilting hydraulic cylinder, a lifting hydraulic cylinder, and a lifting hydraulic arm; based on the mechanical simulation analysis of the structural model, an error correction model determined by the relationship between the hydraulic pressures corresponding to different mechanical structures in the hydraulic tailgate is obtained, including steps S301 to S302.

[0056] Step S301, based on the mechanical simulation analysis of the structural model, obtain the hydraulic pressures corresponding to the tilting hydraulic cylinder, the lifting hydraulic cylinder, and the lifting hydraulic arm of the hydraulic tailgate under a preset pressure load.

[0057] Step S302, based on the moment relationship in the horizontal direction between the hydraulic pressure corresponding to the tilting hydraulic cylinder and the load pressure, 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, obtain the error correction model corresponding to the hydraulic sensor of the hydraulic tailgate.

[0058] Exemplarily, during the process of pushing the goods onto the hydraulic tailgate, the tabletop of the hydraulic tailgate changes from an inclined state to a horizontal state, but the change angle is small. Therefore, during this process, the force analysis of the tilting hydraulic cylinder can be carried out according to the landing state and the horizontal state of the hydraulic tailgate; during the process of the hydraulic tailgate lifting the goods, the piston of the tilting hydraulic cylinder has no axial movement, and there is no need to carry out force analysis on the tilting hydraulic cylinder; during the process of closing the hydraulic tailgate, the load is the weight of the tailgate itself, and the load of the tilting hydraulic cylinder is small, and there is no need to carry out force analysis on the tilting hydraulic cylinder.

[0059] Place the heavy object at the center of the hydraulic tailgate and analyze the force condition of the tilting hydraulic cylinder. At this time, in the Figure 2 structural model shown, the force exerted by the tilting hydraulic cylinder on point B is , according to , taking moments about point A respectively for , P, obtain the moment relationships of

[0060] (1)

[0061] Among them, represents the height difference between point A and point B.

[0062] According to equation (1), it can be seen that during loading, the closer the center of the goods is to point A, The smaller it is, the smaller the force on the tilting hydraulic cylinder.

[0063] The force-bearing process of the lifting hydraulic cylinder is mainly the movement process of the hydraulic tailboard from the ground-off position to the highest fully lifted position. During this process, in Figure 2 In the shown structural model, by listing and solving the force balance equations of the lifting hydraulic cylinder and the lifting hydraulic arm, the force-bearing situation of the lifting hydraulic cylinder is analyzed, and it is obtained that:

[0064] (2)

[0065] In Equation (2), is the force exerted by the lifting hydraulic cylinder on point D; is the force exerted by the lifting hydraulic arm on point A, is the horizontal component force of the lifting hydraulic arm at point A, is the vertical component force of the lifting hydraulic arm at point A; is the length of ED. Furthermore, in the mechanical structure of the hydraulic tailboard, Figure 2 The length of the AE section shown is matched with the length of the BF section, that is, the length of the AE section is also , so can be used to calculate The moment on the AE section.

[0066] Among them, in Equation (2):

[0067] (3)

[0068] (4)

[0069] (5)

[0070] (6)

[0071] Among them, in Equation (3), is the height difference between point A and point D, is the height difference between point B and point D.

[0072] Based on Equations (2) to (6), another expression for the pressure P is obtained:

[0073] (7)

[0074] Based on the above force analysis, it is thus concluded that the correction value corresponding to the sensor data of the lifting hydraulic sensor , where The corresponding correction formula is:

[0075] (8)

[0076] and obtaining the sensor data of the inverted hydraulic sensor the corresponding correction value , wherein, the corresponding correction formula is:

[0077] (9)

[0078] Based on formula (8) and formula (9), an error correction model for correcting the sensor data is obtained.

[0079] In this embodiment, based on the analysis of the relationship between the hydraulic pressures corresponding to the tipping hydraulic cylinder, the lifting hydraulic cylinder, and the lifting hydraulic arm respectively, an error correction model corresponding to the hydraulic sensor of the hydraulic tailboard is efficiently and adaptively obtained for adaptively correcting the sensor data.

[0080] In an exemplary embodiment, obtaining the sensor data corresponding to the target hydraulic tailboard when moving at different horizontal tilt angles based on different loads includes step S401.

[0081] Step S401, when the target hydraulic tailboard moves at different horizontal tilt angles based on different loads, obtaining the 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 tipping hydraulic cylinder, the first angle sensor is used to measure the tipping angle of the target hydraulic tailboard, and the second angle sensor is used to measure the lifting angle of the target hydraulic tailboard.

[0082] Exemplarily, the first hydraulic sensor for measuring the pressure of the lifting hydraulic cylinder can be installed in the hydraulic circuit of the lifting hydraulic cylinder; the second hydraulic sensor for measuring the pressure of the tipping hydraulic cylinder can be installed in the hydraulic circuit of the tipping hydraulic cylinder; the first angle sensor for measuring the tipping angle of the target hydraulic tailboard can be installed near the tipping joint axis of the hydraulic tailboard; the second angle sensor for measuring the lifting angle of the target hydraulic tailboard can be installed on the telescopic mechanism of the lifting hydraulic cylinder or on the tailboard body.

[0083] Optionally, Figure 3A schematic diagram showing the sensor installation positions in a hydraulic tailgate is presented. That is, the tipping hydraulic sensor 1 for measuring the pressure of the tipping hydraulic cylinder is installed in the hydraulic circuit of the tipping hydraulic cylinder, the lifting hydraulic sensor 2 for measuring the pressure of the lifting hydraulic cylinder is installed in the hydraulic circuit of the lifting hydraulic cylinder, the tipping angle sensor 3 for measuring the tipping angle of the tailgate is installed in the tipping joint shaft of the hydraulic tailgate, and the lifting angle sensor 4 for measuring the lifting angle of the tailgate is installed in the telescopic joint shaft of the lifting hydraulic cylinder. Furthermore, Figure 3 The shown angle M is the angle between the hydraulic tailgate tabletop and the horizontal plane, which corresponds to Figure 2 the shown angle , that is, the angle between the AC section corresponding to the hydraulic tailgate tabletop and the horizontal plane.

[0084] Exemplarily, obtaining the sensor data corresponding to the target hydraulic tailgate when it moves at different horizontal tilt angles based on different load weights can be expressed as obtaining the sensor data when the target hydraulic tailgate moves upward at different horizontal tilt angles based on different load weights; and can be expressed as obtaining the sensor data when the target hydraulic tailgate moves downward at different horizontal tilt angles based on different load weights. Based on the upward data collected during the upward movement of the hydraulic tailgate and the downward data collected during the downward movement, a full-condition sensor dataset for the hydraulic tailgate working under multiple load weights and multiple tilt angles is finally formed completely and comprehensively.

[0085] Optionally, it is necessary to divide the test conditions according to the actual load situation and actual tilt angle. That is, to ensure that the collected data truly reflects the working characteristics of the hydraulic tailgate, different load weight intervals and horizontal tilt angle intervals should be determined in advance according to the design parameters and actual application scenarios of the hydraulic tailgate. For example, the load weight interval can be divided according to the preset maximum load weight of the hydraulic tailgate. For example, it can be divided into several intervals from light load to full load, and the horizontal tilt angle can be divided according to the preset maximum horizontal tilt angle of the hydraulic tailgate. For example, it can be divided into several intervals from 0 degrees to a certain angle.

[0086] Among them, under the combined condition of a specific load weight and horizontal tilt angle, by performing an upward operation on the hydraulic tailgate, multiple sensors installed at key positions synchronously record the corresponding data, including but not limited to the hydraulic pressure data, the upward displacement data of the hydraulic tailgate, and the upward speed data of the hydraulic tailgate recorded by the sensors.

[0087] Among them, under the combined conditions of a specific load and a horizontal tilt angle, by performing a lowering operation on the hydraulic tailgate, multiple sensors installed at key positions synchronously record corresponding data, including but not limited to the hydraulic pressure data, the lowering displacement data of the hydraulic tailgate, and the lowering speed data of the hydraulic tailgate recorded by the sensors. In this embodiment, through the preset types of sensors, sensor data such as the pressure of the lifting hydraulic cylinder, the pressure of the tilting hydraulic cylinder, the tilting angle of the target hydraulic tailgate, and the lifting angle of the target hydraulic tailgate are respectively obtained, so as to realize the data processing of the hydraulic weighing process comprehensively and diversely in terms of data.

[0088] In an exemplary embodiment, the sensor data is corrected according to the error correction model to obtain the target data set corresponding to the target hydraulic tailgate, including steps S501 to S503.

[0089] Step S501: Based on the sensor data corresponding to the target hydraulic tailgate moving at different horizontal tilt angles under different loads, the 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 of the initial data set.

[0090] Step S502: Based on the error correction model incorporating the error function, the sensor data is corrected to obtain the corrected sensor data, and the corrected sensor data is standardized to obtain the standardized sensor data.

[0091] Step S503: Based on the standardized sensor data, the target data set corresponding to the target hydraulic tailgate is constructed.

[0092] Exemplarily, the error data collected by the sensor can represent the incorrect data measured by the sensor when the hydraulic tailgate is in a stationary state and not in a horizontal state; it can also represent the incorrect data measured by the sensor when the object is overweight or underweight during the rising or falling process of the hydraulic tailgate and not in a horizontal state.

[0093] Exemplarily, first, when it is determined that the hydraulic tailgate is in a stationary, horizontal, non-underweight, and non-overweight state, the hydraulic sensor data measured based on each standard weight is obtained, and the average value of the hydraulic sensor data within a period of time is selected as the standard reading of the hydraulic sensor for this standard weight under static conditions. .

[0094] Furthermore, according to the reading of the hydraulic sensor , the tilting angle measured by the angle sensor (corresponding to Figure 2 of ), the lifting angle measured by the angle sensor (corresponding to Figure 2 ), the motion acceleration measured by the accelerometer ), construct the initial data set S: ,

[0095] (10)

[0096] (11)

[0097] Furthermore, construct a neural network and perform data fitting based on the data set S, that is, as the input value of the neural network, and (i.e., the error data) as the output value of the neural network, so as to obtain the error function , this error function is integrated into the error correction model, which is used to correct the data of the hydraulic sensor according to the sensor data and the corresponding error. After the data of the hydraulic sensor is corrected, the sensor data is:

[0098] (12)

[0099] Among them, based on the sensor data input into the error correction model and the correction value of the sensor data output by the error correction model, the error data corresponding to the sensor data is obtained; for example, based on the sensor data measurement value and the sensor data correction value corresponding to the correction formula of the hydraulic sensor reading in Equation (8) or Equation (9), the error data corresponding to the hydraulic sensor data can be obtained.

[0100] Furthermore, on the one hand, in order to ensure the reliability of the results, it is necessary to perform centering and standardization processing on the original index data. On the other hand, due to the differences in mechanical structures, the data measured by the sensors of different vehicles are distributed inconsistently, so it is also necessary to perform centering and standardization processing on the original index data. During this process, record the lift hydraulic sensor data, the flip hydraulic sensor data, the lift angle sensor data, and the flip angle sensor data as , , , , and calculate their means , , , , as well as calculate the standard deviations , , , . Finally, obtain , , , After centering and standardizing respectively 、 、 、 :

[0101] (13)

[0102] In this embodiment, based on the fitting of the sensor data, an error function corresponding to the initial data set is obtained. According to the obtained error function, the sensor data is accurately corrected, and the corrected data is standardized, so as to obtain accurate sensor data and improve the accuracy of hydraulic weighing.

[0103] In an exemplary embodiment, the sensor data includes the lifting hydraulic sensor data, the tilting angle sensor data, the lifting angle sensor data, and the acceleration sensor data corresponding to the target time respectively; based on the error correction model of the fusion error function, the sensor data is corrected to obtain the corrected sensor data, including step S601 to step S602.

[0104] Step S601: Input the lifting hydraulic sensor data, the tilting angle sensor data, the lifting angle sensor data, and the acceleration sensor data corresponding to the target time into the error correction model of the fusion error function. Based on the fitting relationship of the lifting hydraulic sensor data, the tilting angle sensor data, the lifting angle sensor data, and the acceleration sensor data in the error function, the target error data corresponding to the lifting hydraulic sensor data is obtained.

[0105] Step S602: Based on the difference between the lifting hydraulic sensor data and the target error data, the corrected lifting hydraulic sensor data is obtained, and the corrected lifting hydraulic sensor data is used as the corrected sensor data.

[0106] Among them, the lifting hydraulic sensor data can represent the hydraulic pressure of the lifting hydraulic cylinder measured by the lifting hydraulic sensor; the tilting angle sensor data can represent the horizontal tilting angle of the hydraulic tailboard table measured by the tilting 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 motion acceleration of the hydraulic tailboard table measured by the acceleration sensor.

[0107] Exemplarily, referring to Equation (10), the error function is based on the readings of the hydraulic sensor at the same time 、the tilting 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, based on which, in the error function, based on each determined input value, namely , , , , the corresponding error data is calculated; furthermore, referring to Equation (12), according to the difference between and , the corresponding correction data is calculated.

[0108] In this embodiment, based on the error function fitted from a large number 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.

[0109] In an exemplary embodiment, a weighing model of the target hydraulic tailgate is obtained based on the target data set, including steps S701 to S702.

[0110] Step S701, based on the timing characteristics of the target data set corresponding to the target hydraulic tailgate, obtain a first data set and a second data set corresponding to the target hydraulic tailgate, where the first data set is determined according to the sensor data corresponding to the target hydraulic tailgate during the ascending movement, and the second data set is determined according to the sensor data corresponding to the target hydraulic tailgate during the descending movement.

[0111] Step S702, 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, where the first weighing model is used to weigh the target hydraulic tailgate during the ascending movement, and the second weighing model is used to weigh the target hydraulic tailgate during the descending movement.

[0112] Exemplarily, since during the ascending process in the actual scenario, the handling personnel may need to ascend together with the goods, while only the handling personnel are present during the descending process, it is necessary to extract the data set applicable to the ascending process and the data set applicable to the descending process from the target data set.

[0113] During the ascending or descending process of the weight, since the response frequency of the hydraulic sensor is less than or equal to 10 kHz, while the response frequency Greater than or equal to 10 Hz and less than or equal to 10 kHz. Based on this, the timing data information corresponding to one lifting process measured by the hydraulic sensor can be extracted according to a frequency of 10 Hz, and the timing data information corresponding to one lifting process measured by the angle sensor can be extracted according to a frequency of 0 Hz. The timing data information X can be referred to the following formula:

[0114] (14)

[0115] In formula (14), for the lifting hydraulic sensor, a set of data at T moments can be obtained , for the tilting hydraulic sensor, a set of data at T moments can be obtained , for the lifting angle sensor, a set of data at T moments can be obtained , for the tilting angle sensor, a set of data at T moments can be obtained ; among them, due to the weight of the weights and the differences in the hydraulic systems and mechanical structures of different vehicles, the value of T is not limited.

[0116] Extract the sensor timing data of a certain rising process and the sensor timing data of a certain falling process , which can be referred to the following formula:

[0117] (15)

[0118] (16)

[0119] Among them, 、 、 、 are the data of the lifting hydraulic sensor, tilting hydraulic sensor, lifting angle sensor, and tilting angle sensor collected at the first moment during the rising process respectively; 、 、 、 are the data of the lifting hydraulic sensor, tilting hydraulic sensor, lifting angle sensor, and tilting angle sensor collected at the first moment during the falling process respectively.

[0120] During each rising process and falling process, it is necessary to record the weights of the weights and the handling personnel during the rising process, as well as the weights of the handling personnel during the falling process, as the label values of the training set:

[0121] (17)

[0122] (18)

[0123] Among them, represents the weight tag value recorded during the ascending process, , , respectively represent the weight tag values recorded at the first moment, the second moment, and the nth moment during the ascending process; represents the weight tag value recorded during the descending process, , , respectively represent the weight tag values recorded at the first moment, the second moment, and the nth moment during the descending process.

[0124] Furthermore, to make the model more robust, Gaussian noise can be added to the time series data. Based on this, the dataset for the ascending process is constructed as , and the dataset for the descending process is }.

[0125] Exemplarily, the weighing of the tailboard lifting 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 this time series data, a weighing model based on a time series model is constructed; the network parameters of the weighing model can be updated using the gradient descent algorithm based on loss functions such as the mean square error (MSE) and the mean absolute error (MAE) to obtain a trained weighing model; optionally, the time series model can adopt an LSTM model (Long Short-Term Memory).

[0126] In this embodiment, based on the time series characteristics of the target dataset corresponding to the target hydraulic tailboard, the datasets applicable to the ascending process and the descending process are determined, so as to obtain weighing models applicable to different motion scenarios respectively, thereby improving the multi-scenario applicability of the model.

[0127] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no 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-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same moment, but can be executed at different moments, and the execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps in other steps.

[0128] Based on the same inventive concept, an embodiment of the present application further provides a hydraulic weighing device for a hydraulic tailboard for implementing the hydraulic weighing method of the hydraulic tailboard involved above. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the hydraulic weighing device of the hydraulic tailboard provided below can refer to the limitations on the hydraulic weighing method of the hydraulic tailboard in the above text, and will not be repeated here.

[0129] In an exemplary embodiment, as Figure 4 shown, a hydraulic weighing device for a hydraulic tailboard is provided, including: a first construction module 301, a second construction module 302, an acquisition module 303, and a third construction module 304, where:

[0130] The first construction module 301 is configured to construct a structural model of the hydraulic tailboard based on the structural characteristics of the hydraulic tailboard;

[0131] The second construction module 302 is configured to obtain an error correction model determined based on the relationship between the hydraulic pressures corresponding to different mechanical structures in the hydraulic tailboard through mechanical simulation analysis of the structural model;

[0132] The acquisition module 303 is configured to acquire sensor data corresponding to the target hydraulic tailboard when moving at different horizontal tilt angles based on different loads, where the configuration information of each sensor in the target hydraulic tailboard matches the configuration information of each sensor in the hydraulic tailboard;

[0133] The third construction module 304 is configured to correct the sensor data according to the error correction model to obtain a target data set corresponding to the target hydraulic tailboard, obtain a weighing model of the target hydraulic tailboard based on the target data set, and perform a weighing operation on the target hydraulic tailboard based on the weighing model.

[0134] In an exemplary embodiment, the structural characteristics of the hydraulic tailboard include each mechanical structure of the hydraulic tailboard and the connection manner between each mechanical structure. The first construction module 301 is further configured to: determine the size ratio, angular relationship, and force-bearing condition of each mechanical structure from the side view based on each mechanical structure of the hydraulic tailboard and the connection manner between each mechanical structure; construct a structural model of the hydraulic tailboard based on the size ratio, angular relationship, and force-bearing condition.

[0135] In an exemplary embodiment, the second construction module 302 is further configured to: based on the mechanical simulation analysis of the structural model, obtain the hydraulic pressures corresponding to the tilting hydraulic cylinder, the lifting hydraulic cylinder, and the lifting hydraulic arm of the hydraulic tailboard when under a preset load pressure; based on the moment relationship between the hydraulic pressure corresponding to the tilting 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, obtain an error correction model corresponding to the hydraulic sensor of the hydraulic tailboard.

[0136] In an exemplary embodiment, the acquisition module 303 is further configured to: when the target hydraulic tailboard moves at different horizontal tilt angles based on different loads, acquire the 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 tilting hydraulic cylinder, the first angle sensor is used to measure the tilting angle of the target hydraulic tailboard, and the second angle sensor is used to measure the lifting angle of the target hydraulic tailboard.

[0137] In an exemplary embodiment, the third construction module 304 is further configured to: according to the sensor data corresponding to the target hydraulic tailboard when moving at different horizontal tilt angles based on different loads, construct an initial data set and perform data fitting based on the numerical relationship between the sensor data in the initial data set and the corresponding errors, to obtain an error function corresponding to the initial data set; based on the error correction model integrating the error function, correct the sensor data to obtain the corrected sensor data, and perform normalization processing on the corrected sensor data to obtain the normalized sensor data; based on the normalized sensor data, construct a target data set corresponding to the target hydraulic tailboard.

[0138] In an exemplary embodiment, the third construction module 304 is further configured to: input the lifting hydraulic sensor data, the tilting angle sensor data, the lifting angle sensor data, and the acceleration sensor data corresponding to the target moment into the error correction model of the integrated error function, and based on the fitting relationship of the lifting hydraulic sensor data, the tilting angle sensor data, the lifting angle sensor data, and the acceleration sensor data in the error function, obtain the target error data corresponding to the lifting hydraulic sensor data; based on the difference between the lifting hydraulic sensor data and the target error data, obtain the corrected lifting hydraulic sensor data, and use the corrected lifting hydraulic sensor data as the corrected sensor data.

[0139] In an exemplary embodiment, the third construction module 304 is further configured 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, where the first data set is determined according to the sensor data corresponding to the target hydraulic tailgate during the ascending movement, and the second data set is determined according to the sensor data corresponding to the target hydraulic tailgate during the descending movement; 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, where the first weighing model is used to weigh the target hydraulic tailgate during the ascending movement, and the second weighing model is used to weigh the target hydraulic tailgate during the descending movement.

[0140] Each module in the above hydraulic weighing device of the hydraulic tailgate can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0141] In an exemplary embodiment, a computer device is provided, and the computer device can be a server. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, 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 the weighing model of the hydraulic tailgate. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a hydraulic weighing method for a hydraulic tailgate.

[0142] 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. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, 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 external devices. The communication interface of the computer device is used to communicate with external terminals 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. The computer program, when executed by the processor, implements a hydraulic weighing method for a hydraulic tailgate. 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 may be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device may be a touch layer covering the display screen, or may be a button, a trackball, or a touchpad provided on the housing of the computer device, or may also be an external keyboard, a touchpad, or a mouse, etc.

[0143] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in any of the above embodiments are implemented.

[0144] In an 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.

[0145] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. 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 methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. 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. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0146] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as the scope recorded in this specification.

[0147] The above-described embodiments merely represent several implementation manners of the present application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended 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 the different mechanical structures in the hydraulic tailgate is obtained; the error correction model obtained based on the mechanical behavior related to the hydraulic pressure distribution and change trend of the different mechanical structures reflects the precise relationship between the hydraulic pressures corresponding to the different mechanical structures of the hydraulic tailgate in the form of a mathematical expression; 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 plate, a weighing model of the target hydraulic tail plate is obtained based on the target data set, and a weighing operation of the target hydraulic tail plate is performed based on the weighing model; each item of data in the target data set is a quantitative representation of the working state of the target hydraulic tail plate under different inclination angles and different load conditions.

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; The second building block is used to obtain an error correction model determined based on the relationship between the hydraulic pressures corresponding to different mechanical structures in the hydraulic tailgate based on the mechanical simulation analysis of the structural model; the error correction model obtained by analyzing the mechanical behaviors related to 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; 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 plate, obtain a weighing model of the target hydraulic tail plate based on the target data set, and perform a weighing operation of the target hydraulic tail plate based on the weighing model; each data item in the target data set is a quantitative representation of the working state of the target hydraulic tail plate under different inclination angles and different load conditions.

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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