Weighing method and weighing system of dynamic forklift scale

Abstract

The invention provides a weighing method and a weighing system of a dynamic forklift scale. The weighing method comprises the steps that weighing data and acceleration data of the forklift in the operation process are acquired; the motion state of the forklift is judged according to the weighing data, wherein the motion state comprises a static state and a dynamic state; according to first data of the acceleration data in the advancing direction of the forklift, whether the forklift is in a constant-speed operation stage or a uniform-acceleration operation stage is judged; the vibration frequency of the forklift in the operation process is obtained according to second data of the acceleration data in the vertical direction; when it is judged that the forklift is in the dynamic state and in the constant-speed operation stage or the uniform-acceleration operation stage, the cut-off frequency of a second-stage filter is set according to the second data, the weighing data are processed through the second-stage filter, and processed data are obtained. According to the invention, a high-precision weighing result can be obtained dynamically.

Description

Technical Field

[0001] The present application mainly relates to the technical field of forklift scales, and in particular to a weighing method and a weighing system of a dynamic forklift scale. Background Art

[0002] Forklift scales usually perform weighing operations in static scenarios, but the weighing accuracy is insufficient during dynamic movement. At present, there are some existing solutions in the application of static forklift scales that can meet the requirements of high-precision measurement. However, since the static and dynamic scenarios and requirements are completely different, if the static technical solutions are applied in the dynamic operation mode, many problems will arise. For example: the weighing data jumps greatly during the entire dynamic weighing process, and the noise is 10 times or even more than the noise under static weighing. The source of the noise is mainly the vibration during the forklift's movement, and the faster the forklift travels, the more unstable the weighing data is, which is far from the accuracy requirements of C1. The adaptive filtering algorithm in the static scenario cannot be applied to dynamic forklift weighing, and there are problems of local jitter and slow response speed; the fixed cutoff frequency filtering algorithm cannot filter out the low-frequency noise during the movement. The current product application needs to meet the requirements of static and dynamic weighing at the same time, and the existing static technical solutions cannot meet this requirement. Summary of the invention

[0003] The technical problem to be solved by the present application is to provide a weighing method and a weighing method suitable for a dynamic forklift scale scenario.

[0004] To solve the above technical problems, the present application provides a weighing method for a dynamic forklift scale, comprising: step S10: obtaining weighing data and acceleration data of a forklift during operation; step S20: judging the motion state of the forklift according to the weighing data, the motion state including static and dynamic; step S30: judging whether the forklift is in a uniform speed operation stage or a uniform acceleration operation stage according to first data of the acceleration data in the travel direction of the forklift; step S40: obtaining the vibration frequency of the forklift during operation according to second data of the acceleration data in the vertical direction; step S50: when it is judged that the forklift is in dynamic state and is in a uniform speed operation stage or a uniform acceleration operation stage, setting the cutoff frequency of the secondary filter according to the second data, and using the secondary filter to process the weighing data to obtain processed data.

[0005] In one embodiment of the present application, step S50 also includes: determining whether the stability of the processed data is within a first preset range; if so, calculating the weighing result based on the processed data; if not, re-performing spectral analysis on the current second data to set the cutoff frequency of the secondary filter, or reducing the cutoff frequency.

[0006] In an embodiment of the present application, between step S10 and step S20, it further includes: using a primary filter to process the weighing data.

[0007] In an embodiment of the present application, after obtaining the acceleration data in step S10, the method further includes: performing smoothing filtering on the acceleration data.

[0008] In one embodiment of the present application, it further includes: performing data statistical processing on the static weighing data or the processed data to obtain a weighing result.

[0009] In one embodiment of the present application, the data statistical processing includes calculating an average value or a maximum value of the processed data within a first preset time period, and taking the average value or the maximum value as the weighing result.

[0010] In one embodiment of the present application, the weighing result meets a preset accuracy, and the preset accuracy includes an accuracy of one thousandth.

[0011] In one embodiment of the present application, step S20 includes: obtaining a weighing data segment within a second preset time period, and obtaining a peak-to-peak value of the weighing data segment; when the peak-to-peak value is within the second preset range, the motion state is static, otherwise it is dynamic.

[0012] In an embodiment of the present application, the method further includes: determining whether the forklift turns according to third data of the acceleration data in the left and right directions, and removing processed data corresponding to a turning period from the processed data.

[0013] In order to solve the above technical problems, the present application also proposes a weighing system for a dynamic forklift scale, comprising: a memory for storing instructions executable by a processor; and a processor for executing the instructions to implement the weighing method as described above.

[0014] The weighing method and weighing system of the dynamic forklift scale of the present application use weighing data to distinguish the dynamic and static state of the forklift, and use the first data and the second data in the acceleration data to jointly set the cutoff frequency of the secondary filter, and use the secondary filter to process the weighing data, so as to obtain processed data that meets the stability requirements, thereby obtaining a weighing result that meets the accuracy requirements. The weighing method and weighing system of the present application can obtain the cutoff frequency of the secondary filter in real time, process the weighing data at different vehicle speeds, and thus meet the measurement accuracy at different vehicle speeds. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are included to provide a further understanding of the present application. They are included and constitute a part of the present application. The accompanying drawings illustrate embodiments of the present application and together with the present specification serve to explain the principles of the present application. In the accompanying drawings:

[0016] Figure 1 is an exemplary flow chart of a weighing method of a dynamic forklift scale according to an embodiment of the present application;

[0017] Figure 2 is a flow chart of a weighing method of a dynamic forklift scale according to another embodiment of the present application;

[0018] Figure 3 It is a system block diagram of a weighing system of a dynamic forklift scale according to an embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0020] As shown in this application, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0021] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0022] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0023] In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above words have no special meaning and cannot be understood as limiting the scope of protection of this application. In addition, although the terms used in this application are selected from well-known and commonly used terms, some terms mentioned in the specification of this application may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this article. In addition, it is required to understand this application not only by the actual terms used, but also by the meaning implied by each term.

[0024] Flowcharts are used in the present application to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed accurately in order. On the contrary, various steps may be processed in reverse order or simultaneously. At the same time, other operations may be added to these processes, or one or more operations may be removed from these processes.

[0025] The weighing method and weighing system of the dynamic forklift scale of the present application can be applied to forklift scales of any type and model, including but not limited to manual forklift scales, motorized forklift scales, etc.

[0026] Figure 1 is an exemplary flow chart of a weighing method of a dynamic forklift scale according to an embodiment of the present application. Figure 1 As shown, the weighing method of this embodiment includes the following steps:

[0027] Step S10: obtaining weighing data and acceleration data of the forklift during operation;

[0028] Step S20: judging the motion state of the forklift according to the weighing data, the motion state includes static and dynamic;

[0029] Step S30: judging whether the forklift is in a uniform speed operation stage or a uniform acceleration operation stage according to the first data of the acceleration data in the travel direction of the forklift;

[0030] Step S40: obtaining the vibration frequency of the forklift during operation according to the second data of the acceleration data in the vertical direction;

[0031] Step S50: When it is determined that the forklift is in a dynamic state and is in a uniform speed operation stage or a uniform acceleration operation stage, the cutoff frequency of the secondary filter is set according to the second data, and the weighing data is processed by the secondary filter to obtain processed data.

[0032] The above steps S10-S50 are described below.

[0033] In step S10, the present application does not limit how to obtain weighing data and acceleration data. Usually, a pressure sensor and an acceleration sensor are provided inside the forklift scale, the pressure sensor is used to obtain weighing data, and the acceleration sensor is used to obtain acceleration data. In some embodiments, the acceleration sensor includes a three-axis acceleration sensor, which can obtain X-axis acceleration data, Y-axis acceleration data, and Z-axis acceleration data, respectively.

[0034] In some embodiments, between step S10 and step S20, the following further includes:

[0035] Step S11: using a primary filter to process the weighing data.

[0036] Step S11 can be performed by a filtering module in the weighing system. The primary filter is mainly used to remove high-frequency noise. In some embodiments, the primary filter includes a low-pass filter, and the cutoff frequency of the low-pass filter is less than or equal to 2 Hz. For example, the primary filter can use a Butterworth IIR filter, or a FIR filter based on a Kaiser window, a Blackman window, etc., with a cutoff frequency controlled at 1 to 2 Hz to maintain a faster response.

[0037] In step S20, if step S11 has been executed before, the motion state of the forklift is determined based on the weighing data after filtering by the primary filter. After the weighing data is filtered by the primary filter, since most of the high-frequency noise is removed, the dynamic and static state of the forklift can be distinguished based on the amplitude, frequency, trend, etc. of the filtered weighing data. It can be understood that in static state, the weighing data should ideally be a straight line, and in dynamic state, the weighing data should have a certain degree of fluctuation. In the case where the weighing data is relatively ideal, the original weighing data can also be directly used for judgment in step S20. Exemplarily, the speed of the forklift in dynamic state is about 5-10mph (mile per hour).

[0038] In some embodiments, step S20 also includes: judging the stability of the weighing data. If, within a set time after the forklift scale is loaded, the peak-to-peak value of the weighing data within a second preset time period is always within a second preset range, then the weighing data is judged to be stable, and the weighing action within the second preset time period is regarded as static weighing; otherwise, it is considered that the stability of the weighing data within the second preset time period does not meet the requirements, and the weighing action within the second preset time period is regarded as dynamic weighing.

[0039] Furthermore, if it is static weighing, the weighing result can be directly calculated based on the obtained weighing data. In some embodiments, the weighing data under static weighing can also be processed by mathematical statistics, such as calculating the average value or maximum value of the weighing data, and using the average value or maximum value as the weighing result.

[0040] In steps S30 and S40, no matter the acceleration sensor is triaxial, hexaaxial or multiaxial, the first data in the travel direction of the forklift and the second data in the vertical direction can be obtained from the acceleration data. In some cases, the travel direction of the forklift can be the X-axis direction or the Y-axis direction of the acceleration sensor, and the vertical direction is the Z-axis direction.

[0041] It should be noted that the present application does not limit the execution order of steps S30 and S40, and they can also be executed simultaneously.

[0042] In step S30, since the first data directly represents the acceleration of the forklift in the direction of travel, it can be used to determine whether the forklift is in a uniform speed operation stage or a uniform acceleration operation stage. For example, when the acceleration of the first data is 0, it means that the forklift is in a uniform speed operation stage. If the acceleration remains constant, it is in a uniform acceleration operation stage.

[0043] In step S40, the main vibrations of the forklift during operation are in the vertical direction, so the vibration frequency of the forklift during operation is obtained from the second data. For example, by performing spectrum analysis on the second data, the distribution of the vibration frequency is obtained as a basis for setting the cutoff frequency of the second-stage filter, which can effectively remove the dynamic noise, usually low-frequency noise. The spectrum analysis of the second data can also be used to identify whether the forklift scale has an impact. This impact can be caused by an uneven road surface. The impact will affect the zero point, sensitivity and other performance of the scale body. When an impact is detected according to the second data, the weighing system can prompt the user to check and calibrate the scale body.

[0044] In some embodiments, it also includes:

[0045] Step S41: Determine whether the forklift turns according to the third data of the acceleration data in the left and right directions, and remove the processed data corresponding to the turning period from the processed data. The left and right directions are relative to the forward direction of the forklift, and the forklift may bend to the left or right, so it can be determined whether the forklift turns according to the third data. For example, assuming that the X-axis direction is the direction of travel, the Y-axis direction can represent the left and right directions. When the judgment result is that there is a turn, the fluctuation of the weighing data corresponding to the turning period will be relatively large and cannot be used as valid data, so the processed data corresponding to the turning period can be removed, and the weighing result is not output during this period.

[0046] Likewise, the present application does not limit the execution order of steps S30, S40, and S41.

[0047] In some embodiments, after obtaining the acceleration data in step S10, the acceleration data is further smoothed and filtered to remove high-frequency noise. This can improve the accuracy of the first data, the second data, and the third data in steps S30, S40, and S41, making the setting of the cutoff frequency in step S50 more effective, and can more effectively obtain weighing data that meets the stability requirements and obtain high-precision weighing results.

[0048] In step S50, when the judgment result of step S20 is that the forklift is in a dynamic state, and the judgment result of step S30 is that the forklift is in a uniform speed operation stage or a uniform acceleration operation stage, the cutoff frequency of the secondary filter is set according to the second data, and the secondary filter is used to process the weighing data.

[0049] It should be noted that in the embodiment including the primary filter, the primary filter is activated after the forklift is started, and the primary filter is always working regardless of whether the forklift is in a static or dynamic state. Therefore, in step S50, the weighing data is processed by the primary filter and the secondary filter to obtain processed data.

[0050] In some embodiments, the cutoff frequency in step S50 should be set so that the stability of the processed data is within a first preset range. Its stability can be judged by stability analysis, for example, the method for judging stability described above is used to calculate the peak-to-peak value of the processed data within a time period. If the peak-to-peak value is always within a preset range, the processed data is stable, otherwise it is unstable. When the judgment result is unstable, the current second data can be re-analyzed to obtain a new cutoff frequency. It should be noted that in the uniform speed operation stage, assuming that the vehicle speed remains a constant, ideally only the second data within a period of time is needed to calculate the cutoff frequency, and the cutoff frequency can be used at this speed. However, due to reasons such as road conditions, the second data may fluctuate, so the cutoff frequency calculated using the second data of the previous period may not be suitable for the application of the current period. Therefore, according to this embodiment, when instability is found, the cutoff frequency is recalculated using the current second data to make the cutoff frequency more suitable for the current road conditions. In this case, the same vehicle speed may correspond to several different cutoff frequencies.

[0051] In another embodiment, when it is determined that the stability of the processed data is not within the first preset range, the current cutoff frequency may be reduced according to a predetermined step size until its stability is within the first preset range.

[0052] The first preset range can be determined according to actual needs. For example, the first preset range is: the error of the weighing data of a 1-ton object is within 0.5 kg.

[0053] It should be noted that the weighing data in the aforementioned steps S10-S50 are real-time data or data collected within a period of time. As the data is updated or different, the setting of the cutoff frequency changes dynamically. Therefore, the weighing method of the present application has good adaptability and can obtain the current optimal cutoff frequency in time, so that the forklift scale can always output high-precision weighing results during the dynamic process.

[0054] In one embodiment, the cutoff frequency is related to the vehicle speed. The inventor of the present application found that the spectrum distribution characteristics of the second data are different at different vehicle speeds, so by dynamically setting the cutoff frequency, the second-stage filtering is adapted to different vehicle speeds, thereby effectively suppressing the low-frequency noise at different vehicle speeds, and obtaining high-precision weighing results at various vehicle speeds.

[0055] In some embodiments, after obtaining a section of processed data in step S50, the method further includes: performing statistical processing on the processed data to obtain a weighing result. The processed data that has not been statistically processed may not meet the preset accuracy. These embodiments use statistical methods to process the weighing data, such as obtaining an average value or a maximum value of the processed data within a first preset time period, and using the average value or the maximum value as the weighing result to meet the preset accuracy requirement.

[0056] The preset accuracy can be set according to the standard accuracy, for example, to meet the C1 accuracy requirement, that is, the accuracy meets one thousandth, that is, the error of 1 ton of weight is within 1 kg.

[0057] Figure 2 is a flow chart of a weighing method of a dynamic forklift scale according to another embodiment of the present application. Figure 1 The embodiment shown is a specific implementation method, and the relevant contents can be described in the previous text, which will not be repeated here. Figure 2 As shown, the weighing method comprises the following steps:

[0058] Step S200: Obtain weight input and acceleration input, equivalent to Figure 1 After the weighing data and the acceleration data are obtained respectively, the process is continued in two directions.

[0059] Step S210: Perform primary filtering on the weighing data. The primary filter described above may be used.

[0060] Step S211: determine whether the stability of the weighing data after the first-level filtering process meets the requirements, that is, whether it is within the first preset range. If so, execute step S230; if not, execute step S222. If the stability does not meet the requirements, it means that the forklift is in an unstable stage.

[0061] Step S220: Perform smoothing filtering on the acceleration data. The present application does not limit the selection of the smoothing filter, and a smoothing filter commonly used in the art can be selected.

[0062] Step S221: Identifying the operating status of the forklift may include steps S30 and S40, as well as the aforementioned step S41.

[0063] Step S222: Determine whether the forklift is currently in a uniform speed operation or uniform acceleration operation state according to the recognition result. If so, execute step S223. If not, stop the weighing process or return to step S221 to continue to identify the operation state of the forklift.

[0064] Step S223, starting the secondary filtering, and the cutoff frequency of the secondary filter is set according to the second data in step S40.

[0065] Step S230: Perform data statistics on the data from the two branches. When the judgment result of step S211 is yes, the data used for data statistics processing in this step is the weighing data in static state, and the weighing result after processing is obtained. When the forklift is in dynamic state, and there is weighing data after processing in step S223, the processed data is obtained, and then the data is statistically processed to obtain the weighing result.

[0066] Step S240: output the weighing result.

[0067] according to Figure 2 The illustrated embodiment can obtain weighing data with stability that meets the requirements, and obtain weighing results with accuracy that meets the requirements from the weighing data.

[0068] The present application also includes a weighing system for a dynamic forklift scale, comprising a memory and a processor, wherein the memory is used to store instructions executable by the processor; and the processor is used to execute the instructions to implement the weighing method for the dynamic forklift scale described above.

[0069] Figure 3 1 is a system block diagram of a weighing system of a dynamic forklift scale according to an embodiment of the present application. Figure 3 As shown, the weighing system 300 may include an internal communication bus 301, a processor 302, a read-only memory (ROM) 303, a random access memory (RAM) 304, and a communication port 305. When applied to a personal computer, the weighing system 300 may also include a hard disk 306. The internal communication bus 301 can realize data communication between the components of the weighing system 300. The processor 302 can make judgments and issue prompts. In some embodiments, the processor 302 can be composed of one or more processors. The communication port 305 can realize data communication between the weighing system 300 and the outside. In some embodiments, the weighing system 300 can send and receive information and data from the network through the communication port 305. The weighing system 300 may also include different forms of program storage units and data storage units, such as a hard disk 306, a read-only memory (ROM) 303 and a random access memory (RAM) 304, which can store various data files used for computer processing and / or communication, and possible program instructions executed by the processor 302. The processor 302 executes these instructions to implement the main part of the method. The processing result of the processor 302 is transmitted to the user equipment through the communication port 305 and displayed on the user interface.

[0070] The weighing system and weighing method of the present application have the following beneficial effects:

[0071] (1) By setting up a two-stage filtering algorithm, the forklift scale can obtain a fast and stable weight signal under dynamic conditions. Then, through statistical methods, a weighing result that meets the accuracy (C1) requirements is finally given.

[0072] (2) The state of the dynamic forklift scale is identified by the first data of the acceleration data in the direction of travel of the forklift, and the uniform speed and uniform acceleration stages of the forklift scale during operation can be identified, thereby starting the second level of filtering to remove dynamic noise and make the weighing data meet the required stability requirements.

[0073] (3) The second data of the acceleration data in the vertical direction is used as an important input for noise spectrum analysis. The second data directly reflects the main noise source of the forklift during movement. The frequency range of the noise is analyzed through the spectrum, which serves as an important basis for setting the cutoff frequency of the second-stage filter. The cutoff frequency is related to the running speed of the forklift, thereby meeting the measurement accuracy at different vehicle speeds.

[0074] The above-mentioned weighing method can be implemented as a computer program, stored in the hard disk 306, and loaded into the processor 302 for execution to implement the weighing method of the present application.

[0075] The present application also includes a computer-readable medium storing a computer program code, which implements the weighing method described above when executed by a processor.

[0076] When the weighing method is implemented as a computer program, it can also be stored in a computer-readable storage medium as an article of manufacture. For example, a computer-readable storage medium can include, but is not limited to, a magnetic storage device (e.g., a hard disk, a floppy disk, a magnetic strip), an optical disk (e.g., a compact disk (CD), a digital versatile disk (DVD)), a smart card, and a flash memory device (e.g., an electrically erasable programmable read-only memory (EPROM), a card, a stick, a key drive). In addition, the various storage media described herein can represent one or more devices and / or other machine-readable media for storing information. The term "machine-readable medium" can include, but is not limited to, wireless channels and various other media (and / or storage media) that can store, contain and / or carry code and / or instructions and / or data.

[0077] It should be understood that the embodiments described above are only illustrative. The embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For hardware implementation, the processor may be implemented in one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, and / or other electronic units designed to perform the functions described herein, or a combination thereof.

[0078] Some aspects of the present application may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". The processor may be one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof. In addition, various aspects of the present application may be expressed as computer products located in one or more computer-readable media, which include computer-readable program codes. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, tapes ...), optical disks (e.g., compact disks CDs, digital versatile disks DVDs ...), smart cards, and flash memory devices (e.g., cards, sticks, key drives ...).

[0079] A computer-readable medium may include a propagated data signal containing computer program code, such as in baseband or as part of a carrier wave. The propagated signal may have a variety of manifestations, including electromagnetic, optical, etc., or a suitable combination. A computer-readable medium may be any computer-readable medium other than a computer-readable storage medium, which may be connected to an instruction execution system, device or apparatus to communicate, propagate or transmit a program for use. The program code on the computer-readable medium may be propagated via any suitable medium, including radio, cable, fiber optic cable, radio frequency signal, or similar medium, or any combination of the above mediums.

[0080] The basic concepts have been described above. Obviously, for those skilled in the art, the above invention disclosure is only used as an example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the exemplary embodiments of the present application.

[0081] At the same time, the present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0082] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of the present application are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

Claims

1. A weighing method for a dynamic forklift scale, characterized in that: include: Step S10: obtaining weighing data and acceleration data of the forklift during operation; Step S20: determining the motion state of the forklift according to the weighing data, wherein the motion state includes static and dynamic; Step S30: judging whether the forklift is in a uniform speed operation stage or a uniform acceleration operation stage according to the first data of the acceleration data in the travel direction of the forklift; Step S40: obtaining the vibration frequency of the forklift during operation according to the second data of the acceleration data in the vertical direction; Step S50: when it is determined that the forklift is in a dynamic state and is in a uniform speed operation stage or a uniform acceleration operation stage, the cutoff frequency of the secondary filter is set according to the second data, and the secondary filter is used to process the weighing data to obtain processed data.

2. The weighing method according to claim 1, characterized in that: Step S50 also includes: determining whether the stability of the processed data is within a first preset range, if so, calculating the weighing result based on the processed data, if not, re-analyzing the spectrum of the current second data to set the cutoff frequency of the secondary filter, or reducing the cutoff frequency.

3. The weighing method according to claim 1, characterized in that: Between step S10 and step S20, the method further includes: using a primary filter to process the weighing data.

4. The weighing method according to claim 1, characterized in that: After the acceleration data is obtained in step S10, the method further includes: performing smoothing filtering on the acceleration data.

5. The weighing method according to claim 1, characterized in that: Also includes: Performing statistical processing on the static weighing data or the processed data to obtain a weighing result.

6. The weighing method according to claim 5, characterized in that: The data statistical processing includes calculating an average value or a maximum value of the processed data within a first preset time period, and taking the average value or the maximum value as the weighing result.

7. The weighing method according to claim 5, characterized in that: The weighing result meets a preset accuracy, and the preset accuracy includes an accuracy of one thousandth.

8. The weighing method according to claim 1, characterized in that: Step S20 includes: Obtaining a weighing data segment within a second preset time period, and obtaining a peak-to-peak value of the weighing data segment; When the peak-to-peak value is within a second preset range, the motion state is static, otherwise it is dynamic.

9. The weighing method according to claim 1, characterized in that: Also includes: Whether the forklift turns is determined according to third data of the acceleration data in the left and right directions, and processed data corresponding to a turning period is removed from the processed data.

10. A weighing system for a dynamic forklift scale, characterized in that: include: a memory for storing instructions executable by a processor; A processor, configured to execute the instructions to implement the weighing method according to any one of claims 1 to 9.

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