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 following steps: calculating the inclination angle of an acceleration sensor relative to the advancing direction in the advancing process of a forklift; according to the axis data of the acceleration sensor on the advancing direction axis, whether data drift occurs to the axis data or not is judged; when the data drift occurs, obtaining a data drift trend; when the forklift enters a constant speed section, second-stage filtering is started, a data drift compensation algorithm is started at the same time to process the weighing signal, a compensated weighing signal is obtained, the second-stage filtering is used for removing dynamic noise, and the data drift compensation algorithm is used for processing the weighing signal; the data drift compensation algorithm comprises the step of calculating the compensated weighing signal according to the inclination angle, the data drift trend and the weighing signal. According to the invention, a high-precision high-speed dynamic forklift scale weighing result can be obtained.

Description

Technical Field

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

[0002] Forklifts are mainly used to transport materials of different weights and loads. Forklift weighing refers to the weighing of the materials installed by industrial forklifts during transportation and the output of weight results. At present, forklift weighing mainly adopts static technical solutions, which can obtain accurate weighing data in static scenarios. Since forklift scales cannot obtain accurate weighing data during dynamic operation, weighing results are not output during this process, and weighing efficiency is not high. In order to improve efficiency, forklift scales need to output weighing data during dynamic operation. At present, there is a dynamic pallet size measuring device or dynamic pallet size measuring device. During operation, the forklift operator drives the forklift to the DIM door to obtain DIM data. The DIM door is a door equipped with various sensors. When the forklift passes by, the sensor dynamically measures the forklift. The DIM data that can be obtained includes the size, volume and weight of the pallet or cargo. However, the current dynamic measurement results are not accurate, and there is no high-precision weighing solution specifically for dynamic forklift scales. If the static technical solution of forklift weighing is applied to the dynamic operation process, the following problems will arise:

[0003] (1) The weighing data in the dynamic process fluctuates greatly. The higher the speed of the forklift, the more unstable the data. The operator frequently accelerates, decelerates or brakes suddenly. Due to vibration, impact force and unstable ground, these factors will have a great impact on the stability of the weighing data.

[0004] (2) During dynamic processes, especially when the operating speed is around 10 mph (mile per hour), there is a large data drift phenomenon, which affects the measurement accuracy.

[0005] It is difficult to obtain weighing results that meet the C1 accuracy requirements using static technical solutions, that is, the accuracy meets one thousandth, that is, the error of 1 ton of weight is within 1kg. Therefore, it is necessary to propose a solution for dynamic forklift scales, especially dynamic forklift scales running at high speed, to obtain weighing data that meets the accuracy requirements. Summary of the invention

[0006] The technical problem to be solved by the present application is to provide a weighing method and a weighing system for improving the accuracy of dynamic weighing results.

[0007] To solve the above technical problems, the present application provides a weighing method for a dynamic forklift scale, comprising: calculating the inclination angle of an acceleration sensor relative to the traveling direction during the movement of a forklift; judging whether data drift occurs in the axis data of the acceleration sensor on the axis of the traveling direction; when the data drift occurs, obtaining a data drift trend; when the forklift enters a uniform speed section, starting a second-stage filter, and simultaneously starting a data drift compensation algorithm to process a weighing signal to obtain a compensated weighing signal, wherein the second-stage filter is used to remove dynamic noise, and the data drift compensation algorithm comprises calculating the compensated weighing signal based on the inclination angle, the data drift trend and the weighing signal.

[0008] In an embodiment of the present application, the method further includes: when the forklift is started, starting a first level filter, wherein the first level filter is used to identify a state of the forklift, wherein the state includes a dynamic state and a static state.

[0009] In one embodiment of the present application, based on the axis data of the acceleration sensor on the axis of the traveling direction, the step of determining whether data drift occurs in the axis data includes: obtaining the peak-to-peak value of the axis data within a predetermined time period; when the peak-to-peak value exceeds a threshold and gradually increases or decreases, determining that data drift occurs in the axis data.

[0010] In one embodiment of the present application, the step of obtaining the data drift trend includes: obtaining the axis data within a predetermined time period; performing function fitting on the axis data to obtain a fitting coefficient in a predetermined function.

[0011] In one embodiment of the present application, the predetermined function is an exponential function, which is expressed by the following formula:

[0012]

[0013] Wherein, drift represents the data drift trend, t represents time, n represents the data volume, and A i represents the i-th amplitude coefficient, tau i represents the i-th time coefficient.

[0014] In one embodiment of the present application, the predetermined function is a quadratic function, which is expressed by the following formula:

[0015] drift=a 2 *t 2 +a 1 *t+a 0

[0016] Wherein, drift represents the data drift trend, t represents time, and a 0 、a 1 、a 2are all fitting coefficients.

[0017] In one embodiment of the present application, the data drift compensation algorithm includes the following formula:

[0018] W comp =f(W,θ,drift)

[0019] Among them, W comp represents the compensated weighing signal, W represents the weighing signal, θ represents the tilt angle, drift represents the data drift trend, and f represents a function.

[0020] In one embodiment of the present application, the following formula is used to calculate the compensated weighing signal W comp :

[0021] W comp =W+Amp*drift

[0022] Amp=k*θ+b

[0023] Wherein, Amp represents the amplitude of data drift, and k and b represent compensation coefficients.

[0024] In one embodiment of the present application, the travel direction axis is the X-axis or Y-axis of the accelerometer.

[0025] In order to solve the above technical problems, the present application also proposes a weighing system for a dynamic forklift scale, comprising: an accelerometer for obtaining the acceleration of the forklift during its movement; a filtering module for filtering the weighing signal; a data drift compensation module for processing the weighing signal using a data drift compensation algorithm; a memory for storing acceleration, weighing signals, coefficients and instructions executable by a processor; and a processor for executing the instructions to implement the weighing method as described above.

[0026] The weighing method and weighing system of the present application judge the operation stage of the forklift. When the forklift enters the uniform speed section, the second-level filtering is turned on to filter out the dynamic noise in the weighing signal, and the data drift compensation algorithm is started to process the weighing signal. The data drift compensation algorithm calculates the compensated weighing signal based on the inclination angle of the acceleration sensor relative to the travel direction, the data drift trend of the axis data on the travel direction axis and the current weighing signal. It can effectively filter and compensate the weighing signal to obtain a high-precision weighing result. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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:

[0028] Figure 1 is an exemplary flow chart of a weighing method of a dynamic forklift scale according to an embodiment of the present application;

[0029] Figure 2 It is a schematic diagram of the side view structure of a forklift scale;

[0030] Figure 3 This is an example block diagram of a weighing system of a dynamic forklift scale according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] 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.

[0032] 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. The method or device may also include other steps or elements.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] The "high speed" mentioned in this application means that the operating speed range of the forklift is approximately greater than 2mph, such as 2-10mph, further 5-10mph, 8-10mph, greater than 10mph, etc., or it can be the speed at which a forklift operator in the field controls the operation of the forklift during the main operating stage after the forklift is started, excluding the speed range at the initial start-up and when it is about to stop.

[0038] The usual workflow of dynamic weighing includes:

[0039] In the first step, the weighing process is initiated by the lifting process, and the forks lift the goods.

[0040] The second step is to calculate the weighing result. When the forklift scale software receives enough weighing data, it will calculate a weighing result.

[0041] The third step is to send the weighing result to the host through a communication interface, such as a serial port, including outputting the weighing result after receiving a command and outputting the result continuously. After that, if the driver continues to drive with the current cargo, the weighing result will remain unchanged, and the weighing process ends when the fork tines descend to lower the cargo.

[0042] The above-mentioned dynamic weighing process is still a static weighing, not a dynamic weighing. When calculating the weighing result in the second step, although the fork tines are moving, the forklift is not moving, so it still cannot meet the growing performance requirements.

[0043] 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:

[0044] Step S10: calculating the inclination angle of the acceleration sensor relative to the traveling direction during the forklift's travel;

[0045] Step S20: judging whether data drift occurs in the axis data according to the axis data of the acceleration sensor on the axis of the traveling direction;

[0046] Step S30: when data drift occurs, obtaining the data drift trend;

[0047] Step S40: When the forklift enters the uniform speed section, the second level filtering is turned on, and the data drift compensation algorithm is started at the same time to process the weighing signal to obtain the compensated weighing signal, wherein the data drift compensation algorithm includes calculating the compensated weighing signal according to the tilt angle, data drift trend and weighing signal.

[0048] Figure 2 This is a side view of the structure of a forklift scale. Figure 2 As shown, the forklift scale 200 includes a fork tine 210, a junction box 220, a hydraulic cylinder 230, a terminal display instrument 240 and a lifting handle 250. The forklift scale 200 generally has two forks 210, and each fork tine 210 is provided with at least one pressure sensor 211. The pressure sensor 211 is used to obtain a weighing signal. A lithium battery 221 and an acceleration sensor 222 are provided in the junction box 220. In some embodiments, the acceleration sensor 222 includes a triaxial acceleration sensor, which can obtain triaxial acceleration data of the forklift scale 200.

[0049] Figure 2The figures are only examples to help understand how to obtain the acceleration and weighing signal in the weighing method of the present application. Those skilled in the art can understand that the weighing method of the present application can also be used for any manual forklift scale or motorized forklift scale, without any restrictions on type or model. In a motorized forklift scale, a similar pressure sensor can be used to obtain a weighing signal, and a similar acceleration sensor can be used to obtain three-axis acceleration data.

[0050] Specifically, when the acceleration sensor 222 is installed horizontally, its X-axis or Y-axis can be oriented forward, that is, along the travel direction of the forklift, and the X-axis or Y-axis is the travel direction axis. This application uses the X-axis as the travel direction axis for example, and the same is applicable to the embodiment of the Y-axis.

[0051] In step S10, the three-axis acceleration of the forklift during the travel process can be obtained from the acceleration sensor 222, and the angle between the acceleration sensor 222 and the X axis can be calculated as the tilt angle. When traveling steadily, the ideal tilt angle is 0 degrees, that is, the acceleration sensor 222 is not tilted.

[0052] In some embodiments, step S10 also includes: filtering the acceleration signal to remove high-frequency and low-frequency noises before calculating the tilt angle, which is beneficial to improving the accuracy of the tilt angle.

[0053] In step S20, the X-axis data is obtained and it is determined whether the X-axis data has data drift. When the forklift is running at high speed, for example, during acceleration, data drift indicates that the X-axis data may have a trend of slowly increasing, causing the data to deviate from the normal range. The inventors of the present application found in the research process that the weighing signal also has data drift in this process, thereby affecting the accuracy of the final weighing result, and found that the data drift trend of the X-axis data is consistent with the data drift trend of the weighing signal.

[0054] In some embodiments, step S20 specifically includes the following steps:

[0055] Step S21: obtaining the peak-to-peak value of the axis data within a predetermined time period;

[0056] Step S22: When the peak-to-peak value exceeds the threshold and gradually increases or decreases, it is determined that data drift occurs in the axis data.

[0057] The present application does not limit the length of the predetermined time period, and the predetermined time period can be a time period of any length during the operation of the forklift, and the axis data within the predetermined time period is obtained. The peak-to-peak value of the axis data represents the magnitude range of the acceleration signal of the axis. If the peak-to-peak value exceeds a preset threshold value and gradually increases or decreases, it indicates that the axis data has experienced data drift. It should be noted that, assuming that the acceleration sensor is installed in a first direction, such as facing the front of the running direction, when data drift occurs, the peak-to-peak value of the axis data is, for example, gradually increasing. When the acceleration sensor is installed in a second direction opposite to the first direction, such as facing the rear of the running direction, when data drift occurs, the peak-to-peak value of the axis data is, for example, gradually decreasing.

[0058] In some embodiments, the predetermined time period is a time period during which the forklift is in operation.

[0059] In some embodiments, the predetermined time period is a time period when the forklift is in a uniform speed section. According to these embodiments, the data drift compensation algorithm of step S40 can achieve better processing effect.

[0060] In step S30, when the judgment result of step S20 is that data drift occurs, the data drift trend is obtained. The present application adopts a function fitting method to obtain the data drift trend. Specifically, step S30 includes:

[0061] Step S31: Obtain axis data within a predetermined time period; the predetermined time period here may be the same as or different from the predetermined time period in the above step S21.

[0062] Step S32: Perform function fitting on the axis data to obtain fitting coefficients in a predetermined function.

[0063] In some embodiments, the shaft data within a preset time period may be stored, and when it is determined according to step S21 that data drift occurs in the shaft data segment, steps S31 and S32 are used to calculate the data drift trend of the shaft data segment.

[0064] The present application does not impose any specific limitation on the predetermined function, which may be a linear equation, a quadratic function, a cubic function, an exponential function, a trigonometric function, etc.

[0065] In some embodiments, the predetermined function is an exponential function, which is expressed by the following formula:

[0066]

[0067] Among them, drift represents the data drift trend, t represents time, n represents the data volume, and A i represents the i-th amplitude coefficient, tau iRepresents the i-th time coefficient. The amplitude coefficient and time coefficient here are both fitting coefficients obtained through fitting.

[0068] In some embodiments, the predetermined function is a quadratic function, which is represented by the following formula:

[0069] drift=a 2 *t 2 +a 1 *t+a 0 (2)

[0070] Among them, drift represents the data drift trend, t represents time, and a 0 、a 1 、a 2 are all fitting coefficients.

[0071] In step S40, the present application determines whether the forklift enters the uniform speed section. If it enters the uniform speed section, the second level filtering is turned on to remove dynamic noise. The present application does not limit how to determine whether the forklift enters the uniform speed section. For example, the speed of the forklift can be monitored in real time. When the time length of time when the speed is stable within a certain range reaches a preset range, it indicates that the forklift enters the uniform speed section.

[0072] In some embodiments, before step S40, it may also include: when the forklift is started, the first level of filtering is turned on, and the first level of filtering is used to identify the state of the forklift, which includes dynamic and static states. The first level of filtering can be implemented by a low-pass filter, such as an LPF (Lowpass Filter) with a cutoff frequency of 2Hz. After the weighing signal passes through the first level of filtering, since most of the high-frequency noise is removed, the dynamic and static states of the forklift can be distinguished based on the amplitude, frequency, trend, etc. of the weighing signal after filtering. It can be understood that in static state, the weighing signal should ideally be a straight line, and in dynamic state, the weighing signal should have a certain degree of fluctuation. The filter of the first level of filtering can use a Butterworth IIR filter, or a FIR filter based on a Kaiser window, a Blackman window, etc., and the cutoff frequency is controlled at 1 to 2Hz to maintain a faster response. If the weighing signal after the first level of filtering indicates that the forklift is static, the forklift will not be in the uniform speed section, so there is no need to start the second level of filtering. If the weighing signal after the first level of filtering indicates that the forklift is dynamic and enters the uniform speed section, the second level of filtering is started to filter out the dynamic noise in the weighing signal.

[0073] It should be noted that after the forklift is started, the first-stage filter is always on. When the second-stage filter is turned on, the first-stage filter is still on, and the weighing system performs the first-stage filter and the second-stage filter on the weighing signal at the same time.

[0074] In step S40, while the second stage filtering is started, a data drift compensation algorithm is also started to process the weighing signal to obtain a compensated weighing signal.

[0075] In combination with the above embodiments regarding the data drift trend drift, the data drift compensation algorithm includes using the following formula to perform data drift compensation:

[0076] W comp =f(W,θ,drift) (3)

[0077] Among them, W comp represents the weighing signal after compensation, W represents the weighing signal currently acquired in real time, θ represents the tilt angle, drift represents the data drift trend, and f represents the function.

[0078] The function f can be determined according to the characteristics of the data, and this application does not limit this. The function f can be, for example, a linear function, a quadratic function, an exponential function, a trigonometric function, etc.

[0079] Specifically, in some embodiments, the following formula is used to calculate the compensated weighing signal W: comp :

[0080] W comp =W+Amp*drift (4)

[0081] Amp=k*θ+b (5)

[0082] Wherein, Amp represents the amplitude of data drift, and k and b represent compensation coefficients.

[0083] Amp can be obtained according to formula (5) first. For example, by using data fitting, the amplitude Amp of the data drift of a section of shaft data and the corresponding tilt angle θ are used to obtain k and b. Then Amp is substituted into formula (4) and combined with the data drift trend drift obtained according to the above formula (1) or formula (2), the current weighing signal W, and W is calculated. comp .

[0084] According to the weighing method of the present application, the drift trend of the acceleration axis data and the inclination angle of the acceleration sensor are used to remove the data drift in the weighing signal, which can significantly improve the accuracy of the final output weighing result, for example, achieving C1 accuracy, that is, the accuracy meets one thousandth, that is, the error of 1 ton of weight is within 1kg.

[0085] In some cases, such as when running at a high speed of more than 8mph, the uniform speed section is very short or even nonexistent, so the second level filter cannot be turned on in step S40, resulting in the inability to start the data drift compensation algorithm. At this time, according to the weighing method of the present application, it also includes: during the operation of the forklift, when the second level filter has not been turned on within a preset time period after the first level filter is turned on, an alarm is given to remind the operator to drive smoothly or brake to keep static, so that the forklift can enter the uniform speed section and the second level filter is turned on.

[0086] In addition, the weighing method of the present application can also be used to detect abnormal conditions during dynamic weighing. For example, in some embodiments, when it is determined in step S20 that data drift occurs, it indicates that the current forklift is in an unstable period. If the unstable period exceeds a preset range, or the entire dynamic weighing process is unstable, the weighing system will give an alarm to prompt the user to drive smoothly or brake to keep still to ensure high-precision weighing. In other embodiments, the impact caused by uneven or concave road surface can be detected according to the data drift trend. Such impact will affect the zero point, sensitivity and other performance of the scale body, and the user can be prompted to check and calibrate the scale body.

[0087] Figure 3 It is an example block diagram of a weighing system of a dynamic forklift scale according to an embodiment of the present application. The weighing system 300 can execute the weighing method described above, but it is not used to limit the weighing method to be executed only by the weighing system 300. In this embodiment, the weighing system 300 includes an accelerometer 301, a filtering module 302, a data drift compensation module 303, a memory 304 and a processor 305. Among them, the accelerometer 301 is used to obtain the acceleration of the forklift during the movement; the filtering module 302 is used to filter the weighing signal, including the first stage filtering and the second stage filtering; the data drift compensation module 303 is used to process the weighing signal using a data drift compensation algorithm; the memory 304 is used to store the acceleration, the weighing signal, the coefficients obtained in the data fitting process and the instructions executable by the processor; the processor 305 is used to execute the instructions to implement the weighing method described above.

[0088] like Figure 3As shown, the weighing system 300 may also include an internal communication bus 306 and a communication port 307. The internal communication bus 306 can realize data communication between the components of the weighing system 300. The processor 304 can make judgments and issue prompts. In some embodiments, the processor 304 can be composed of one or more processors. The communication port 307 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 307. The memory 304 of the weighing system 300 may include different forms of program storage units and data storage units, such as hard disks, read-only memories (ROMs) and random access memories (RAMs), which can store various data files used for computer processing and / or communication, as well as possible program instructions executed by the processor 305. The processor 305 executes these instructions to implement the main part of the weighing method. The results processed by the processor 305 are transmitted to the user device through the communication port 307 and displayed on the user interface.

[0089] The above-mentioned weighing method can be implemented as a computer program, stored in the memory 304, and loaded into the processor 305 for execution to implement the weighing method of the present application.

[0090] 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.

[0091] 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 may 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" may 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.

[0092] 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.

[0093] 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 ...).

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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: Calculate the inclination angle of the acceleration sensor relative to the travel direction during the forklift's travel; Determining whether data drift occurs in the axis data of the acceleration sensor on the axis of the traveling direction; When the data drift occurs, obtaining a data drift trend; When the forklift enters the uniform speed section, the second level filtering is turned on, and the data drift compensation algorithm is started at the same time to process the weighing signal to obtain the compensated weighing signal, wherein the second level filtering is used to remove dynamic noise, and the data drift compensation algorithm includes calculating the compensated weighing signal based on the tilt angle, the data drift trend and the weighing signal.

2. The weighing method according to claim 1, characterized in that: Also includes: When the forklift is started, the first level filtering is turned on, and the first level filtering is used to identify the state of the forklift, which includes dynamic and static states.

3. The weighing method according to claim 1, characterized in that: The step of determining whether data drift occurs in the axis data of the acceleration sensor on the axis of the traveling direction comprises: Obtaining a peak-to-peak value of the axis data within a predetermined time period; When the peak-to-peak value exceeds a threshold and gradually increases or decreases, it is determined that data drift occurs in the axis data.

4. The weighing method according to claim 1, characterized in that: The steps to obtain data drift trends include: Obtaining the axis data within a predetermined time period; Function fitting is performed on the axis data to obtain fitting coefficients in a predetermined function.

5. The weighing method according to claim 4, characterized in that: The predetermined function is an exponential function, which is expressed by the following formula: Wherein, drift represents the data drift trend, t represents time, n represents the data volume, and A i represents the i-th amplitude coefficient, tau i represents the i-th time coefficient.

6. The weighing method according to claim 4, characterized in that: The predetermined function is a quadratic function, which is expressed by the following formula: drift=a2*t 2 +a1*t+a0 Wherein, drift represents the drift trend of the data, t represents time, and a0, a1, and a2 are all fitting coefficients.

7. The weighing method according to claim 1, characterized in that: The data drift compensation algorithm includes the following formula: W comp =f(W,θ,drift) Among them, W comp represents the compensated weighing signal, W represents the weighing signal, θ represents the tilt angle, drift represents the data drift trend, and f represents a function.

8. The weighing method according to claim 7, characterized in that: The compensated weighing signal W is calculated using the following formula: comp : W comp =W+Amp*drift Amp=k*θ+b Wherein, Amp represents the amplitude of data drift, and k and b represent compensation coefficients.

9. The weighing method according to claim 1, characterized in that: The travel direction axis is the X-axis or Y-axis of the accelerometer.

10. A weighing system for a dynamic forklift scale, characterized in that: include: An accelerometer is used to obtain the acceleration of the forklift during its movement; A filtering module, used for filtering the weighing signal; A data drift compensation module is used to process weighing signals using a data drift compensation algorithm; A memory for storing acceleration, weighing signals, coefficients, and instructions executable by the processor; A processor, configured to execute the instructions to implement the weighing method according to any one of claims 1 to 9.

Images