Telescopic arm forklift weighing limit method, device, equipment and storage medium

Abstract

The present invention discloses a weighing and limiting method, device, equipment and storage medium for a telescopic forklift. The method comprises: obtaining the operation-related parameters of the telescopic forklift; determining mechanical data according to the relevant parameters, and calculating the target load weight according to the mechanical data, wherein the mechanical data includes the force of the lower leveling cylinder, the force arm of the lower leveling cylinder, the force of the variable amplitude cylinder, the force arm of the variable amplitude cylinder and the combined force arm of the load and the auxiliary device; determining the target operable area corresponding to the target load weight, and performing position limiting control on the telescopic forklift based on the target operable area. By obtaining the operation-related parameters to determine the mechanical data to calculate the target load weight, the traditional high-cost weighing sensor is replaced, and the design cost of the entire vehicle is saved on the basis of ensuring accuracy. By determining the target operable area and performing position limiting control on the telescopic forklift based on the target operable area, the center of gravity of the vehicle is ensured to move backward, effectively preventing the vehicle from tipping over, improving the safety of human-machine operations, and improving work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a weighing and limiting method, device, equipment and storage medium for a telescopic arm forklift. Background Art

[0002] Telescopic forklifts, as essential equipment in the construction machinery sector, play a key role in modern industry, logistics, construction, and other sectors. They can be used with a variety of attachments, such as forks, buckets, and hooks, to perform diverse tasks such as earthmoving, grain transfer, and material lifting. However, due to the complex operating environment, large load capacities, and high operating heights, these vehicles present a high risk of injury. Therefore, they require safety systems with weighing and limit settings to help operators better identify risks.

[0003] There are two common methods for weighing and limiting telescopic forklifts. One uses load cells, which directly measure the weight carried by the vehicle. The other uses force limiters. These force limiters are installed on the rear axle and indirectly determine the load by detecting rear axle deformation. The arm position is then limited based on whether the deformation reaches the expected calibration value.

[0004] The use of weighing sensors is relatively expensive, increasing the design cost of the entire vehicle and reducing the product's market competitiveness. As for the method of using a force limiter for weighing and limiting, since the force limiter detects the deformation of the rear axle, it cannot directly detect the actual load weight and can only limit the arm position based on the deformation of the rear axle. In addition, the entire force limiter system is easily restricted by the terrain. When the ground is tilted and uneven, it has a huge impact on the detection of the deformation of the rear axle, resulting in a large difference between the force limiter results and the actual load curve calculation results, making it difficult to ensure accuracy. In addition, after the vehicle has been in operation for a long time, the force limiter fixing bolts are prone to loosening, and the rear axle may also deform, making the force limiter's accuracy in detecting the deformation of the rear axle increasingly low, which in turn affects the arm position and increases the danger of human-machine operations. Summary of the Invention

[0005] The present invention provides a telescopic forklift weighing and limiting method, device, equipment and storage medium, which can directly replace the high-cost weighing sensor, unify the calculation methods of different auxiliary tools, and improve operation efficiency and safety.

[0006] According to one aspect of the present invention, a method for weighing and limiting a telescopic forklift is provided, the method comprising:

[0007] Obtaining telescopic forklift operation related parameters;

[0008] Determine mechanical data based on relevant parameters and calculate target load weight based on the mechanical data, wherein the mechanical data includes the force of the lower leveling cylinder, the force of the lower leveling cylinder, the force of the luffing cylinder, the force of the luffing cylinder, and the combined force arm of the load and the auxiliary device;

[0009] A target operable area corresponding to a target load weight is determined, and the telescopic forklift is subjected to position limit control based on the target operable area.

[0010] Optionally, the operation-related parameters include the pressure value of the large and small chambers of the leveling cylinder, the pressure value of the large and small chambers of the boom cylinder, the boom angle, the boom extension length, the chassis inclination angle and the type of auxiliary equipment.

[0011] Optionally, the operation-related parameters of the telescopic forklift are obtained, including: detecting the pressure values ​​of the large and small chambers of the lower leveling cylinder and the large and small chambers of the boom cylinder of the telescopic forklift through the pressure detection unit; detecting the boom boom angle through the angle detection unit, detecting the boom telescopic length through the length detection unit; detecting the chassis inclination through the inclination detection unit, and determining the auxiliary tool type through the auxiliary tool switching unit.

[0012] Optionally, mechanical data is determined according to relevant parameters, including: determining the lower leveling cylinder force and the lower leveling cylinder lever arm according to the pressure value of the large and small chambers of the lower leveling cylinder, and determining the variable amplitude cylinder force and the variable amplitude cylinder lever arm according to the pressure value of the large and small chambers of the variable amplitude cylinder; determining auxiliary tool related parameters according to the auxiliary tool type, wherein the auxiliary tool related parameters include the auxiliary tool weight and the lateral distance from the combined center of gravity of the auxiliary tool and the standard load to the auxiliary tool rotation hinge; substituting the boom telescopic length into a preset first distance calculation formula to determine the first distance, and substituting the first distance into a preset second distance calculation formula to determine the second distance, wherein the first distance is the distance from the boom and chassis hinge point to the line connecting the upper leveling cylinder barrel and the boom hinge point, and the second distance is the distance from the boom and chassis hinge point to the line connecting the boom and chassis hinge point to the auxiliary tool rotation hinge point; substituting the lateral distance, chassis inclination angle, boom variable amplitude angle and second distance into the preset lever arm calculation formula to determine the combined lever arm of the load and the auxiliary tool.

[0013] Optionally, the target load weight is calculated based on the mechanical data, including: determining a weight conversion formula based on the moment balance principle, substituting the mechanical data into the weight conversion formula to calculate the total weight of the load assistive device; calculating the difference between the total weight of the load assistive device and the weight of the assistive device to obtain the target load weight.

[0014] Optionally, determining a target operable area corresponding to a target load weight includes: obtaining an operable area table, wherein the operable area table includes load weights corresponding to each boom extension length and each outreach; filtering the target load weight through the operable area table to determine a boom length range and an outreach range corresponding to the target load weight; and using the boom length range and the outreach range as the target operable area.

[0015] Optionally, the telescopic forklift is limited based on the target operable area, including: measuring real-time parameters through the angle detection unit and the length detection unit, wherein the real-time parameters include the real-time boom telescopic length and the real-time forward extension; when the real-time parameters exceed the target operable area, executing the preset boom limit control strategy, and generating a safety reminder through the reminder unit.

[0016] According to another aspect of the present invention, a telescopic forklift weighing limit device is provided, the device comprising:

[0017] Related parameter acquisition module, used to obtain the operation related parameters of the telescopic arm forklift;

[0018] A load weight calculation module is used to determine mechanical data based on relevant parameters and calculate the target load weight based on the mechanical data, wherein the mechanical data includes the lowering leveling cylinder force, the lowering leveling cylinder lever arm, the luffing cylinder force, the luffing cylinder lever arm, and the load and auxiliary equipment combined lever arm;

[0019] The limit control module is used to determine a target operable area corresponding to a target load weight and perform limit control on the telescopic forklift based on the target operable area.

[0020] According to another aspect of the present invention, an electronic device is provided, comprising:

[0021] at least one processor;

[0022] and a memory communicatively coupled to the at least one processor;

[0023] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the telescopic arm forklift weighing and limiting method described in any embodiment of the present invention.

[0024] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a telescopic arm forklift weighing and limiting method according to any embodiment of the present invention when executed.

[0025] The technical solution of the embodiment of the present invention calculates the target load weight by obtaining operation-related parameters to determine mechanical data, thereby replacing traditional high-cost weighing sensors. On the basis of ensuring accuracy, it saves the design cost of the entire vehicle. By determining the target operating area and limiting the telescopic arm forklift based on it, the center of gravity of the vehicle is ensured to shift backward, effectively preventing the vehicle from overturning, improving the safety of human-machine operations, and improving work efficiency.

[0026] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 This is a flow chart of a telescopic forklift weighing and limiting method provided according to the first embodiment of the present invention;

[0029] Figure 2 This is a flow chart of another telescopic forklift weighing and limiting method provided according to the first embodiment of the present invention;

[0030] Figure 3 This is a flow chart of another telescopic forklift weighing and limiting method provided in accordance with the second embodiment of the present invention;

[0031] Figure 4 2 is a schematic structural diagram of a telescopic forklift weighing and limiting device provided according to a third embodiment of the present invention;

[0032] Figure 5 The present invention is a schematic structural diagram of an electronic device for implementing a weighing and limiting method for a telescopic forklift truck according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] Example 1

[0036] Figure 1 A flowchart of a telescopic forklift weighing and limiting method is provided for the first embodiment of the present invention. This embodiment is applicable to engineering operation scenarios. The method can be executed by a telescopic forklift weighing and limiting device. The telescopic forklift weighing and limiting device can be implemented in the form of hardware and / or software. The telescopic forklift weighing and limiting device can be configured in the telescopic forklift control unit. Figure 1 As shown, the method includes:

[0037] S110: Obtain operation-related parameters of the telescopic forklift.

[0038] Among them, operation-related parameters refer to data used to reflect the real-time status of the vehicle during the operation of the telescopic arm forklift, including the vehicle tilt status detected by the inclination detection unit, the pressure value of the large and small chambers of the telescopic arm forklift cylinder detected by the pressure detection unit, the telescopic length of the arm detected by the length detection unit, the amplitude change angle of the arm relative to the chassis detected by the angle detection unit, and the auxiliary tool type currently selected by the customer and the chassis inclination angle fed back by the auxiliary tool switching unit.

[0039] Optionally, the operation-related parameters include the pressure value of the large and small chambers of the leveling cylinder, the pressure value of the large and small chambers of the boom cylinder, the boom angle, the boom telescopic length, the chassis inclination angle and the type of auxiliary equipment.

[0040] It's clear that when calculating the target payload weight, the payload and the weight of the assistive device must first be combined, and then the known assistive device weight must be subtracted to arrive at the payload weight. Therefore, accurately identifying the assistive device type helps accurately calculate the target payload weight and also facilitates standardizing the calculation method for different assistive devices.

[0041] Optionally, the operation-related parameters of the telescopic forklift are obtained, including: detecting the pressure values ​​of the large and small chambers of the lower leveling cylinder and the large and small chambers of the boom cylinder of the telescopic forklift through the pressure detection unit; detecting the boom boom angle through the angle detection unit, detecting the boom telescopic length through the length detection unit; detecting the chassis inclination through the inclination detection unit, and determining the auxiliary tool type through the auxiliary tool switching unit.

[0042] Specifically, the pressure detection unit includes pressure sensors installed in the boom cylinder and the lower leveling cylinder, respectively, for real-time detection of the pressure values ​​in the lower leveling cylinder's large and small chambers and the boom cylinder's large and small chambers of the telescopic forklift. The pressure value in the lower leveling cylinder's large and small chambers is used to calculate the lower leveling cylinder force, and the pressure value in the boom cylinder's large and small chambers is used to calculate the boom cylinder force. Cylinder force is an indispensable mechanical parameter when calculating the target load weight based on the principle of torque balance, and it directly affects the accurate measurement of the vehicle's carrying weight. The angle detection unit includes an angle sensor installed between the first boom section and the chassis, for detecting the boom's boom angle relative to the chassis. Based on the change in the boom's boom angle and in combination with the principle of torque balance, different formulas are substituted when calculating the target load weight to ensure the accuracy of the calculation results. The length detection unit includes a cable sensor installed between the second boom section and the first boom section, for detecting the boom's telescopic length. In addition, the telescopic length of the boom is also related to the calculation of the outreach, which is a key factor in determining the target operable area and has a significant impact on limiting the safe operating range of the vehicle. The inclination detection unit contains an inclination sensor installed in the chassis to detect the inclination of the chassis. The auxiliary tool switching unit is installed in the cab and is used to provide feedback based on the type of auxiliary tools currently selected by the customer. Since telescopic forklifts can be equipped with a variety of different auxiliary tools, such as forks, buckets, hooks, etc., the weights of different auxiliary tools are different. When calculating the target load weight, the load and auxiliary tool weights are combined and then the known auxiliary tool weights are subtracted to obtain the load weight.

[0043] S120. Determine mechanical data according to relevant parameters, and calculate the target load weight according to the mechanical data, wherein the mechanical data includes the force of the lower leveling cylinder, the lever arm of the lower leveling cylinder, the force of the luffing cylinder, the lever arm of the luffing cylinder, and the combined lever arm of the load and the auxiliary device.

[0044] The lowering cylinder force is calculated using a specific formula based on the pressure measured by the pressure detection unit in the lowering cylinder's large and small chambers, combined with data such as the cylinder barrel radius and rod radius. The lowering cylinder moment arm is calculated using a geometric relationship formula based on the distance between each hinge point in the overall machine design information, as well as the boom luffing angle, the absolute value of the minimum boom retraction angle, and the angle between relevant line segments when the boom is fully retracted. The luffing cylinder force is calculated using a specific formula based on the pressure measured by the pressure detection unit in the large and small chambers of the luffing cylinder, combined with data such as the cylinder barrel radius and rod radius. The luffing cylinder moment arm is calculated using a trigonometric relationship formula based on the distance between the luffing cylinder and the boom and chassis hinge points, as well as relevant angular data such as the boom luffing angle. These mechanical data are then substituted into different formulas for the boom raising and lowering phases, based on the principle of moment balance. Since the weight of the auxiliary equipment is known, the total weight of the load and the auxiliary equipment is calculated and then subtracted from the auxiliary equipment weight to obtain the target load weight.

[0045] Figure 2 A flowchart of a method for weighing and limiting a telescopic forklift is provided for the first embodiment of the present invention. Step S120 mainly includes the following steps S121 to S126:

[0046] S121. Determine the force and lever arm of the lower leveling cylinder according to the pressure values ​​of the large and small chambers of the lower leveling cylinder, and determine the force and lever arm of the luffing cylinder according to the pressure values ​​of the large and small chambers of the luffing cylinder.

[0047] Specifically, the pressure detection unit detects the pressure values ​​of the large and small chambers of the lower leveling oil cylinder, which are recorded as the large chamber pressure value P3 of the lower leveling oil cylinder and the small chamber pressure value P4 of the lower leveling oil cylinder. and cylinder rod radius , calculate the leveling cylinder force F7 through a specific formula, that is, first calculate the large chamber pressure F71 = P3×(3.1415×1000000)×( / 1000)×( / 1000), small cavity pressure F72=P4×(3.1415×1000000)×[( / 1000)×( / 1000)- ( / 1000)×( / 1000)], and then we get F7 = F71-F72. The lower leveling cylinder arm L7 is calculated using the following formula (1):

[0048] (1)

[0049] Among them, e represents the distance from the hinge point between the lower leveling cylinder and the chassis to the hinge point between the boom and the chassis, d represents the distance from the hinge point between the lower leveling cylinder and the boom to the hinge point between the boom and the chassis, Indicates the boom angle value, Indicates the absolute value of the minimum angle of boom retraction. It represents the angle between line segment d and line segment e when the boom is fully retracted.

[0050] Specifically, the pressure detection unit will also detect the pressure values ​​of the large and small chambers of the variable amplitude oil cylinder, respectively measuring the pressure value P1 of the large chamber of the variable amplitude oil cylinder and the pressure value P2 of the small chamber of the variable amplitude oil cylinder. and cylinder rod radius , first calculate the pressure of the large chamber of the variable amplitude oil cylinder F41 = P1×(3.1415×1000000)×( / 1000)×( / 1000), small cavity pressure F42 = P2×(3.1415×1000000)×[( / 1000)×( / 1000) - ( / 1000)×( / 1000)], and then the luffing cylinder force F4 = F41- F42. The luffing cylinder force arm L4 is calculated using the following formula (2):

[0051] (2)

[0052] Among them, a represents the distance from the hinge point between the luffing cylinder and the boom to the hinge point between the boom and the chassis, b represents the distance from the hinge point between the luffing cylinder and the chassis to the hinge point between the boom and the chassis, Indicates the boom angle value, Indicates the absolute value of the minimum angle of boom retraction. It represents the angle between line segments a and b when the boom is fully retracted.

[0053] S122. Determine assistive device related parameters according to the assistive device type, wherein the assistive device related parameters include the assistive device weight and the lateral distance from the combined center of gravity of the assistive device and the standard load to the assistive device rotation hinge.

[0054] It is understood that because telescopic forklifts can carry a variety of auxiliary tools, such as forks, buckets, and hooks, different auxiliary tools have different weights, and the lateral distance from the combined center of gravity of the auxiliary tool and the standard load to the auxiliary tool's rotation hinge point also varies. Before actual operation, these parameters are calibrated and recorded for each auxiliary tool. When the auxiliary tool switching unit determines the type of auxiliary tool currently in use, it retrieves the corresponding auxiliary tool weight and the lateral distance β2 from the combined center of gravity of the auxiliary tool and the standard load to the auxiliary tool's rotation hinge point from pre-stored data.

[0055] S123. Substitute the telescopic length of the boom into the preset first distance calculation formula to determine the first distance, and substitute the first distance into the preset second distance calculation formula to determine the second distance, wherein the first distance is the distance from the hinge point between the boom and the chassis to the line connecting the cylinder barrel of the upper leveling cylinder and the boom hinge point, and the second distance is the distance from the hinge point between the boom and the chassis to the line connecting the auxiliary device rotation hinge point.

[0056] Specifically, the first distance calculation formula is as shown in the following formula (3):

[0057] (3)

[0058] Where L6 represents the first distance, L62 represents the vertical distance from the fully retracted boom to the chassis hinge point to the line connecting the upper leveling cylinder and the boom hinge point, L61 represents the horizontal distance from the fully retracted boom to the chassis hinge point to the line connecting the upper leveling cylinder and the boom hinge point, L represents the fully retracted boom screen length, and L1 represents the boom telescopic length. After obtaining the first distance L6, it can be substituted into the preset second distance calculation formula to determine the second distance. The second distance calculation formula is shown in the following formula (4):

[0059] (4)

[0060] Among them, L64 represents the second distance, L6 represents the first distance, and L63 represents the distance between the upper leveling cylinder and the arm hinge point and the auxiliary tool rotation hinge point. represents the angle between L6 and L61, , L62 represents the vertical distance from the hinge point between the boom and chassis in the fully retracted state to the line connecting the upper leveling cylinder barrel and the boom hinge point, L61 represents the horizontal distance from the hinge point between the boom and chassis in the fully retracted state to the line connecting the upper leveling cylinder barrel and the boom hinge point, Indicates the angle between L61 and L63.

[0061] S124. Substitute the lateral distance, chassis inclination angle, boom amplitude angle, and second distance into the preset lever arm calculation formula to determine the combined lever arm of the load and the auxiliary device.

[0062] Specifically, the preset force arm calculation formula is shown in the following formula (5):

[0063] (5)

[0064] in, Indicates horizontal distance, Indicates chassis inclination, forward inclination is positive, rearward inclination is negative, Indicates the boom angle, L64 indicates the second distance, It represents the angle between the connecting line between the arm and chassis hinge point and the auxiliary device rotation hinge point and the horizontal plane. Indicates the absolute value of the minimum boom retraction angle.

[0065] S125. Determine a weight conversion formula based on the moment balance principle, and substitute the mechanical data into the weight conversion formula to calculate the total weight of the load-bearing aid.

[0066] It should be noted that when the angle detection unit detects that the boom angle becomes larger, it is considered that the boom is rising. At this time, according to the torque balance principle, the weight conversion formula is G3×L5+F7×L7=F4×L4; when the angle detection unit detects that the boom angle becomes smaller, it is considered that the boom is descending, and the corresponding weight conversion formula is G3×L5+F4×L4=F7×L7.

[0067] Specifically, substitute the determined mechanical data—the lowering leveling cylinder force F7, the lowering leveling cylinder arm L7, the luffing cylinder force F4, the luffing cylinder arm L4, and the combined load and tool arm L5—into the weight conversion formula above. The total weight of the load and tool is G3, which is calculated as G3 = (G1 + G2) × 10, where G1 represents the target load weight and G2 represents the tool weight. By solving the formula, the value of G3, which is the total weight of the load and tool, can be calculated.

[0068] S126: Calculate the difference between the total weight of the load-bearing auxiliary equipment and the weight of the auxiliary equipment to obtain the target load weight.

[0069] Specifically, since the telescopic forklift can be replaced with different auxiliary tools, and the weight of each auxiliary tool is calibrated and recorded before actual operation, after obtaining the total weight G3 of the load and auxiliary tools, the known auxiliary tool weight G2 is subtracted from G3 to obtain the target load weight G1.

[0070] S130: Determine a target operable area corresponding to the target load weight, and perform position limit control on the telescopic forklift based on the target operable area.

[0071] The target operable area is a machine-readable load matrix generated from a load table based on the boom's telescopic length and outreach. Each target load weight corresponds to a target operable area, which defines the vehicle's safe operating range under varying loads. Limit control involves the control unit executing a strategy when the telescopic forklift's operating state is about to exceed the target operable area. At this point, the boom cannot be extended, raised, or lowered, but can only be retracted. This ensures the vehicle's center of gravity shifts rearward, preventing tipping and ensuring safe operation.

[0072] The technical solution of the embodiment of the present invention calculates the target load weight by obtaining operation-related parameters to determine mechanical data, thereby replacing traditional high-cost weighing sensors. On the basis of ensuring accuracy, it saves the design cost of the entire vehicle. By determining the target operating area and limiting the telescopic arm forklift based on it, the center of gravity of the vehicle is ensured to shift backward, effectively preventing the vehicle from overturning, improving the safety of human-machine operations, and improving work efficiency.

[0073] Example 2

[0074] Figure 3 This is a flowchart of a telescopic forklift weighing and position limiting method provided in the second embodiment of the present invention. This embodiment adds a specific process of determining a target operable area corresponding to a target load weight and performing position limiting control on the telescopic forklift based on the target operable area on the basis of the above-mentioned first embodiment. The specific contents of steps S210-S220 are substantially the same as those of steps S110-S120 in the first embodiment, and therefore will not be described in detail in this embodiment. Figure 3 As shown, the method includes:

[0075] S210: Obtain operation-related parameters of the telescopic forklift.

[0076] Optionally, the operation-related parameters include the pressure value of the large and small chambers of the leveling cylinder, the pressure value of the large and small chambers of the boom cylinder, the boom angle, the boom telescopic length, the chassis inclination angle and the type of auxiliary equipment.

[0077] Optionally, the operation-related parameters of the telescopic forklift are obtained, including: detecting the pressure values ​​of the large and small chambers of the lower leveling cylinder and the large and small chambers of the boom cylinder of the telescopic forklift through the pressure detection unit; detecting the boom boom angle through the angle detection unit, detecting the boom telescopic length through the length detection unit; detecting the chassis inclination through the inclination detection unit, and determining the auxiliary tool type through the auxiliary tool switching unit.

[0078] S220. Determine mechanical data according to relevant parameters, and calculate the target load weight according to the mechanical data, wherein the mechanical data includes the force of the lower leveling cylinder, the lever arm of the lower leveling cylinder, the force of the luffing cylinder, the lever arm of the luffing cylinder, and the combined lever arm of the load and the auxiliary device.

[0079] Optionally, mechanical data is determined according to relevant parameters, including: determining the lower leveling cylinder force and the lower leveling cylinder lever arm according to the pressure value of the large and small chambers of the lower leveling cylinder, and determining the variable amplitude cylinder force and the variable amplitude cylinder lever arm according to the pressure value of the large and small chambers of the variable amplitude cylinder; determining auxiliary tool related parameters according to the auxiliary tool type, wherein the auxiliary tool related parameters include the auxiliary tool weight and the lateral distance from the combined center of gravity of the auxiliary tool and the standard load to the auxiliary tool rotation hinge; substituting the boom telescopic length into a preset first distance calculation formula to determine the first distance, and substituting the first distance into a preset second distance calculation formula to determine the second distance, wherein the first distance is the distance from the boom and chassis hinge point to the line connecting the upper leveling cylinder barrel and the boom hinge point, and the second distance is the distance from the boom and chassis hinge point to the line connecting the boom and chassis hinge point to the auxiliary tool rotation hinge point; substituting the lateral distance, chassis inclination angle, boom variable amplitude angle and second distance into the preset lever arm calculation formula to determine the combined lever arm of the load and the auxiliary tool.

[0080] Optionally, the target load weight is calculated based on the mechanical data, including: determining a weight conversion formula based on the moment balance principle, substituting the mechanical data into the weight conversion formula to calculate the total weight of the load assistive device; calculating the difference between the total weight of the load assistive device and the weight of the assistive device to obtain the target load weight.

[0081] S230: Obtain an operable area table, wherein the operable area table includes the load weight corresponding to each boom extension length and each outreach.

[0082] The operational area table is a machine-readable load matrix generated from a load table based on boom extension and outreach. It includes load weight information corresponding to various boom extension and outreach lengths. The data in the operational area table is based on extensive experiments, theoretical calculations, and actual operational experience, reflecting the range of load weights that a vehicle can safely carry under different boom positions and outreaches.

[0083] S240: Filter the target load weight through the operable area table to determine the boom length range and outreach range corresponding to the target load weight.

[0084] Specifically, after obtaining the target payload weight, the control unit compares it with the data in the operable range table. The operable range table stores payload weight information corresponding to different boom telescopic lengths and outreaches. By searching for data that matches the target payload weight, the corresponding boom length and outreach ranges are determined. For example, if the target payload weight is a specific value, the row or column containing that value in the operable range table is found to obtain the corresponding boom telescopic length and outreach ranges.

[0085] S250. Take the boom length range and outreach range as the target operable area.

[0086] Specifically, the target operable area defines the range of length and reach within which the telescopic forklift's boom can safely extend under the target load weight. During actual operation, boom operations must be performed within the target operable area. Exceeding this area could result in safety risks such as an imbalanced center of gravity and tipping.

[0087] S260. Calculate real-time parameters through the angle detection unit and the length detection unit, wherein the real-time parameters include the real-time boom telescopic length and the real-time forward extension distance.

[0088] Specifically, the angle detection unit and the length detection unit work continuously during the entire operation process. The angle detection unit is installed between the first boom and the chassis, and can monitor the angle change of the boom relative to the chassis in real time. The length detection unit is installed between the second boom and the first boom, and can accurately measure the telescopic length of the boom. By obtaining real-time boom telescopic length data. At the same time, according to the outreach calculation formula L8 = L5-L2, L8 represents the real-time outreach, L5 represents the combined force arm of the load and auxiliary equipment, and L2 represents the horizontal distance between the hinge point of the boom and the chassis and the front section of the tire.

[0089] S270: When the real-time parameters exceed the target operable area, the preset boom limit control strategy is executed, and a safety reminder is generated through the reminder unit.

[0090] Specifically, when the measured real-time boom telescopic length and real-time forward extension exceed the target operating area, the control unit will immediately activate the preset boom limit control strategy. The limit control strategy stipulates that the boom cannot be extended, lifted, or lowered at this time, and can only be retracted. By retracting the boom, the center of gravity of the vehicle can be moved backward, reducing risks and ensuring the stability of the vehicle and operational safety. At the same time, the reminder unit installed in the cab will generate a safety reminder. The reminder unit uses sound, light or display prompts to inform the operator that the vehicle is currently beyond the safe operating range, reminding the operator to pay attention to safety and adjust the operating status in time.

[0091] The technical solution of the embodiment of the present invention calculates the target load weight by obtaining operation-related parameters to determine mechanical data, thereby replacing traditional high-cost weighing sensors. On the basis of ensuring accuracy, it saves the design cost of the entire vehicle. By determining the target operating area and limiting the telescopic arm forklift based on it, the center of gravity of the vehicle is ensured to shift backward, effectively preventing the vehicle from overturning, improving the safety of human-machine operations, and improving work efficiency.

[0092] Example 3

[0093] Figure 4 This is a schematic diagram of the structure of a telescopic forklift weighing and limiting device provided in the third embodiment of the present invention. Figure 4As shown, the device includes: a relevant parameter acquisition module 310 for acquiring operation-related parameters of the telescopic forklift;

[0094] A load weight calculation module 320 is configured to determine mechanical data based on relevant parameters and calculate a target load weight based on the mechanical data, wherein the mechanical data includes the lowering leveling cylinder force, the lowering leveling cylinder lever arm, the luffing cylinder force, the luffing cylinder lever arm, and the combined lever arm of the load and the auxiliary device;

[0095] The position limit control module 330 is configured to determine a target operable area corresponding to a target load weight, and perform position limit control on the telescopic forklift based on the target operable area.

[0096] Optionally, the relevant parameter acquisition module 310 is specifically used to: detect the pressure values ​​of the large and small chambers of the lower leveling cylinder and the large and small chambers of the boom cylinder of the telescopic arm forklift through the pressure detection unit; detect the boom boom angle through the angle detection unit, and detect the boom telescopic length through the length detection unit; detect the chassis inclination angle through the inclination detection unit, and determine the auxiliary tool type through the auxiliary tool switching unit.

[0097] Optionally, the load weight calculation module 320 specifically includes: a mechanical data determination unit, used to: determine the lower leveling cylinder force and the lower leveling cylinder lever arm according to the pressure value of the large and small chambers of the lower leveling cylinder, and determine the variable amplitude cylinder force and the variable amplitude cylinder lever arm according to the pressure value of the large and small chambers of the variable amplitude cylinder; determine the auxiliary tool related parameters according to the auxiliary tool type, wherein the auxiliary tool related parameters include the auxiliary tool weight and the lateral distance from the combined center of gravity of the auxiliary tool and the standard load to the auxiliary tool rotation hinge; substitute the boom telescopic length into the preset first distance calculation formula to determine the first distance, and substitute the first distance into the preset second distance calculation formula to determine the second distance, wherein the first distance is the distance from the boom and chassis hinge point to the line connecting the upper leveling cylinder cylinder and the boom hinge point, and the second distance is the distance from the boom and chassis hinge point to the line connecting the auxiliary tool rotation hinge point; substitute the lateral distance, chassis inclination angle, boom variable amplitude angle and second distance into the preset lever arm calculation formula to determine the combined lever arm of the load and the auxiliary tool.

[0098] Optionally, the load weight calculation module 320 specifically includes: a load weight calculation unit, which is used to: determine the weight conversion formula based on the moment balance principle, substitute the mechanical data into the weight conversion formula to calculate the total weight of the load auxiliary device; calculate the difference between the total weight of the load auxiliary device and the auxiliary device weight to obtain the target load weight.

[0099] Optionally, the limit control module 330 specifically includes: an operable area determination unit, used to: obtain an operable area table, wherein the operable area table includes the load weight corresponding to each boom extension length and each outreach; filter the target load weight through the operable area table to determine the boom length range and outreach range corresponding to the target load weight; and use the boom length range and outreach range as the target operable area.

[0100] Optionally, the limit control module 330 specifically includes: a limit control unit, used to: calculate real-time parameters through the angle detection unit and the length detection unit, wherein the real-time parameters include the real-time boom extension length and the real-time forward extension distance; when the real-time parameters exceed the target operating area, execute the preset boom limit control strategy, and generate a safety reminder through the reminder unit.

[0101] The technical solution of the embodiment of the present invention calculates the target load weight by obtaining operation-related parameters to determine mechanical data, thereby replacing traditional high-cost weighing sensors. On the basis of ensuring accuracy, it saves the design cost of the entire vehicle. By determining the target operating area and limiting the telescopic arm forklift based on it, the center of gravity of the vehicle is ensured to shift backward, effectively preventing the vehicle from overturning, improving the safety of human-machine operations, and improving work efficiency.

[0102] A telescopic forklift weighing and limiting device provided in an embodiment of the present invention can execute a telescopic forklift weighing and limiting method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method.

[0103] Example 4

[0104] Figure 5 A schematic diagram of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0105] like Figure 5As shown, electronic device 10 includes at least one processor 11 and memory, such as read-only memory (ROM) 12 and random access memory (RAM) 13, communicatively connected to at least one processor 11. The memory stores computer programs executable by the at least one processor. Processor 11 can perform various appropriate actions and processes based on the computer programs stored in ROM 12 or loaded from storage unit 18 into RAM 13. RAM 13 can also store various programs and data required for the operation of electronic device 10. Processor 11, ROM 12, and RAM 13 are interconnected via bus 14. An input / output (I / O) interface 15 is also connected to bus 14.

[0106] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0107] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a telehandler weighing and position limiting method.

[0108] In some embodiments, a telehandler weighing and positioning method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the telehandler weighing and positioning method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to execute a telehandler weighing and positioning method via any other suitable means (e.g., via firmware).

[0109] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0110] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0111] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or apparatus. A computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0112] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device that has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0113] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0114] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0115] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0116] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A telescopic forklift weighing and limiting method, characterized in that: include: Acquiring operation-related parameters of the telescopic forklift, wherein the operation-related parameters include the pressure value of the large and small chambers of the leveling cylinder, the pressure value of the large and small chambers of the luffing cylinder, the boom luffing angle, the boom telescopic length, the chassis inclination angle, and the type of auxiliary equipment; Determining mechanical data according to the relevant parameters, and calculating a target load weight according to the mechanical data, wherein the mechanical data includes a lowering leveling cylinder force, a lowering leveling cylinder lever arm, a luffing cylinder force, a luffing cylinder lever arm, and a load and auxiliary tool combined lever arm; determining a target operable area corresponding to the target load weight, and performing position limiting control on the telescopic forklift based on the target operable area; Wherein, determining the mechanical data according to the relevant parameters includes: Determining the force of the lower leveling cylinder and the lever arm of the lower leveling cylinder according to the pressure values ​​of the large and small chambers of the lower leveling cylinder, and determining the force of the luffing cylinder and the lever arm of the luffing cylinder according to the pressure values ​​of the large and small chambers of the luffing cylinder; Determining assistive device related parameters according to the assistive device type, wherein the assistive device related parameters include assistive device weight and a lateral distance from the combined center of gravity of the assistive device and the standard load to the assistive device rotation hinge point; Substitute the boom extension length into a preset first distance calculation formula to determine a first distance, and substitute the first distance into a preset second distance calculation formula to determine a second distance, wherein the first distance is the distance from the boom-chassis hinge point to the line connecting the upper leveling cylinder barrel and the boom hinge point, and the second distance is the distance from the boom-chassis hinge point to the auxiliary tool rotation hinge point; Substituting the lateral distance, the chassis inclination angle, the boom luffing angle, and the second distance into a preset lever arm calculation formula to determine a combined lever arm of the load and the auxiliary device; Wherein, the preset lever arm calculation formula is: ； in, Indicates the combined force arm of load and auxiliary equipment, Indicates horizontal distance, Indicates chassis inclination, forward inclination is positive, rearward inclination is negative, Indicates the boom angle, L64 indicates the second distance, It represents the angle between the connecting line between the arm and chassis hinge point and the auxiliary device rotation hinge point and the horizontal plane. Indicates the absolute value of the minimum boom retraction angle.

2. The method according to claim 1, characterized in that The obtaining of the telescopic forklift operation-related parameters includes: The pressure detection unit is used to detect the pressure values ​​of the large and small chambers of the lower leveling cylinder and the large and small chambers of the luffing cylinder of the telescopic arm forklift; The boom amplitude angle is detected by the angle detection unit, and the boom telescopic length is detected by the length detection unit; The chassis inclination is detected by the inclination detection unit, and the assist type is determined by the assist switching unit.

3. The method according to claim 1, characterized in that The calculating the target load weight according to the mechanical data includes: Determine a weight conversion formula based on the moment balance principle, and substitute the mechanical data into the weight conversion formula to calculate the total weight of the load-bearing aid; The difference between the total weight of the load-bearing auxiliary device and the weight of the auxiliary device is calculated to obtain the target load weight.

4. The method according to claim 2, characterized in that The determining of the target operable area corresponding to the target load weight includes: Obtaining an operable area table, wherein the operable area table includes the load weight corresponding to each boom extension length and each outreach; The target load weight is screened by the operable area table to determine a boom length range and a reach range corresponding to the target load weight; The boom length range and the outreach range are used as target operable areas.

5. The method according to claim 4, characterized in that The limiting control of the telescopic forklift based on the target operable area includes: Calculate real-time parameters through the angle detection unit and the length detection unit, wherein the real-time parameters include the real-time boom telescopic length and the real-time forward extension distance; When the real-time parameter exceeds the target operable area, a preset boom limit control strategy is executed, and a safety reminder is generated through a reminder unit.

6. A telescopic forklift weighing limit device, characterized in that: include: A relevant parameter acquisition module is used to obtain operation-related parameters of the telescopic forklift, wherein the operation-related parameters include the pressure value of the large and small chambers of the leveling cylinder, the pressure value of the large and small chambers of the luffing cylinder, the boom luffing angle, the boom telescopic length, the chassis inclination angle, and the type of auxiliary equipment; a load weight calculation module, configured to determine mechanical data according to the relevant parameters and calculate a target load weight according to the mechanical data, wherein the mechanical data includes a lowering leveling cylinder force, a lowering leveling cylinder lever arm, a luffing cylinder force, a luffing cylinder lever arm, and a combined lever arm of the load and the auxiliary device; a limit control module, configured to determine a target operable area corresponding to the target load weight, and perform limit control on the telescopic forklift based on the target operable area; The load weight calculation module is specifically used to: determine the lower leveling cylinder force and the lower leveling cylinder lever arm according to the pressure value of the large and small chambers of the lower leveling cylinder, and determine the luffing cylinder force and the luffing cylinder lever arm according to the pressure value of the large and small chambers of the luffing cylinder; Determining assistive device related parameters according to the assistive device type, wherein the assistive device related parameters include assistive device weight and a lateral distance from the combined center of gravity of the assistive device and the standard load to the assistive device rotation hinge point; Substitute the boom extension length into a preset first distance calculation formula to determine a first distance, and substitute the first distance into a preset second distance calculation formula to determine a second distance, wherein the first distance is the distance from the boom-chassis hinge point to the line connecting the upper leveling cylinder barrel and the boom hinge point, and the second distance is the distance from the boom-chassis hinge point to the auxiliary tool rotation hinge point; Substituting the lateral distance, the chassis inclination angle, the boom luffing angle, and the second distance into a preset lever arm calculation formula to determine a combined lever arm of the load and the auxiliary device; Wherein, the preset lever arm calculation formula is: ； in, Indicates the combined force arm of load and auxiliary equipment, Indicates horizontal distance, Indicates chassis inclination, forward inclination is positive, rearward inclination is negative, Indicates the boom angle, L64 indicates the second distance, It represents the angle between the connecting line between the arm and chassis hinge point and the auxiliary device rotation hinge point and the horizontal plane. Indicates the absolute value of the minimum boom retraction angle.

7. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 5.

8. A computer storage medium, characterized in that The computer storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method according to any one of claims 1 to 5 when executed.

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