Automatic loading method and system for measuring and calculating carriage position based on real-time weighing

Abstract

The invention discloses an automatic loading method and system based on real-time weighing and calculation of carriage positions. The system comprises a weighing loading area, an intelligent weighing analysis system, a transport vehicle and an automatic discharging device. The method comprises the following steps: dividing a weighing and loading area, and installing a weighing sensor in the center of the divided small area; establishing a coordinate system, and calibrating coordinate positions of the weighing sensors corresponding to the small areas; recording the data of the weighing sensor when the wheel is pressed in each small area in real time; the intelligent weighing analysis system analyzes the data, calculates the carriage position and draws a two-dimensional transport vehicle carriage diagram; judging whether the transport vehicle enters a specified loading area or not; a three-dimensional device image is generated by combining measurement data of the weighing sensor; and the automatic discharging device carries out truck loading according to the three-dimensional device picture. According to the method and the system, the position of the carriage is measured in a weighing mode, the reliability is high, the accuracy and the reliability of a measurement result are ensured, and therefore accurate automatic loading operation is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of material transportation, and particularly to an automatic loading method and system for calculating the position of a carriage based on real-time weighing. Background Art

[0002] In the field of transporting bulk materials such as semi-coke, lime (industrial raw materials), coal, and cement, the loading operation faces harsh working conditions: Extreme environmental constraints: High temperature and high dust cause the performance of optical sensors (lidar, vision cameras) to drop sharply, the positioning error is generally large, and frequent manual intervention is required. The mainstream vision solution relies on additional equipment such as air curtain dust removal and constant temperature boxes, with high maintenance costs, and the optical components have a shortened lifespan at high temperatures. The positioning deviation causes material spillage and uneven loading, time-consuming for single-vehicle loading, and increases the risk of workers' exposure to high temperatures. Therefore, there is an urgent need for a new automatic loading method and system to achieve the loading operation in the field of transporting bulk materials such as semi-coke, lime (industrial raw materials), coal, and cement. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic loading method and system for calculating the position of a carriage based on real-time weighing. By measuring the position of the carriage through weighing, it overcomes the environmental impact of high temperature and high dust, has high reliability, ensures the accuracy and reliability of the measurement results, and thus realizes precise automatic loading operations.

[0004] To achieve the above purpose, the present invention provides an automatic loading method for calculating the position of a carriage based on real-time weighing, and the steps include:

[0005] S1. Divide the weighing and loading area into multiple square small areas with the same size, and install a weighing sensor at the center position of each square small area;

[0006] S2. Based on the weighing and loading area, establish a coordinate system with a unique zero point, and calibrate the coordinate positions corresponding to each weighing sensor and the square small area;

[0007] S3. Drive the transport vehicle to the weighing and loading area, record in real time the measurement data of the weighing sensor under each square small area where the wheels are pressed, and transmit the recorded measurement data to the intelligent weighing analysis system;

[0008] S4. The intelligent weighing analysis system analyzes the measurement data, calculates the position of the transport vehicle carriage, and draws a two-dimensional transport vehicle carriage diagram;

[0009] S5. Determine whether the transport vehicle enters the specified loading area;

[0010] S6. After the transport vehicle enters the specified loading area, combine the two-dimensional transport vehicle carriage diagram with the measurement data of the weighing sensor to generate a three-dimensional solid device diagram;

[0011] S7. The automatic blanking device loads the vehicle according to the three-dimensional device drawing.

[0012] Preferably, in step S3, there are two ways for the wheel to press on the small square area, including:

[0013] a. The wheel presses on two adjacent small square areas in the y direction, and the two small square areas are the small square area ij and the adjacent small square area ij + 1 respectively;

[0014] The weighing sensor installed at the center of the small square area ij is g ij , and the corresponding coordinate position is (x ij , y ij ), and the real-time measurement data of the weighing sensor is z ij ;

[0015] The weighing sensor installed at the center of the small square area ij + 1 is g ij+1 , and the corresponding coordinate position is (x ij+1 , y ij+1 ), and the real-time measurement data of the weighing sensor is z ij+1 ;

[0016] b. The wheel presses on two adjacent small square areas in the x direction, and the two small square areas are the small square area ij and the adjacent small square area i + 1j respectively;

[0017] The weighing sensor installed at the center of the small square area ij is g ij , and the corresponding coordinate position is (x ij , y ij ), and the real-time measurement data of the weighing sensor is z ij ;

[0018] The weighing sensor installed at the center of the small square area i + 1j is g i+1j : The corresponding coordinate position is (x i+1j , y i+1j ), and the real-time measurement data of the weighing sensor is z i+1j .

[0019] Preferably, step S4 includes:

[0020] S41. The intelligent weighing analysis system calculates the weight ratio of the wheel pressing on two adjacent small square areas in the y direction or x direction according to the data obtained in step S3, and obtains the pressure ratio of the adjacent weighing sensors;

[0021] S42. Calculate the coordinates of the wheel in the y direction or x direction based on the pressure ratio of the weighing sensor;

[0022] S43. Calculate the position of the carriage based on the measured data of the load cells in real time, the position data of each load cell, and the wheel position information, and draw a real-time two-dimensional carriage diagram (x, y) of the transport vehicle.

[0023] Preferably, step S41 includes:

[0024] The weight ratio formula for the wheel pressing on two adjacent square small areas in the y direction is:

[0025]

[0026] The weight ratio formula for the wheel pressing on two adjacent square small areas in the x direction is:

[0027]

[0028] Let the total pressure of the wheel be F, and the pressures distributed on two adjacent square small areas be F1 and F2 respectively. The measured data of adjacent load cells is proportional to the pressure, and we get:

[0029] F1:F2 = z ij :z ij+1 Or

[0030] Preferably, step S42 specifically includes:

[0031] Calculate the coordinate of the wheel pressing on the y direction, including:

[0032] Calculate the y coordinate of the vehicle:

[0033] The wheel presses on two adjacent square small areas in the y direction, and the pressure is distributed between sensors g ij and g ij+1 According to the moment balance, the y coordinate of the wheel satisfies the formula:

[0034] y·F = y ij ·F1 + y ij+1 ·F2;

[0035] F1 = k·z ij ;

[0036] F2 = k·z ij+1 ;

[0037] In the formula, k is the proportionality coefficient;

[0038] According to the above formula, the y coordinate is obtained, and the formula is:

[0039]

[0040] Since the x coordinates are aligned, the x coordinate of the wheel directly takes the aligned x coordinate, x = xij ; The coordinate of the wheel pressure in the y direction is

[0041] Calculate the coordinate of the wheel pressure in the x direction, including:

[0042] Calculate the vehicle x coordinate:

[0043] The wheel presses on two adjacent square small areas in the x direction, and the pressure is distributed between sensors g ij and g i+1j According to the moment balance, the x coordinate of the wheel satisfies the formula:

[0044] x·F = x ij ·F1 + x i+1j ·F2;

[0045] F1 = k·z ij ;

[0046] F2 = k·z i+1j ;

[0047] In the formula, k is the proportionality coefficient;

[0048] Obtain the x coordinate according to the above formula, and the formula is:

[0049]

[0050] Since the y coordinates are aligned, the y coordinate of the wheel directly takes the aligned y coordinate, y = y ij ;

[0051] The coordinate of the wheel pressure in the x direction is

[0052] The present invention also provides an automatic loading system for calculating the position of the carriage based on real-time weighing, including a weighing and loading area, an intelligent weighing analysis system, a transport vehicle, and an automatic blanking device. The weighing and loading area is provided with a plurality of square small areas of the same size, and a weighing sensor is arranged at the center position of each square small area. The weighing sensor weighs the transport vehicle. The intelligent weighing analysis system obtains the measurement data of the weighing sensor and analyzes the measurement data of the weighing sensor to calculate the position of the transport vehicle carriage; the automatic blanking device loads the goods according to the position of the transport vehicle carriage.

[0053] Therefore, the present invention adopts the above-mentioned automatic loading method and system for calculating the position of the carriage based on real-time weighing, and has the following beneficial effects:

[0054] (1) Real-time measurement of the carriage position of the transport vehicle based on multi-point weighing overcomes the environmental impact of high temperature and high dust, has high reliability, and through multi-point measurement, ensures the accuracy and reliability of the measurement results, thus realizing precise automatic loading operations.

[0055] (2) Based on the measurement data of multiple weighing sensors, the amount of materials in the carriage can be analyzed, thus realizing uniform discharging.

[0056] (3) Adopting a modular structure design simplifies the maintenance process of precision equipment such as lidar and vision cameras in the traditional scheme. Through fully automated closed-loop control, the need for manual intervention is reduced, the operation and maintenance cost is lowered, and the operation safety of operators in high-risk environments is improved.

[0057] The technical solutions of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Description of the Drawings

[0058] Figure 1 It is a flowchart of the method according to the embodiment of the present invention;

[0059] Figure 2 It is a schematic diagram of the weighing and loading area according to the embodiment of the present invention;

[0060] Figure 3 It is a three-dimensional schematic diagram of the weighing and loading area according to the embodiment of the present invention;

[0061] Figure 4 It is a schematic diagram of the coordinates of the weighing sensors in adjacent square small areas of the weighing and loading area according to the embodiment of the present invention;

[0062] Figure 5 It is a measurement diagram of the carriage of the transport vehicle according to the embodiment of the present invention;

[0063] Figure 6 It is a three-dimensional effect diagram of materials at different positions during the feeding process of the transport vehicle according to the embodiment of the present invention;

[0064] Reference Signs

[0065] 1. Square small area; 2. Weighing sensor; 3. Carriage position. Detailed Embodiments

[0066] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. Components of the embodiments of the present invention usually described and illustrated in the drawings here can be arranged and designed in various different configurations. In the description of the present invention, it should be noted that the orientation or positional relationships indicated by the terms "upper", "lower", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, or the orientation or positional relationships in which the inventive product is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0067] Embodiment

[0068] Referring to Figure 1 , the present invention provides an automatic loading method for calculating the position of a carriage based on real-time weighing, and the steps include: S1. Divide the weighing and loading area into multiple square small areas 1 with the same size. As shown in Figure 2 and Figure 3 , there are 15 in the y direction and 4 in the x direction, and a weighing sensor 2 is installed at the center position of each square small area 1.

[0069] S2. Establish a coordinate system with a unique zero point based on the weighing and loading area, and calibrate the coordinate positions corresponding to each weighing sensor 2 and the square small area 1. The coordinate positions corresponding to the weighing sensor 2 are as shown in Figure 4 .

[0070] The square small area 111 corresponds to the weighing sensor 2g 11 , and the weighing sensor 2g 11 corresponds to the position coordinates (x 11 , y 11 ), and the real-time measurement data of the weighing sensor 2 is z 11 .

[0071] The square small area 112 corresponds to the weighing sensor 2g 12 , and the weighing sensor 2g 12 corresponds to the position coordinates (x 12 , y 12 ), and the real-time measurement data of the weighing sensor 2 is z 12 .

[0072] The square small area 113 corresponds to the weighing sensor 2g 13 , and the weighing sensor 2g1 corresponds to the position coordinates (x 13 , y 13), the real-time measurement data of the load cell 2 is z 13 .

[0073] The small square area 121 corresponds to the load cell 2g 21 , the load cell 2g 21 The corresponding position coordinates are (x 21 , y 21 ), the real-time measurement data of the load cell 2 is z 21 .

[0074] By analogy, the square ij weighing corresponds to the load cell 2g ij , the load cell 2g ij The corresponding position coordinates are (x ij , y ij ), the real-time measurement data of the load cell 2 is z ij . Among them, i represents the value represented by the small square area 1 in the x direction, and j represents the value represented by the small square area 1 in the y direction.

[0075] S3. Drive the transport vehicle to the weighing and loading area, record the measurement data of the load cell 2 under each small square area 1 where the wheels are pressed in real time, and transmit the recorded measurement data to the intelligent weighing analysis system.

[0076] Specifically, there are two ways for the wheels to press on the small square area 1, including:[[]]

[0077] a. The wheels press on two adjacent small square areas 1 in the y direction, and the two small square areas 1 are the small square area 1ij and the adjacent small square area 1ij + 1;

[0078] The load cell 2 installed at the center of the small square area 1ij is g ij , and the corresponding coordinate position is (x ij , y ij ), and the real-time measurement data of the load cell 2 is z ij ;

[0079] The load cell 2 installed at the center of the small square area 1ij + 1 is g ij+1 , and the corresponding coordinate position is (x ij+1 , y ij+1 ), and the real-time measurement data of the load cell 2 is z ij+1 ;

[0080] b. The wheels press on two adjacent small square areas 1 in the x direction, and the two small square areas 1 are the small square area 1ij and the adjacent small square area 1i + 1j;

[0081] The load cell 2 installed at the center of the small square area 1ij is g ij, the corresponding coordinate position is (x ij , y ij ), and the real-time measurement data of the load cell 2 is z ij ;

[0082] The load cell 2 is installed at the center of the small square area 1i + 1j as g i+1j : the corresponding coordinate position is (x i+1j , y i+1j ), and the real-time measurement data of the load cell 2 is z i+1j .

[0083] Therefore, the central coordinates (x ij , y ij ), (x ij+1 , y ij+1 ) or (x ij , y ij ), (x i+1j , y i+1j ) of adjacent squares and the data z ij 、z ij+1 or z ij 、z i+1j of the load cell 2 can be obtained.

[0084] S4. The intelligent weighing analysis system analyzes the measurement data, calculates the position of the transport vehicle carriage, and draws a two-dimensional transport vehicle carriage diagram.

[0085] Specifically, it includes:

[0086] S41. The intelligent weighing analysis system calculates the weight ratio of the wheels pressing on two adjacent small square areas 1 in the y direction or x direction according to the data obtained in step S3, and obtains the pressure ratio of adjacent load cells 2.

[0087] The formula for the weight ratio of the wheels pressing on two adjacent small square areas 1 in the y direction is:

[0088]

[0089] Assume that the total pressure of the wheels is F, and the pressures distributed on two adjacent small square areas 1 are F1 and F2 respectively. The measurement data of adjacent load cells 2 is proportional to the pressure, that is:

[0090] z ij ∝F1, z ij+1 ∝F2;

[0091] From the above formula, the pressure ratio in the y direction can be deduced as:

[0092] F1:F2 = z ij : z ij+1 .

[0093] The weight ratio formula for the wheel pressing on two adjacent square small regions 1 in the x - direction is as follows:

[0094]

[0095] Let the total pressure of the wheel be F, and the pressures distributed on two adjacent square small regions 1 be F1 and F2 respectively. The measurement data of the adjacent weighing sensors 2 is proportional to the pressure, that is:

[0096] z ij ∝F1,z i+1j ∝F2;

[0097] From the above formula, the pressure ratio in the x - direction can be deduced as:

[0098]

[0099] S42. Calculate the coordinates of the wheel in the y - direction or x - direction based on the pressure ratio of the weighing sensors 2.

[0100] Calculate the coordinates of the wheel pressing in the y - direction, including:

[0101] Calculate the y - coordinate of the vehicle:

[0102] The wheel presses on two adjacent square small regions 1 in the y - direction, and the pressure is distributed between sensors g ij and g ij+1 According to the moment balance, the y - coordinate of the wheel satisfies the formula:

[0103] y·F = y ij ·F1 + y ij+1 ·F2;

[0104] F1 = k·z ij ;

[0105] F2 = k·z ij+1 ;

[0106] In the formula, k is the proportionality coefficient;

[0107] According to the above formula, the y - coordinate is obtained, and the formula is:

[0108]

[0109] Since the x - coordinates are aligned, the x - coordinate of the wheel directly takes the aligned x - coordinate, x = x ij ;

[0110] Therefore, the coordinate of the wheel pressing in the y - direction is

[0111] Calculate the coordinates of the wheel pressing in the x - direction, including:

[0112] Calculate the x - coordinate of the vehicle:

[0113] The wheel presses on two adjacent small square areas 1 in the x - direction, and the pressure is distributed between sensors g ij and g i+1j According to the moment balance, the x - coordinate of the wheel satisfies the formula:

[0114] x·F = x ij ·F1 + x i+1j ·F2;

[0115] F1 = k·z ij ;

[0116] F2 = k·z i+1j ;

[0117] In the formula, k is the proportionality coefficient;

[0118] The x - coordinate is obtained according to the above formula, and the formula is:

[0119]

[0120] Since the y - coordinates are aligned, the y - coordinate of the wheel directly takes the aligned y - coordinate, y = y ij ;

[0121] The coordinate of the wheel pressing in the x - direction is

[0122] S43. The intelligent weighing analysis system calculates the position of the carriage according to the measurement data of the weighing sensor 2 measured in real - time, the position data of each weighing sensor 2, and the wheel position and other information, and draws a real - time two - dimensional carriage diagram of the transport vehicle (x, y), as Figure 5 shown.

[0123] S5. Determine whether the transport vehicle enters the specified loading area. If it is not in the reasonable loading area, guide the driver to enter the specified loading area through the real - time two - dimensional carriage diagram of the transport vehicle (x, y).

[0124] S6. After the transport vehicle enters the specified loading area, combine the two - dimensional carriage diagram of the transport vehicle (x, y) with the measurement data z ij of the weighing sensor 2. The intelligent weighing analysis system generates a three - dimensional solid device diagram (x, y, z), as Figure 6 shown.

[0125] S7. The automatic blanking device accurately moves to the position of the transport vehicle carriage according to the horizontal coordinates (x, y) in the three - dimensional loading diagram, and adjusts the blanking position according to the vertical coordinate z in the three - dimensional loading diagram to ensure that the vertical coordinate z values in the three - dimensional loading diagram are not very different, so as to achieve uniform blanking.

[0126] The present invention also provides an automatic loading system for calculating the position of a carriage based on real-time weighing, which includes a weighing and loading area, an intelligent weighing analysis system, a transport vehicle, and an automatic feeding device. The weighing and loading area is provided with a plurality of square small areas 1 with the same size. A weighing sensor 2 is arranged at the center position of each square small area 1. The weighing sensor 2 weighs the transport vehicle. The intelligent weighing analysis system obtains the measurement data of the weighing sensor 2 and analyzes the measurement data of the weighing sensor 2 to calculate the position of the carriage of the transport vehicle; the automatic feeding device loads the goods according to the position of the carriage of the transport vehicle.

[0127] The intelligent weighing analysis system stores the parameters of common transport vehicles, including the empty weight, wheel size, wheel spacing, and the position of the wheels and the carriage. The intelligent weighing analysis system calculates the position of the carriage based on these data in combination with the weighing measurement data, the wheel position, and the position data of each weighing sensor 2.

[0128] Therefore, the present invention adopts the above-mentioned automatic loading method and system for calculating the position of a carriage based on real-time weighing, realizes the measurement of the carriage position through weighing, overcomes the environmental impact of high temperature and high dust, has high reliability, ensures the accuracy and reliability of the measurement results, and thus realizes accurate automatic loading operations.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify or equivalently replace the technical solutions of the present invention, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An automatic loading method for calculating the position of a carriage based on real-time weighing, characterized in that the steps Including: S1. Divide the weighing and loading area into multiple small square areas with the same size, and install a weighing sensor at the center position of each small square area; S2. Based on the weighing and loading area, establish a coordinate system with a unique zero point, and calibrate the coordinate positions of each weighing sensor corresponding to the small square areas; S3. Drive the transport vehicle to the weighing and loading area, record in real time the measurement data of the weighing sensor under each small square area where the wheels are pressed, and transmit the recorded measurement data to the intelligent weighing analysis system; S4. The intelligent weighing analysis system analyzes the measurement data, calculates the position of the transport vehicle carriage, and draws a two-dimensional transport vehicle carriage diagram; S5. Determine whether the transport vehicle enters the designated loading area; S6. After the transport vehicle enters the designated loading area, combine the two-dimensional transport vehicle carriage diagram with the measurement data of the weighing sensor to generate a three-dimensional solid device diagram; S7. The automatic feeding device loads the vehicle according to the three-dimensional solid device diagram.

2. The automatic loading method based on real-time weighing and calculating the carriage position according to claim 1, wherein: In step S3, there are two ways for the wheels to press on the small square area, including: a. The wheels press on two adjacent small square areas in the y direction, and the two small square areas are the small square area ij and the adjacent small square area ij + 1 respectively; The weighing sensor installed at the center of the small square area ij is g ij , and the corresponding coordinate position is (x ij , y ij ). The real-time measurement data of the weighing sensor is z ij ; The load cell installed at the center of the small square area ij+1 is g ij+1 , and the corresponding coordinate position is (x ij+1 , y ij+1 ). The real-time measurement data of the load cell is z ij+1 ; b. The wheels press on two adjacent small square areas in the x direction, and the two small square areas are the small square area ij and the adjacent small square area i + 1j respectively. The weighing sensor installed at the center of the small square area ij is g ij , and the corresponding coordinate position is (x ij , y ij ). The real-time measurement data of the weighing sensor is z ij ; A weighing sensor g is installed at the center of the small square area i+1j i+1j : The corresponding coordinate position is (x i+1j , y i+1j ), and the real-time measurement data of the weighing sensor is z i+1j .

3. An automatic loading method for calculating the position of a carriage based on real-time weighing according to claim 2, characterized in that, Step S4 includes: S41. The intelligent weighing analysis system calculates the weight ratio of the wheels pressing on two adjacent small square areas in the y direction or x direction according to the data obtained in step S3, and obtains the pressure ratio of the adjacent weighing sensors; S42. Calculate the coordinates of the wheels in the y direction or x direction based on the pressure ratio of the weighing sensors; S43. Calculate the carriage position according to the real-time measured measurement data of the weighing sensors, the position data of each weighing sensor and the wheel position information, and draw a real-time two-dimensional transport vehicle carriage diagram (x, y).

4. The automatic loading method based on real-time weighing to calculate the carriage position according to claim 3, wherein, Step S41 includes: The weight ratio formula for the wheels pressing on two adjacent small square areas in the y direction is: The weight ratio formula for the wheels pressing on two adjacent small square areas in the x direction is: Assume that the total pressure of the wheels is F, the pressures distributed on the two adjacent small square areas are F1 and F2 respectively, and the measurement data of the adjacent weighing sensors is proportional to the pressure, and we get: F1:F2 = z ij : z ij+1 or 5. An automatic loading method for calculating the position of a carriage based on real-time weighing as claimed in claim 4, wherein Step S42 specifically includes: Calculating the coordinates of the wheels pressing on the y direction, including: Calculating the y coordinate of the vehicle: The wheel presses on two adjacent small square areas in the y-direction, and the pressure is distributed between sensors g ij and g ij+1 According to the moment balance, the y-coordinate of the wheel satisfies the formula: y·F = y ij ·F1 + y ij+1 ·F2; F1 = k·z ij ; F2 = k·z ij+1 ; In the formula, k is the proportionality coefficient; Obtain the y coordinate according to the above formula, and the formula is: Due to the x - coordinate alignment, the x - coordinate of the wheel directly takes the aligned x - coordinate, x = x ij ; The coordinate of the wheel's pressure in the y direction is Calculating the coordinates of the wheels pressing on the x direction, including: Calculating the x coordinate of the vehicle: The wheel presses on two adjacent small square areas in the x-direction, and the pressure is distributed between sensors g ij and g i+1j According to the moment balance, the x-coordinate of the wheel satisfies the formula: x·F = x ij ·F1 + x i+1j ·F2; F1 = k·z ij ; F2 = k·z i+1j ; In the formula, k is the proportionality coefficient; Obtain the x coordinate according to the above formula, and the formula is: Due to the y - coordinate alignment, the y - coordinate of the wheel directly takes the aligned y - coordinate, y = y ij ; The coordinate of the wheel's pressure in the x - direction is 6. An automatic loading system for calculating the position of a carriage based on real-time weighing, which applies the automatic loading method for calculating the position of a carriage based on real-time weighing according to any one of claims 1-5, characterized in that: It includes a weighing and loading area, an intelligent weighing analysis system, a transport vehicle and an automatic feeding device. The weighing and loading area is provided with multiple small square areas with the same size, and a weighing sensor is arranged at the center position of each small square area. The weighing sensor weighs the transport vehicle. The intelligent weighing analysis system obtains the measurement data of the weighing sensor and analyzes the measurement data of the weighing sensor to calculate the position of the transport vehicle carriage; the automatic feeding device loads the vehicle according to the position of the transport vehicle carriage.

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