Forklift weighing method, forklift, controller and storage medium

Abstract

The application discloses a forklift weighing method, system, controller and storage medium, and the forklift weighing method comprises the following steps: determining whether the forklift meets preset weighing conditions according to the current lifting action state obtained; when the forklift meets the preset weighing conditions, obtaining a target weighing voltage average of a target object according to a preset interval duration and a reading duration; calculating a target weighing value according to the target weighing voltage average, a preset target proportion coefficient and a target revision coefficient, and comparing the target weighing value with a set overload threshold to obtain a weighing overload judgment result. It can be seen that the application can set the preset weighing conditions, and execute the subsequent weighing operation when the forklift meets the preset weighing conditions, and the target weighing value is calculated from the target weighing voltage average measured by the oil pressure sensor, the target proportion coefficient and the target revision coefficient obtained by pre-calibration, so that the accuracy of the forklift weighing can be improved.

Description

Technical Field

[0001] This invention relates to the field of forklift weighing control technology, and in particular to a forklift weighing method, forklift, controller and storage medium. Background Technology

[0002] Currently, forklifts generally use the following three methods to weigh target objects: the first is to calculate the weight of the target object by measuring the hydraulic oil pressure of the forklift mast using a pressure sensor; the second is to install a pressure sensor at the mast chain, and calculate the weight of the target object by calculating the pressure when the mast is lifted; the third is to install a pressure sensor on the forklift forks to directly measure the weight of the target object.

[0003] However, in practical applications, the first method, which measures the hydraulic oil pressure of the forklift mast, is difficult to install with a pressure sensor; the second method, which installs a pressure sensor on the mast chain, is prone to changes in the tightening force of the fastening nut during weighing, leading to larger weighing errors; and the third method, which installs a pressure sensor on the forklift forks, is prone to damage from collisions during weighing.

[0004] Therefore, improving the weighing accuracy of forklifts, reducing the installation difficulty of weighing equipment, and improving the reliability of weighing equipment have become urgent problems to be solved. Summary of the Invention

[0005] This invention discloses a forklift weighing method, system, controller, and storage medium, which can improve the weighing accuracy of forklifts, reduce the installation difficulty of weighing equipment, and improve the reliability of weighing equipment.

[0006] To achieve the above objectives, in a first aspect, the present invention discloses a forklift weighing method, the forklift weighing method comprising: Obtain the current lifting action state of the forklift, and determine whether the forklift meets the preset weighing conditions based on the current lifting action state; When it is determined that the forklift meets the preset weighing conditions, the average value of the target weighing voltage of the target object is obtained according to the preset interval time and the preset reading time. The target weighing value is calculated based on the average target weighing voltage, the preset target proportional coefficient, and the preset target revision coefficient. The target weighing value is then compared with the set overload threshold to obtain the weighing overload judgment result.

[0007] As an optional implementation, in an embodiment of the first aspect of the present invention, before obtaining the current lifting action state of the forklift and determining whether the forklift meets the preset weighing conditions based on the current lifting action state, the forklift weighing method further includes: Obtain the calibration weighing voltage values ​​of multiple calibration counterweights; wherein, the weight of any one of the calibration counterweights is the reference calibration weight; The target proportional coefficient and target revision coefficient are calculated based on the calibrated weighing voltage value, the reference calibrated weight, and the set overload threshold.

[0008] As an optional implementation, in an embodiment of the first aspect of the present invention, obtaining the average target weighing voltage of the target object according to a preset interval duration and a preset reading duration includes: Within the reading duration, the weighing voltage value of the target object is acquired multiple times at the specified intervals. The average value of the target weighing voltage is obtained by averaging all the acquired weighing voltage values.

[0009] As an optional implementation, in an embodiment of the first aspect of the present invention, after comparing the target weighing value with a set overload threshold to obtain a weighing overload judgment result, the forklift weighing method further includes: When the overload judgment result indicates that the target weighing value is greater than the overload threshold, a weight alarm signal and a seat disconnection signal are generated based on the target weighing value.

[0010] As an optional implementation, in an embodiment of the first aspect of the present invention, after generating a weight alarm signal and a seat disconnection signal based on the target weighing value, the forklift weighing method further includes: Detect whether the cut-off switch of the forklift has received a cut-off signal; If the cut-off signal input is detected, the generation of the weight alarm signal is stopped, and a seat start signal is generated to activate the seat switch of the forklift.

[0011] As an optional implementation, in an embodiment of the first aspect of the present invention, after comparing the target weighing value with a set overload threshold to obtain a weighing overload judgment result, the forklift weighing method further includes: When the overload judgment result indicates that the target weighing value is less than or equal to the overload threshold, a weight display signal is generated based on the target weighing value.

[0012] As an optional implementation, in an embodiment of the first aspect of the present invention, the current lifting action state includes: handbrake position state, mast state, and lifting action state; the step of acquiring the current lifting action state of the forklift and determining whether the forklift meets the preset weighing conditions based on the current lifting action state includes: Obtain the handbrake position status, the gantry status, and the lifting action status; When the handbrake position state indicates that the handbrake is engaged, the mast state indicates that the mast is performing a lifting action, and the lifting action state indicates that the mast has finished lifting the action, the forklift is determined to meet the preset weighing condition.

[0013] In a second aspect, the present invention discloses a forklift, the forklift comprising: Forklift body; Target attachment, the target attachment being used to carry a target object; A mast assembly includes a mast body, a pair of lifting cylinders, a connector block, a speed limit valve, and a target oil pipe. The mast body is mounted on the forklift body and connected to the target attachment. Both lifting cylinders are connected to the mast body. The connector block is connected to the speed limit valve and the target oil pipe, respectively. The two lifting cylinders are connected to each other through the connector block and the target oil pipe. A hydraulic pressure sensor is disposed at the connector block, and the hydraulic pressure sensor is used to detect the weighing voltage value of the target object based on the hydraulic pressure at the connector block; A controller electrically connected to the hydraulic pressure sensor, the controller being used to execute the forklift weighing method as described in the first aspect of the present invention.

[0014] Thirdly, the present invention discloses a controller, comprising: At least one memory; At least one processor; At least one computer program; The computer program is stored in the memory, and the processor executes the at least one computer program to implement the forklift weighing method as described in the first aspect of the invention.

[0015] Fourthly, the present invention discloses a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the forklift weighing method as described in the first aspect of the present invention.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: The forklift weighing method, controller, and storage medium provided by this invention, by setting preset weighing conditions, execute subsequent weighing operations only when the forklift meets the preset weighing conditions, thereby avoiding the impact of forklift shaking or movement on weighing accuracy. Furthermore, the target weighing value is calculated from the average target weighing voltage measured by the hydraulic pressure sensor, the pre-calibrated target proportional coefficient, and the target revision coefficient, thereby improving the accuracy of forklift weighing.

[0017] The forklift provided by this invention has a hydraulic pressure sensor installed on the connector block of the speed limit valve in the mast assembly. The pressure loss at this connector block position is small, which can more accurately represent the pressure of the entire system, thereby improving the accuracy of forklift weighing. At the same time, this position is easy to install, does not easily damage the sensor, and does not require the target attachment of the forklift to be a fork. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of a specific embodiment of the hydraulic system of the forklift mast device of the present invention; Figure 2 This is a flowchart of the forklift weighing method in this invention; Figure 3 This is a flowchart of a specific embodiment of the forklift weighing method in this invention; Figure 4 This is a schematic diagram of a specific embodiment of the controller in this invention.

[0019] The meanings of the reference numerals in the attached figures are as follows: Lifting cylinder 110, connector block 120, speed limit valve 130, target oil pipe 140, oil pressure sensor 200, processor 401, memory 402, input / output interface 403, communication interface 404, bus 405. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing the invention and its embodiments, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to be constructed and operated in a specific orientation.

[0022] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in certain situations to indicate a dependency or connection. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0023] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or a communication connection; they can refer to a direct connection or an indirect connection via an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0024] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, components, or parts. Unless otherwise stated, "a plurality of" means two or more.

[0025] The technical solution of the present invention will be further described below with reference to the embodiments and accompanying drawings.

[0026] Currently, forklifts generally use the following three methods to weigh target objects: the first is to calculate the weight of the target object by measuring the hydraulic oil pressure of the forklift mast using a pressure sensor; the second is to install a pressure sensor at the mast chain, and calculate the weight of the target object by calculating the pressure when the mast is lifted; the third is to install a pressure sensor on the forklift forks to directly measure the weight of the target object.

[0027] However, in practical applications, the first method, which measures the hydraulic oil pressure of the forklift mast, presents several challenges: the first method, which involves measuring the hydraulic oil pressure of the forklift mast, is difficult to install with a pressure sensor; the second method, which involves installing a pressure sensor on the mast chain, is prone to changes in the tightening force of the fastening nut during weighing, leading to larger weighing errors; and the third method, which involves installing a pressure sensor on the forklift forks, is susceptible to damage from collisions during weighing, and the pressure sensor can only be used on the forks, not on other attachments.

[0028] Therefore, improving the weighing accuracy of forklifts and reducing the installation difficulty and reliability of weighing systems have become urgent problems to be solved.

[0029] In response, this invention discloses a forklift weighing method, system, controller, and storage medium, which can improve the weighing accuracy of forklifts, reduce the installation difficulty of weighing equipment, and improve the reliability of weighing equipment.

[0030] The forklift weighing method of this invention is applied to the weighing operation of a forklift. The forklift disclosed in this invention will be described first below.

[0031] like Figure 1As shown, the forklift includes: a forklift body, a target attachment, a mast assembly, a hydraulic pressure sensor 200, and a controller. The target attachment is used to carry the target object; the mast assembly includes a mast body, a pair of lifting cylinders 110, a connector block 120, a speed limiter valve 130, and a target hydraulic line 140. The mast body is mounted on the forklift body and connected to the target attachment. Both lifting cylinders 110 are connected to the mast body. The connector block 120 is connected to the speed limiter valve 130 and the target hydraulic line 140 respectively. The two lifting cylinders 110 are connected to each other through the connector block 120 and the target hydraulic line 140. The hydraulic pressure sensor 200 is located at the connector block 120 and is used to detect the weighing voltage value of the target object based on the hydraulic pressure at the connector block 120. The controller is electrically connected to the hydraulic pressure sensor 200.

[0032] In this embodiment of the invention, the mast device comprises a mast body, a pair of lifting cylinders 110, a connector block 120, a speed limiter valve 130, and a target oil pipe 140. The pair of lifting cylinders 110, connector block 120, speed limiter valve 130, and target oil pipe 140 constitute a hydraulic system for controlling the lifting and lowering movement of the mast body. The mast body is mounted on a forklift body, and a target attachment is installed on the mast body. The target attachment can be selected as an attachment for carrying a target object, such as forks. It is understood that the target attachment can be switched to other attachments besides forks according to actual needs, without being limited to a specific attachment type.

[0033] Reference Figure 1 There are two lifting cylinders 110, one on the left and one on the right, both connected to the mast body. The lifting cylinders 110 control the lifting and lowering of the mast body through extension and retraction. The two lifting cylinders 110 are connected to the target oil pipe 140 via a connector block 120. The connector block 120 is also connected to the speed limiter valve 130. The hydraulic pressure sensor 200 is located at the connector block 120. The hydraulic pressure sensor 200 can detect the hydraulic oil pressure at the connector block 120. This hydraulic oil pressure can reflect the weight of the target object carried by the forklift. The hydraulic pressure sensor 200 converts the hydraulic pressure into a corresponding electrical signal form of weighing voltage value. Since the pressure loss at the connector block 120 position is small, it can more accurately represent the pressure of the entire hydraulic system in the mast device, thereby improving the accuracy of forklift weighing. Moreover, this position is not easy to damage the hydraulic pressure sensor 200, thus improving the reliability of the weighing equipment in the forklift. At the same time, this position is convenient for installation and does not require the target attachment of the forklift to be a fork. Understandably, the hydraulic pressure sensor 200 needs to be selected as a linear output sensor type, meaning that the hydraulic oil pressure and the output voltage value should have a linear relationship.

[0034] In some specific embodiments, the forklift also includes instruments, a buzzer, a handbrake switch, a lift sensor, a seat switch, and a cut-off switch. The instruments can be located in the forklift's cab. The cut-off switch is a self-resetting rocker switch that can be directly installed in the forklift's instrument panel and does not require manual reset by the driver. The lift sensor is located on the mast assembly and can detect the lifting and lowering movements of the mast body.

[0035] The hydraulic pressure sensor 200, instruments, buzzer, handbrake switch, lift sensor, seat switch, and cut-off switch are all electrically connected to the controller, which can execute a forklift weighing method. The forklift weighing method executed by the controller will be described in detail below.

[0036] See Figure 2 , Figure 2 This is a flowchart illustrating a forklift weighing method disclosed in an embodiment of the present invention. Figure 2 As shown, the method may include the following steps: S101. Obtain the current lifting action status of the forklift and determine whether the forklift meets the preset weighing conditions based on the current lifting action status.

[0037] In this embodiment of the invention, the current lifting status of the forklift can reflect whether the forklift is currently in a state where unstable movements such as shaking or moving affect the weighing accuracy. The controller can obtain the current lifting status of the forklift to determine whether the forklift meets the preset weighing conditions.

[0038] When the forklift does not meet the preset weighing conditions, it indicates that the forklift is not ready for weighing. If the weighing operation continues, the forklift may shake or move, affecting the weighing accuracy. When the forklift meets the preset weighing conditions, it indicates that the forklift is currently in a stable state, and subsequent weighing operations will not involve shaking or moving, thus ensuring weighing accuracy.

[0039] S102. When it is determined that the forklift meets the preset weighing conditions, the average value of the target weighing voltage of the target object is obtained according to the preset interval time and the preset reading time.

[0040] In this embodiment of the invention, after determining that the forklift meets the preset weighing conditions, the controller detects the oil pressure at the connector block 120 through the oil pressure sensor 200 to obtain voltage value data in the form of an electrical signal, and obtains the average target weighing voltage of the target object based on the preset interval time and reading time.

[0041] S103. Calculate the target weighing value based on the average target weighing voltage, the preset target proportional coefficient, and the preset target revision coefficient, and compare the target weighing value with the set overload threshold to obtain the weighing overload judgment result.

[0042] In this embodiment of the invention, reference is made to Figure 3 Substitute the target weighing voltage average value Ua, the preset target proportional coefficient K0, and the preset target revision coefficient A0 into the following formula ① to calculate the target weighing value t: T = K×U + A① Where Ua is the voltage value U, K0 is the proportional coefficient K, A0 is the revision coefficient A, and T is the weighing value.

[0043] Furthermore, after calculating the target weighing value, the target weighing value t is compared with the overload threshold T0 to obtain the overload judgment result, thereby determining whether the forklift is currently overloaded. It is understandable that the overload threshold T0 can be adaptively adjusted by the operator based on the actual forklift operation. Since the tonnage of goods that can be carried varies after different attachments are installed on the forklift, the operator inputs the overload threshold T0 according to the required forklift load curve.

[0044] As can be seen, the forklift weighing method of the present invention sets preset weighing conditions and performs subsequent weighing operations only when the forklift meets the preset weighing conditions, thereby avoiding the impact of forklift shaking or movement on weighing accuracy. Furthermore, the target weighing value is calculated from the average target weighing voltage measured by the hydraulic pressure sensor 200, the pre-calibrated target proportional coefficient, and the target revision coefficient, thereby improving the accuracy of forklift weighing.

[0045] In an optional embodiment, prior to S101, the forklift weighing method may further include the following steps: Obtain the calibration weighing voltage values ​​of multiple calibration counterweights; where the weight of any calibration counterweight is the reference calibration weight. The target proportional coefficient and target revision coefficient are calculated based on the calibrated weighing voltage value, the reference calibrated weight, and the set overload threshold.

[0046] In this optional embodiment, before performing the weighing condition judgment and actual weighing operation, a weighing calibration process needs to be performed based on the attachments actually used by the forklift. First, multiple calibrated counterweights are weighed to obtain multiple calibrated weighing voltage values, wherein the reference calibrated weight of each calibrated counterweight is different from that of each calibrated counterweight, that is, each calibrated counterweight has a corresponding calibrated weighing voltage value to match it.

[0047] After obtaining the calibration weighing voltage value of each calibration counterweight, the operator can input the reference calibration weight of all calibration counterweights and the corresponding measured calibration weighing voltage value into the instrument. The controller will substitute multiple sets of reference calibration weights and calibration weighing voltage values ​​into the above formula ① to calculate the target proportional coefficient and target revision coefficient.

[0048] For example, in a specific embodiment, there are two calibration counterweights with reference calibration weights of t1 and t2. The calibration weighing voltage value corresponding to the calibration counterweight with weight t1 is measured by the hydraulic pressure sensor 200, and the calibration weighing voltage value corresponding to the calibration counterweight with weight t2 is measured by u1, and the calibration weighing voltage value corresponding to the calibration counterweight with weight t2 is measured by u2. After the operator substitutes t1 and u1, t2 and u2 into formula ①, the target proportional coefficient K0 and the target revision coefficient A0 can be calculated.

[0049] As can be seen, this optional embodiment also performs a weighing calibration process before executing the weighing condition judgment and the actual weighing operation, thereby further improving the accuracy of forklift weighing.

[0050] In an optional embodiment, the current lifting action state includes: handbrake position state, mast state, and lifting action state. Obtaining the current lifting action state of the forklift and determining whether the forklift meets the preset weighing conditions based on the current lifting action state may include the following steps: Obtain the handbrake position status, gantry status, and lifting action status; When the handbrake position status indicates that the handbrake is engaged, the mast status indicates that the mast is performing a lifting action, and the lifting action status indicates that the mast has finished lifting the action, the forklift is determined to meet the preset weighing conditions.

[0051] In this optional embodiment, refer to Figure 3 The controller can detect the position of the handbrake switch in the forklift to determine whether the handbrake switch is engaged. Simultaneously, the controller can also detect the mast status and lifting action status of the mast assembly via lifting sensors to determine whether the mast is performing a lifting action and whether the lifting action has ended.

[0052] When all three conditions are met simultaneously—the handbrake switch is engaged, the mast performs a lifting action, and the lifting action has ended—it indicates that the forklift is currently in a stable state. During subsequent weighing operations, there will be no unstable movements such as shaking or movement that would affect weighing accuracy. In this case, the controller determines that the forklift meets the preset weighing conditions. If any of the above three conditions is not met, the controller determines that the forklift does not meet the preset weighing conditions.

[0053] As can be seen, this optional embodiment can also determine whether the forklift meets the preset weighing conditions by the handbrake position, mast status and lifting action status, so as to avoid instability such as shaking or moving of the forklift during the weighing process, thereby further improving the accuracy of forklift weighing.

[0054] In an optional embodiment, obtaining the average target weighing voltage of the target object based on a preset interval and a preset reading duration may include the following steps: During the reading period, the weighing voltage value of the target object is acquired multiple times at intervals. The average value of all acquired weighing voltage values ​​is calculated to obtain the target weighing voltage average value.

[0055] In this optional embodiment, refer to Figure 3 After confirming that the forklift meets the preset weighing conditions, the controller reads the weighing voltage value of the target object at preset intervals until the preset reading time is reached. Then, the average of all accumulated weighing voltage values ​​is calculated to obtain the target weighing voltage average.

[0056] For example, in one specific embodiment, after determining that the forklift meets the preset weighing conditions, timing begins after a 1-second delay, and the weighing voltage value u is read by the hydraulic pressure sensor 200. i It reads the voltage every 0.1 seconds until it reaches a cumulative total of 20 weighing voltage values ​​u after 2 seconds. i The 20 weighing voltage values ​​u i The average value of the target weighing voltage, Ua, is obtained by averaging.

[0057] As can be seen, this optional embodiment can also read multiple weighing voltage values ​​at intervals and take the average to obtain the target weighing voltage mean value for subsequent numerical calculations, thereby further improving the accuracy of forklift weighing.

[0058] In an optional embodiment, after step S103, the forklift weighing method may further include the following steps: When the overload judgment result indicates that the target weighing value is greater than the overload threshold, a weight alarm signal and a seat disconnection signal are generated based on the target weighing value.

[0059] In this optional embodiment, refer to Figure 3 When the calculated target weight exceeds the set overload threshold, it indicates that the forklift is overloaded. At this time, the controller generates a weight alarm signal and sends it to the instrument panel and buzzer. Upon receiving the weight alarm signal, the buzzer begins to sound an alarm, and the instrument panel displays the target weight value in red on the screen. Simultaneously, the controller generates a seat disconnect signal and sends it to the corresponding relay, which then controls the seat switch to disconnect. In control logic of forklifts with OPS (Optical Performance System) functionality, such as electric and internal combustion forklifts, the seat switch participates in the overall vehicle control; without a seat activation signal, the forklift cannot perform walking or lifting operations.

[0060] As can be seen, this optional embodiment can also issue an alarm to warn the operator when it is determined that the forklift is overloaded, and disconnect the forklift seat switch to prevent the vehicle from moving and lifting, thereby improving the driving safety of the forklift.

[0061] In an optional embodiment, after generating a weight alarm signal and a seat disconnection signal based on the target weighing value, the forklift weighing method may further include the following steps: Check if the forklift's cut-off switch has received a cut-off signal; If a cut-off signal input is detected, the generation of the weight alarm signal is stopped, and a seat start signal is generated to activate the forklift's seat switch.

[0062] In an optional embodiment, refer to Figure 3 After the buzzer sounds an alarm and the vehicle's seat switch is turned off, the controller checks if the operator has input a cut-off signal via a disconnect switch. If the operator determines that operation is still necessary under overload conditions, they can press the disconnect switch to input a cut-off signal. When the controller detects the cut-off signal input, it stops sending the weight alarm signal to the buzzer, causing the buzzer to stop working. The instrument panel also stops displaying the red-highlighted target weight value. Simultaneously, it generates a seat activation signal and sends it to the corresponding relay. The relay then controls the vehicle's seat switch to activate, enabling the vehicle to perform normal walking and lifting operations.

[0063] As can be seen, this optional embodiment can also remove the restrictions on the forklift's movement and lifting operations under overload conditions by having the operator press the cut-off switch, thereby improving the forklift's operability.

[0064] In an optional embodiment, after step S103, the forklift weighing method may further include the following steps: When the overload judgment result indicates that the target weighing value is less than or equal to the overload threshold, a weight display signal is generated based on the target weighing value.

[0065] In this optional embodiment, refer to Figure 3 When the calculated target weighing value is less than or equal to the set overload threshold, it indicates that the forklift is not overloaded. At this time, the controller generates a weight display signal based on the target weighing value and sends the weight display signal to the instrument device, thereby displaying the target weighing value of the target object on the instrument device.

[0066] like Figure 4 As shown, this embodiment of the invention also discloses a controller, which includes: The processor 401 can be implemented using a general-purpose central processing unit (CPU), microprocessor, application specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this disclosure. The memory 402 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 402 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 402 and is called by the processor 401 to execute some or all of the steps performed in the forklift weighing method described in the above embodiments of the present invention. Input / output interface 403 is used to implement information input and output; The communication interface 404 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 405 transmits information between various components of the device (e.g., processor 401, memory 402, input / output interface 403, and communication interface 404); The processor 401, memory 402, input / output interface 403 and communication interface 404 are connected to each other within the device via bus 405.

[0067] This invention also discloses a computer storage medium storing computer-executable instructions, which, when invoked, are used to execute some or all of the steps performed in the forklift weighing method described in the above embodiments of this invention.

[0068] The technical means disclosed in this invention are not limited to those disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications are also considered within the scope of protection of this invention.

Claims

1. A forklift weighing method, characterized in that, The forklift weighing method includes: Obtain the current lifting action state of the forklift, and determine whether the forklift meets the preset weighing conditions based on the current lifting action state; When it is determined that the forklift meets the preset weighing conditions, the average value of the target weighing voltage of the target object is obtained according to the preset interval time and the preset reading time. The target weighing value is calculated based on the average target weighing voltage, the preset target proportional coefficient, and the preset target revision coefficient. The target weighing value is then compared with the set overload threshold to obtain the weighing overload judgment result.

2. The forklift weighing method according to claim 1, characterized in that, Before acquiring the current lifting action state of the forklift and determining whether the forklift meets the preset weighing conditions based on the current lifting action state, the forklift weighing method further includes: Obtain the calibration weighing voltage values ​​of multiple calibration counterweights; wherein, the weight of any one of the calibration counterweights is the reference calibration weight; The target proportional coefficient and target revision coefficient are calculated based on the calibrated weighing voltage value, the reference calibrated weight, and the set overload threshold.

3. The forklift weighing method according to claim 2, characterized in that, The step of obtaining the average target weighing voltage of the target object according to a preset interval and a preset reading time includes: Within the reading duration, the weighing voltage value of the target object is acquired multiple times at the specified intervals. The average value of the target weighing voltage is obtained by averaging all the acquired weighing voltage values.

4. The forklift weighing method according to claim 1, characterized in that, After comparing the target weighing value with a set overload threshold to obtain an overload judgment result, the forklift weighing method further includes: When the overload judgment result indicates that the target weighing value is greater than the overload threshold, a weight alarm signal and a seat disconnection signal are generated based on the target weighing value.

5. The forklift weighing method according to claim 4, characterized in that, After generating a weight alarm signal and a seat disconnection signal based on the target weighing value, the forklift weighing method further includes: Detect whether the cut-off switch of the forklift has received a cut-off signal; If the cut-off signal input is detected, the generation of the weight alarm signal is stopped, and a seat start signal is generated to activate the seat switch of the forklift.

6. The forklift weighing method according to claim 1, characterized in that, After comparing the target weighing value with a set overload threshold to obtain an overload judgment result, the forklift weighing method further includes: When the overload judgment result indicates that the target weighing value is less than or equal to the overload threshold, a weight display signal is generated based on the target weighing value.

7. The forklift weighing method according to any one of claims 1 to 6, characterized in that, The current lifting action state includes: handbrake position state, mast state, and lifting action state; acquiring the current lifting action state of the forklift and determining whether the forklift meets the preset weighing conditions based on the current lifting action state includes: Obtain the handbrake position status, the gantry status, and the lifting action status; When the handbrake position state indicates that the handbrake is engaged, the mast state indicates that the mast is performing a lifting action, and the lifting action state indicates that the mast has finished lifting the action, the forklift is determined to meet the preset weighing condition.

8. A forklift, characterized in that, The forklift includes: Forklift body; Target attachment, the target attachment being used to carry a target object; A mast assembly includes a mast body, a pair of lifting cylinders, a connector block, a speed limit valve, and a target oil pipe. The mast body is mounted on the forklift body and connected to the target attachment. Both lifting cylinders are connected to the mast body. The connector block is connected to the speed limit valve and the target oil pipe, respectively. The two lifting cylinders are connected to each other through the connector block and the target oil pipe. A hydraulic pressure sensor is disposed at the connector block, and the hydraulic pressure sensor is used to detect the weighing voltage value of the target object based on the hydraulic pressure at the connector block; A controller electrically connected to the hydraulic pressure sensor, the controller being used to perform the forklift weighing method as described in any one of claims 1 to 7.

9. A controller, characterized in that, include: At least one memory; At least one processor; At least one computer program; The computer program is stored in the memory, and the processor executes the at least one computer program to implement the forklift weighing method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the forklift weighing method as described in any one of claims 1 to 7.

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