A weighing control method and system for a mine dump truck

Abstract

The present application relates to the field of weighing technology of engineering machinery, and discloses a weighing control method and system of a mine dump truck, comprising: determining a first measured force and a second measured force, which are vertical forces acting on a first preset action point of a cargo box and a second preset action point of a frame respectively; determining a first distance, a second distance and a third distance, which are horizontal distances of the first preset action point relative to a first hinge point between the cargo box and the frame, the second preset action point relative to a third preset action point on the frame, and the third preset action point relative to the first hinge point respectively; calculating a first torque characteristic value according to the first measured force and the first distance, a second torque characteristic value according to the second measured force and the second distance, a torque difference value according to the two, and a loaded material weight according to the torque difference value and the third distance. It can be seen that the present application can adapt to different working conditions and improve the accuracy of the weighing result of the mine dump truck.

Description

Technical Field

[0001] This invention relates to the field of weighing technology for engineering machinery, and in particular to a weighing control method and system for mining dump trucks. Background Technology

[0002] Mining dump trucks are widely used in material transportation operations in mines, construction sites, and other similar settings. To ensure transportation safety and operational efficiency, real-time monitoring of the weight of materials loaded on mining dump trucks is crucial. Traditional weighing methods rely on fixed weighbridges, requiring vehicles to leave the work area for weighing, which suffers from low efficiency and the inability to monitor in real time. Therefore, the industry has proposed various vehicle-mounted weighing solutions.

[0003] In existing vehicle-mounted weighing systems, a common method is to estimate the weight of the material in the cargo box by detecting the pressure of the hydraulic cylinders. This type of system calculates based on a preset conversion relationship between hydraulic cylinder pressure and material weight, which is usually calibrated under specific working conditions. However, in actual operation of mining dump trucks, the actual working conditions are dynamically changing, and the stress state of the cargo box also changes as the actual working conditions change. When the actual working conditions deviate from the calibrated working conditions, the preset conversion relationship cannot accurately reflect the true weight of the material, leading to a decrease in the reliability and accuracy of the weighing results.

[0004] Therefore, it is particularly important to propose a weighing control technology solution for mining dump trucks that can adapt to different working conditions and improve the accuracy of weighing results. Summary of the Invention

[0005] This invention provides a weighing control method and system for mining dump trucks, which can adapt to different working conditions and improve the accuracy of weighing results for mining dump trucks.

[0006] To address the aforementioned technical problems, the first aspect of this invention discloses a weighing control method for a mining dump truck, the method comprising: Determine a first measuring force and a second measuring force; the first measuring force is a vertical force acting on a first preset point of application of the cargo box; the second measuring force is a vertical force acting on a second preset point of application of the vehicle frame; A first distance, a second distance, and a third distance are determined; the first distance is the horizontal distance between the first preset point of action and the first hinge point between the cargo box and the vehicle frame; the second distance is the horizontal distance between the second preset point of action and a preset third point of action on the vehicle frame; the third distance is the horizontal distance between the third preset point of action and the first hinge point. Based on the first measured force and the first distance, a first torque characterization value is calculated. The first torque characterization value is used to reflect the torque effect of the first measured force on the first hinge point. Based on the second measured force and the second distance, a second torque characterization value is calculated. The second torque characterization value is used to reflect the torque effect of the second measured force on the third preset point of application. The torque difference is calculated based on the first torque characterization value and the second torque characterization value; The weight of the loaded material in the mining dump truck is calculated based on the torque difference and the third distance.

[0007] As an optional implementation, in a first aspect of the invention, determining the first measuring force and the second measuring force includes: Acquire the first pressure signal detected by the first pressure sensor; the first pressure sensor is installed on the lifting cylinder or a dedicated weighing cylinder between the cargo box and the vehicle frame. Based on the first pressure signal, determine the first pressure value; The first measured force is calculated based on the first pressure value and the first preset conversion parameter; the first preset conversion parameter is used to convert the cylinder pressure into a vertical force acting on the first preset point of action of the cargo box; Acquire a second pressure signal detected by a second pressure sensor; the second pressure sensor is mounted on the front axle hydropneumatic suspension or the rear axle balance beam of the vehicle frame. Based on the second pressure signal, determine the second pressure value; The second measured force is calculated based on the second pressure value and the second preset conversion parameter; the second preset conversion parameter is used to convert the suspension pressure into a vertical force acting on the second preset point of application of the vehicle frame.

[0008] As an optional implementation, in the first aspect of the present invention, determining the first distance, the second distance, and the third distance includes: Obtain the vehicle structure parameters of the mining dump truck; the vehicle structure parameters include the coordinates of the first hinge point, the third preset action point, the first preset action point, and the second preset action point in the vehicle coordinate system of the mining dump truck; Calculate the first distance based on the coordinates of the first preset point of action and the coordinates of the first hinge point; The second distance is calculated based on the coordinates of the second preset point of action and the coordinates of the third preset point of action; The third distance is calculated based on the coordinates of the third preset point of action and the coordinates of the first hinge point.

[0009] As an optional implementation, in a first aspect of the invention, calculating the first torque characterization value based on the first measured force and the first distance includes: Obtain the longitudinal tilt angle of the mining dump truck; the longitudinal tilt angle is used to represent the degree of tilt of the mining dump truck in the front-to-back direction; Based on the vehicle's longitudinal tilt angle and the first distance, a first equivalent distance is determined; the first equivalent distance is used to represent the equivalent horizontal distance between the first preset point of action and the first hinge point when the vehicle is in a longitudinal tilt state. The first torque characterization value is calculated based on the first measured force and the first equivalent distance.

[0010] As an optional implementation, in a first aspect of the invention, calculating the second torque characterization value based on the second measured force and the second distance includes: Obtain the second lever arm correction amount; the second lever arm correction amount is used to represent the compensation value of the vertical height difference between the second preset point of action and the third preset point of action for the second distance; The second equivalent distance is determined based on the vehicle longitudinal tilt angle, the second distance, and the second lever arm correction; the second equivalent distance is used to represent the equivalent horizontal distance between the second preset point of action and the third preset point of action under the vehicle longitudinal tilt state; The second torque characterization value is calculated based on the second measured force and the second equivalent distance.

[0011] As an optional implementation, in a first aspect of the present invention, calculating the torque difference based on the first torque characterization value and the second torque characterization value includes: Based on the longitudinal tilt angle of the vehicle, a torque difference correction parameter is calculated; the torque difference correction parameter is used to represent the reference deviation between the first torque characterization value and the second torque characterization value under the longitudinal tilt state of the vehicle. The torque difference is calculated based on the first torque characterization value, the second torque characterization value, and the torque difference correction parameter.

[0012] As an optional implementation, in the first aspect of the invention, calculating the weight of the loaded material of the mining dump truck based on the torque difference and the third distance includes: Obtain the third lever arm correction amount; the third lever arm correction amount is used to represent the compensation value of the vertical height difference between the third preset point of action and the first hinge point for the third distance; The third equivalent distance is determined based on the vehicle longitudinal tilt angle, the third distance, and the third lever arm correction amount; the third equivalent distance is used to represent the equivalent horizontal distance between the third preset action point and the first hinge point in the vehicle longitudinal tilt state. The weight of the loaded material is calculated based on the torque difference and the third equivalent distance.

[0013] As an optional implementation, in the first aspect of the invention, before determining the first measuring force and the second measuring force, the method further includes: The speed and cargo box lifting status of the mining dump truck are obtained; Based on the vehicle speed, determine the vehicle speed state parameters; the vehicle speed state parameters are used to indicate whether the movement speed of the mining dump truck is within the preset weighing stability range; Based on the cargo box's lifting state, determine the cargo box's attitude parameters; the cargo box attitude parameters are used to indicate whether the cargo box is in a non-lifted, stationary position. The dynamic stability state is determined based on the vehicle speed state parameters and the cargo box attitude parameters; the dynamic stability state is used to indicate that the mining dump truck is in a mechanical equilibrium condition suitable for performing weighing calculations. Based on the dynamic stable state, the operation of determining the first and second measuring forces is triggered.

[0014] As an optional implementation, in the first aspect of the present invention, the method further includes: Obtain the lateral tilt angle and longitudinal acceleration of the mining dump truck. Based on the lateral tilt angle of the vehicle, a lateral compensation parameter is determined; the lateral compensation parameter is used to correct the deviation of the weight of the loaded material under lateral tilt. Based on the longitudinal acceleration, inertial compensation parameters are determined; these parameters are used to correct the influence of inertial force on the weight of the loaded material during the acceleration and deceleration of the mining dump truck. The weight of the loaded material is corrected based on the lateral compensation parameter and the inertia compensation parameter to obtain the corrected weight of the loaded material.

[0015] A second aspect of this invention discloses a weighing control system for a mining dump truck, the system comprising: The determining module is used to determine a first measuring force and a second measuring force; the first measuring force is a vertical force acting on a first preset point of application of the cargo box; the second measuring force is a vertical force acting on a second preset point of application of the vehicle frame; The determining module is further configured to determine a first distance, a second distance, and a third distance; the first distance is the horizontal distance between the first preset point of action and the first hinge point between the cargo box and the vehicle frame; the second distance is the horizontal distance between the second preset point of action and a preset third point of action on the vehicle frame; the third distance is the horizontal distance between the third preset point of action and the first hinge point. The calculation module is used to calculate a first torque characterization value based on the first measuring force and the first distance. The first torque characterization value is used to reflect the torque effect of the first measuring force on the first hinge point. The calculation module is further configured to calculate a second torque characterization value based on the second measuring force and the second distance, wherein the second torque characterization value is used to reflect the torque effect of the second measuring force on the third preset point of application; The calculation module is further configured to calculate the torque difference based on the first torque characterization value and the second torque characterization value; The calculation module is also used to calculate the weight of the loaded material of the mining dump truck based on the torque difference and the third distance.

[0016] As an optional implementation, in a second aspect of the invention, the determining module determines the first measuring force and the second measuring force in the following specific ways: Acquire the first pressure signal detected by the first pressure sensor; the first pressure sensor is installed on the lifting cylinder or a dedicated weighing cylinder between the cargo box and the vehicle frame. Based on the first pressure signal, determine the first pressure value; The first measured force is calculated based on the first pressure value and the first preset conversion parameter; the first preset conversion parameter is used to convert the cylinder pressure into a vertical force acting on the first preset point of action of the cargo box; Acquire a second pressure signal detected by a second pressure sensor; the second pressure sensor is mounted on the front axle hydropneumatic suspension or the rear axle balance beam of the vehicle frame. Based on the second pressure signal, determine the second pressure value; The second measured force is calculated based on the second pressure value and the second preset conversion parameter; the second preset conversion parameter is used to convert the suspension pressure into a vertical force acting on the second preset point of application of the vehicle frame.

[0017] As an optional implementation, in a second aspect of the present invention, the determining module determines the first distance, the second distance, and the third distance in the following specific ways: Obtain the vehicle structure parameters of the mining dump truck; the vehicle structure parameters include the coordinates of the first hinge point, the third preset action point, the first preset action point, and the second preset action point in the vehicle coordinate system of the mining dump truck; Calculate the first distance based on the coordinates of the first preset point of action and the coordinates of the first hinge point; The second distance is calculated based on the coordinates of the second preset point of action and the coordinates of the third preset point of action; The third distance is calculated based on the coordinates of the third preset point of action and the coordinates of the first hinge point.

[0018] As an optional implementation, in a second aspect of the invention, the specific method by which the calculation module calculates the first torque characterization value based on the first measured force and the first distance includes: Obtain the longitudinal tilt angle of the mining dump truck; the longitudinal tilt angle is used to represent the degree of tilt of the mining dump truck in the front-to-back direction; Based on the vehicle's longitudinal tilt angle and the first distance, a first equivalent distance is determined; the first equivalent distance is used to represent the equivalent horizontal distance between the first preset point of action and the first hinge point when the vehicle is in a longitudinal tilt state. The first torque characterization value is calculated based on the first measured force and the first equivalent distance.

[0019] As an optional implementation, in a second aspect of the invention, the specific method by which the calculation module calculates the second torque characterization value based on the second measured force and the second distance includes: Obtain the second lever arm correction amount; the second lever arm correction amount is used to represent the compensation value of the vertical height difference between the second preset point of action and the third preset point of action for the second distance; The second equivalent distance is determined based on the vehicle longitudinal tilt angle, the second distance, and the second lever arm correction; the second equivalent distance is used to represent the equivalent horizontal distance between the second preset point of action and the third preset point of action under the vehicle longitudinal tilt state; The second torque characterization value is calculated based on the second measured force and the second equivalent distance.

[0020] As an optional implementation, in a second aspect of the present invention, the specific method by which the calculation module calculates the torque difference based on the first torque characterization value and the second torque characterization value includes: Based on the longitudinal tilt angle of the vehicle, a torque difference correction parameter is calculated; the torque difference correction parameter is used to represent the reference deviation between the first torque characterization value and the second torque characterization value under the longitudinal tilt state of the vehicle. The torque difference is calculated based on the first torque characterization value, the second torque characterization value, and the torque difference correction parameter.

[0021] As an optional implementation, in a second aspect of the invention, the specific method by which the calculation module calculates the weight of the loaded material of the mining dump truck based on the torque difference and the third distance includes: Obtain the third lever arm correction amount; the third lever arm correction amount is used to represent the compensation value of the vertical height difference between the third preset point of action and the first hinge point for the third distance; The third equivalent distance is determined based on the vehicle longitudinal tilt angle, the third distance, and the third lever arm correction amount; the third equivalent distance is used to represent the equivalent horizontal distance between the third preset action point and the first hinge point in the vehicle longitudinal tilt state. The weight of the loaded material is calculated based on the torque difference and the third equivalent distance.

[0022] As an optional implementation, in a second aspect of the invention, the system further includes: The first acquisition module is used to acquire the vehicle speed and cargo box lifting status of the mining dump truck before the determining module determines the first measuring force and the second measuring force. The determining module is further configured to determine a vehicle speed state parameter based on the vehicle speed; the vehicle speed state parameter is used to indicate whether the movement speed of the mining dump truck is within a preset weighing stability range. The determining module is further configured to determine cargo box posture parameters based on the cargo box lifting state; the cargo box posture parameters are used to indicate whether the cargo box is in a non-lifted stationary position; The determining module is further configured to determine a dynamic stable state based on the vehicle speed state parameters and the cargo box attitude parameters; the dynamic stable state is used to indicate that the mining dump truck is in a mechanical equilibrium condition suitable for performing weighing calculations. The determining module is further configured to trigger the operation of determining the first measuring force and the second measuring force based on the dynamic stable state.

[0023] As an optional implementation, in a second aspect of the invention, the system further includes: The second acquisition module is used to acquire the lateral tilt angle and longitudinal acceleration of the mining dump truck. The determining module is further configured to determine lateral compensation parameters based on the lateral tilt angle of the vehicle; the lateral compensation parameters are used to correct the deviation of the weight of the loaded material in the lateral tilt state. The determining module is further configured to determine inertial compensation parameters based on the longitudinal acceleration; the inertial compensation parameters are used to correct the influence of inertial force on the weight of the loaded material during the acceleration and deceleration of the mining dump truck. The correction module is used to correct the weight of the loaded material according to the lateral compensation parameter and the inertia compensation parameter to obtain the corrected weight of the loaded material.

[0024] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: In this embodiment of the invention, a first measuring force and a second measuring force are determined; the first measuring force is a vertical force acting on a first preset point of action of the cargo box; the second measuring force is a vertical force acting on a second preset point of action of the vehicle frame; a first distance, a second distance, and a third distance are determined; the first distance is the horizontal distance between the first preset point of action and the first hinge point between the cargo box and the vehicle frame; the second distance is the horizontal distance between the second preset point of action and a preset third preset point of action on the vehicle frame; the third distance is the horizontal distance between the third preset point of action and the first hinge point; based on the first measuring force and the first distance, a first torque characterization value is calculated, which reflects the torque effect of the first measuring force on the first hinge point; based on the second measuring force and the second distance, a second torque characterization value is calculated, which reflects the torque effect of the second measuring force on the third preset point of action; based on the first torque characterization value and the second torque characterization value, a torque difference is calculated; based on the torque difference and the third distance, the weight of the loaded material of the mining dump truck is calculated. As can be seen, implementing this invention can determine the first measuring force acting on the cargo box and the second measuring force acting on the chassis, and calculate the first torque characterization value and the second torque characterization value by combining their respective first distance, second distance and third distance, and then calculate the torque difference. Finally, the weight of the loaded material is calculated based on the torque difference and the third distance. This scheme can establish a weighing calculation model based on torque balance by combining multiple measuring forces and three structural distance parameters, reducing the dependence on the material's center of gravity position information. This is beneficial to improving the stability and reliability of the weighing results under different loading distribution conditions, thereby improving the working condition adaptability of the weighing control method for mining dump trucks and achieving an overall improvement in weighing accuracy. Furthermore, by calculating the torque difference and combining it with the third distance, this scheme can eliminate the calculation deviation caused by the offset of the material's center of gravity, reduce the influence of changes in the material distribution state on the weighing results, thereby improving the anti-interference ability of the weighing results, and thus ensuring the accuracy of overload warning and loading control, thereby improving the safety of vehicle transportation. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart illustrating a weighing control method for a mining dump truck disclosed in an embodiment of the present invention. Figure 2 This is a schematic flowchart of another weighing control method for mining dump trucks disclosed in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a weighing control system for a mining dump truck disclosed in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of another weighing control system for a mining dump truck disclosed in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of another weighing control system for a mining dump truck disclosed in an embodiment of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, 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.

[0028] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0029] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0030] This invention discloses a weighing control method and system for mining dump trucks. It can determine a first measuring force acting on the cargo box and a second measuring force acting on the chassis, and calculate a first torque characterization value and a second torque characterization value by combining their corresponding first, second, and third distances, respectively. Then, it calculates the torque difference, and finally calculates the weight of the loaded material based on the torque difference and the third distance. This scheme can establish a weighing calculation model based on torque balance by combining multiple measuring forces and three structural distance parameters, reducing the dependence on the material's center of gravity position information. This improves the stability and reliability of the weighing results under different loading distribution conditions, thereby enhancing the adaptability of the weighing control method for mining dump trucks and achieving an overall improvement in weighing accuracy. Furthermore, by calculating the torque difference and combining it with the third distance, this scheme can eliminate calculation deviations caused by material center of gravity shifts, reducing the influence of changes in material distribution on the weighing results. This improves the anti-interference ability of the weighing results, ensuring the accuracy of overload warnings and loading control, and improving vehicle transportation safety. Detailed descriptions follow.

[0031] Example 1 Please see Figure 1 , Figure 1 This is a flowchart illustrating a weighing control method for a mining dump truck disclosed in an embodiment of the present invention. Wherein, Figure 1 The described weighing control method for mining dump trucks can be applied to mining dump trucks, such as articulated dump trucks, wide-body dump trucks, and rigid dump trucks. It can also be applied to intelligent devices associated with mining dump trucks, including but not limited to one or more of the following: switching devices, cloud devices, edge computing devices, relay devices, base station devices, urban management devices, and intelligent connected devices. This invention does not limit the application of this method. Figure 1 As shown, the weighing control method for this mining dump truck may include the following operations: 101. Determine the first measuring force and the second measuring force; the first measuring force is the vertical force acting on the first preset point of application of the cargo box; the second measuring force is the vertical force acting on the second preset point of application of the vehicle frame; In this embodiment of the invention, optionally, it is first necessary to determine the first measuring force and the second measuring force. The first measuring force is a vertical force acting on a first preset point of application of the cargo box. This first preset point of application can be the connection point on the cargo box with the lifting cylinder or the dedicated weighing cylinder, or it can be the load-bearing point at the bottom of the cargo box that contacts the piston rod of the cylinder. The second measuring force is a vertical force acting on a second preset point of application of the vehicle frame. This second preset point of application can be the top load-bearing point of the front axle air suspension on the vehicle frame, or it can be the connection point between the rear axle balance beam and the vehicle frame, or other key structural points on the vehicle frame that bear the weight of the vehicle body. The first and second measuring forces can be directly measured by force sensors arranged in corresponding positions, or indirectly calculated by pressure sensors, or calculated by measuring structural deformation using strain gauges.

[0032] In this embodiment of the invention, as an optional implementation, the determination of the first measuring force and the second measuring force includes: Acquire the first pressure signal detected by the first pressure sensor; the first pressure sensor is installed on the lifting cylinder or a dedicated weighing cylinder between the cargo box and the vehicle frame; Determine the first pressure value based on the first pressure signal; The first measured force is calculated based on the first pressure value and the first preset conversion parameter; the first preset conversion parameter is used to convert the cylinder pressure into a vertical force acting on the first preset point of action of the cargo box; Acquire the second pressure signal detected by the second pressure sensor; the second pressure sensor is installed on the front axle hydropneumatic suspension or the rear axle balance beam of the vehicle frame. The second pressure value is determined based on the second pressure signal; The second measured force is calculated based on the second pressure value and the second preset conversion parameter; the second preset conversion parameter is used to convert the suspension pressure into a vertical force acting on the second preset point of application of the frame.

[0033] In this embodiment of the invention, optionally, when determining the first measuring force, a first pressure signal detected by a first pressure sensor is first acquired. The first pressure sensor is installed on a lifting cylinder or a dedicated weighing cylinder between the cargo box and the vehicle frame, used to monitor the liquid pressure inside the cylinder in real time. The first pressure sensor can be a strain gauge pressure sensor or a piezoresistive pressure sensor, and its output signal is an analog voltage or current signal, which is converted from analog to digital to obtain a digitized first pressure signal. The first pressure sensor can be installed on the rodless side of the cylinder, on the rod side, or simultaneously on both sides to obtain a pressure difference signal. Based on this first pressure signal, a first pressure value can be determined, which is the real-time pressure value inside the cylinder, in Pascals or Megapascals. Then, the first measuring force is calculated based on the first pressure value and a first preset conversion parameter. The first preset conversion parameter is used to convert the cylinder pressure into a vertical force acting on a first preset point of action in the cargo box, and this conversion parameter includes the effective working area of ​​the cylinder piston. Specifically, the first pressure value is multiplied by the effective working area of ​​the cylinder piston to obtain the first measuring force. The effective working area of ​​the hydraulic cylinder piston is an inherent parameter of the cylinder, determined during cylinder design and manufacturing, and pre-stored in the vehicle controller. If the cylinder is a double-acting cylinder and the sensor is installed in the rod chamber, the effective working area should be the piston area minus the piston rod area.

[0034] Optionally, when determining the second measuring force, the second pressure signal detected by the second pressure sensor is first acquired. The second pressure sensor is mounted on the front axle hydropneumatic suspension or the rear axle balance beam of the vehicle frame to monitor the liquid or gas pressure inside the suspension system in real time. The second pressure sensor can also be a strain gauge pressure sensor or a piezoresistive pressure sensor. For hydropneumatic suspensions, the second pressure sensor can be installed in the oil or air chamber of the suspension cylinder; for leaf spring suspensions, the second pressure sensor can be installed on the pressure pad between the leaf spring and the vehicle frame. Based on this second pressure signal, the second pressure value can be determined. Then, the second measuring force is calculated based on the second pressure value and a second preset conversion parameter. The second preset conversion parameter is used to convert the suspension pressure into a vertical force acting on a second preset point of application on the vehicle frame; this conversion parameter includes the suspension's load-bearing area or lever ratio. Specifically, the second pressure value is multiplied by the suspension's load-bearing area or lever ratio to obtain the second measuring force. The suspension's load-bearing area or lever ratio is an inherent parameter of the suspension system, determined during vehicle design and pre-stored in the vehicle controller. For the front axle suspension, the second measuring force reflects the weight of the front of the vehicle borne by the front axle; for the rear axle balance beam, the second measuring force reflects the weight of the rear of the vehicle borne by the rear axle.

[0035] As can be seen, implementing this optional embodiment involves acquiring a first pressure signal by placing a first pressure sensor on the lifting cylinder or a dedicated weighing cylinder, and calculating a first measuring force based on a first preset conversion parameter; simultaneously, acquiring a second pressure signal by placing a second pressure sensor on the front axle hydropneumatic suspension or the rear axle balance beam, and calculating a second measuring force based on a second preset conversion parameter. This solution can reduce the hardware cost and maintenance difficulty of the measurement system, thereby improving the economy and feasibility of the weighing system, and further promoting the widespread application of vehicle-mounted weighing technology in the field of mining dump trucks. Furthermore, by converting the cylinder pressure and suspension pressure into vertical forces respectively, this solution can fully utilize the vehicle's existing hydraulic system resources, reduce the need for additional dedicated sensors, thereby simplifying the system structure, improving the integration and reliability of the weighing system, and achieving low-cost deployment of the weighing function.

[0036] 102. Determine the first distance, the second distance, and the third distance; the first distance is the horizontal distance between the first preset point of action and the first hinge point between the cargo box and the vehicle frame; the second distance is the horizontal distance between the second preset point of action and the third preset point of action on the vehicle frame; the third distance is the horizontal distance between the third preset point of action and the first hinge point. In this embodiment of the invention, optionally, a first distance, a second distance, and a third distance are then determined. The first distance is the horizontal distance between a first preset point of action and a first hinge point between the cargo box and the vehicle frame. This first hinge point is the rotational connection point between the cargo box and the vehicle frame, around which the cargo box can be flipped for unloading. The second distance is the horizontal distance between the second preset point of action and a third preset point of action on the vehicle frame. This third preset point of action can be the rotation center point of the rear axle balance beam of the vehicle frame, or a positioning point on the longitudinal beam of the vehicle frame used for mounting the rear axle. The third distance is the horizontal distance between the third preset point of action and the first hinge point. All three distances are inherent geometric parameters of the vehicle structure and can be obtained through vehicle design drawings or three-dimensional measurement. They are calibrated and stored in the vehicle controller before the vehicle leaves the factory. During vehicle use, if the cargo box or vehicle frame is modified, the above distances can be recalibrated.

[0037] In this embodiment of the invention, as another optional implementation, the determination of the first distance, the second distance, and the third distance includes: Obtain the vehicle structure parameters of the mining dump truck; the vehicle structure parameters include the coordinates of the first hinge point, the third preset action point, the first preset action point and the second preset action point in the vehicle coordinate system of the mining dump truck; Calculate the first distance based on the coordinates of the first preset point of action and the coordinates of the first hinge point; Calculate the second distance based on the coordinates of the second and third preset points of action; The third distance is calculated based on the coordinates of the third preset point of action and the coordinates of the first hinge point.

[0038] In this embodiment of the invention, optionally, the vehicle structural parameters of the mining dump truck are first obtained. These parameters include the coordinates of the first hinge point, the third preset action point, and the first and second preset action points in the vehicle coordinate system of the mining dump truck. The vehicle coordinate system can be a three-dimensional Cartesian coordinate system based on the vehicle chassis plane. The origin can be set at the center of the front axle or the vehicle's center of mass. The X-axis points towards the front of the vehicle along the longitudinal direction, the Y-axis points to the right along the lateral direction, and the Z-axis is perpendicular to the ground and points upwards. The coordinates of each point can be extracted from the vehicle's three-dimensional design model or measured using a three-dimensional measuring device after the vehicle is manufactured, and then pre-stored in the vehicle controller.

[0039] Optionally, the first distance is then calculated based on the coordinates of the first preset point of action and the first hinge point. Specifically, the X-axis and Z-axis coordinates of the first preset point of action and the first hinge point in the vehicle coordinate system are extracted, and the projected distance between the two points in the horizontal direction is calculated. Since the first distance is defined as a horizontal distance, only the coordinate difference in the X-axis direction is considered, ignoring the height difference in the Z-axis direction. The first distance is the horizontal distance between the first preset point of action and the first hinge point in the vehicle's front-rear direction. In another implementation, if the first preset point of action and the first hinge point are not at the same horizontal height, the angle between the line connecting the two points and the horizontal plane can be considered, and the hypotenuse distance can be converted into a horizontal distance using a cosine function.

[0040] Optionally, a second distance is calculated based on the coordinates of the second and third preset points of action. Similarly, the X-axis coordinates of the second and third preset points of action in the vehicle coordinate system are extracted, and the projected distance between the two points in the horizontal direction is calculated, ignoring the height difference in the Z-axis direction. The second distance is the horizontal distance between the second and third preset points of action in the vehicle's longitudinal direction.

[0041] Optionally, a third distance is calculated based on the coordinates of the third preset point of action and the coordinates of the first hinge point. The X-axis coordinates of the third preset point of action and the first hinge point in the vehicle coordinate system are extracted, and the projected distance between the two points in the horizontal direction is calculated. The third distance is the horizontal distance between the third preset point of action and the first hinge point in the vehicle's longitudinal direction.

[0042] Alternatively, all three distances mentioned above are fixed values ​​that remain unchanged throughout the vehicle's lifespan. Therefore, they can be calculated and stored once before the vehicle leaves the factory and directly retrieved during each weighing without repeated calculations. After the vehicle undergoes maintenance or modification, these distance values ​​can be updated by re-acquiring the structural parameters.

[0043] As can be seen, implementing this optional embodiment involves obtaining vehicle structural parameters, namely the coordinates of each key point in the vehicle coordinate system, and calculating each horizontal distance based on the coordinate differences. This solution can reduce the workload of on-site calibration by utilizing digital models from the vehicle design phase or measured data before delivery, thereby improving the calibration efficiency and accuracy of the weighing system. This, in turn, helps to shorten the debugging cycle before vehicle delivery and enables rapid batch deployment. Furthermore, by using coordinate calculation, this solution can ensure the accuracy and repeatability of each distance parameter, reducing system deviations caused by human measurement errors. This improves the quality of the basic data for weighing calculation, thereby enhancing the accuracy of the final weighing result and ensuring the long-term stability of the weighing system.

[0044] 103. Calculate the first torque characterization value based on the first measuring force and the first distance. The first torque characterization value is used to reflect the torque effect of the first measuring force on the first hinge point. In this embodiment of the invention, optionally, a first torque characterization value is then calculated based on the first measuring force and the first distance. The first torque characterization value reflects the torque effect of the first measuring force on the first hinge point; its physical meaning is the torque value obtained by multiplying the first measuring force by the first distance. Specifically, the first measuring force can be multiplied by the first distance to obtain the first torque characterization value. In another implementation, the first torque characterization value can also be obtained by multiplying the first measuring force by the first distance and then multiplying by a preset scaling factor. This scaling factor is used to calibrate sensor measurement errors or compensate for the effects of structural deformation.

[0045] In another optional implementation of this invention, the calculation of the first torque characterization value based on the first measured force and the first distance includes: Obtain the longitudinal tilt angle of the mining dump truck; the longitudinal tilt angle is used to represent the degree of tilt of the mining dump truck in the front-to-back direction. The first equivalent distance is determined based on the longitudinal tilt angle of the vehicle and the first distance; the first equivalent distance is used to represent the equivalent horizontal distance between the first preset point of action and the first hinge point when the vehicle is in a longitudinal tilt state. Calculate the first torque characterization value based on the first measured force and the first equivalent distance.

[0046] In this embodiment of the invention, optionally, the longitudinal tilt angle of the mining dump truck is first obtained. The longitudinal tilt angle represents the degree of tilt of the mining dump truck in the longitudinal direction, i.e., the pitch angle of the vehicle relative to the horizontal plane. This angle can be measured in real time by a tilt sensor installed on the vehicle chassis or frame; the tilt sensor can be a MEMS accelerometer or a gyroscope. A positive longitudinal tilt angle indicates that the front of the truck is higher than the rear, and the vehicle is on an uphill slope; a negative value indicates that the front of the truck is lower than the rear, and the vehicle is on a downhill slope. In another implementation, the longitudinal tilt angle can also be obtained by measuring the rotation angle of the cargo box relative to the frame and subtracting the initial angle when the cargo box is empty.

[0047] Optionally, a first equivalent distance is then determined based on the vehicle's longitudinal tilt angle and the first distance. The first equivalent distance represents the equivalent horizontal distance between the first preset point of action and the first hinge point when the vehicle is in a longitudinal tilt state. When the vehicle is level, the first equivalent distance equals the first distance. When the vehicle is longitudinally tilted, the actual horizontal projection distance between the first preset point of action and the first hinge point changes and needs to be corrected using trigonometric functions. Specifically, the correction method is to multiply the first distance by the cosine of the vehicle's longitudinal tilt angle to obtain the first equivalent distance. This correction considers the influence of vehicle tilt on the lever arm length, making the torque calculation more accurate. In another implementation, if there is a vertical height difference between the first preset point of action and the first hinge point, this vertical height difference also needs to be multiplied by the sine of the vehicle's longitudinal tilt angle, and the result combined with the cosine correction value of the first distance.

[0048] Optionally, finally, a first torque characterization value is calculated based on the first measured force and the first equivalent distance. Multiplying the first measured force by the first equivalent distance yields a corrected first torque characterization value. This corrected first torque characterization value better reflects the true torque situation of the vehicle under actual tilt conditions.

[0049] As can be seen, implementing this optional embodiment involves obtaining the longitudinal tilt angle of the entire vehicle, correcting the first distance to a first equivalent distance based on this angle, and then calculating the first torque characterization value in conjunction with the first measured force. This scheme can reduce the impact of vehicle tilt on the lever arm calculation by considering the actual posture of the vehicle on the slope, thereby improving the accuracy of the weighing results under non-level road conditions and expanding the applicability of the weighing system to achieve all-terrain weighing capability. Furthermore, by introducing an angle correction mechanism, this scheme can make the torque characterization value closer to the actual force state of the vehicle, reducing systematic errors caused by slope changes, thereby improving the accuracy and reliability of the weighing results, and thus ensuring the accuracy of overload judgment of the vehicle in different operating environments, achieving all-weather guarantee of transportation safety.

[0050] 104. Calculate the second torque characterization value based on the second measuring force and the second distance. The second torque characterization value is used to reflect the torque effect of the second measuring force on the third preset point of application. In this embodiment of the invention, optionally, a second torque characterization value is calculated simultaneously based on the second measuring force and the second distance. The second torque characterization value reflects the torque effect of the second measuring force on the third preset point of application; its physical meaning is the torque value obtained by multiplying the second measuring force by the second distance. Specifically, the second measuring force can be multiplied by the second distance to obtain the second torque characterization value. Similarly, the second torque characterization value can also be adjusted using a proportionality coefficient.

[0051] In this optional embodiment, as an optional implementation, the above-described calculation of the second torque characterization value based on the second measured force and the second distance includes: Obtain the second lever arm correction amount; the second lever arm correction amount is used to represent the compensation value of the vertical height difference between the second preset point of action and the third preset point of action for the second distance; The second equivalent distance is determined based on the vehicle's longitudinal tilt angle, the second distance, and the second lever arm correction. The second equivalent distance is used to represent the equivalent horizontal distance between the second preset point of action and the third preset point of action when the vehicle is in a longitudinal tilt state. The second torque characterization value is calculated based on the second measured force and the second equivalent distance.

[0052] In this embodiment of the invention, optionally, a second lever arm correction amount is first obtained. The second lever arm correction amount represents the compensation value of the vertical height difference between the second and third preset points of action for the second distance. This vertical height difference refers to the coordinate difference between the second and third preset points of action in the Z-axis direction of the vehicle coordinate system. The second lever arm correction amount can be calculated using vehicle structural parameters, specifically, it is the vertical height difference between the second and third preset points of action multiplied by the tangent of the vehicle's longitudinal tilt angle. This correction amount is used to compensate for lever arm changes caused by vehicle tilt. In another implementation, the second lever arm correction amount can also be obtained through experimental calibration, that is, the value of the correction amount is calculated backwards under known tilt angle and known load conditions.

[0053] In another implementation, the second lever arm correction can also be dynamically adjusted based on the vehicle's usage time or cumulative mileage. As the vehicle's usage time increases, the suspension system may experience fatigue deformation or increased clearance, causing a change in the vertical height difference between the second and third preset application points. In this case, the second lever arm correction can be updated based on a preset attenuation curve or periodic calibration results.

[0054] Optionally, a second equivalent distance is then determined based on the vehicle's longitudinal tilt angle, the second distance, and the second lever arm correction. The second equivalent distance represents the equivalent horizontal distance between the second preset point of action and the third preset point of action when the vehicle is in a longitudinal tilt state. Specifically, it is determined by multiplying the second distance by the cosine of the vehicle's longitudinal tilt angle and then subtracting the second lever arm correction. This correction comprehensively considers the impact of vehicle tilt on the horizontal projected distance and the additional lever arm change caused by the vertical height difference. In another implementation, the second distance can be added to the second lever arm correction and then multiplied by the cosine of the vehicle's longitudinal tilt angle; these two methods are mathematically equivalent.

[0055] Optionally, finally, a second torque characterization value is calculated based on the second measured force and the second equivalent distance. Multiplying the second measured force by the second equivalent distance yields a corrected second torque characterization value. This corrected second torque characterization value more accurately reflects the actual torque effect of the second measured force on the third preset point of application when the vehicle is tilted.

[0056] As can be seen, implementing this optional embodiment involves obtaining the second lever arm correction amount, determining the second equivalent distance by combining the vehicle's longitudinal tilt angle and the second distance, and then calculating the second torque characterization value by combining the second measuring force. This scheme can reduce the lever arm calculation deviation caused by the structural height difference by compensating for the influence of the vertical height difference between the second and third preset action points on the lever arm under tilted conditions. This is beneficial to improving the calculation accuracy of the second torque characterization value, and further beneficial to improving the accuracy of the torque difference value, thus achieving overall optimization of the weighing results. Furthermore, by introducing vertical height difference compensation, this scheme can make the determination of the second equivalent distance more consistent with the actual geometric relationship, reduce the nonlinear error caused by vehicle tilt, thereby improving the robustness of the weighing system under complex terrain, and thus helping to ensure the long-term stability of the weighing results, enabling the engineering implementation of high-precision weighing control.

[0057] 105. Calculate the torque difference based on the first torque value and the second torque value; In this embodiment of the invention, optionally, a torque difference is then calculated based on the first torque representation value and the second torque representation value. This torque difference reflects the relative magnitude relationship between the two torque representation values. Specifically, the torque difference can be obtained by subtracting the second torque representation value from the first torque representation value. In another implementation, the torque difference can also be obtained by subtracting the first torque representation value from the second torque representation value; in this case, the signs of the subsequent calculation formula need to be adjusted accordingly.

[0058] In this optional embodiment, as another optional implementation, the above-mentioned calculation of the torque difference based on the first torque characterization value and the second torque characterization value includes: The torque difference correction parameter is calculated based on the longitudinal tilt angle of the vehicle. The torque difference correction parameter is used to represent the reference deviation between the first torque characterization value and the second torque characterization value under the longitudinal tilt state of the vehicle. The torque difference is calculated based on the first torque characterization value, the second torque characterization value, and the torque difference correction parameter.

[0059] In this embodiment of the invention, optionally, firstly, a torque difference correction parameter is calculated based on the vehicle's longitudinal tilt angle. The torque difference correction parameter represents the reference deviation between the first torque characterization value and the second torque characterization value under the vehicle's longitudinal tilt state. This reference deviation is a systematic deviation caused by the inconsistency in the calculation references of the two torque characterization values ​​due to vehicle tilt. Specifically, the torque difference correction parameter can be obtained by multiplying the sine or tangent of the vehicle's longitudinal tilt angle by a preset coefficient. This preset coefficient can be calculated using vehicle structural parameters, such as the vertical height difference between the first hinge point and the third preset action point, or obtained through experimental calibration. In another implementation, the torque difference correction parameter can also be directly read from a pre-stored lookup table, which records the correction values ​​corresponding to different tilt angles. In yet another implementation, the torque difference correction parameter can also be dynamically calibrated based on the vehicle's longitudinal tilt angle and the vehicle's current unloaded state; that is, the torque difference is measured at different tilt angles when the vehicle is unloaded and stored as a reference deviation.

[0060] In another implementation, the torque difference correction parameters can be switched according to different vehicle operating modes. For example, when the vehicle is in heavy-load mode, the first set of correction parameters is used; when the vehicle is in unload mode, the second set of correction parameters is used; and when the vehicle is in half-load mode, the interpolation result of the first and second sets of correction parameters is used. Each set of correction parameters can be obtained and stored in advance through experimental calibration or simulation calculation.

[0061] Optionally, the torque difference is then calculated based on the first torque characterization value, the second torque characterization value, and the torque difference correction parameter. Specifically, the second torque characterization value is first subtracted from the first torque characterization value to obtain a preliminary difference. Then, the torque difference correction parameter is added to or subtracted from the preliminary difference to obtain the final torque difference. This correction ensures that the torque difference accurately reflects the true difference between the two torques, eliminating systematic errors caused by vehicle tilt. In another implementation, the first and second torque characterization values ​​can be corrected separately before calculating the difference.

[0062] As can be seen, this optional embodiment calculates the torque difference correction parameter based on the vehicle's longitudinal tilt angle and combines the first torque characterization value and the second torque characterization value to calculate the final torque difference. This scheme can reduce the impact of systematic errors on the torque difference by eliminating the reference deviation between the two torque characterization values ​​caused by vehicle tilt, thereby improving the accuracy of the torque difference and thus improving the calculation accuracy of the final loaded material weight, achieving refined correction of the weighing results. Furthermore, by introducing correction parameters, this scheme can ensure that the torque difference maintains a consistent physical meaning under different tilt angles, reducing calculation distortion caused by differences in the moment taking point, thereby improving the weighing system's adaptability to slope changes, and thus ensuring the weighing accuracy of the vehicle under various working conditions such as uphill, downhill, and level roads, improving the feasibility of all-condition weighing.

[0063] 106. Calculate the weight of the loaded material of the mining dump truck based on the torque difference and the third distance.

[0064] In this embodiment of the invention, optionally, the weight of the loaded material in the mining dump truck is calculated finally based on the torque difference and the third distance. This calculation utilizes the torque balance principle; dividing the torque difference by the third distance yields the weight of the loaded material. This weight is the actual weight of the material inside the cargo box and can be used for overload warnings, loading control, transportation records, and other purposes. In another implementation, the torque difference can be divided by the third distance and then multiplied by a weight correction factor. This correction factor is used to compensate for systematic errors such as the cargo box's own weight and cylinder friction.

[0065] In this optional embodiment, as yet another optional implementation, the above-mentioned calculation of the weight of the loaded material of the mining dump truck based on the torque difference and the third distance includes: Obtain the third lever arm correction amount; the third lever arm correction amount is used to represent the compensation value of the vertical height difference between the third preset point of action and the first hinge point for the third distance; The third equivalent distance is determined based on the vehicle's longitudinal tilt angle, the third distance, and the third lever arm correction. The third equivalent distance is used to represent the equivalent horizontal distance between the third preset point of action and the first hinge point when the vehicle is in a longitudinal tilt state. The weight of the loaded material is calculated based on the torque difference and the third equivalent distance.

[0066] In this embodiment of the invention, optionally, the third lever arm correction amount is first obtained. The third lever arm correction amount is used to represent the compensation value of the vertical height difference between the third preset point of action and the first hinge point for the third distance. The vertical height difference refers to the coordinate difference between the third preset point of action and the first hinge point in the Z-axis direction of the vehicle coordinate system. The third lever arm correction amount can be calculated through vehicle structural parameters, specifically, it is the vertical height difference between the third preset point of action and the first hinge point multiplied by the tangent of the longitudinal tilt angle of the entire vehicle. In another implementation, the third lever arm correction amount can also be obtained through experimental calibration.

[0067] Optionally, a third equivalent distance is then determined based on the vehicle's longitudinal tilt angle, the third distance, and the third lever arm correction. The third equivalent distance represents the equivalent horizontal distance between the third preset point of action and the first hinge point when the vehicle is in a longitudinal tilt state. Specifically, it is determined by multiplying the third distance by the cosine of the vehicle's longitudinal tilt angle and then subtracting the third lever arm correction. This correction ensures that the third distance accurately reflects the actual lever arm relationship between the two moment-taking points when the vehicle is tilted.

[0068] Optionally, the weight of the loaded material is then calculated based on the torque difference and the third equivalent distance. Dividing the torque difference by the third equivalent distance yields the weight of the loaded material. This weight is the actual weight of the material after tilt correction, more accurately reflecting the true load of the vehicle when tilted. Alternatively, the torque difference can be divided by the third equivalent distance and then multiplied by a weight correction factor. This correction factor compensates for systematic errors such as the cargo box's own weight, cylinder friction, and hinge point friction.

[0069] As can be seen, implementing this optional embodiment involves obtaining the third lever arm correction amount, determining the third equivalent distance by combining the vehicle's longitudinal tilt angle and the third distance, and then calculating the weight of the loaded material by combining the torque difference. This scheme can reduce the denominator error in the final division operation by compensating for the influence of the vertical height difference between the third preset point of action and the first hinge point on the lever arm in the tilted state, thereby improving the accuracy of the loaded material weight calculation and thus improving the final output quality of the weighing system, achieving a high-confidence weighing result. Furthermore, by perfecting the correction of the third distance, this scheme can ensure that the entire torque balance model maintains strict physical accuracy in the tilted state, reducing the cumulative error caused by geometric approximation, thereby improving the theoretical completeness of the weighing system.

[0070] As can be seen, implementing this invention can determine the first measuring force acting on the cargo box and the second measuring force acting on the chassis, and calculate the first torque characterization value and the second torque characterization value by combining their respective first distance, second distance and third distance, and then calculate the torque difference. Finally, the weight of the loaded material is calculated based on the torque difference and the third distance. This scheme can establish a weighing calculation model based on torque balance by combining multiple measuring forces and three structural distance parameters, reducing the dependence on the material's center of gravity position information. This is beneficial to improving the stability and reliability of the weighing results under different loading distribution conditions, thereby improving the working condition adaptability of the weighing control method for mining dump trucks and achieving an overall improvement in weighing accuracy. Furthermore, by calculating the torque difference and combining it with the third distance, this scheme can eliminate the calculation deviation caused by the offset of the material's center of gravity, reduce the influence of changes in the material distribution state on the weighing results, thereby improving the anti-interference ability of the weighing results, and thus ensuring the accuracy of overload warning and loading control, thereby improving the safety of vehicle transportation.

[0071] Example 2 Please see Figure 2 , Figure 2 This is a flowchart illustrating another weighing control method for mining dump trucks disclosed in an embodiment of the present invention. Figure 2 The described weighing control method for mining dump trucks can be applied to mining dump trucks, such as articulated dump trucks, wide-body dump trucks, and rigid dump trucks. It can also be applied to intelligent devices associated with mining dump trucks, including but not limited to one or more of the following: switching devices, cloud devices, edge computing devices, relay devices, base station devices, urban management devices, and intelligent connected devices. This invention does not limit the application of this method. Figure 2 As shown, the weighing control method for this mining dump truck may include the following operations: 201. Determine the first measuring force and the second measuring force; the first measuring force is the vertical force acting on the first preset point of application of the cargo box; the second measuring force is the vertical force acting on the second preset point of application of the vehicle frame; 202. Determine the first distance, the second distance, and the third distance; the first distance is the horizontal distance between the first preset point of action and the first hinge point between the cargo box and the vehicle frame; the second distance is the horizontal distance between the second preset point of action and the third preset point of action on the vehicle frame; the third distance is the horizontal distance between the third preset point of action and the first hinge point. 203. Calculate the first torque characterization value based on the first measuring force and the first distance. The first torque characterization value is used to reflect the torque effect of the first measuring force on the first hinge point. 204. Based on the second measuring force and the second distance, calculate the second torque characterization value. The second torque characterization value is used to reflect the torque effect of the second measuring force on the third preset point of application. 205. Calculate the torque difference based on the first torque value and the second torque value; 206. Calculate the weight of the loaded material on the mining dump truck based on the torque difference and the third distance; In this embodiment of the invention, for other supplementary explanations of steps 201-206, please refer to the supplementary explanations of steps 101-106 in Embodiment 1. This embodiment of the invention will not repeat them here.

[0072] 207. Obtain the lateral tilt angle and longitudinal acceleration of the entire mining dump truck; 208. Determine the lateral compensation parameters based on the lateral tilt angle of the entire vehicle; the lateral compensation parameters are used to correct the deviation of the weight of the loaded material under lateral tilt. 209. Determine the inertia compensation parameters based on the longitudinal acceleration; the inertia compensation parameters are used to correct the influence of inertial force on the weight of the loaded material during the acceleration and deceleration of the mining dump truck. 210. Based on the lateral compensation parameters and inertia compensation parameters, the weight of the loaded material is corrected to obtain the corrected weight of the loaded material.

[0073] In this embodiment of the invention, optionally, the lateral tilt angle and longitudinal acceleration of the mining dump truck are first acquired. The lateral tilt angle represents the degree of tilt of the mining dump truck in the left-right direction, i.e., the vehicle's roll angle, which can be measured by a tilt sensor or a gyroscope. The longitudinal acceleration represents the motion state of the mining dump truck in the front-rear direction, i.e., the vehicle's acceleration and deceleration, which can be directly measured by an acceleration sensor or calculated by the derivative of the vehicle speed with respect to time. In another implementation, the longitudinal acceleration can also be indirectly estimated from the brake pressure signal or engine torque signal on the vehicle's CAN bus.

[0074] Optionally, the lateral compensation parameters are then determined based on the vehicle's lateral tilt angle. These parameters correct for deviations in the weight of the loaded material under lateral tilt. When the vehicle is laterally tilted, the material in the cargo box exerts asymmetrical loads on the suspensions on both sides, causing deviations in the weight calculated based on longitudinal moment balance. The lateral compensation parameters can be obtained through experimental calibration, specifically as a function of the lateral tilt angle, for example, by multiplying the sine of the lateral tilt angle by a compensation coefficient. This compensation coefficient depends on structural parameters such as the vehicle's track width, suspension stiffness, and cargo box width. In another implementation, the lateral compensation parameters can also be read from a pre-stored lookup table that records compensation values ​​corresponding to different lateral tilt angles.

[0075] In another implementation, the lateral compensation parameters can be adaptively updated through online learning. Specifically, under ideal conditions where the vehicle is on a known flat road surface with no lateral tilt, the output value of the weighing system is recorded and compared with a reference value. Based on the comparison result, the lateral compensation parameters are incrementally adjusted. As the running time increases, the lateral compensation parameters gradually converge to the optimal value.

[0076] Optionally, inertial compensation parameters can be determined based on longitudinal acceleration. These parameters correct for the impact of inertial forces on the weight of the loaded material during acceleration and deceleration of the mining dump truck. When the vehicle accelerates or decelerates, the material is subjected to inertial forces, causing changes in the force exerted by the cargo box on the chassis, thus affecting the weighing results. Inertial compensation parameters can be obtained through experimental calibration; specifically, they are functions of longitudinal acceleration, for example, by multiplying the longitudinal acceleration by a compensation coefficient. This compensation coefficient depends on parameters such as the vehicle's mass distribution, suspension characteristics, and the connection method between the cargo box and the chassis. In another implementation, the inertial compensation parameters can also be read from a pre-stored lookup table.

[0077] In another implementation, the inertial compensation parameters can be segmented according to the direction and magnitude of the longitudinal acceleration. When the longitudinal acceleration is positive (acceleration), the first set of inertial compensation coefficients is used; when the longitudinal acceleration is negative (deceleration), the second set of inertial compensation coefficients is used. Each set of inertial compensation coefficients can be further subdivided into multiple acceleration intervals, each interval corresponding to a different compensation value, to improve the precision of the compensation.

[0078] Optionally, the weight of the loaded material is then corrected based on the lateral compensation parameters and inertia compensation parameters to obtain the corrected weight. Specifically, the lateral compensation parameters and inertia compensation parameters are superimposed on the weight of the loaded material; for example, the weight is added to the lateral compensation value and the inertia compensation value, or multiplied by a comprehensive correction coefficient. In another implementation, the weight of the loaded material can be corrected laterally first, then inertially, or both simultaneously. The corrected weight of the loaded material more accurately reflects the actual load of the vehicle under complex operating conditions, improving the adaptability and accuracy of the weighing system.

[0079] In another implementation, the lateral compensation parameters and inertial compensation parameters can also be adaptively adjusted according to the current weight of the vehicle's load. Specifically, different compensation coefficients can be used in different load ranges; for example, light load, medium load, and heavy load ranges each correspond to a set of independent compensation parameters. The compensation parameters corresponding to each load range can be obtained and stored in advance through experimental calibration or simulation calculation.

[0080] As can be seen, by acquiring the lateral tilt angle and longitudinal acceleration of the entire vehicle, the lateral compensation parameters and inertial compensation parameters are determined, and the weight of the loaded material is corrected. This solution can reduce weighing deviations under complex working conditions by compensating for the additional force effects caused by vehicle tilting and acceleration / deceleration, thereby improving the accuracy of weighing results in real working environments. This, in turn, helps expand the application scenarios of the weighing system and realize the transformation from static weighing to quasi-dynamic weighing. Furthermore, by introducing a multi-dimensional compensation mechanism, this solution enables the weighing system to output reliable data even during dynamic processes such as vehicle turning, braking, and acceleration, reducing errors caused by changes in operating habits or road conditions. This helps increase the driver's trust in the weighing system, thereby promoting the intelligent upgrading of overload prevention and transportation management, and achieving a dual improvement in mine transportation safety and efficiency.

[0081] In an embodiment of the present invention, as an optional implementation, the method further includes, before determining the first measuring force and the second measuring force: Obtain the speed and cargo box lifting status of the mining dump truck; Based on the vehicle speed, determine the vehicle speed status parameters; the vehicle speed status parameters are used to indicate whether the movement speed of the mining dump truck is within the preset weighing stability range; Based on the cargo box's lifting status, determine the cargo box's attitude parameters; the cargo box attitude parameters are used to indicate whether the cargo box is in a non-lifted, stationary position. The dynamic stability state is determined based on the vehicle speed state parameters and cargo box attitude parameters; the dynamic stability state is used to indicate that the mining dump truck is in a mechanical equilibrium condition suitable for performing weighing calculations. Based on the dynamic steady state, the operation of determining the first and second measuring forces is triggered.

[0082] In this embodiment of the invention, optionally, the vehicle speed and cargo box lifting status of the mining dump truck are first acquired. The vehicle speed, measured in kilometers per hour, can be obtained via the vehicle's CAN bus from a speed sensor or wheel speed sensor. The speed sensor can be a Hall effect sensor or a magnetoelectric sensor, mounted on the gearbox output shaft or wheel hub. The cargo box lifting status can be obtained via a cargo box lifting angle sensor or a lifting cylinder limit switch, used to determine whether the cargo box is in a lifted state. The lifting angle sensor can be installed at the hinge point between the cargo box and the chassis to measure the angle of rotation of the cargo box relative to the chassis; the limit switch can be installed on the cylinder of the lifting cylinder to detect whether the piston rod has extended.

[0083] Optionally, the vehicle speed status parameter is then determined based on the vehicle speed. This parameter indicates whether the mining dump truck's speed is within a preset weighing stability range. The preset weighing stability range can be set as a small range where the vehicle speed is close to zero; for example, a speed less than 3 kilometers per hour indicates the vehicle is stationary or about to stop. The speed status parameter is true when the speed is within this range; otherwise, it is false. In another implementation, the preset weighing stability range can also consider the rate of change of vehicle speed, i.e., acceleration. The speed status parameter is only considered true when the acceleration is also less than a certain threshold.

[0084] Optionally, cargo box attitude parameters can be determined based on the cargo box's lifting state. These parameters indicate whether the cargo box is in a stationary, non-lifted position. When the cargo box is fully lowered and in contact with the vehicle frame, and the lifting cylinder is retracted, the cargo box attitude parameters are true, indicating that the cargo box is in a stable posture suitable for weighing. When the cargo box is in the process of lifting or lowering, the cargo box attitude parameters are false. In another implementation, the cargo box's vibration state can also be considered; the cargo box attitude parameters are only considered true when the vibration amplitude is less than a certain threshold.

[0085] Optionally, a dynamic stable state can be determined based on vehicle speed parameters and cargo box attitude parameters. The dynamic stable state represents the mechanical equilibrium condition suitable for performing weighing calculations on the mining dump truck. When both the vehicle speed parameter and the cargo box attitude parameter are true, the dynamic stable state is true, indicating that the vehicle is stationary and the cargo box is not lifted. At this point, the vehicle is in a stable mechanical equilibrium state, and the weighing calculation conditions are most ideal. In another implementation, the dynamic stable state can also incorporate the parking brake state as an additional condition. When the parking brake is active, the dynamic stable state is more easily satisfied.

[0086] In another implementation, the dynamic stability state can be determined using a multi-level judgment method. The first level is the primary stability state, which only requires the vehicle speed to be below a first threshold and the cargo box not to be raised; the second level is the intermediate stability state, which requires the vehicle speed to be below a second threshold (the second threshold is less than the first threshold), the cargo box not to be raised, and the parking brake to be activated; the third level is the advanced stability state, which requires the vehicle speed to be zero, the cargo box not to be raised, the parking brake to be activated, and the engine to be idling stably. Different levels of dynamic stability state correspond to different weighing accuracy requirements. When higher accuracy weighing results are required, a higher level of stability state can be selected as the trigger condition.

[0087] Optionally, based on the dynamic steady-state, the controller can trigger the operation to determine the first and second measuring forces. When the dynamic steady-state is true, the controller begins executing subsequent weighing calculation steps; when the dynamic steady-state is false, the controller pauses the weighing calculation or waits until the dynamic steady-state becomes true. This triggering mechanism avoids inaccurate weighing calculations during vehicle movement or cargo box lifting, improving the reliability of the weighing results. In another implementation, when the dynamic steady-state is false, the controller can buffer the current first and second pressure signals, processing them only after the dynamic steady-state becomes true.

[0088] As can be seen, this optional embodiment determines the vehicle speed and cargo box attitude parameters by acquiring the vehicle speed and cargo box lifting status, thereby determining the dynamic stable state and triggering subsequent weighing calculation operations based on this state. This scheme ensures that weighing calculations are performed only under stable conditions where the vehicle is stationary and the cargo box is not lifted, reducing dynamic interference caused by vehicle movement and cargo box actions. This improves the repeatability and reliability of weighing results, helps avoid erroneous weighings due to unstable operating conditions, and achieves efficient and reliable operation of the weighing system. Furthermore, by introducing a triggering mechanism, this scheme reduces the ineffective computational load on the controller, extends the system's lifespan, improves the energy efficiency and durability of the weighing system, and ultimately reduces vehicle operation and maintenance costs, achieving economic improvements in intelligent weighing management.

[0089] Example 3 Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of a weighing control system for a mining dump truck disclosed in an embodiment of the present invention. This weighing control system can be applied to various mining dump trucks, such as articulated dump trucks, wide-body dump trucks, and rigid dump trucks. It can also be applied to intelligent devices associated with the mining dump truck. These intelligent devices include, but are not limited to, one or more of the following: switching devices, cloud devices, edge computing devices, relay devices, base station devices, urban management devices, and intelligent connected devices. The embodiments of the present invention do not limit the application of these devices. Figure 3 As shown, the weighing control system of this mining dump truck may include: The determining module 301 is used to determine a first measuring force and a second measuring force; the first measuring force is a vertical force acting on a first preset point of application of the cargo box; the second measuring force is a vertical force acting on a second preset point of application of the vehicle frame; The determining module 301 is also used to determine a first distance, a second distance, and a third distance; the first distance is the horizontal distance between the first preset point of action and the first hinge point between the cargo box and the frame; the second distance is the horizontal distance between the second preset point of action and the third preset point of action on the frame; the third distance is the horizontal distance between the third preset point of action and the first hinge point. Calculation module 302 is used to calculate a first torque characterization value based on the first measuring force and the first distance. The first torque characterization value is used to reflect the torque effect of the first measuring force on the first hinge point. The calculation module 302 is also used to calculate a second torque characterization value based on the second measuring force and the second distance. The second torque characterization value is used to reflect the torque effect of the second measuring force on the third preset point of application. The calculation module 302 is also used to calculate the torque difference based on the first torque characterization value and the second torque characterization value; The calculation module 302 is also used to calculate the weight of the loaded material of the mining dump truck based on the torque difference and the third distance.

[0090] As can be seen, implementing this invention can determine the first measuring force acting on the cargo box and the second measuring force acting on the chassis, and calculate the first torque characterization value and the second torque characterization value by combining their respective first distance, second distance and third distance, and then calculate the torque difference. Finally, the weight of the loaded material is calculated based on the torque difference and the third distance. This scheme can establish a weighing calculation model based on torque balance by combining multiple measuring forces and three structural distance parameters, reducing the dependence on the material's center of gravity position information. This is beneficial to improving the stability and reliability of the weighing results under different loading distribution conditions, thereby improving the working condition adaptability of the weighing control method for mining dump trucks and achieving an overall improvement in weighing accuracy. Furthermore, by calculating the torque difference and combining it with the third distance, this scheme can eliminate the calculation deviation caused by the offset of the material's center of gravity, reduce the influence of changes in the material distribution state on the weighing results, thereby improving the anti-interference ability of the weighing results, and thus ensuring the accuracy of overload warning and loading control, thereby improving the safety of vehicle transportation.

[0091] In this embodiment of the invention, as an optional implementation, the specific method by which the determining module 301 determines the first measuring force and the second measuring force includes: Acquire the first pressure signal detected by the first pressure sensor; the first pressure sensor is installed on the lifting cylinder or a dedicated weighing cylinder between the cargo box and the vehicle frame; Determine the first pressure value based on the first pressure signal; The first measured force is calculated based on the first pressure value and the first preset conversion parameter; the first preset conversion parameter is used to convert the cylinder pressure into a vertical force acting on the first preset point of action of the cargo box; Acquire the second pressure signal detected by the second pressure sensor; the second pressure sensor is installed on the front axle hydropneumatic suspension or the rear axle balance beam of the vehicle frame. The second pressure value is determined based on the second pressure signal; The second measured force is calculated based on the second pressure value and the second preset conversion parameter; the second preset conversion parameter is used to convert the suspension pressure into a vertical force acting on the second preset point of application of the frame.

[0092] As can be seen, implementing this optional embodiment involves acquiring a first pressure signal by placing a first pressure sensor on the lifting cylinder or a dedicated weighing cylinder, and calculating a first measuring force based on a first preset conversion parameter; simultaneously, acquiring a second pressure signal by placing a second pressure sensor on the front axle hydropneumatic suspension or the rear axle balance beam, and calculating a second measuring force based on a second preset conversion parameter. This solution can reduce the hardware cost and maintenance difficulty of the measurement system, thereby improving the economy and feasibility of the weighing system, and further promoting the widespread application of vehicle-mounted weighing technology in the field of mining dump trucks. Furthermore, by converting the cylinder pressure and suspension pressure into vertical forces respectively, this solution can fully utilize the vehicle's existing hydraulic system resources, reduce the need for additional dedicated sensors, thereby simplifying the system structure, improving the integration and reliability of the weighing system, and achieving low-cost deployment of the weighing function.

[0093] In this embodiment of the invention, as another optional implementation, the specific method by which the determining module 301 determines the first distance, the second distance, and the third distance includes: Obtain the vehicle structure parameters of the mining dump truck; the vehicle structure parameters include the coordinates of the first hinge point, the third preset action point, the first preset action point and the second preset action point in the vehicle coordinate system of the mining dump truck; Calculate the first distance based on the coordinates of the first preset point of action and the coordinates of the first hinge point; Calculate the second distance based on the coordinates of the second and third preset points of action; The third distance is calculated based on the coordinates of the third preset point of action and the coordinates of the first hinge point.

[0094] As can be seen, implementing this optional embodiment involves obtaining vehicle structural parameters, namely the coordinates of each key point in the vehicle coordinate system, and calculating each horizontal distance based on the coordinate differences. This solution can reduce the workload of on-site calibration by utilizing digital models from the vehicle design phase or measured data before delivery, thereby improving the calibration efficiency and accuracy of the weighing system. This, in turn, helps to shorten the debugging cycle before vehicle delivery and enables rapid batch deployment. Furthermore, by using coordinate calculation, this solution can ensure the accuracy and repeatability of each distance parameter, reducing system deviations caused by human measurement errors. This improves the quality of the basic data for weighing calculation, thereby enhancing the accuracy of the final weighing result and ensuring the long-term stability of the weighing system.

[0095] In this embodiment of the invention, as another optional implementation, the specific method by which the calculation module 302 calculates the first torque characterization value based on the first measured force and the first distance includes: Obtain the longitudinal tilt angle of the mining dump truck; the longitudinal tilt angle is used to represent the degree of tilt of the mining dump truck in the front-to-back direction. The first equivalent distance is determined based on the longitudinal tilt angle of the vehicle and the first distance; the first equivalent distance is used to represent the equivalent horizontal distance between the first preset point of action and the first hinge point when the vehicle is in a longitudinal tilt state. Calculate the first torque characterization value based on the first measured force and the first equivalent distance.

[0096] As can be seen, implementing this optional embodiment involves obtaining the longitudinal tilt angle of the entire vehicle, correcting the first distance to a first equivalent distance based on this angle, and then calculating the first torque characterization value in conjunction with the first measured force. This scheme can reduce the impact of vehicle tilt on the lever arm calculation by considering the actual posture of the vehicle on the slope, thereby improving the accuracy of the weighing results under non-level road conditions and expanding the applicability of the weighing system to achieve all-terrain weighing capability. Furthermore, by introducing an angle correction mechanism, this scheme can make the torque characterization value closer to the actual force state of the vehicle, reducing systematic errors caused by slope changes, thereby improving the accuracy and reliability of the weighing results, and thus ensuring the accuracy of overload judgment of the vehicle in different operating environments, achieving all-weather guarantee of transportation safety.

[0097] In this optional embodiment, as an optional implementation, the specific method by which the calculation module 302 calculates the second torque characterization value based on the second measured force and the second distance includes: Obtain the second lever arm correction amount; the second lever arm correction amount is used to represent the compensation value of the vertical height difference between the second preset point of action and the third preset point of action for the second distance; The second equivalent distance is determined based on the vehicle's longitudinal tilt angle, the second distance, and the second lever arm correction. The second equivalent distance is used to represent the equivalent horizontal distance between the second preset point of action and the third preset point of action when the vehicle is in a longitudinal tilt state. The second torque characterization value is calculated based on the second measured force and the second equivalent distance.

[0098] As can be seen, implementing this optional embodiment involves obtaining the second lever arm correction amount, determining the second equivalent distance by combining the vehicle's longitudinal tilt angle and the second distance, and then calculating the second torque characterization value by combining the second measuring force. This scheme can reduce the lever arm calculation deviation caused by the structural height difference by compensating for the influence of the vertical height difference between the second and third preset action points on the lever arm under tilted conditions. This is beneficial to improving the calculation accuracy of the second torque characterization value, and further beneficial to improving the accuracy of the torque difference value, thus achieving overall optimization of the weighing results. Furthermore, by introducing vertical height difference compensation, this scheme can make the determination of the second equivalent distance more consistent with the actual geometric relationship, reduce the nonlinear error caused by vehicle tilt, thereby improving the robustness of the weighing system under complex terrain, and thus helping to ensure the long-term stability of the weighing results, enabling the engineering implementation of high-precision weighing control.

[0099] In this optional embodiment, as another optional implementation, the calculation module 302 calculates the torque difference based on the first torque characterization value and the second torque characterization value in the following specific ways: The torque difference correction parameter is calculated based on the longitudinal tilt angle of the vehicle. The torque difference correction parameter is used to represent the reference deviation between the first torque characterization value and the second torque characterization value under the longitudinal tilt state of the vehicle. The torque difference is calculated based on the first torque characterization value, the second torque characterization value, and the torque difference correction parameter.

[0100] As can be seen, this optional embodiment calculates the torque difference correction parameter based on the vehicle's longitudinal tilt angle and combines the first torque characterization value and the second torque characterization value to calculate the final torque difference. This scheme can reduce the impact of systematic errors on the torque difference by eliminating the reference deviation between the two torque characterization values ​​caused by vehicle tilt, thereby improving the accuracy of the torque difference and thus improving the calculation accuracy of the final loaded material weight, achieving refined correction of the weighing results. Furthermore, by introducing correction parameters, this scheme can ensure that the torque difference maintains a consistent physical meaning under different tilt angles, reducing calculation distortion caused by differences in the moment taking point, thereby improving the weighing system's adaptability to slope changes, and thus ensuring the weighing accuracy of the vehicle under various working conditions such as uphill, downhill, and level roads, improving the feasibility of all-condition weighing.

[0101] In this optional embodiment, as yet another optional implementation, the specific method by which the calculation module 302 calculates the weight of the loaded material of the mining dump truck based on the torque difference and the third distance includes: Obtain the third lever arm correction amount; the third lever arm correction amount is used to represent the compensation value of the vertical height difference between the third preset point of action and the first hinge point for the third distance; The third equivalent distance is determined based on the vehicle's longitudinal tilt angle, the third distance, and the third lever arm correction. The third equivalent distance is used to represent the equivalent horizontal distance between the third preset point of action and the first hinge point when the vehicle is in a longitudinal tilt state. The weight of the loaded material is calculated based on the torque difference and the third equivalent distance.

[0102] As can be seen, implementing this optional embodiment involves obtaining the third lever arm correction amount, determining the third equivalent distance by combining the vehicle's longitudinal tilt angle and the third distance, and then calculating the weight of the loaded material by combining the torque difference. This scheme can reduce the denominator error in the final division operation by compensating for the influence of the vertical height difference between the third preset point of action and the first hinge point on the lever arm in the tilted state, thereby improving the accuracy of the loaded material weight calculation and thus improving the final output quality of the weighing system, achieving a high-confidence weighing result. Furthermore, by perfecting the correction of the third distance, this scheme can ensure that the entire torque balance model maintains strict physical accuracy in the tilted state, reducing the cumulative error caused by geometric approximation, thereby improving the theoretical completeness of the weighing system.

[0103] In an optional embodiment, such as Figure 4 As shown, the system also includes: The first acquisition module 303 is used to acquire the speed of the mining dump truck and the lifting status of the cargo box before the determining module determines the first measuring force and the second measuring force. The determination module 301 is also used to determine the vehicle speed status parameter based on the vehicle speed; the vehicle speed status parameter is used to indicate whether the movement speed of the mining dump truck is within the preset weighing stability range. The determination module 301 is also used to determine the cargo box attitude parameters based on the cargo box lifting state; the cargo box attitude parameters are used to indicate whether the cargo box is in a non-lifted stationary position. The determination module 301 is also used to determine the dynamic stability state based on the vehicle speed state parameters and the cargo box attitude parameters; the dynamic stability state is used to indicate that the mining dump truck is in a mechanical equilibrium condition suitable for performing weighing calculations. The determination module 301 is also used to trigger the execution of the operation of determining the first measuring force and the second measuring force based on the dynamic steady state.

[0104] As can be seen, this optional embodiment determines the vehicle speed and cargo box attitude parameters by acquiring the vehicle speed and cargo box lifting status, thereby determining the dynamic stable state and triggering subsequent weighing calculation operations based on this state. This scheme ensures that weighing calculations are performed only under stable conditions where the vehicle is stationary and the cargo box is not lifted, reducing dynamic interference caused by vehicle movement and cargo box actions. This improves the repeatability and reliability of weighing results, helps avoid erroneous weighings due to unstable operating conditions, and achieves efficient and reliable operation of the weighing system. Furthermore, by introducing a triggering mechanism, this scheme reduces the ineffective computational load on the controller, extends the system's lifespan, improves the energy efficiency and durability of the weighing system, and ultimately reduces vehicle operation and maintenance costs, achieving economic improvements in intelligent weighing management.

[0105] In another alternative embodiment, such as Figure 4 As shown, the system also includes: The second acquisition module 304 is used to acquire the lateral tilt angle and longitudinal acceleration of the mining dump truck. The determination module 301 is also used to determine the lateral compensation parameters based on the lateral tilt angle of the whole vehicle; the lateral compensation parameters are used to correct the deviation of the weight of the loaded material in the lateral tilt state; The determination module 301 is also used to determine the inertia compensation parameters based on the longitudinal acceleration; the inertia compensation parameters are used to correct the influence of inertial force on the weight of the loaded material when the mining dump truck accelerates or decelerates. The correction module 305 is used to correct the weight of the loaded material based on the lateral compensation parameters and the inertia compensation parameters, so as to obtain the corrected weight of the loaded material.

[0106] As can be seen, by acquiring the lateral tilt angle and longitudinal acceleration of the entire vehicle, the lateral compensation parameters and inertial compensation parameters are determined, and the weight of the loaded material is corrected. This solution can reduce weighing deviations under complex working conditions by compensating for the additional force effects caused by vehicle tilting and acceleration / deceleration, thereby improving the accuracy of weighing results in real working environments. This, in turn, helps expand the application scenarios of the weighing system and realize the transformation from static weighing to quasi-dynamic weighing. Furthermore, by introducing a multi-dimensional compensation mechanism, this solution enables the weighing system to output reliable data even during dynamic processes such as vehicle turning, braking, and acceleration, reducing errors caused by changes in operating habits or road conditions. This helps increase the driver's trust in the weighing system, thereby promoting the intelligent upgrading of overload prevention and transportation management, and achieving a dual improvement in mine transportation safety and efficiency.

[0107] Example 4 Please see Figure 5 , Figure 5This is a schematic diagram of the structure of another weighing control system for a mining dump truck disclosed in an embodiment of the present invention. This weighing control system for mining dump trucks can be applied to various types of mining dump trucks, such as articulated dump trucks, wide-body dump trucks, and rigid dump trucks. It can also be applied to intelligent devices associated with the mining dump truck. These intelligent devices include, but are not limited to, one or more of the following: switching devices, cloud devices, edge computing devices, relay devices, base station devices, urban management devices, and intelligent connected devices. The embodiments of the present invention do not limit the application of these devices. Figure 5 As shown, the weighing control system of this mining dump truck may include: Memory 401 that stores executable program code.

[0108] Processor 402 coupled to memory 401.

[0109] The processor 402 calls the executable program code stored in the memory 401 to execute the steps in the weighing control method for mining dump trucks described in Embodiment 1 or Embodiment 2 of the present invention.

[0110] Example 5 This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute the steps in the weighing control method for mining dump trucks described in Embodiment 1 or Embodiment 2 of this invention.

[0111] Example 6 This invention discloses a computer program product, which includes a non-transitory computer storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps in the weighing control method for a mining dump truck described in Embodiment 1 or Embodiment 2.

[0112] The system embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0113] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0114] Finally, it should be noted that the weighing control method and system for mining dump trucks disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A weighing control method for a mining dump truck, characterized in that, The method includes: Determine a first measuring force and a second measuring force; the first measuring force is a vertical force acting on a first preset point of application of the cargo box; the second measuring force is a vertical force acting on a second preset point of application of the vehicle frame; A first distance, a second distance, and a third distance are determined; the first distance is the horizontal distance between the first preset point of action and the first hinge point between the cargo box and the vehicle frame; the second distance is the horizontal distance between the second preset point of action and a preset third point of action on the vehicle frame; the third distance is the horizontal distance between the third preset point of action and the first hinge point. Based on the first measured force and the first distance, a first torque characterization value is calculated. The first torque characterization value is used to reflect the torque effect of the first measured force on the first hinge point. Based on the second measured force and the second distance, a second torque characterization value is calculated. The second torque characterization value is used to reflect the torque effect of the second measured force on the third preset point of application. The torque difference is calculated based on the first torque characterization value and the second torque characterization value; The weight of the loaded material in the mining dump truck is calculated based on the torque difference and the third distance.

2. The weighing control method for mining dump trucks according to claim 1, characterized in that, Determining the first measuring force and the second measuring force includes: Acquire the first pressure signal detected by the first pressure sensor; the first pressure sensor is installed on the lifting cylinder or a dedicated weighing cylinder between the cargo box and the vehicle frame; Based on the first pressure signal, determine the first pressure value; The first measured force is calculated based on the first pressure value and the first preset conversion parameter; the first preset conversion parameter is used to convert the cylinder pressure into a vertical force acting on the first preset point of action of the cargo box; Acquire a second pressure signal detected by a second pressure sensor; the second pressure sensor is mounted on the front axle hydropneumatic suspension or the rear axle balance beam of the vehicle frame. Based on the second pressure signal, determine the second pressure value; The second measured force is calculated based on the second pressure value and the second preset conversion parameter; the second preset conversion parameter is used to convert the suspension pressure into a vertical force acting on the second preset point of application of the vehicle frame.

3. The weighing control method for mining dump trucks according to claim 1, characterized in that, Determining the first distance, the second distance, and the third distance includes: Obtain the vehicle structure parameters of the mining dump truck; the vehicle structure parameters include the coordinates of the first hinge point, the third preset action point, the first preset action point, and the second preset action point in the vehicle coordinate system of the mining dump truck; Calculate the first distance based on the coordinates of the first preset point of action and the coordinates of the first hinge point; The second distance is calculated based on the coordinates of the second preset point of action and the coordinates of the third preset point of action; The third distance is calculated based on the coordinates of the third preset point of action and the coordinates of the first hinge point.

4. The weighing control method for mining dump trucks according to claim 1, characterized in that, The step of calculating the first torque characterization value based on the first measured force and the first distance includes: Obtain the longitudinal tilt angle of the mining dump truck; the longitudinal tilt angle is used to represent the degree of tilt of the mining dump truck in the front-to-back direction; Based on the vehicle's longitudinal tilt angle and the first distance, a first equivalent distance is determined; the first equivalent distance is used to represent the equivalent horizontal distance between the first preset point of action and the first hinge point when the vehicle is in a longitudinal tilt state. The first torque characterization value is calculated based on the first measured force and the first equivalent distance.

5. The weighing control method for mining dump trucks according to claim 4, characterized in that, The step of calculating the second torque characterization value based on the second measured force and the second distance includes: Obtain the second lever arm correction amount; the second lever arm correction amount is used to represent the compensation value of the vertical height difference between the second preset point of action and the third preset point of action for the second distance; The second equivalent distance is determined based on the vehicle longitudinal tilt angle, the second distance, and the second lever arm correction; the second equivalent distance is used to represent the equivalent horizontal distance between the second preset point of action and the third preset point of action under the vehicle longitudinal tilt state; The second torque characterization value is calculated based on the second measured force and the second equivalent distance.

6. The weighing control method for mining dump trucks according to claim 4, characterized in that, The step of calculating the torque difference based on the first torque characterization value and the second torque characterization value includes: Based on the longitudinal tilt angle of the vehicle, a torque difference correction parameter is calculated; the torque difference correction parameter is used to represent the reference deviation between the first torque characterization value and the second torque characterization value under the longitudinal tilt state of the vehicle. The torque difference is calculated based on the first torque characterization value, the second torque characterization value, and the torque difference correction parameter.

7. The weighing control method for mining dump trucks according to claim 4, characterized in that, The step of calculating the weight of the loaded material of the mining dump truck based on the torque difference and the third distance includes: Obtain the third lever arm correction amount; the third lever arm correction amount is used to represent the compensation value of the vertical height difference between the third preset point of action and the first hinge point for the third distance; The third equivalent distance is determined based on the vehicle longitudinal tilt angle, the third distance, and the third lever arm correction amount; the third equivalent distance is used to represent the equivalent horizontal distance between the third preset action point and the first hinge point in the vehicle longitudinal tilt state. The weight of the loaded material is calculated based on the torque difference and the third equivalent distance.

8. The weighing control method for a mining dump truck according to any one of claims 1-7, characterized in that, Before determining the first measuring force and the second measuring force, the method further includes: The speed and cargo box lifting status of the mining dump truck are obtained; Based on the vehicle speed, a vehicle speed state parameter is determined; the vehicle speed state parameter is used to indicate whether the movement speed of the mining dump truck is within a preset weighing stability range. Based on the cargo box's lifting state, determine the cargo box's attitude parameters; the cargo box attitude parameters are used to indicate whether the cargo box is in a non-lifted, stationary position. The dynamic stability state is determined based on the vehicle speed state parameters and the cargo box attitude parameters; the dynamic stability state is used to indicate that the mining dump truck is in a mechanical equilibrium condition suitable for performing weighing calculations. Based on the dynamic stable state, the operation of determining the first and second measuring forces is triggered.

9. The weighing control method for a mining dump truck according to any one of claims 1-7, characterized in that, The method further includes: Obtain the lateral tilt angle and longitudinal acceleration of the mining dump truck. Based on the lateral tilt angle of the vehicle, a lateral compensation parameter is determined; the lateral compensation parameter is used to correct the deviation of the weight of the loaded material under lateral tilt. Based on the longitudinal acceleration, inertial compensation parameters are determined; these parameters are used to correct the influence of inertial force on the weight of the loaded material during the acceleration and deceleration of the mining dump truck. The weight of the loaded material is corrected based on the lateral compensation parameter and the inertia compensation parameter to obtain the corrected weight of the loaded material.

10. A weighing control system for a mining dump truck, characterized in that, The system includes: The determination module is used to determine a first measuring force and a second measuring force; the first measuring force is a vertical force acting on a first preset point of application of the cargo box; the second measuring force is a vertical force acting on a second preset point of application of the vehicle frame; The determining module is further configured to determine a first distance, a second distance, and a third distance; the first distance is the horizontal distance between the first preset point of action and the first hinge point between the cargo box and the vehicle frame; the second distance is the horizontal distance between the second preset point of action and a preset third point of action on the vehicle frame; the third distance is the horizontal distance between the third preset point of action and the first hinge point. The calculation module is used to calculate a first torque characterization value based on the first measuring force and the first distance. The first torque characterization value is used to reflect the torque effect of the first measuring force on the first hinge point. The calculation module is further configured to calculate a second torque characterization value based on the second measuring force and the second distance, wherein the second torque characterization value is used to reflect the torque effect of the second measuring force on the third preset point of application; The calculation module is further configured to calculate the torque difference based on the first torque characterization value and the second torque characterization value; The calculation module is also used to calculate the weight of the loaded material of the mining dump truck based on the torque difference and the third distance.

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