A method and device for weighing a shovel, an electronic device and a storage medium

Abstract

This application provides a method, apparatus, electronic device, and storage medium for weighing a loader. The method includes: in response to the lifting action of the boom after the loader loads material, collecting displacement data; when the displacement data continuously increases from zero, collecting pressure data, slope angle data, and oil temperature data of the lifting cylinder; analyzing the stroke change of the displacement data using a sliding window algorithm to determine lifting stability; correcting the pressure data based on the slope angle data to obtain a first corrected pressure; then performing a second correction based on the correction coefficient corresponding to the oil temperature data to obtain the equivalent static pressure; and calculating and outputting the material weight based on the equivalent static pressure and the effective area of ​​the cylinder. This application achieves high-precision automatic measurement of material weight under complex working conditions through displacement triggering, sliding window stability determination, and dual compensation of slope and oil temperature, and automatically resets to standby after the operation cycle ends, improving weighing accuracy and continuous operation efficiency.

Description

Technical Field

[0001] This application relates to the field of loader technology, and more specifically, to a method, apparatus, electronic device and storage medium for weighing loaders. Background Technology

[0002] Loaders are core engineering equipment in mining, tunnel construction, and other similar scenarios. The weight of the materials they load directly affects ore grade calculation, production statistics, and cost control. Currently, automatic weighing technology for loaders mainly follows two paths: one is indirect calculation based on mechanical models, using parameters such as the lifting force of the lifting cylinder to establish a mathematical model to derive the material weight; its weighing logic relies on fixed operating environment assumptions. The other is mechanical contact triggering weighing, using proximity switches or limit devices to sense the boom's position signal, and then collecting instantaneous data from pressure sensors to complete the weight conversion; its data acquisition relies on the physical contact action of the mechanical structure. Both solutions attempt to achieve automatic measurement of material weight during loader operation.

[0003] However, existing technologies have significant shortcomings in practical applications. The mechanical model-based approach lacks a dynamically adaptable process for different operational stages of the loader, such as loading, lifting, and stabilization. Vibration interference data during lifting is easily included in the calculation, leading to large fluctuations in weighing results. Furthermore, it lacks compensation capabilities for slope operations and hydraulic oil temperature changes, resulting in significant systematic errors in mining slopes and continuous operation scenarios. The mechanical contact triggering approach collects single-point data at the moment the boom is in position, which lacks representativeness. It also lacks error correction modules for slope and oil temperature, making it unsuitable for complex working conditions in mobile operations, thus limiting both weighing accuracy and scenario adaptability. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method, apparatus, electronic device and storage medium for weighing a loader, so as to overcome the problems in the prior art.

[0005] In a first aspect, embodiments of this application provide a method for weighing a loader, the method comprising: In response to the lifting action of the boom after the loader loads material, displacement data representing the lifting stroke is collected. When the displacement data is detected to be continuously increasing from zero, pressure data of the lifting cylinder, vehicle slope angle data, and hydraulic oil temperature data are collected. The displacement data is analyzed in real time using a sliding window algorithm to calculate the amount of travel change within the window. When the amount of travel change is less than or equal to a preset stability threshold, the pressure data is corrected based on the slope angle data to obtain a first corrected pressure. The first corrected pressure is corrected a second time based on the correction coefficient corresponding to the collected temperature data to obtain the equivalent static pressure. The weight of the material is calculated and output based on the equivalent static pressure and the effective working area of ​​the lifting cylinder.

[0006] In some technical solutions of this application, the above method also includes: When the change in stroke within a preset number of consecutive sliding windows is less than or equal to a preset stability threshold, the boom is determined to have entered a stable lifting state. After determining that the lifting is stable, a delayed weighing phase is initiated. During the delayed weighing phase, the pressure data is corrected based on the slope angle data. The delay duration of the delayed weighing phase is a fixed duration pre-calibrated based on the mechanical vibration attenuation characteristics at the moment of stability determination.

[0007] In some technical solutions of this application, the above-mentioned correction of the pressure data based on the slope angle data to obtain the first corrected pressure includes: The weight of the material is decomposed into an effective component along the axis of the lifting cylinder and into an ineffective component along the axis perpendicular to the lifting cylinder. Based on the slope angle data, the pressure data is corrected for gravity component to eliminate the detection deviation caused by the slope, and the first corrected pressure is obtained.

[0008] In some technical solutions of this application, the first corrected pressure is corrected a second time based on the correction coefficient corresponding to the collected temperature data to obtain the equivalent static pressure, including: Based on the pre-established oil temperature-correction coefficient mapping relationship, the corresponding correction coefficient is determined by a linear interpolation algorithm according to the collected temperature data. The equivalent static pressure is obtained by multiplying the first corrected pressure by the correction coefficient.

[0009] In some technical solutions of this application, the above-mentioned oil temperature-correction coefficient mapping relationship is pre-established in the following way: During the calibration phase, the test temperature data of the hydraulic oil is controlled at different temperature points, and the test pressure corresponding to the standard weight of material in a horizontal state is measured. Calculate the correction factor required to make the test pressure equal to the standard pressure at each temperature point, form an oil temperature-correction factor mapping table and store it in advance.

[0010] In some technical solutions of this application, after calculating and outputting the material weight as described above, the following is also included: When the displacement data is detected to continuously decrease and return to zero, and remains stable at zero for a period of time exceeding the preset reset time, it is determined that a work cycle has ended. It automatically clears temporary data for the current work cycle and resets weighing-related parameters to their initial state, then enters standby mode to respond to the lifting action after the next loading.

[0011] In some technical solutions of this application, the aforementioned slope angle data is used to determine the longitudinal slope angle. The step of correcting the pressure data based on the slope angle data using the gravity component to eliminate detection deviations caused by the slope and obtain the first corrected pressure includes: The pressure data is converted using the cosine value of the longitudinal slope angle to compensate for the deviation of the detection value caused by the gravity component during ramp operation, and the converted pressure value is used as the first corrected pressure.

[0012] Secondly, embodiments of this application provide a weighing device for a loader, the device comprising: Pressure sensor used to collect pressure data from lifting cylinder; Tilt sensor is used to collect vehicle slope angle data; Temperature sensor, used to collect temperature data of hydraulic oil; Displacement sensors are used to collect displacement data that characterizes the lifting stroke; The controller, connected to the pressure sensor, the tilt sensor, the temperature sensor, and the displacement sensor respectively, is configured to execute the above-described method; Thirdly, embodiments of this application provide an electronic device, a processor, a memory, and a bus. The memory stores machine instructions executed by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine instructions are executed by the processor, the steps of the above-described method for weighing a shovel loader are performed.

[0013] Fourthly, embodiments of this application provide a computer storage medium storing a computer program, which, when executed by a processor, performs the steps of the above-described method for weighing a shovel loader.

[0014] The technical solutions provided by the embodiments of this application may include the following beneficial effects: This application provides a method for weighing a loader, the method comprising: in response to the lifting action of the boom after the loader loads material, collecting displacement data characterizing the lifting stroke; when the displacement data is detected to be continuously increasing from zero, collecting pressure data of the lifting cylinder, vehicle slope angle data, and collected temperature data of the hydraulic oil; performing real-time analysis of the displacement data using a sliding window algorithm to calculate the stroke change within the window; when the stroke change is less than or equal to a preset stability threshold, correcting the pressure data based on the slope angle data to obtain a first corrected pressure; performing a second correction on the first corrected pressure based on the correction coefficient corresponding to the collected temperature data to obtain an equivalent static pressure; and calculating and outputting the material weight based on the equivalent static pressure and the effective working area of ​​the lifting cylinder.

[0015] This application ensures that weighing only starts during the actual lifting phase by triggering the lifting after loading and continuously increasing the displacement detection, thus avoiding invalid data collection. It uses a sliding window algorithm to analyze the stroke change to determine lifting stability and avoids the interference of mechanical vibration on pressure data. Based on this, the pressure is corrected twice based on slope angle data and oil temperature data to eliminate the accuracy drift caused by slope gravity component deviation and oil temperature changes, and finally obtains accurate material weight, realizing high-precision automatic weighing under complex working conditions without manual intervention.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating a method for weighing a loader according to an embodiment of this application is shown. Figure 2 A schematic diagram of an apparatus for a method of weighing a loader provided in an embodiment of this application is shown; Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0020] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0021] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0022] Loaders are core engineering equipment in mining, tunnel construction, and other similar scenarios. The weight of the materials they load directly affects ore grade calculation, production statistics, and cost control. Currently, automatic weighing technology for loaders mainly follows two paths: one is indirect calculation based on mechanical models, using parameters such as the lifting force of the lifting cylinder to establish a mathematical model to derive the material weight; its weighing logic relies on fixed operating environment assumptions. The other is mechanical contact triggering weighing, using proximity switches or limit devices to sense the boom's position signal, and then collecting instantaneous data from pressure sensors to complete the weight conversion; its data acquisition relies on the physical contact action of the mechanical structure. Both solutions attempt to achieve automatic measurement of material weight during loader operation.

[0023] However, existing technologies have significant shortcomings in practical applications. The mechanical model-based approach lacks a dynamically adaptable process for different operational stages of the loader, such as loading, lifting, and stabilization. Vibration interference data during lifting is easily included in the calculation, leading to large fluctuations in weighing results. Furthermore, it lacks compensation capabilities for slope operations and hydraulic oil temperature changes, resulting in significant systematic errors in mining slopes and continuous operation scenarios. The mechanical contact triggering approach collects single-point data at the moment the boom is in position, which lacks representativeness. It also lacks error correction modules for slope and oil temperature, making it unsuitable for complex working conditions in mobile operations, thus limiting both weighing accuracy and scenario adaptability.

[0024] Based on this, the present application provides a method, apparatus, electronic device and storage medium for weighing a loader, which will be described below through embodiments.

[0025] Figure 1 The diagram illustrates a flow chart of a method for weighing a loader according to an embodiment of this application, wherein the method includes steps S101-S104; specifically: S101. In response to the lifting action of the boom after the loader loads material, collect displacement data representing the lifting stroke. When the displacement data is detected to be continuously increasing from zero, collect the pressure data of the lifting cylinder, the vehicle slope angle data, and the collected temperature data of the hydraulic oil. S102. The displacement data is analyzed in real time using a sliding window algorithm to calculate the amount of travel change within the window. When the amount of travel change is less than or equal to a preset stability threshold, the pressure data is corrected based on the slope angle data to obtain a first corrected pressure. S103. Based on the correction coefficient corresponding to the collected temperature data, the first correction pressure is corrected a second time to obtain the equivalent static pressure. S104. Calculate and output the material weight based on the equivalent static pressure and the effective working area of ​​the lifting cylinder.

[0026] This application ensures that weighing only starts during the actual lifting phase by triggering the lifting after loading and continuously increasing the displacement detection, thus avoiding invalid data collection. It uses a sliding window algorithm to analyze the stroke change to determine lifting stability and avoids the interference of mechanical vibration on pressure data. Based on this, the pressure is corrected twice based on slope angle data and oil temperature data to eliminate the accuracy drift caused by slope gravity component deviation and oil temperature changes, and finally obtains accurate material weight, realizing high-precision automatic weighing under complex working conditions without manual intervention.

[0027] The following describes some embodiments of this application in detail. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0028] After the loader completes the material loading, the operator controls the boom to perform a lifting action, marking the material's transition from the loading stage to the pre-transport lifting stage. This application utilizes this clearly defined operational node as the automation start signal for the weighing process to avoid invalid data collection during non-lifting operations.

[0029] To achieve this, a displacement sensor is deployed on the loader to sense the movement of the boom. The movable part of this sensor undergoes synchronous linear displacement as the boom extends and retracts, outputting a physical quantity that continuously reflects changes in the boom's lifting stroke in real time. The moment the boom begins to lift, the displacement data output by the sensor, characterizing the lifting stroke, continuously increases from a reference value (typically zero) representing the initial position. This continuously increasing pattern is a key characteristic distinguishing the lifting action from interference such as equipment vibration and signal noise. Therefore, this application uses a controller to analyze the trend of this displacement data in real time.

[0030] Specifically, the controller can run edge detection algorithms or similar signal edge detection logic to continuously monitor displacement data. Once it identifies a specific pattern in the displacement data—starting from zero and continuously increasing—it determines that a meaningful lifting action has actually occurred. At this point, the controller uses this determination result as a precise trigger command to immediately and synchronously start the entire data acquisition system, beginning to collect core physical parameters directly related to the weight of the material being lifted. These parameters include: pressure data of the lifting cylinder collected in real time by a pressure sensor installed at the hydraulic oil pipe interface of the rodless chamber of the lifting cylinder; vehicle slope angle data reflecting the tilt state of the vehicle body relative to the horizontal plane collected by an angle sensor fixed to the upper surface of the crossbeam in the middle of the frame; and hydraulic oil temperature data collected by a temperature sensor installed in the temperature detection seat of the hydraulic oil tank outlet, reflecting the current thermal operating condition of the hydraulic system.

[0031] This dual intelligent triggering mechanism, based on the continuous changing trends of specific operational actions and displacement data, ensures that the entire weighing process is precisely synchronized with the actual operation cycle of the loader. This guarantees the validity and real-time nature of the collected data, such as pressure, slope, and temperature, from the source, laying a reliable foundation for subsequent high-precision weighing calculations.

[0032] In one alternative implementation, to ensure that the weighing data accurately reflects the static gravity of the material, effective pressure data for calculation must be collected only after the boom has been raised to its final position and come to a complete stop. However, during the lifting process, displacement data may fluctuate momentarily due to factors such as mechanical vibration and hydraulic shock. If stability is determined solely by relying on a single or brief instance of meeting the condition that "the change in stroke is less than or equal to a preset stability threshold," it is highly likely that false momentary stability will be misjudged as true stillness, thus introducing interfering data.

[0033] To address this issue, this application employs a composite stability identification mechanism based on a sliding window and multi-cycle continuous determination. The controller continuously receives displacement data and feeds it into a sliding window of fixed duration, calculating in real time the difference between the maximum and minimum displacement values ​​within the window, i.e., the stroke change. Only when the stroke change calculated in each window remains less than or equal to a preset stability threshold for a consecutive preset number of sliding window cycles does the controller ultimately determine that the boom has overcome the instantaneous disturbance and truly entered a macroscopic lifting stability state. This criterion greatly improves the reliability of stability identification.

[0034] At the instant the lifting stability is determined, although the mechanical structure is macroscopically stationary, there may still be high-frequency, low-amplitude damped vibrations invisible to the naked eye. The residual energy of these vibrations can also distort the instantaneous readings of the pressure sensor. Therefore, this application does not sample immediately after determining stability, but introduces a weighing phase with a configurable delay. The controller triggers a delay timer, during which the system waits, allowing the residual mechanical vibrations to decay freely. The delay duration of this weighing phase is not arbitrarily set, but is a fixed duration calibrated through prior experiments and tests on the mechanical vibration decay characteristics of a specific model of loader at the instant of lifting stability, to ensure that the data collected after the delay truly represents the steady-state force.

[0035] Upon the expiration of the delay period, the controller immediately begins corrective calculations of the pressure data based on the slope angle data during the delayed weighing phase. The controller initiates a slope compensation procedure to eliminate weighing errors introduced by ramp operations. When the loader is on a working plane with a certain longitudinal slope, its body and lifting mechanism are tilted relative to the horizontal plane. At this time, the gravity of the material does not act entirely along the axis of the lifting cylinder, but rather at an angle to the cylinder axis. If the material weight is directly calculated based on the hydraulic pressure detected by the pressure sensor, this pressure value actually only corresponds to one component of the material's gravity along the cylinder axis, rather than the complete gravity value. This leads to a systematic underestimation or overestimation of the calculated result, with the specific direction of the deviation depending on whether the ramp is uphill or downhill.

[0036] To accurately correct this error, this application orthogonally decomposes the gravity vector of the material along the axis of the lifting cylinder and in a direction perpendicular to that axis, thereby establishing a local coordinate system based on the cylinder axis. The component along the lifting cylinder axis is the effective force that generates the actual thrust on the cylinder. This force acts directly on the piston rod and is transmitted to the pressure sensor through hydraulic oil, serving as the basis for calculating the material weight. The component perpendicular to the cylinder axis, however, is an ineffective force. This force only generates a lateral load on the cylinder sidewall or mechanical hinge point and does not contribute to the pressure sensor reading.

[0037] Based on the aforementioned mechanical decomposition model, the controller retrieves slope angle data from the tilt sensor and performs digital filtering to determine the longitudinal slope angle of the vehicle body relative to the horizontal plane. Utilizing the geometric relationship inherent in this slope angle, the original pressure data can be corrected for the gravity component, converting the detected pressure value, which only reflects the effective force component, into an equivalent pressure value when the material's gravity acts fully on the cylinder axis in a horizontal state.

[0038] Specifically, this correction process can be achieved by dividing the initial value of the pressure data by the cosine of the longitudinal slope angle. After this conversion, the detection deviation caused by the slope is effectively eliminated, and the resulting correction result is the first corrected pressure, providing accurate basic pressure data for subsequent integration of oil temperature compensation and final accurate calculation of material weight.

[0039] In practical implementation, the material gravity G is decomposed into an effective component G_y along the Y-axis and an ineffective component G_x along the X-axis, where G_y = G × cosθ (θ is the angle between the slope angle and the horizontal ground); the initial detection value P0 of the pressure sensor corresponds to the resultant force of G_x and the lifting force of the hydraulic cylinder, and the corrected effective pressure P_θ = P0 / cosθ, thereby achieving slope error compensation.

[0040] After obtaining the first corrected pressure through slope compensation, the controller immediately executes an oil temperature compensation step to eliminate the impact of hydraulic system temperature changes on pressure detection accuracy. The physical properties of hydraulic oil, especially its viscosity and its effect on the elastic deformation of cylinder seals, change significantly with oil temperature. During continuous operation of the loader, the hydraulic system's oil temperature gradually rises due to continuous work, altering the elastic deformation characteristics of the seals and causing variations in oil flow. These factors directly affect the pressure transmission path of the lifting cylinder, causing pressure sensor readings for the same load to drift at different oil temperatures. Without correction, weighing accuracy will continuously deteriorate with increasing operating time.

[0041] To address this, this application introduces an adaptive compensation strategy based on real-time oil temperature. During the system calibration phase, a mapping relationship between oil temperature and correction coefficients has been established experimentally. Specifically, under different oil temperature conditions, weighing tests are conducted using materials of known standard weight. The measured values ​​of the pressure sensor at each temperature point are recorded, and the correction coefficient required to make the measured value equal to the theoretical pressure value corresponding to the standard weight is calculated. This forms an oil temperature-correction coefficient mapping table, which is pre-stored in the controller's storage unit.

[0042] During the online operation phase, the temperature sensor continuously collects hydraulic oil temperature data and transmits it to the controller in real time. After receiving the collected temperature data, the controller calls the pre-stored oil temperature-correction coefficient mapping table and determines the exact corresponding correction coefficient based on the current oil temperature value's position in the table using a linear interpolation algorithm.

[0043] In practice, if the current temperature is exactly equal to a calibration temperature point in the mapping table, the correction coefficient corresponding to that point is directly used. If the current temperature is between two calibration temperature points, linear interpolation is performed based on the correction coefficient values ​​of the two adjacent points to calculate the real-time correction coefficient at the current temperature. After obtaining this correction coefficient, the controller multiplies it by the aforementioned first correction pressure. The result is the equivalent static pressure that simultaneously eliminates both slope error and oil temperature error. This equivalent static pressure reflects the actual material gravity acting on the lifting cylinder under standard horizontal temperature conditions, providing a reliable mechanical basis for the final accurate calculation of material weight.

[0044] After obtaining the equivalent static pressure, the controller can complete the final calculation of the material weight based on the basic principles of hydraulic transmission. The thrust generated by the piston of the lifting cylinder under the action of hydraulic oil pressure is equal to the product of the pressure and area acting on the effective area of ​​the piston, and this thrust is exactly balanced with the component of the material's weight along the cylinder axis in a static equilibrium state. The equivalent static pressure obtained after double correction by slope compensation and oil temperature compensation has eliminated various measurement deviations caused by slope and temperature changes, and truly reflects the material's weight acting on the lifting cylinder under standard horizontal conditions.

[0045] Based on this, the controller calls the pre-stored effective working area parameters of the lifting cylinder. These parameters are determined by the cylinder's piston diameter, piston rod diameter, and other structural dimensions, and are known constants predetermined at the factory. Multiplying the equivalent static pressure by this effective working area yields the equivalent total thrust acting on the cylinder piston, which is equal to the weight of the material. Then, dividing this weight by the local gravitational acceleration constant calculates the accurate mass of the material in the bucket. After calculation, the controller simultaneously stores the obtained material weight data, the timestamp of this operation, the slope angle, oil temperature, and other key parameters into the local storage module and sends them in real-time to the display screen in the operator's cab for visualization. This allows the operator to instantly obtain the weight information of the material loaded, providing data support for subsequent production statistics and operation management.

[0046] After calculating and outputting the material weight, the loader immediately enters the unloading phase. The operator lowers the boom to dump the material from the bucket to the designated location. During this process, displacement sensors continuously monitor the boom's travel, and the collected displacement data decreases as the boom descends. The controller tracks this displacement data in real time. When it detects that the displacement data gradually returns to the initial reference position indicating that the boom is fully retracted, i.e., near the zero point, it does not immediately determine that the operation cycle has ended, but further monitors the holding state of the displacement data at the zero point. This design is to distinguish between the actual completion of unloading and reset and short pauses or operational hesitations during the unloading process, avoiding abnormal interruptions to the weighing process due to misjudgment.

[0047] Specifically, the controller starts timing after the displacement data returns to zero, monitoring the duration for which it remains stable near zero. Only when this duration exceeds a preset reset time does the controller confirm that the loader has completed unloading and the boom has retracted stably, thus officially ending a complete loading, lifting, weighing, and unloading operation cycle. The preset reset time is related to the return stability characteristics of the boom's mechanical structure and can be pre-calibrated through actual machine testing to ensure the reliability of the determination results.

[0048] Once the work cycle is determined to be over, the controller automatically performs a reset and cleanup operation, clearing all temporary cached data generated during the current work cycle, including intermediate processing results of displacement data, calculation windows for stroke changes, and status flags for each stage. Simultaneously, it restores weighing-related trigger thresholds, delay parameters, and intermediate variables for correction calculations to their initial default states. After completing these operations, the system automatically switches to a low-power standby mode, and all sensors enter listening mode, awaiting the signal trigger for the boom lifting action after the next loading operation. Thus, this application achieves a fully unmanned closed-loop operation, from weighing triggering, data acquisition, stability determination, dual compensation correction, and weight calculation output, to automatic reset and standby after the work cycle ends, providing a complete control method for efficient and continuous automated weighing operations of loaders.

[0049] Figure 2 This illustration shows a structural schematic diagram of a weighing device for a loader provided in an embodiment of this application. The device includes: Pressure sensor used to collect pressure data from lifting cylinder; Tilt sensor is used to collect vehicle slope angle data; Temperature sensor, used to collect temperature data of hydraulic oil; Displacement sensors are used to collect displacement data that characterizes the lifting stroke; The controller, connected to the pressure sensor, the tilt sensor, the temperature sensor, and the displacement sensor respectively, is configured to execute the above-described method; The storage and display module, connected to the controller, is used to store weighing results and operating parameters, and to display the material weight in real time.

[0050] like Figure 3 As shown, this application provides an electronic device for executing the method of weighing a loader as described in this application. The device includes a memory, a processor, a bus, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method of weighing a loader.

[0051] Specifically, the aforementioned memory and processor can be general-purpose memory and processor, without any specific limitations. When the processor runs the computer program stored in the memory, it can execute the aforementioned method for weighing loaders.

[0052] Corresponding to the method for weighing loaders in this application, this application embodiment also provides a computer storage medium storing a computer program, which is executed by a processor to perform the steps of the above-described method for weighing loaders.

[0053] Specifically, the storage medium can be a general-purpose storage medium, such as a removable disk or hard disk. When the computer program on the storage medium is run, it can execute the above-mentioned method for weighing the loader.

[0054] In the embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. The system embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and there may be other division methods in actual implementation. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interface; the indirect coupling or communication connection between systems or units may be electrical, mechanical, or other forms.

[0055] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0056] In addition, the functional units in the embodiments provided in this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0057] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0058] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0059] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application; and these modifications, changes, 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 this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A method for weighing a loader, characterized in that, The method includes: In response to the lifting action of the boom after the loader loads material, displacement data representing the lifting stroke is collected. When the displacement data is detected to be continuously increasing from zero, pressure data of the lifting cylinder, vehicle slope angle data, and hydraulic oil temperature data are collected. The displacement data is analyzed in real time using a sliding window algorithm to calculate the amount of travel change within the window. When the amount of travel change is less than or equal to a preset stability threshold, the pressure data is corrected based on the slope angle data to obtain a first corrected pressure. The first corrected pressure is corrected a second time based on the correction coefficient corresponding to the collected temperature data to obtain the equivalent static pressure. The weight of the material is calculated and output based on the equivalent static pressure and the effective working area of ​​the lifting cylinder.

2. The method according to claim 1, characterized in that, The method further includes: When the change in stroke within a preset number of consecutive sliding windows is less than or equal to a preset stability threshold, the boom is determined to have entered a stable lifting state. After determining that the lifting is stable, a delayed weighing phase is initiated. During the delayed weighing phase, the pressure data is corrected based on the slope angle data. The delay duration of the delayed weighing phase is a fixed duration pre-calibrated based on the mechanical vibration attenuation characteristics at the moment of stability determination.

3. The method according to claim 1, characterized in that, The step of correcting the pressure data based on the slope angle data to obtain a first corrected pressure includes: The weight of the material is decomposed into an effective component along the axis of the lifting cylinder and into an ineffective component along the axis perpendicular to the lifting cylinder. Based on the slope angle data, the pressure data is corrected for gravity component to eliminate the detection deviation caused by the slope, and the first corrected pressure is obtained.

4. The method according to claim 1, characterized in that, The step of performing a secondary correction on the first corrected pressure based on the correction coefficient corresponding to the collected temperature data to obtain the equivalent static pressure includes: Based on the pre-established oil temperature-correction coefficient mapping relationship, the corresponding correction coefficient is determined by a linear interpolation algorithm according to the collected temperature data. The equivalent static pressure is obtained by multiplying the first corrected pressure by the correction coefficient.

5. The method according to claim 4, characterized in that, The oil temperature-correction coefficient mapping relationship is pre-established in the following way: During the calibration phase, the test temperature data of the hydraulic oil is controlled at different temperature points, and the test pressure corresponding to the standard weight of material in a horizontal state is measured. Calculate the correction factor required to make the test pressure equal to the standard pressure at each temperature point, form an oil temperature-correction factor mapping table and store it in advance.

6. The method according to claim 1, characterized in that, After calculating and outputting the material weight, the process also includes: When the displacement data is detected to continuously decrease and return to zero, and remains stable at zero for a period of time exceeding the preset reset time, it is determined that a work cycle has ended. It automatically clears temporary data for the current work cycle and resets weighing-related parameters to their initial state, then enters standby mode to respond to the lifting action after the next loading.

7. The method according to claim 3, characterized in that, The slope angle data is used to determine the longitudinal slope angle. The step of correcting the pressure data based on the slope angle data using the gravity component to eliminate detection bias caused by the slope and obtain the first corrected pressure includes: The pressure data is converted using the cosine value of the longitudinal slope angle to compensate for the deviation of the detection value caused by the gravity component during ramp operation, and the converted pressure value is used as the first corrected pressure.

8. A weighing device for a loader, characterized in that, The device includes: Pressure sensor used to collect pressure data from lifting cylinder; Tilt sensor is used to collect vehicle slope angle data; Temperature sensor, used to collect temperature data of hydraulic oil; Displacement sensors are used to collect displacement data that characterizes the lifting stroke; The controller, connected to the pressure sensor, the tilt sensor, the temperature sensor and the displacement sensor respectively, is configured to perform the method as described in any one of claims 1 to 7; The storage and display module, connected to the controller, is used to store weighing results and operating parameters, and to display the material weight in real time.

9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine instructions that the processor executes. When the electronic device is running, the processor communicates with the memory via the bus. When the machine instructions are executed by the processor, they perform the steps of the weighing method for a loader as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The computer storage medium stores a computer program that, when executed by a processor, performs the steps of the method for weighing a loader as described in any one of claims 1 to 7.

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