CN107727210B - A kind of vehicle-mounted weighing method of kitchen waste cart and system - Google Patents
A kind of vehicle-mounted weighing method of kitchen waste cart and system Download PDFInfo
- Publication number
- CN107727210B CN107727210B CN201710861201.4A CN201710861201A CN107727210B CN 107727210 B CN107727210 B CN 107727210B CN 201710861201 A CN201710861201 A CN 201710861201A CN 107727210 B CN107727210 B CN 107727210B
- Authority
- CN
- China
- Prior art keywords
- signal
- weight
- digital signal
- rubbish
- refuse container
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G17/00—Apparatus for or methods of weighing material of special form or property
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
Abstract
The present invention provides a kind of vehicle-mounted weighing method of kitchen waste cart and system, and method includes the following steps: to acquire data；Change data；Handle data；Show weight information；System includes signal acquisition unit, D/A conversion unit, central processing unit and display unit.The analog signal of the loading refuse container weight of acquisition kitchen waste cart can be passed through, convert analog signals into digital signal, then pass through the calibration coefficient of digital signal and weight signal, the digital signal that screening obtains is converted into weight signal, it is further processed to obtain and loads when refuse container loads rubbish and unload the weight amount after rubbish, acquisition methods are at low cost, convenient and efficient, can effectively save human cost and time.
Description
Technical field
The present invention relates to Internet of things system more particularly to a kind of vehicle-mounted weighing method of kitchen waste cart and systems.
Background technique
Kitchen waste cart is also known as kitchen garbage truck or swill vehicle more than remaining meal rubbish vehicle, and kitchen waste cart is one in garbage truck
Kind, it is the special-purpose vehicle for collecting and transporting house refuse, food garbage (swill) and municipal sludge.With China's catering industry
Development, existing hotel, China, the nearly kitchen garbage quantity 3,500,000, generated daily in restaurant are very surprising, collect transhipment side
Formula multiplicity.Also develop very fast using kitchen garbage as the kitchen waste cart of object.Be by barreled " swill " through the vehicle conveyer belt slowly
It is upper defeated, it is poured into compartment (compartment can be divided into carriage body and tank body) in roof, the rubbish being launched is squeezed by strong push plate
Pressure, is then separated by solid-liquid separation, the foul water tank of tank base is entered by isolated liquid, solid refuse, which is compressed, is stored in tank body, body
Product becomes smaller, and is sent after filling repeatedly to kitchen garbage resource optimization factory.Whole process realizes automation.
Existing kitchen waste cart weighing is all made of electronic loadometer weighing, cannot be to the weight of every barrel of rubbish during entire receipts fortune
Amount is monitored.With the development of e-commerce industry, kitchen industry also reaches a new high point therewith.How to guarantee
Kitchen garbage is surprisingly lost, artificially pilferage is prevented to be faced as current kitchen receipts operation industry in kitchen waste cart transportational process
The problem of.During receiving fortune, kitchen garbage is artificially stolen, pretends to be kitchen garbage toward compartment filling tap water, gains public subsidies by cheating
Equal behaviors remain incessant after repeated prohibition.
Present weighing is that have the bucket of rubbish once to claim excessively each barreled by weighbridge, the scheme weighed, dumped rubbish
The empty barrel of rubbish once claims excessively, and difference is the weight of kitchen garbage, but processing will not only take a lot of time in this way, and every
A garbage collection points require to prepare a platform scale.There are the wastes of social resources for this, it is also desirable to consume a large amount of time and people
Power.So needing a kind of low cost, the vehicle-mounted weighing method of acquisition kitchen waste cart of more convenient and quicker and system.
Summary of the invention
The present invention in order to solve the problems, such as in the prior art kitchen waste cart it is vehicle-mounted weighing it is at high cost, inconvenient quick, mention
For a kind of vehicle-mounted weighing method of kitchen waste cart and system.
To solve the above-mentioned problems, the technical solution adopted by the present invention is as described below:
A kind of vehicle-mounted weighing method of kitchen waste cart includes the following steps: T1: acquisition data: acquiring kitchen waste cart
The analog signal for loading the weight of refuse container, by the analog signal output；T2: change data: the loading rubbish is received
The analog signal is simultaneously converted to the digital signal for loading refuse container by the analog signal of the weight of container, and the number is believed
Number output；T3: processing data: calculating the calibration coefficient between digital signal and weight signal, receive and screen digital signal, and
The digital signal after screening is converted to weight signal by the calibration coefficient；The weight signal is further processed to be filled
It carries when refuse container loads rubbish and unloads the weight amount after rubbish, the weight amount is exported；T4: it display weight: connects
Weight amount and display after receiving when the loading refuse container loads rubbish and unloading rubbish.
It preferably, further include by filtering analog signal data in the step T1.
Preferably, the step T3 includes the following steps: T31: calculating calibration coefficient: obtaining at least one set of known weight letter
Number loading refuse container digital signal, the line between digital signal and weight signal is calculated by multiple linear regression
The calibration coefficient of property function；T32: receiving and screens digital signal: receiving the digital signal for loading refuse container, and screens
Digital signal out, the digital signal after screening includes two parts: moment t1Front and back sets digital signal and moment t in duration2Before
The digital signal in duration is set afterwards, wherein t1It is at the uniform velocity transported to channel interposition upwards to load after refuse container loads rubbish
At the time of setting, t2For load refuse container unload transport under after rubbish to channel middle position at the time of；T33: by described
Two parts digital signal after screening is converted to two parts weight signal by calibration coefficient respectively；T34: by resulting two parts weight
Signal is measured to pass through when weighted average obtains loading refuse container loading rubbish respectively and unload the weight amount after rubbish, it will be described
Weight amount when refuse container loads rubbish and after unloading rubbish is loaded to export.
Preferably, the step T4 further includes that display loads when refuse container loads rubbish and unload the weight number after rubbish
The difference of value.
A kind of vehicle-mounted weighing method of kitchen waste cart includes the following steps: S1: acquisition data: acquisition kitchen waste cart dress
The analog signal and movement state information of the weight of refuse container are carried, and the analog signal and movement state information are exported；
S2: change data: receiving the analog signal and the analog signal is converted to digital signal, and the digital signal is defeated
Out；S3: processing data: the digital signal and the movement state information are received, and is screened by the movement state information
The digital signal is handled the digital signal after screening to obtain weight signal, is obtained loading rubbish appearance by weight signal
When device loads rubbish and the weight amount after rubbish is unloaded, the weight amount is exported；S4: display weight information: institute is received
State the weight amount after loading when refuse container loads rubbish and unloading rubbish and display.
It preferably, further include by filtering analog signal data in the step S1.
Preferably, the step S3 includes the following steps: S31: calculating calibration coefficient: by obtaining at least one set of known heavy
The digital signal for measuring the loading refuse container of signal, is calculated the calibration of the linear function between digital signal and weight signal
Coefficient；S32: receiving and screens digital signal: receiving the digital signal for loading refuse container, and passes through the motion state
Information sifting goes out digital signal, and the digital signal after screening includes two parts: refuse container load rubbish after be transported up when
Between digital signal in section and load the digital signal after refuse container unloading rubbish into the period of lower transport；S33: pass through
Two parts digital signal after screening is converted to two parts weight signal by the calibration coefficient respectively；S34: by resulting two
Divide weight signal to pass through weighted average respectively to obtain loading when refuse container loads rubbish and unload the weight amount after rubbish, it will
The weight amount loaded when refuse container loads rubbish and after unloading rubbish exports.
Preferably, the step S4 further includes that display loads when refuse container loads rubbish and unload the weight number after rubbish
The difference of value.
The present invention also provides a kind of kitchen waste cart vehicle-mounted weighing system, including signal acquisition unit, D/A conversion unit,
Central processing unit and display unit；The signal acquisition unit: the simulation letter of the loading refuse container of kitchen waste cart is acquired
Number, or the analog signal and movement state information for loading refuse container of acquisition kitchen waste cart, and collected simulation is believed
Number or analog signal and movement state information output；The D/A conversion unit: the analog signal is received and by the simulation
Signal is converted to digital signal, and the digital signal is exported；The central processing unit: the digital signal is received, or is connect
The digital signal and movement state information are received, and is handled to obtain weight signal, is further processed to obtain loading rubbish appearance
When device loads rubbish and the weight amount after rubbish is unloaded, the weight amount is exported；
The display unit: it receives the loading refuse container weight amount and shows.
Preferably, the signal acquisition unit includes weighing sensor.
It preferably, further include approaching switch, the close switch is Hall switch.
Preferably, the signal acquisition unit includes weighing sensor and velocity sensor, and the velocity sensor includes
At least one of gyroscope, accelerometer, laser velocimeter or ultrasonic velocity measurement module.
Preferably, the signal acquisition unit, the D/A conversion unit, the central processing unit and the display are single
Data between member pass through cable connection, can also pass through wifi, bluetooth, radio frequency transmission.
The present invention also provides a kind of vehicle-mounted weighting device of kitchen garbage truck, including memory, processor and it is stored in institute
The computer program that can be run in memory and on the processor is stated, the processor executes real when the computer program
Now the step of any the method as above.
The present invention provides a kind of computer readable storage medium again, and the computer-readable recording medium storage has computer
Program, when the computer program is executed by processor realize as above any the method the step of.
The invention has the benefit that the present invention provides a kind of vehicle-mounted weighing method of kitchen waste cart and system, meal is obtained
The analog signal of the loading refuse container of kitchen garbage truck, analog signal are converted into digital signal, the digital signal that screening is obtained
Weight signal is converted to, is further processed to obtain weight amount when loading refuse container loading rubbish and after unloading rubbish, obtain
It takes method at low cost, convenient and efficient, can effectively save human cost and time.
Detailed description of the invention
Fig. 1 is a kind of vehicle-mounted weighing method schematic diagram of kitchen waste cart in the embodiment of the present invention 1.
Fig. 2 is the method schematic diagram that data are handled in the embodiment of the present invention 1.
Fig. 3 is kitchen waste cart vehicle-mounted weighing system schematic diagram in the embodiment of the present invention 1.
Fig. 4 is structural schematic diagram in kitchen waste cart vehicle-mounted weighing system in the embodiment of the present invention 1.
Fig. 5 is a kind of vehicle-mounted weighing method schematic diagram of kitchen waste cart in the embodiment of the present invention 2.
Fig. 6 is the method schematic diagram that data are handled in the embodiment of the present invention 2.
Fig. 7 is kitchen waste cart vehicle-mounted weighing system schematic diagram in the embodiment of the present invention 2.
Fig. 8 is vehicle-mounted weighting device of kitchen garbage truck schematic diagram in the embodiment of the present invention 2.
Wherein, 1- weighing sensor, the close switch of 2-.
Specific embodiment
The present invention is described in detail by specific embodiment with reference to the accompanying drawing, for a better understanding of this hair
It is bright, but following embodiments are not intended to limit the scope of the invention.In addition, it is necessary to illustrate, diagram provided in following embodiments
The basic conception that only the invention is illustrated in a schematic way, in attached drawing only display with related component in the present invention rather than according to reality
Component count, shape when implementation and size are drawn, when actual implementation each component shape, quantity and ratio can for it is a kind of with
The change of meaning, and its assembly layout form may also be increasingly complex.
Embodiment 1
The vehicle-mounted weighing method of a kind of kitchen waste cart as shown in Figure 1, includes the following steps:
(1) data are acquired: acquiring the analog signal of the weight of the loading refuse container of kitchen waste cart, the simulation is believed
Number output；Since garbage truck starting, start the analog signal for acquiring the weight for loading refuse container in real time according to certain frequency.
It further include by filtering analog signal data in alternative embodiments of the invention.
(2) it change data: receives the analog signal of the weight for loading refuse container and converts the analog signal
For the digital signal for loading refuse container, the digital signal is exported；The analog signal received is wholly converted into herein
Digital signal.
(3) data are handled: calculating the calibration coefficient between digital signal and weight signal, receives and screen digital signal,
And the digital signal after screening is converted to by weight signal by the calibration coefficient；The weight signal is further processed to obtain
It loads when refuse container loads rubbish and unloads the weight amount after rubbish, the weight amount is exported；As shown in Fig. 2, institute
Step (3) is stated to include the following steps:
3.1 calculate calibration coefficient: obtaining the digital signal of the loading refuse container of at least one set of known weight signal, lead to
Cross the calibration coefficient for the linear function that multiple linear regression is calculated between digital signal and weight signal；Due to circuit, mould
The digital signal that quasi- signal transmssion line, transport vibration etc. can all impact analog signal, therefore be obtained by analog signal
It is based on weight signal, with noisy digital signal.We can be subtracted using the method design factor of multiple linear regression
The influence of small noise signal obtains more preferably weight.
The weight sensor that the present invention uses is the sensor by linear calibration, can only obtain linear function, so
Linear function, such as weight sensor can be constructed between the digital signal and center of gravity signal of the loading refuse container of known weight
Digital signal in zero point is 1000, when measuring the loading refuse container that weight is 10KG, the number letter of weight sensor
Number it is 2000, then substitutes into linear function are as follows: 10KG=K* (2000-1000), then calibration coefficient K=1/100KG-1.For more
A calibration coefficient can reduce the influence of noise signal using the method design factor of multiple linear regression, more preferably be weighed
Amount.
In alternative embodiments of the invention, it is also necessary to consider residual error.Refuse container weight signal is respectively Y1,
Y2... ..., Ym, corresponding obtained digital signal is respectively X1, X2... ..., XmIt obtains:
Yi=α * Xi+β+ei
Above formula indicates weight signal YiIt can be expressed as XiLinear function, β is constant, and α is partial regression coefficient, eiIt is residual
Difference.α, β are obtained by multiple linear regression.
It in order to ensure the accuracy of coefficient, can be demarcated respectively within the scope of constant weight, such as 0KG-5KG, 5KG-10KG
It demarcates once, can also be demarcated respectively every 3KG or other numerical value respectively Deng every 5KG.
3.2 receive and screen digital signal: receiving the digital signal for loading refuse container, and filter out digital letter
Number, the digital signal after screening includes two parts: moment t1Front and back sets digital signal and moment t in duration2When front and back is set
Digital signal in length, wherein t1For load refuse container load rubbish after upwards at the uniform velocity transport to channel middle position when
It carves, t2For load refuse container unload transport under after rubbish to channel middle position at the time of.
It loads refuse container and loads to be considered as at the time of at the uniform velocity transport to channel middle position upwards after rubbish and at the uniform velocity rise
At the moment, it can be 10S that front and back, which sets duration, this can just summarize entire upward transportational process substantially, similarly, load rubbish and hold
At the time of being also considered as uniform descent at the time of transport under after device unloading rubbish to channel middle position, front and back sets duration can be with
For 10S, this can just summarize entire downward transportational process substantially.Refuse container will be exactly loaded to be transported up and transport downwards
The digital signal of process intercept out, and these digital signals are converted into weight signal.For the weight letter at single moment
It number is weight amount, delicate numerical value needs to consider the weight signal of certain time length as far as possible in order to obtain.
Two parts digital signal after screening is converted to two parts weight signal by the calibration coefficient by 3.3 respectively；
Here illustrate the use of weighted mean method for loading rubbish:
Z=γ1*Y1+γ2*Y2+……+γn*Yn
Wherein γiFor weight factor, YiFor i-th of weight signal, Z is weight amount, and n is data amount check.
We judge the stability of weight according to continuous multiple weight, further determine that weight factor.Determine that method is as follows:
1. calculating continuous k weight data standard deviation
Wherein: YjIndicate that j-th of weight data, μ indicate the average value of k weight data, σiIndicate k weight data mark
Quasi- deviation.N-k standard deviation data is obtained by this process
2. calculating γi
A. as i > n-k or σi, γ i
B. the data amount check for not meeting a is p, p data and be s, obtaining γ i=1, wherein ρ is constant, and wherein ρ is normal
Number, usual value are 0.012, need to adjust according to the actual situation.
3.4 by resulting two parts weight signal pass through respectively weighted average obtain load refuse container load rubbish when
It is defeated with the weight amount after unloading rubbish when the loading refuse container is loaded rubbish with the weight amount after unloading rubbish
Out.
(4) it shows weight: receiving the weight amount loaded when refuse container loads rubbish and after unloading rubbish and show
Show.
It further include that display loads when refuse container loads rubbish and after unloading rubbish in the alternative embodiments of the present embodiment
Weight amount difference.
As shown in figure 3, realize the above method described in system include: including signal acquisition unit, D/A conversion unit, in
Central Processing Unit and display unit；
Signal acquisition unit: the analog signal of the loading refuse container of kitchen waste cart is acquired, and by collected simulation
Signal output；Including weighing sensor, sensor can send information to D/A conversion unit in real time；
D/A conversion unit: receiving the analog signal and the analog signal is converted to digital signal, by the number
The output of word signal；
Central processing unit: receiving the digital signal, according to the opening and closing of Hall switch, screens number letter
Number, the digital signal after screening includes two parts: moment t1Front and back sets digital signal and moment t in duration2When front and back is set
Digital signal in length, wherein t1For load refuse container load rubbish after upwards at the uniform velocity transport to channel middle position when
It carves, t2For load refuse container unload transport under after rubbish to channel middle position at the time of.By these digital signals according to
Calibration coefficient is converted into weight signal, by weight signal by weighted average obtain load refuse container load rubbish when and unloading
Weight amount after rubbish exports the weight amount.
It is hung at bucket bracket as shown in figure 4, weighing sensor 1 is installed on former vehicle.Sensor is both ends installation, both ends screw
It is fixed on the mounting bracket；It is installed on car body top close to switch 2, is made on dustbin along the middle position for being promoted to lifting mounted track
When setting, Hall switch triggering.
Display unit: it receives the loading refuse container weight amount and shows, display device can be in the prior art
Any equipment having a display function, such as display, LED screen.
Data between signal acquisition unit, D/A conversion unit, central processing unit and display unit are connected by cable
Connect, can also be by wifi, bluetooth, radio frequency transmission.Data between Hall switch and central processing unit can also pass through electricity
Cable connection, wifi, bluetooth, radio frequency transmission.
Embodiment 2
As shown in figure 5, including the following steps: the present invention also provides a kind of vehicle-mounted weighing method of kitchen waste cart
(1) acquire data: acquisition kitchen waste cart loads the analog signal and movement state information of the weight of refuse container,
And the analog signal and movement state information are exported；Since garbage truck starting, start to acquire in real time according to certain frequency
Load the analog signal and movement state information of the weight of refuse container.
In the alternative embodiments of the present embodiment, obtain pass through after analog signal it is defeated again after filtering analog signal number
Out.It can be filtered, low frequency wave be retained, high frequency waves are considered as impurity wave and filter out using low-pass filter in the present invention.
(2) change data: receiving the analog signal and the analog signal is converted to digital signal, by the number
Signal output；The analog signal received is wholly converted into digital signal herein.
(3) data are handled: receiving the digital signal and the movement state information, and passes through the movement state information
The digital signal is screened, is handled the digital signal after screening to obtain weight signal, is obtained loading rubbish by weight signal
When rubbish container loads rubbish and the weight amount after rubbish is unloaded, the weight amount is exported；
As shown in fig. 6, the step (3) includes the following steps:
3.1 calculate calibration coefficient: the number by obtaining the loading refuse container of at least one set of known weight signal is believed
Number, the calibration coefficient of the linear function between digital signal and weight signal is calculated.
Since circuit, transmission line analog signal, transport vibration etc. can all impact analog signal, by simulating
The digital signal that signal obtains is based on weight signal, with noisy digital signal.We are using multiple linear regression
Method design factor can reduce the influence of noise signal, obtain more preferably weight.
The weight sensor that the present invention uses is the sensor by linear calibration, can only obtain linear function, so
Linear function, such as weight sensor can be constructed between the digital signal and center of gravity signal of the loading refuse container of known weight
Digital signal in zero point is 1000, when measuring the loading refuse container that weight is 10KG, the number letter of weight sensor
Number it is 2000, then substitutes into linear function are as follows: 10KG=K* (2000-1000), then calibration coefficient K=1/100KG-1.For more
A calibration coefficient can reduce the influence of noise signal using the method design factor of multiple linear regression, more preferably be weighed
Amount.
In alternative embodiments of the invention, it is also necessary to consider residual error.Refuse container weight signal is respectively Y1,
Y2... ..., Ym, corresponding obtained digital signal is respectively X1, X2... ..., XmIt obtains:
Yi=α * Xi+β+ei
Above formula indicates weight signal YiIt can be expressed as XiLinear function, β is constant, and α is partial regression coefficient, eiIt is residual
Difference.α, β are obtained by multiple linear regression.
It in order to ensure the accuracy of coefficient, can be demarcated respectively within the scope of constant weight, such as 0KG-5KG, 5KG-10KG
It demarcates once, can also be demarcated respectively every 3KG or other numerical value respectively Deng every 5KG.
3.2 receive and screen digital signal: receiving the digital signal for loading refuse container, and pass through the movement
Status information filters out digital signal, and the digital signal after screening includes two parts: refuse container is transported up after loading rubbish
Period in digital signal and load digital signal into the period of lower transport after refuse container unloading rubbish.Movement
Status information includes acceleration, it can be determined that loading refuse container out is upward or moves downward, while including adding in movement
The size of speed knows that the size of acceleration can correct acceleration and influence to analog signal bring, and then has modified acceleration
Degree influences weight bring.
Two parts digital signal after screening is converted to two parts weight signal by the calibration coefficient by 3.3 respectively；
3.4 by resulting two parts weight signal pass through respectively weighted average obtain load refuse container load rubbish when
It is defeated with the weight amount after unloading rubbish when the loading refuse container is loaded rubbish with the weight amount after unloading rubbish
Out.
(4) display weight information: receive when the loading refuse container loads rubbish and unload the weight amount after rubbish
And it shows.
It further include that display loads when refuse container loads rubbish and after unloading rubbish in alternative embodiments of the invention
The difference of weight amount.
Method described in embodiment 1 and embodiment 2 was being risen or fallen by filtering out loading refuse container
Then digital signal in journey, screening mode can will be filtered out by Hall switch or by movement state information
Digital signal is converted to weight signal, then by the way that these weight signals, weighted average obtains loading refuse container in loading rubbish
Weight amount after rubbish and after unloading rubbish.There are also other methods can filter out the two stages in the prior art, should also regard
For the claimed thinking of the present invention.
As shown in fig. 7, the present invention also provides a kind of kitchen waste cart vehicle-mounted weighing system, including signal acquisition unit, number
Mould converting unit, central processing unit and display unit；
Signal acquisition unit: acquiring the analog signal and movement state information of the loading refuse container of kitchen waste cart, and
Collected analog signal or analog signal and movement state information are exported；Signal acquisition unit includes weighing sensor and survey
Fast sensor, the velocity sensor include in gyroscope, accelerometer, laser velocimeter or ultrasonic velocity measurement module at least
It is a kind of.
D/A conversion unit: it receives analog signal and converts analog signals into digital signal, digital signal is exported；
Central processing unit: receiving digital signal and movement state information, is judged to load rubbish according to movement state information
The state of rubbish container is to rise or decline, and in the motion information according to calibration coefficient and consideration raising and lowering, removes amendment number
Word signal, obtains weight signal, is further processed to obtain weight number when loading refuse container loading rubbish and after unloading rubbish
Value, weight amount is exported.
In the present embodiment, weight signal formula are as follows: weight signal=digital signal * calibration coefficient * motion state error
Coefficient+corrected parameter.It needs to rise after loading rubbish and is transported to kitchen waste cart, so weight calculation formula at this time are as follows: weight
Measure signal (W1)=digital signal (S1) * calibration coefficient (T) * propradation error coefficient (E1)+corrected parameter (B1)。
After having unloaded filled garbage, loads refuse container and generally glide, garbage container when then declining
Weight calculation formula are as follows: weight signal (W2)=digital signal (S2) * calibration coefficient (T) * decline state error coefficient (E2)+
Corrected parameter (B2)。
Digital signal is from D/A conversion unit, mark of the calibration coefficient from the loading refuse container to known weight
It is fixed, obtain the calibration coefficient between weight and digital signal；Motion state error coefficient and corrected parameter, also to known
The loading refuse container of weight is being transported up and the function W=in downward transportational process, between actual weight and digital signal
ES+B, wherein W is the weight for loading refuse container, and E is motion state error coefficient, and B is corrected parameter.
Ascent stage and decline stage obtained weight signal, when weighted average obtains loading refuse container loading rubbish
Weight amount with after unloading rubbish, the weight amount is exported.
Load the weight signal W=of the garbage transported during garbage | W1-W2 |, i.e., weight 1 subtracts weight
The absolute value of amount 2.
Display unit: receiving the loading refuse container weight amount and show, display equipment can be LED display
Can be other can show computer screen etc..
Number between signal acquisition unit, the D/A conversion unit, the central processing unit and the display unit
According to by cable connection, wifi, bluetooth, radio frequency transmission can also be passed through.
In alternative embodiments of the invention, by below the extension bucket of original garbage collecting and transferring vehicle (or by original hook
The hook of alternative costs invention) installation one Zhi Yingli (or pressure) sensor, hook and sensor can by rigid connection,
Can also by flexible connection, by measurement hook because hang bucket after caused by deformation, or hook because hang bucket after stress, by power
Sensor is passed to, to obtain each loading capacity for hanging bucket.
Gyroscope (accelerometer, laser velocimeter sensor, ultrasonic wave velocity sensor) is installed on hook, with branch
Frame, hook need to guarantee rigidity (by the modes such as welding, glue is viscous) connection, to obtain the speed of dustbin rising.It obtains and hangs
Hook above proposes the speed of service, thus reduce because in uphill process because gravity occur it is overweight due to the error that generates, while reduce because
Because of weightless error caused by gravity when hook decline.
In the oil pressure cntrol part for mentioning arm or motor control part addition control signal plate, so that control proposes the upper of arm
It rises and decline stops 1-5 seconds in the process, propose the error that arm is generated because overweight or weightless to reduce.
Increase filtering filtering simultaneously, mentions arm in ascending and descending process due to overweight, weightless, other frictional force to reduce
The error of generation, while smooth stress data.Gross weight is weighed in uphill process, weighs tare weight in decline process.
It includes: upper cunning that the refuse container of kitchen waste cart, which gets in stocks and unloads goods, 5 processes such as overturns, topples over, overturning, gliding.
In overturning, toppling process, weight error is big, we take cunning and the weight of downslide process to be analyzed and processed, and obtains final
Weight.Velocity sensor is for detecting cunning and downslide process.Method is as follows:
Accelerometer is installed perpendicular to the ground, i.e., when refuse container does not start to operation, the value of acceleration output is that (g is 1g
Local acceleration value).Accelerometer sample frequency is 50HZ.It is as follows that judgement is transported up process, downward transportational process method:
A.m seconds acceleration sampled datas are as follows: a1, a2... ... an, n=50*m, m usually take 2
B. n sampled data middle position value filtering method is filtered, that is, remove i maximum sampled values and j the smallest adopted
Sample value, remainder data are averaged, and obtain average value.Usually taking i and j is 20
C. as > athruAbove to slip over journey, athruUsually take 0.9g
D. after the completion of c process, > athrdFor downslide process, athdUsually take 0.7g
Because of the process of process first upwards still further below always, the judgement of c, d are not in conflict.Central processing unit record
The weighing data of upper cunning and downslide process, processing method are weighted mean method.
Gyroscope is acceleration output.Parallel to the ground, the gyroscope sampling that is installed as acceleration detection direction of gyroscope
Frequency is 50HZ, and judgment method is as follows:
ω in above formulaiFor the angular speed of ith sample point, W is current angle.
As W < WthrFor upper cunning and downslide process, WthrUsual value is 20 °, be according to upper cunning and the judgement of the order of downslide on
Sliding or downslide.Central processing unit obtains sliding and downslide process weight signal, and the weight signal in two stages is handled
The weight amount in two stages is obtained, processing method is weighted mean method.
Laser velocimeter or ultrasonic velocity measurement module use installation perpendicular to the ground, speed of the measurement sensor with respect to ground.Root
According to speed calculating and ground distance, during upper cunning and downslide, speed is essentially identical.Overturn and dump rubbish process, due to
With the relationship of ground distance and angle, speed will appear significantly different or can't detect speed.The speed sample frequency in
For 20HZ.
Speed sampling value is respectively as follows: V within a.m seconds1, V2... ... Vn, n=20*m, m usually take 2；
B. n sampled data middle position value filtering method is filtered, that is, remove i maximum sampled values and j the smallest adopted
Sample value, remainder data are averaged, and obtain m seconds average speed.I in this application, j usually take 8；
C. variation in one second is calculated
For upper cunning or downslide process, wherein ξ is velocity variations threshold value, is adjusted according to the actual situation, usually
Take 15 (cm/s).It is upper cunning or downslide according to upper cunning and the judgement of the order of downslide.Central processing unit is obtained sliding and is glided
The weight signal of process handles the weight signal in two stages to obtain the weight amount in two stages, and processing method is weighting
The method of average.
As shown in figure 8, the vehicle-mounted weighting device of kitchen garbage truck that the variants of the above embodiment of the present invention also provide.It should
The vehicle-mounted weighting device of kitchen garbage truck of embodiment include: processor, memory and storage in the memory and can be
The computer program run on the processor, such as data processor.When the processor executes the computer program
Realize that the step in the vehicle-mounted weighing method embodiment of above-mentioned each kitchen waste cart, such as step shown in FIG. 1 acquire data.Or
Person, the processor realize the function of each unit in above-mentioned each Installation practice, such as data when executing the computer program
Acquisition.
Illustratively, the computer program can be divided into one or more units, one or more of lists
Member is stored in the memory, and is executed by the processor, to complete the present invention.One or more of units can be with
It is the series of computation machine program instruction section that can complete specific function, the instruction segment is for describing the computer program in institute
State the implementation procedure in vehicle-mounted weighting device of kitchen garbage truck.For example, the computer program can be divided into signal acquisition
Unit, D/A conversion unit, central processing unit and display unit, each unit concrete function are as follows: signal acquisition unit: acquisition
Analog signal simultaneously converts analog signals into digital signal, and digital signal is exported；
D/A conversion unit: it receives analog signal and converts analog signals into digital signal, digital signal is exported；
Central processing unit: digital signal is received, and converts digital signals into weight signal, and weight signal is defeated
Out；
Display unit: it receives weight signal and shows.
The vehicle-mounted weighting device of kitchen garbage truck can be desktop PC, notebook, palm PC and cloud clothes
Business device etc. calculates equipment.The vehicle-mounted weighting device of kitchen garbage truck may include, but be not limited only to, processor, memory.Ability
Field technique personnel are appreciated that the schematic diagram is only the example of vehicle-mounted weighting device of kitchen garbage truck, do not constitute to meal
The restriction of kitchen garbage truck Onboard weighing device may include components more more or fewer than diagram, or combine certain components, or
The different component of person, such as the vehicle-mounted weighting device of kitchen garbage truck can also be set including input-output equipment, network insertion
Standby, bus etc..
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng the processor is the control centre of the vehicle-mounted weighting device of kitchen garbage truck, whole using various interfaces and connection
The various pieces of a vehicle-mounted weighting device of kitchen garbage truck.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, described in realization
The various functions of vehicle-mounted weighting device of kitchen garbage truck.The memory can mainly include storing program area and storage data area,
Wherein, storing program area can application program needed for storage program area, at least one function (such as sound-playing function, figure
As playing function etc.) etc.；Storage data area, which can be stored, uses created data (such as audio data, phone according to mobile phone
This etc.) etc..In addition, memory may include high-speed random access memory, it can also include nonvolatile memory, such as firmly
Disk, memory, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital,
SD) block, flash card (Flash Card), at least one disk memory, flush memory device or other volatile solid-states
Part.
Embodiment 3
If the integrated unit of the vehicle-mounted weighting device of kitchen garbage truck is realized in the form of SFU software functional unit and makees
It is independent product when selling or using, can store in a computer readable storage medium.Based on this understanding,
The present invention realizes all or part of the process in above-described embodiment method, can also be instructed by computer program relevant hard
Part is completed, and the computer program can be stored in a computer readable storage medium, the computer program is processed
When device executes, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program includes computer program generation
Code, the computer program code can be source code form, object identification code form, executable file or certain intermediate forms
Deng.The computer-readable medium may include: any entity or device, record that can carry the computer program code
Medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), with
Machine access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..
It should be noted that the content that the computer-readable medium includes can be according to legislation and patent practice in jurisdiction
It is required that carrying out increase and decrease appropriate, such as in certain jurisdictions, do not wrapped according to legislation and patent practice, computer-readable medium
Include electric carrier signal and telecommunication signal.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those skilled in the art to which the present invention belongs, it is not taking off
Under the premise of from present inventive concept, several equivalent substitute or obvious modifications can also be made, and performance or use is identical, all answered
When being considered as belonging to protection scope of the present invention.
Claims (11)
1. a kind of vehicle-mounted weighing method of kitchen waste cart, which comprises the steps of:
S1: acquisition data: acquisition kitchen waste cart loads the analog signal and movement state information of the weight of refuse container, and will
The analog signal and movement state information output；
S2: change data: receiving the analog signal and the analog signal is converted to digital signal, by the digital signal
Output；
S3: processing data: the digital signal and the movement state information are received, and is screened by the movement state information
The digital signal is handled the digital signal after screening to obtain weight signal, is obtained loading rubbish appearance by weight signal
When device loads rubbish and the weight amount after rubbish is unloaded, the weight amount is exported；
S4: it display weight information: receives the weight amount loaded when refuse container loads rubbish and after unloading rubbish and shows
Show.
2. the vehicle-mounted weighing method of kitchen waste cart as described in claim 1, which is characterized in that further include leading in the step S1
Filter the sliding analog signal data of popin.
3. the vehicle-mounted weighing method of kitchen waste cart as described in claim 1, which is characterized in that the step S3 includes following step
It is rapid:
S31: calibration coefficient is calculated: the digital signal by obtaining the loading refuse container of at least one set of known weight signal, meter
It calculates and obtains the calibration coefficient of the linear function between digital signal and weight signal；
S32: receiving and screens digital signal: receiving the digital signal for loading refuse container, and passes through the motion state
Information sifting goes out digital signal, and the digital signal after screening includes two parts: refuse container load rubbish after be transported up when
Between digital signal in section and load the digital signal after refuse container unloading rubbish into the period of lower transport；
S33: two parts digital signal after screening is converted to by two parts weight signal by the calibration coefficient respectively；
S34: resulting two parts weight signal is passed through into weighted average respectively and obtains loading when refuse container loads rubbish and unloading
Weight amount after carrying rubbish, the weight amount when loading refuse container is loaded rubbish and after unloading rubbish export.
4. the vehicle-mounted weighing method of kitchen waste cart as described in claim 1, which is characterized in that the step S4 further includes display
Load when refuse container loads rubbish and unload the difference of the weight amount after rubbish.
5. a kind of kitchen waste cart vehicle-mounted weighing system, which is characterized in that including signal acquisition unit, D/A conversion unit, in
Central Processing Unit and display unit；
The signal acquisition unit: acquiring the analog signal and movement state information of the loading refuse container of kitchen waste cart, and
Collected analog signal and movement state information are exported；
The D/A conversion unit: receiving the analog signal and the analog signal is converted to digital signal, by the number
The output of word signal；
The central processing unit: receiving the digital signal and movement state information, and is handled to obtain weight signal, into
One step, which handles to obtain, to be loaded when refuse container loads rubbish and unloads the weight amount after rubbish, and the weight amount is exported；
The display unit: it receives the loading refuse container weight amount and shows.
6. kitchen waste cart vehicle-mounted weighing system as claimed in claim 5, which is characterized in that the signal acquisition unit includes
Weighing sensor.
7. kitchen waste cart vehicle-mounted weighing system as claimed in claim 6, which is characterized in that it further include approaching switch, it is described
It is Hall switch close to switch.
8. kitchen waste cart vehicle-mounted weighing system as claimed in claim 5, which is characterized in that the signal acquisition unit includes
Weighing sensor and velocity sensor, the velocity sensor include that gyroscope, accelerometer, laser velocimeter or ultrasound are surveyed
At least one of fast module.
9. kitchen waste cart vehicle-mounted weighing system as claimed in claim 5, which is characterized in that the signal acquisition unit, institute
The data between D/A conversion unit, the central processing unit and the display unit are stated to pass through cable connection, can also lead to
Cross wifi, bluetooth, radio frequency transmission.
10. a kind of vehicle-mounted weighting device of kitchen garbage truck, including memory, processor and storage are in the memory and can
The computer program run on the processor, which is characterized in that the processor is realized when executing the computer program
The step of the method as any such as claim 1-4.
11. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In being realized when the computer program is executed by processor such as the step of claim 1-4 any the method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710861201.4A CN107727210B (en) | 2017-09-21 | 2017-09-21 | A kind of vehicle-mounted weighing method of kitchen waste cart and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710861201.4A CN107727210B (en) | 2017-09-21 | 2017-09-21 | A kind of vehicle-mounted weighing method of kitchen waste cart and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107727210A CN107727210A (en) | 2018-02-23 |
| CN107727210B true CN107727210B (en) | 2019-06-04 |
Family
ID=61207273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710861201.4A Active CN107727210B (en) | 2017-09-21 | 2017-09-21 | A kind of vehicle-mounted weighing method of kitchen waste cart and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107727210B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109060092A (en) * | 2018-06-08 | 2018-12-21 | 北京轩慧国信科技有限公司 | Rubbish weighing method, receipts fortune management method and system based on Internet of Things |
| CN111177936B (en) * | 2020-01-02 | 2021-03-23 | 深圳市汉德网络科技有限公司 | Method for reducing vehicle load error and computer readable storage medium |
| CN111157092B (en) * | 2020-01-02 | 2021-03-23 | 深圳市汉德网络科技有限公司 | Vehicle-mounted weighing automatic calibration method and computer readable storage medium |
| CN111707344B (en) * | 2020-07-14 | 2022-04-15 | 上海思寒环保科技有限公司 | Vehicle-mounted weighing system |
| CN113203465B (en) * | 2021-05-11 | 2023-04-11 | 洛阳金鼎企业管理咨询有限公司 | Residue weighing data analysis and correction method for kitchen waste treatment |
| CN114751113B (en) * | 2022-03-17 | 2023-04-07 | 浙江科技学院 | Weighing calculation method of multi-barrel intelligent garbage classification kiosk |
| CN115046618A (en) * | 2022-05-26 | 2022-09-13 | 蚌埠日月仪器研究所有限公司 | Automatic barreled garbage weighing system of garbage loading vehicle |
| CN115931095B (en) * | 2023-02-21 | 2023-05-05 | 深圳市汉德网络科技有限公司 | Vehicle tail plate weighing method, device, equipment and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5002141A (en) * | 1989-12-08 | 1991-03-26 | Toledo Scale Corporation | Vehicle weighing in motion apparatus and method |
| CN1584516A (en) * | 2004-06-15 | 2005-02-23 | 龚少楠 | Vehicle overload detecting system and its running method |
| CN200975912Y (en) * | 2006-09-22 | 2007-11-14 | 杨璠 | Weighing equipment |
| CN102200466A (en) * | 2011-01-26 | 2011-09-28 | 中南大学 | High-speed optical fiber grating weighing device and on-site calibration method |
| CN103592014A (en) * | 2013-11-06 | 2014-02-19 | 重庆工商大学 | Transducer calibration method for vehicle weighing system |
| CN106124022A (en) * | 2016-08-31 | 2016-11-16 | 中航电测仪器股份有限公司 | A kind of method of Fast Calibration vehicle-mounted weighing system |
-
2017
- 2017-09-21 CN CN201710861201.4A patent/CN107727210B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5002141A (en) * | 1989-12-08 | 1991-03-26 | Toledo Scale Corporation | Vehicle weighing in motion apparatus and method |
| CN1584516A (en) * | 2004-06-15 | 2005-02-23 | 龚少楠 | Vehicle overload detecting system and its running method |
| CN200975912Y (en) * | 2006-09-22 | 2007-11-14 | 杨璠 | Weighing equipment |
| CN102200466A (en) * | 2011-01-26 | 2011-09-28 | 中南大学 | High-speed optical fiber grating weighing device and on-site calibration method |
| CN103592014A (en) * | 2013-11-06 | 2014-02-19 | 重庆工商大学 | Transducer calibration method for vehicle weighing system |
| CN106124022A (en) * | 2016-08-31 | 2016-11-16 | 中航电测仪器股份有限公司 | A kind of method of Fast Calibration vehicle-mounted weighing system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107727210A (en) | 2018-02-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107727210B (en) | A kind of vehicle-mounted weighing method of kitchen waste cart and system | |
| US9347818B2 (en) | Automated collection and scale system | |
| CN103033244B (en) | Weighting device and working method for mining self-discharging vehicle | |
| CN111707344B (en) | Vehicle-mounted weighing system | |
| CN109668610A (en) | The system of vehicle dynamically weighting method and its use based on neural net regression | |
| BR102017013242A2 (en) | residential waste management system that has consumption-based service forecasting | |
| CN113104455B (en) | Garbage weighing method and device based on bucket-hanging type garbage truck, electronic equipment and storage medium | |
| CN109556687A (en) | Weight measurements, device, equipment and computer readable storage medium | |
| EP2045587A2 (en) | Method and system for verification of a measurement device | |
| CN207379598U (en) | A kind of sound double duty truck weighing system | |
| CN106441536A (en) | Self-weighing method and device of case and case with self-weighing function | |
| CN112777184A (en) | Automatic weighing monitoring equipment of garbage loading vehicle | |
| CN115931095B (en) | Vehicle tail plate weighing method, device, equipment and storage medium | |
| CN105784090A (en) | Dining car garbage automatic peeling weighing system and method | |
| CN105092000A (en) | Environmental sanitation vehicle metering equipment based on dynamic compensation technology | |
| AU2012232994A1 (en) | Weighing system and method of weighing loads | |
| CN102788634A (en) | Control method for vehicle weighing | |
| WO2021064210A1 (en) | Refuse collection vehicle weighing system | |
| CN205192597U (en) | On -vehicle measuring equipment of sanitation based on dynamic compensation technique | |
| CN110702197A (en) | Weighing measurement system for railway wagon and working method thereof | |
| CN205574752U (en) | A heavy balance of difference meter for intelligent garbage can | |
| CN116625473B (en) | Method and system for measuring weight of different-density cargoes loaded on mixer truck | |
| CN210437070U (en) | Vehicle-mounted tail board scale device capable of recycling articles | |
| CN215945661U (en) | Automatic weighing monitoring equipment of garbage loading vehicle | |
| EP1428772A1 (en) | Weighing method in particular for weighing waste materials |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: On board weighing method and system for kitchen garbage truck Effective date of registration: 20220511 Granted publication date: 20190604 Pledgee: Pufa Silicon Valley Bank Co.,Ltd. Shenzhen Branch Pledgor: SHENZHEN HAND HITECH CO.,LTD. Registration number: Y2022440020053 |