CN110940402A - Garbage hanging garbage weighing method, terminal equipment and storage medium - Google Patents
Garbage hanging garbage weighing method, terminal equipment and storage medium Download PDFInfo
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- CN110940402A CN110940402A CN201911256491.5A CN201911256491A CN110940402A CN 110940402 A CN110940402 A CN 110940402A CN 201911256491 A CN201911256491 A CN 201911256491A CN 110940402 A CN110940402 A CN 110940402A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G17/00—Apparatus for or methods of weighing material of special form or property
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Abstract
The invention relates to a garbage hanging garbage weighing method, terminal equipment and a storage medium, wherein the method comprises the following steps: s1: collecting motion data of a frequency converter in the garbage crane and a state of the garbage crane corresponding to the motion data at a fixed period, wherein the motion data comprises rotating speed and torque, and the state comprises ascending, descending and translation; s2: acquiring torque in corresponding motion data in the process of a constant-speed ascending state, and calculating effective torque according to data acquired in the process; s3: the invention calculates the weight of the garbage grabbed in the ascending process according to the effective moment, and calculates the weight of the hung garbage by utilizing the working data of the frequency converter carried by the garbage hanger without additionally installing a weighing sensor, thereby avoiding the trouble and danger of replacing the weighing sensor.
Description
Technical Field
The invention relates to the technical field of garbage treatment, in particular to a garbage hanging garbage weighing method, terminal equipment and a storage medium.
Background
The waste incineration power plant needs to record the weight of the incinerated waste so as to classify and record information, and the waste is required to be weighed in the process of being grabbed by a waste crane (similar to a travelling crane) and being placed into the incinerator. The current waste incineration power plant adopts a weighing sensor mode to measure the weight, the waste hanging and waste weighing sensors are all arranged at the top ends of the steel cables of the waste travelling crane, and as the waste storage in which the waste hanging is arranged is a closed space, thousands of tons of waste are fermented all the year round in the waste storage, and various toxic and harmful gases are filled in the waste storage, and meanwhile, the gases also have strong corrosive gases, so that the weighted sensor can be damaged quickly (basically replaced once a month) in the environment; personnel need enter into the rubbish storehouse of filling poisonous and harmful every month and remove the change sensor, is very dangerous thing, and rubbish furred ceiling end has tens meters from rubbish storehouse bottom, and the space on the driving is very narrow and small again, has more increased relevant personnel's danger.
Disclosure of Invention
In order to solve the problems, the invention provides a garbage hanging garbage weighing method, terminal equipment and a storage medium.
The specific scheme is as follows:
a garbage hanging and weighing method comprises the following steps:
s1: collecting motion data of a frequency converter in the garbage crane and a state of the garbage crane corresponding to the motion data at a fixed period, wherein the motion data comprises rotating speed and torque, and the state comprises ascending, descending and translation;
s2: acquiring torque in corresponding motion data in the process of a constant-speed ascending state, and calculating effective torque according to data acquired in the process;
s3: calculating the weight G of the garbage grabbed in the ascending process according to the effective moment:
G＝(M/L)/g-Gr
wherein G represents the weight of the garbage, M represents the effective moment, L represents the equivalent moment arm, G represents the gravity acceleration, and Gr represents the self weight of the garbage crane.
Further, the effective torque is an average value of all torques collected in the process of the uniform-speed rising state.
Further, the effective torque is: and removing the average value of all the torques after the torques acquired at the state starting stage and the state ending stage from the data acquired in the uniform-speed ascending state process.
Further, step S2 specifically includes the following steps:
s21: initializing, setting a cache data amount n to be 0, and setting an effective data amount q to be 0;
s22: acquiring data at the t-th time, judging whether the state at the t-th time is an ascending state or not, if so, entering S23, otherwise, setting n to 0 and q to 0, and entering S3;
s23: judging whether n is equal to 0 or not, if so, entering S24, and otherwise, entering S25;
s24: the torque corresponding to the t-th time is stored in the buffer area, the amount of buffer data n is made n +1, the process proceeds to S26,
s25: judging whether the rotating speed at the t moment is the same as that at the t-1 moment, if so, entering S27, otherwise, entering S26;
s26: judging whether n is greater than q, if so, making q equal to n, updating the effective torque according to the average value calculated by all the torques in the cache region, emptying the cache region, and entering S27, otherwise, emptying the cache region and entering S27, wherein the effective torque is unchanged;
s27: let t be t +1, return to S22.
The garbage sling garbage weighing terminal device comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the steps of the method of the embodiment of the invention.
A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to an embodiment of the invention as described above.
According to the technical scheme, the weight of the lifted garbage is calculated by using the working data of the frequency converter of the garbage crane, and a weighing sensor does not need to be additionally installed, so that the trouble and danger of replacing the weighing sensor are avoided.
Drawings
Fig. 1 is a flowchart illustrating a first embodiment of the present invention.
Detailed Description
To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures.
The invention will now be further described with reference to the accompanying drawings and detailed description.
The first embodiment is as follows:
the embodiment of the invention provides a garbage hanging garbage weighing method, which is based on a garbage hanging for grabbing garbage and a frequency converter in the garbage hanging for weighing, and as shown in figure 1, the method comprises the following steps:
s1: the method comprises the steps of collecting motion data of a frequency converter in the garbage crane and states of the garbage crane corresponding to the motion data in a fixed period, wherein the motion data at least comprise rotating speed and torque, and the states comprise ascending, descending and translation.
S2: and acquiring the torque in the corresponding motion data in the process of the uniform-speed rising state, and calculating the effective moment according to the data acquired in the process.
In this embodiment, the effective torque is an average value of all torques acquired in the process of the uniform speed rising state, and an error can be reduced by calculating the average value. Meanwhile, because the corresponding torque may be unstable due to the change of the state in the state start stage and the state end stage, the data corresponding to the state start stage and the state end extreme are removed in the process of calculating the effective torque. If the constant speed rising stage is 5s, the data of the first 1.5s and the last 0.5s are removed, and the specific removed data amount is set by the skilled person according to experience and experimental data.
Since it is considered that the gear may be changed in the ascending phase, data in the same gear (same rotation speed) state is required to be valid.
In addition, the duration time may be different in different gears, so that the result obtained by calculating the data corresponding to the gear state with longer duration time is preferably more accurate.
Therefore, the setting step S2 specifically includes the following steps:
s21: initializing, setting a cache data amount n to be 0, and setting an effective data amount q to be 0;
s22: acquiring data at the t-th time, judging whether the state at the t-th time is an ascending state or not, if so, entering S23, otherwise, setting n to 0 and q to 0, and entering S3;
s23: judging whether n is equal to 0 or not, if so, entering S24, and otherwise, entering S25;
s24: the torque corresponding to the t-th time is stored in the buffer area, the amount of buffer data n is made n +1, the process proceeds to S26,
s25: judging whether the rotating speed at the t moment is the same as that at the t-1 moment, if so, entering S27, otherwise, entering S26;
s26: judging whether n is greater than q, if so, making q equal to n, updating the effective torque according to the average value calculated by all the torques in the cache region, emptying the cache region, and entering S27, otherwise, emptying the cache region and entering S27, wherein the effective torque is unchanged;
s27: let t be t +1, return to S22.
S3: calculating the weight G of the garbage grabbed in the ascending process according to the effective moment:
G＝(M/L)/g-Gr
wherein G represents the weight of the garbage, M represents the effective moment, L represents the equivalent moment arm, G represents the gravity acceleration, and Gr represents the self weight of the garbage crane.
It should be noted that the equivalent moment arm L is a constant, but it cannot be obtained by direct measurement, so the constant L can be obtained by back-calculating by using the garbage crane to grab the garbage with known weight. The constant L can be corrected by a value measured a plurality of times.
Since the equivalent moment arm L and the gravitational acceleration G are both constants, the two can be combined into a constant X, and the obtained weight G is calculated by the following formula:
G＝M*X-Gr
meanwhile, in the long-time use process of the mechanical claw, the value of the equivalent force arm of the mechanical claw may change, so that in order to ensure the accuracy of the constant X, an operator needs to check the constant X once after a certain time interval.
According to the embodiment of the invention, the weight of the lifted garbage is calculated by using the working data of the frequency converter of the garbage crane, and a weighing sensor does not need to be additionally arranged, so that the trouble and danger of replacing the weighing sensor are avoided.
Example two:
the invention also provides garbage hanging garbage weighing terminal equipment which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the steps of the method embodiment of the first embodiment of the invention.
Further, as an executable scheme, the garbage sling garbage weighing terminal device may be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The garbage sling garbage weighing terminal equipment can comprise, but is not limited to, a processor and a memory. It is understood by those skilled in the art that the above-mentioned composition structure of the garbage sling garbage weighing terminal device is only an example of the garbage sling garbage weighing terminal device, and does not constitute a limitation on the garbage sling garbage weighing terminal device, and may include more or less components than the above, or combine some components, or different components, for example, the garbage sling garbage weighing terminal device may further include an input-output device, a network access device, a bus, etc., which is not limited in this embodiment of the present invention.
Further, as an executable solution, the processor may be a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, and the like. The general processor can be a microprocessor or the processor can be any conventional processor and the like, the processor is a control center of the garbage hanging garbage weighing terminal device, and various interfaces and lines are utilized to connect all parts of the whole garbage hanging garbage weighing terminal device.
The memory can be used for storing the computer program and/or the module, and the processor realizes various functions of the garbage crane garbage weighing terminal device by running or executing the computer program and/or the module stored in the memory and calling the data stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the mobile phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The invention also provides a computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the above-mentioned method of an embodiment of the invention.
The garbage sling garbage weighing terminal device integrated module/unit can be stored in a computer readable storage medium if the module/unit is realized in the form of a software functional unit and sold or used as an independent product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-only Memory (ROM ), Random Access Memory (RAM), software distribution medium, and the like.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. A garbage hanging and weighing method is characterized by comprising the following steps:
s1: collecting motion data of a frequency converter in the garbage crane and a state of the garbage crane corresponding to the motion data at a fixed period, wherein the motion data comprises rotating speed and torque, and the state comprises ascending, descending and translation;
s2: acquiring torque in corresponding motion data in the process of a constant-speed ascending state, and calculating effective torque according to data acquired in the process;
s3: calculating the weight G of the garbage grabbed in the ascending process according to the effective moment:
G＝(M/L)/g-Gr
wherein G represents the weight of the garbage, M represents the effective moment, L represents the equivalent moment arm, G represents the gravity acceleration, and Gr represents the self weight of the garbage crane.
2. The method for weighing the garbage in the garbage crane according to claim 1, which is characterized in that: the effective moment is the average value of all torques collected in the process of a constant-speed rising state.
3. The method for weighing the garbage in the garbage crane according to claim 1, which is characterized in that: the effective moment is as follows: and removing the average value of all the torques after the torques acquired at the state starting stage and the state ending stage from the data acquired in the uniform-speed ascending state process.
4. The method for weighing the garbage in the garbage crane according to claim 1, which is characterized in that: step S2 specifically includes the following steps:
s21: initializing, setting a cache data amount n to be 0, and setting an effective data amount q to be 0;
s22: acquiring data at the t-th time, judging whether the state at the t-th time is an ascending state or not, if so, entering S23, otherwise, setting n to 0 and q to 0, and entering S3;
s23: judging whether n is equal to 0 or not, if so, entering S24, and otherwise, entering S25;
s24: the torque corresponding to the t-th time is stored in the buffer area, the amount of buffer data n is made n +1, the process proceeds to S26,
s25: judging whether the rotating speed at the t moment is the same as that at the t-1 moment, if so, entering S27, otherwise, entering S26;
s26: judging whether n is greater than q, if so, making q equal to n, updating the effective torque according to the average value calculated by all the torques in the cache region, emptying the cache region, and entering S27, otherwise, emptying the cache region and entering S27, wherein the effective torque is unchanged;
s27: let t be t +1, return to S22.
5. The utility model provides a rubbish hangs rubbish weighing terminal equipment which characterized in that: comprising a processor, a memory and a computer program stored in the memory and running on the processor, the processor implementing the steps of the method according to any of claims 1 to 4 when executing the computer program.
6. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
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| CN201911256491.5A CN110940402A (en) | 2019-12-10 | 2019-12-10 | Garbage hanging garbage weighing method, terminal equipment and storage medium |
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| CN201911256491.5A CN110940402A (en) | 2019-12-10 | 2019-12-10 | Garbage hanging garbage weighing method, terminal equipment and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113516075A (en) * | 2021-07-09 | 2021-10-19 | 厦门恩格节能科技有限公司 | Method, terminal equipment and medium for weighing by utilizing variable frequency signals of garbage crane |
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